CN113346813A - Maximum torque current ratio control method, maximum torque current ratio control device, terminal device and storage medium - Google Patents
Maximum torque current ratio control method, maximum torque current ratio control device, terminal device and storage medium Download PDFInfo
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Abstract
The application is applicable to the technical field of motor control, and provides a maximum torque current ratio control method, a device, terminal equipment and a storage medium, wherein the maximum torque current ratio control method comprises the following steps: acquiring a target signal; injecting the target signal into a first current phase lead angle of a permanent magnet synchronous motor to obtain a second current phase lead angle; determining a first alternating current component and a second alternating current component according to the second current phase lead angle; and adjusting a current phase advance angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio. By the method and the device, the dynamic response speed of MTPA control can be improved, and the MTPA working point can be quickly determined.
Description
Technical Field
The present application belongs to the field of motor control technologies, and in particular, to a maximum torque-to-current ratio control method, apparatus, terminal device, and storage medium.
Background
With the rapid development of various related new technologies such as new materials, mechatronics, power electronics, computers, control theories and the like, the permanent magnet synchronous motor has already developed a wide application field, and can realize high-speed, high-precision, high-stability, rapid-response, high-efficiency and energy-saving motion control.
In order to realize efficient control of the permanent magnet synchronous motor, a Maximum Torque current ratio (MTPA) control method is often adopted. The MTPA control of the permanent magnet synchronous motor with high precision, high stability and high robustness is realized, the working efficiency of the permanent magnet synchronous motor is improved, and energy conservation and emission reduction are realized.
The conventional MTPA control method generally needs to use more band-pass filters and low-pass filters, and the calculation amount is large, so that the dynamic response speed of MTPA control is slow, and the MTPA working point cannot be quickly determined.
Disclosure of Invention
The embodiment of the application provides a maximum torque current ratio control method, a maximum torque current ratio control device, terminal equipment and a storage medium, so that the dynamic response speed of MTPA control is improved, and the MTPA working point is quickly determined.
In a first aspect, an embodiment of the present application provides a maximum torque current ratio control method, including:
acquiring a target signal;
injecting the target signal into a first current phase lead angle of a permanent magnet synchronous motor to obtain a second current phase lead angle;
determining a first alternating current component and a second alternating current component according to the second current phase advance angle, wherein the first alternating current component refers to an alternating current component with the same frequency as the target signal in the first electromagnetic power of the permanent magnet synchronous motor, the second alternating current component refers to a same-frequency alternating current component with the phase of the first alternating current component lagging by a target angle, and the first electromagnetic power refers to the electromagnetic power injected into the target signal;
and adjusting the first current phase advance angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
In a second aspect, an embodiment of the present application provides a maximum torque current ratio control apparatus including:
the signal acquisition module is used for acquiring a target signal;
the signal injection module is used for injecting the target signal into a first current phase lead angle of the permanent magnet synchronous motor to obtain a second current phase lead angle;
a component determining module, configured to determine a first alternating current component and a second alternating current component according to the second current phase advance angle, where the first alternating current component is an alternating current component in first electromagnetic power of the permanent magnet synchronous motor, where the frequency of the first alternating current component is the same as that of the target signal, the second alternating current component is an identical-frequency alternating current component in which the phase of the first alternating current component lags behind the target angle, and the first electromagnetic power is electromagnetic power injected into the target signal;
and the advance angle adjusting module is used for adjusting the first current phase advance angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the maximum torque current ratio control method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the maximum torque-to-current ratio control method according to the first aspect.
In a fifth aspect, the present application provides a computer program product, which when running on a terminal device, causes the terminal device to execute the steps of the maximum torque-to-current ratio control method according to the first aspect.
As can be seen from the above, according to the present application, a second current phase lead angle can be obtained by obtaining a target signal and injecting the target signal into a first current phase lead angle of a permanent magnet synchronous motor, and according to the second current phase lead angle, a first alternating current component having the same frequency as the target signal in a first electromagnetic power into which the target signal is injected and a same-frequency alternating current component (i.e., a second alternating current component) having a phase of the first alternating current component lagging a target angle can be determined, and according to the first alternating current component and the second alternating current component, the first current phase lead angle can be adjusted, so that the permanent magnet synchronous motor satisfies a maximum torque current ratio, thereby determining an MTPA operating point. In the process, a band-pass filter and a low-pass filter are not needed, so that the calculation amount in the MTPA control process is reduced, the dynamic response speed of MTPA control is improved, and the MTPA working point can be quickly determined.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart illustrating an implementation of a maximum torque to current ratio control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating an implementation of a maximum torque to current ratio control method according to a second embodiment of the present application;
FIG. 3 is a diagram showing a structural example of a target observer;
FIG. 4a is a diagram of an example of MTPA control based on a true signal injection method; FIG. 4b is a diagram of an example MTPA control based on a virtual signal injection method;
FIG. 5 is an exemplary diagram of a current phase advance angle optimization control system based on a virtual signal injection method;
FIG. 6a is an exemplary graph of current magnitude and FIG. 6b is an exemplary graph of a response curve for optimal current phase advance angle;
FIG. 7a is another exemplary graph of current magnitude, and FIG. 7b is another exemplary graph of a response curve for optimal current phase advance angle;
fig. 8 is a schematic structural diagram of a maximum torque current ratio control device according to a third embodiment of the present application;
fig. 9 is a schematic structural diagram of a terminal device according to a fourth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Before explaining the present application, terms referred to in the present application will be explained for the convenience of the reader.
The permanent magnet synchronous motor is a synchronous motor with an excitation system containing permanent magnets. The operation mode of the synchronous motor is the same as that of the traditional electrically excited synchronous motor, but the excitation mode is different. In the excitation system part, the permanent magnet synchronous motor generates magnetic flux through the permanent magnet to replace excitation windings of the electrically excited synchronous motor, so that the structure of the motor is simplified.
The permanent magnet synchronous motor in the application can be specifically a built-in permanent magnet synchronous motor. The built-in permanent magnet synchronous motor is also called an embedded permanent magnet synchronous motor. The permanent magnet of the built-in permanent magnet synchronous motor is positioned in the rotor core, and has the excellent characteristics of small volume, high efficiency, high power factor and the like.
The MTPA control method controls the stator current according to the principle that the torque/current ratio is maximum, so that the stator current amplitude of the electromagnetic torque is minimum under the condition that the electromagnetic torque meets the requirement. The MTPA control method not only reduces the power consumption of the permanent magnet synchronous motor and improves the efficiency of the system, but also lightens the work load of the inverter.
The MTPA operating point refers to an operating point where the electromagnetic torque is unchanged and the stator current amplitude corresponding to one current phase advance angle is the minimum in all different current vectors. The MTPA operating point is also the operating point of the maximum electromagnetic torque corresponding to a certain stator current amplitude. The rate of change of the electromagnetic torque to the current phase advance angle at the MTPA operating point is zero.
The current phase advance angle, also called current phase angle or current angle, is the angle between the current vector and the q-axis in the d-q coordinate system.
In the embodiment of the application, in order to solve the problem that the conventional MTPA control method generally needs to use more band-pass filters and low-pass filters, the calculated amount is large, the dynamic response speed of MTPA control is slow, and the operating point of the MTPA cannot be quickly determined, it is proposed to extract a first alternating current component which is the same as the frequency of a target signal in first electromagnetic power injected into the target signal and a same-frequency alternating current component (namely, a second alternating current component) of which the phase of the first alternating current component lags behind the target angle, and adjust a first current phase lead angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque-current ratio, and the operating point of the MTPA is determined. The process does not need to use a band-pass filter and a low-pass filter, so that the calculated amount in the MTPA control process is reduced, the dynamic response speed of MTPA control is improved, and the MTPA working point can be quickly determined.
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Referring to fig. 1, which is a schematic flow chart illustrating an implementation process of a maximum torque current ratio control method provided in an embodiment of the present application, as shown in fig. 1, the maximum torque current ratio control method may include the following steps:
The target signal may be a high-frequency signal or a low-frequency signal, and is not limited herein. When the target signal is a high-frequency signal, the high-frequency signal is injected into a first current phase advance angle of the permanent magnet synchronous motor, so that the tracking speed of the MTPA working point can be increased, and the dynamic response speed of MTPA control is further increased. The first current phase advance angle is a current phase advance angle at which no target signal is injected.
The terminal device may obtain the target signal from its own memory, or may obtain the target signal from another device, which is not limited herein.
For example, the target signal is stored in a memory of the terminal device in advance, and the terminal device may acquire the target signal from its own memory.
The terminal equipment can also send a target signal acquisition instruction to other equipment, and the other equipment acquires the target signal after receiving the target signal acquisition instruction and sends the target signal to the terminal equipment. The target signal acquisition instruction is used for instructing other equipment to acquire the target signal. The other device may refer to any device other than the terminal device.
The second current phase advance angle refers to a current phase advance angle after the target signal is injected.
Injecting the target signal into the first current phase advance angle may refer to superimposing the target signal on the first current phase advance angle. For example, the target signal is a high-frequency sinusoidal signal, which may be expressed as Δ β ═ Asin (ω)ht)，ωhRepresenting the frequency of the target signal Δ β, a representing the amplitude of the target signal Δ β, and the first current phase advance angle represented as β, the first current phase advance angle (i.e., the second current phase advance angle) after injection into the target signal may be represented as β + Δ β ═ β + Asin (ω + Δ β ═ β [ ])ht)。
After injecting the target signal into the first current phase lead angle, the terminal device may actually inject the target signal into the permanent magnet synchronous motor according to whether the target signal passes through the first current phase lead angle, and the injection method of the target signal may be divided into a real signal injection method and a virtual signal injection method. If the terminal equipment transmits the first current phase lead angle to the permanent magnet synchronous motor, the terminal equipment is determined to truly inject a target signal into the permanent magnet synchronous motor through the first current phase lead angle; if the terminal device transmits the first current phase lead angle to a virtual controlled system constructed based on the permanent magnet synchronous motor, it is determined that the terminal device does not really inject the target signal into the permanent magnet synchronous motor through the first current phase lead angle, but injects the target signal into the virtual controlled system through the first current phase lead angle. The above-mentioned virtual controlled system can be understood as a virtual image of the permanent magnet synchronous motor, which has the same function as the permanent magnet synchronous motor.
The real signal injection method is to inject a target signal into the permanent magnet synchronous motor through a first current phase lead angle, and specifically may be to inject the target signal into a stator winding of the permanent magnet synchronous motor.
The real signal injection method can calculate the electromagnetic power generated when the target signal is injected into the permanent magnet synchronous motor by injecting the target signal into the stator winding of the permanent magnet synchronous motor, and extracts the MTPA criterion required for realizing the MTPA control from the electromagnetic power.
The virtual signal injection method is to inject a target signal into a permanent magnet synchronous motor (i.e., not inject the target signal into a stator winding of the permanent magnet synchronous motor) without a first current phase lead angle, but inject the target signal into a virtual controlled system constructed based on the permanent magnet synchronous motor.
The virtual injection method can calculate the electromagnetic power generated by injecting the target signal into the permanent magnet synchronous motor and extract the MTPA criterion required for realizing the MTPA control from the electromagnetic power by injecting the target signal into the virtual controlled system.
The virtual signal injection method does not need to inject a target signal into the permanent magnet synchronous motor, does not influence the running speed and current control of the permanent magnet synchronous motor, does not have extra power loss, and is robust to rotor magnetic flux and inductance changes caused by current and temperature changes. And the motor parameter estimation or the online estimation of a prefabricated look-up table and the like is not needed, so that the calculated amount is effectively reduced, and the tracking speed of the MTPA working point is improved.
The first alternating current component refers to an alternating current component with the same frequency as the target signal in the first electromagnetic power of the permanent magnet synchronous motor. The second alternating current component refers to an alternating current component with the same frequency, wherein the phase of the first alternating current component lags behind the target angle, namely the frequency of the second alternating current component is the same as that of the first alternating current component, and the phase of the second alternating current component lags behind the target angle compared with that of the first alternating current component. First electricityThe magnetic power refers to the electromagnetic power after the target signal is injected. The target angle may be
In this embodiment, after the target signal is injected into the current phase advance angle of the permanent magnet synchronous motor, the target signal is also generated in the first electromagnetic power of the permanent magnet synchronous motor, so that an alternating current component having the same frequency as the target signal exists in the first electromagnetic power, that is, the first alternating current component can be determined from the first electromagnetic power. And lagging the phase of the first alternating current component by a target angle to obtain a second alternating current component.
It should be noted that, in the real signal injection method, the second current phase lead angle is injected into the permanent magnet synchronous motor, so that the target signal is injected into the permanent magnet synchronous motor. In the virtual signal injection method, the second current phase lead angle is injected into the virtual controlled system, so that the target signal is injected into the virtual controlled system.
If the present application adopts the real signal injection method, the first electromagnetic power in step 103 is the electromagnetic power of the permanent magnet synchronous motor after the second current phase advance angle is injected into the permanent magnet synchronous motor.
If the present application adopts the virtual signal injection method, the first electromagnetic power in step 103 is the electromagnetic power of the virtual controlled system after the second current phase advance angle is injected into the virtual controlled system. Since the virtual controlled system is a virtual image of the permanent magnet synchronous motor, the electromagnetic power of the virtual controlled system can also be referred to as the electromagnetic power of the permanent magnet synchronous motor.
And 104, adjusting a first current phase advance angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
The first current phase advance angle corresponding to the permanent magnet synchronous motor satisfying the maximum torque current ratio may be referred to as an optimal current phase advance angle.
In this embodiment, taylor expansion may be performed on the first electromagnetic power, and a third alternating current component may be obtained according to an expression after taylor expansion of the first electromagnetic power, where the third alternating current component is an alternating current component of the first electromagnetic power and includes a partial differential of the second electromagnetic power with respect to a phase advance angle of the first current. Since the first alternating current component determined in step 103 and the third alternating current component obtained after taylor expansion both represent the alternating current component of the first electromagnetic power, the first alternating current component and the third alternating current component can be understood as different representations of the alternating current component of the first electromagnetic power, and then it can be determined that the first alternating current component is directly proportional to the third alternating current component.
The phase of the third ac component may be retarded by a target angle to obtain a fourth ac component. Since the first alternating current component is proportional to the third alternating current component and the phase of the second alternating current component lags behind the phase target angle of the first alternating current component, it can be determined that the second alternating current component is also proportional to the fourth alternating current component, which also includes the partial derivative of the second electromagnetic power with respect to the phase advance angle of the first current.
Since the first alternating current component is directly proportional to the third alternating current component, the second alternating current component is directly proportional to the fourth alternating current component, and the third alternating current component and the fourth alternating current component both include a partial derivative of the second electromagnetic power with respect to the current phase lead angle, the partial derivative of the second electromagnetic power with respect to the first current phase lead angle can be made zero by adjusting the first alternating current component and the second alternating current component, and the first current phase lead angle when the partial derivative is zero is the optimal current phase lead angle.
In the embodiment, the calculation or measurement of the torque is replaced by the calculation of the electromagnetic power, a high-precision speed sensor is not needed, the cost and the difficulty of the implementation of the MTPA control are reduced, the torque oscillation caused by the injection of the target signal can be reduced to the maximum extent, the MTPA control system has good dynamic and steady-state performance under the conditions of load torque change and rotating speed change, and the control precision of the MTPA is effectively improved.
Because the stator current of the permanent magnet synchronous motor can be controlled by controlling the current phase lead angle, when the stator current is constant, one current phase lead angle exists to enable the output torque to be maximum, and therefore, the permanent magnet synchronous motor can meet the maximum torque current ratio by adjusting the current phase lead angle.
According to the embodiment of the application, a second current phase lead angle can be obtained by obtaining a target signal and injecting the target signal into a first current phase lead angle of a permanent magnet synchronous motor, a first alternating current component with the same frequency as the target signal in first electromagnetic power after the target signal is injected and a same-frequency alternating current component (namely a second alternating current component) with the phase lagging behind the target angle of the first alternating current component can be determined according to the second current phase lead angle, and the first current phase lead angle can be adjusted according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio, and the MTPA working point is determined. In the process, a band-pass filter and a low-pass filter are not needed, so that the calculation amount in the MTPA control process is reduced, the dynamic response speed of MTPA control is improved, and the MTPA working point can be quickly determined.
Referring to fig. 2, it is a schematic flow chart of an implementation of a maximum torque current ratio control method provided in the second embodiment of the present application, and as shown in fig. 2, the maximum torque current ratio control method may include the following steps:
The step is the same as step 101, and reference may be made to the related description of step 101, which is not described herein again.
The step is the same as step 102, and reference may be made to the related description of step 102, which is not repeated herein.
And step 203, determining the first electromagnetic power of the permanent magnet synchronous motor according to the second current phase lead angle.
Since the stator current of the permanent magnet synchronous motor can be controlled by controlling the current phase lead angle, the terminal device can determine the stator current after the target signal is injected according to the second current phase lead angle, and the electromagnetic power (namely, the first electromagnetic power) after the target signal is injected can be determined according to the stator current after the target signal is injected.
Specifically, the terminal device may determine a target d-axis stator current and a target q-axis stator current of the permanent magnet synchronous motor in a d-q coordinate system according to the second current phase advance angle, where the target d-axis stator current is the d-axis stator current after the target signal is injected, and the target q-axis stator current is the q-axis stator current after the target signal is injected; and determining the first electromagnetic power according to the target d-axis stator current and the target q-axis stator current.
In an embodiment, the terminal device may first obtain a magnetic pole pair number of the permanent magnet synchronous motor and a mechanical angular velocity of the rotor, determine a torque after signal injection according to a target d-axis stator current and a target q-axis stator current, calculate a product of the torque after signal injection, the magnetic pole pair number of the permanent magnet, and the mechanical angular velocity of the rotor, and determine that a value obtained after the product is the first electromagnetic power.
The rotor position signals of two adjacent periods of the permanent magnet synchronous motor can be acquired by the rotary transformer decoding chip, the acquired rotor position signals are transmitted to the terminal equipment by the rotary transformer decoding chip, and the terminal equipment can determine the mechanical angular speed of the rotor according to the rotor position signals. E.g. ωmRepresenting the mechanical angular velocity, theta, of the rotor1Rotor position signal, theta, representing a first period2The rotor position signal representing the second period, Δ t representing the sampling period, may be expressed by the formula
The mechanical angular velocity of the rotor is calculated.
The terminal device may include a display screen on which a magnet number-of-pole input item is displayed, and when a value input by a user at the magnet number-of-pole input item is detected, the value is determined as the number of magnet number-of-pole of the permanent magnet synchronous motor.
The target observer comprises a first transfer function and a second transfer function, wherein the first transfer function refers to a transfer function between a first alternating current component and first electromagnetic power, and the second transfer function refers to a transfer function between a second alternating current component and the first electromagnetic power;
wherein,
d(s) denotes a first transfer function, q(s) denotes a second transfer function, ω denotes an observation frequency of the target observer, ξ denotes a damping coefficient, and s denotes a differential operator.
As can be seen from the expression of d(s), the first transfer function can be regarded as a second-order band-pass filter with a center frequency of ω and a damping coefficient of ξ, that is, the first transfer function can function as a second-order band-pass filter and can extract an ac component (i.e., a first ac component) with a frequency of ω in the first electromagnetic power.
As can be seen from the expression q(s), the second transfer function can be considered as a second-order band-pass filter and a band
The phase-shifted all-pass filters are cascaded so that the second AC component is a phase lag of the first AC component
The same frequency ac component of (a).
In an embodiment, the target observer may further include a third transfer function, and the third transfer function is a transfer function between a direct current component in the first electromagnetic power and the first electromagnetic power. The third transfer function may be expressed as
As can be seen from the above expression of n(s), the third transfer function can be regarded as a cascade of a low-pass filter and a notch filter, which can reduce the harmonic component in the first electromagnetic power.
As shown in figure 3 which is a diagram of an example of the structure of a target observer,
which is indicative of the integrator(s),
representing a direct current component in the first electromagnetic power,
which represents the first alternating current component and which,
representing the second alternating current component.
It should be noted that, in order to rapidly extract the first alternating current component and the second alternating current component from the first electromagnetic power, the observation frequency of the target observer may be the same as the frequency of the target signal.
Taking the target signal as an example of a high-frequency sinusoidal signal, the first electromagnetic power after taylor expansion can be expressed as follows:
wherein,
and Pe(β + Δ β) represents a first electromagnetic power, PeAnd (β) represents the second electromagnetic power.
After taylor expansion of the first electromagnetic power, the third ac component can be obtained from the above equation (1) as
Retarding the phase of the third AC component
It can be obtained that the fourth alternating current component is
Since the first alternating current component and the third alternating current component each represent an alternating current component of the first electromagnetic power, the relationship between the first alternating current component and the third alternating current component may be represented as follows:
the relationship between the second alternating current component and the fourth alternating current component may be expressed as follows:
wherein,
which represents the first alternating current component and which,
representing the second alternating component, K representing the target observer at ωhThe gain of (c).
And step 205, adjusting a first current phase advance angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets a maximum torque current ratio.
The step is the same as step 104, and reference may be made to the related description of step 104, which is not described herein again.
As can be seen from the above equations (2) and (3), the first alternating current component and the second alternating current component are both proportional to the partial differential of the second electromagnetic power to the first current phase advance angle, and then the terminal device can make the partial differential of the second electromagnetic power to the first current phase advance angle zero by adjusting the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor satisfies the maximum torque current ratio.
In an embodiment, before performing step 205, the terminal device may extract a first coefficient from the target signal, where the first coefficient refers to a coefficient that varies with time in the target signal; and then, adjusting a first current phase advance angle according to the first coefficient, the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
Illustratively, the target signal is Asin (ω)ht), then sin (ω) in the target signalht) is the first coefficient.
The terminal equipment can remove the coefficient which changes along with time in the third alternating current component and the fourth alternating current component according to the first coefficient, the first alternating current component and the second alternating current component, reduces the influence of the coefficient which changes along with time in the third alternating current component and the fourth alternating current component on partial differentiation (namely the partial differentiation of the second electromagnetic power on the first current phase advance angle), improves the adjusting speed of the first current phase advance angle, and quickly determines the MTPA working point.
In one embodiment, adjusting the first current phase advance angle such that the permanent magnet synchronous motor satisfies the maximum torque current ratio based on the first coefficient, the first alternating current component, and the second alternating current component includes:
lagging the phase of the first coefficient by a target angle to obtain a second coefficient;
calculating a product of the first coefficient and the first alternating current component to obtain a first product;
calculating a product of the second coefficient and the second alternating current component to obtain a second product;
and adjusting the first current phase advance angle according to the first product and the second product, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
Illustratively, the first coefficient is sin (ω)ht) the first alternating current component is
The second alternating current component is
Then sin (ω)hPhase lag of t)
Thereafter, a second coefficient of
The first product being yx×sin(ωht). The second product is
The terminal equipment can remove the coefficients changing along with time in the third alternating current component and the fourth alternating current component according to the first product and the second product, reduce the influence of the coefficients changing along with time in the third alternating current component and the fourth alternating current component on partial differentiation (namely the partial differentiation of the second electromagnetic power on the current phase lead angle), improve the adjusting speed of the first current phase lead angle and quickly determine the MTPA working point.
In one embodiment, adjusting the first current phase advance angle such that the permanent magnet synchronous motor satisfies the maximum torque current ratio according to a first product and a second product comprises:
adding the first product and the second product, and determining that a value obtained after addition is a target direct current component, wherein the target direct current component is in direct proportion to partial differentiation of second electromagnetic power of the permanent magnet synchronous motor to the first current phase advance angle;
adjusting a first current phase advance angle to enable a target direct current component to be equal to zero, and determining that the permanent magnet synchronous motor meets the maximum torque current ratio when the target direct current component is equal to zero
The terminal equipment adds the first product and the second product to obtain a target direct current component, wherein the target direct current component has no coefficient changing along with time, namely the coefficient changing along with time in the third alternating current component and the fourth alternating current component can be removed, so that the partial differential of the second electromagnetic power to the first current phase advance angle is extracted from the third alternating current component and the fourth alternating current component.
In this embodiment, the target dc component is proportional to the partial differential of the second electromagnetic power with respect to the first current phase advance angle, so when the target dc component is equal to zero, the partial differential of the second electromagnetic power with respect to the current phase advance angle is also equal to zero, and by controlling the target dc component to be equal to zero, the permanent magnet synchronous motor can satisfy the maximum torque-current ratio, and the MTPA operating point is obtained.
In an embodiment, the target dc component may be input to a target controller, by which the current phase advance angle may be adjusted such that the target dc component is equal to zero.
The target controller includes, but is not limited to, an integrator, a proportional-integral controller, a neural network model, a fuzzy controller, and the like.
The terminal equipment inputs the target direct-current component into the target controller, the current phase lead angle can be adjusted through the target controller until the target direct-current component is equal to zero, and the permanent magnet synchronous motor meets the maximum torque current ratio when the target direct-current component is equal to zero.
Fig. 4a shows an example of MTPA control based on the real signal injection method, and fig. 4b shows an example of MTPA control based on the dummy signal injection method.
Taking MTPA control of the virtual signal injection method as an example, a process of obtaining an optimal current phase advance angle according to the present application will be described:
the motor model of the permanent magnet synchronous motor in the d-q coordinate system can be defined as follows:
Te＝k[ψm+(Ld-Lq)id]iq (6)
id＝-Iasinβiq＝Iacosβ (7)
wherein v isdRepresenting d-axis stator voltage, idD-axis stator current, v, representing no injected target signalqRepresenting the q-axis stator voltage, iqQ-axis stator current, L, representing no injected target signaldRepresenting d-axis inductance, LqRepresenting the q-axis inductance, R, p and psimRespectively represents the stator resistance, the pole pair number of the permanent magnet and the flux linkage of the permanent magnet, IaAnd beta represents the current amplitude and the first current phase advance angle, omega, respectivelymDenotes the mechanical angular velocity of the rotor, and k denotes the torque coefficient.
When the pm synchronous motor is operating in a steady state, the differential terms in equations (4) and (5) are zero, and ψ can be obtained at this timemAnd Lq，ψmAnd LqRespectively, as follows:
substituting the above equations (8) and (9) into equation (6), the second electromagnetism of the permanent magnet synchronous motor can be expressed as follows:
the target signal is represented as follows:
Δβ＝Asin(ωht) (11)
after injecting the target signal into the first current phase advance angle, the second current phase advance angle may be expressed as β + Δ β, and then the target d-axis stator current and the target q-axis stator current may be expressed as follows:
wherein,
representing the target d-axis stator current,
representing a target q-axis statorThe current is applied.
Based on equation (12), the first electromagnetic power is expressed as follows:
as can be seen from the above equations (11) to (13), the d-axis stator current i based on the measured non-injected target signaldQ-axis stator current i without target signal injectionqD-axis stator voltage vdQ-axis stator voltage vqMechanical angular velocity ω of rotormNominal stator resistance R and d-axis inductance L by table lookup or nominaldThe first electromagnetic power injected into the target signal can be calculated.
The left hand portion of equation (13) (i.e.
) Taylor expansion is performed, which can be expressed as the above formula (1).
The third alternating current component can be extracted from the formula (1), and the third alternating current component is
Retarding the phase of the fourth AC component
A fourth alternating current component can be obtained, the fourth alternating current component being
Using the target observer in FIG. 4b, one can look from the right part of equation (13) (i.e., from the right part of
The first alternating current component and the second alternating current component are extracted.
The relationship between the first alternating current component and the third alternating current component is as described in the above equation (2).
The relationship between the second alternating current component and the fourth alternating current component is as described in the above equation (3).
The first coefficient extracted from the target signal is sin (ω)ht) retarding the phase of the first coefficient to obtain a second coefficient of
The first coefficient is related to the left part of equation (2) (i.e., the first coefficient is related to the left part of equation (2))
) Multiplying to obtain a first product; the second coefficient is related to the left part of equation (3) (i.e., the
) Multiplying to obtain a second product; the first product and the second product are added, and the value obtained after the addition (i.e. the target dc component) is expressed as follows:
where Out represents the target dc component.
The first coefficient is compared with the right part of equation (2) (i.e.
) Multiplying to obtain a third product; the second coefficient is related to the right part of equation (3) (i.e.
) Multiplying to obtain a fourth product; the third product and the fourth product are added, and the value obtained after the addition can be expressed as
As can be seen from the equations (2) and (3), the target DC component Out and the partial differential of the second electromagnetic power to the phase-overshoot angle of the first current phase
The relationship between can be expressed as follows:
as can be seen from equation (15), the partial derivative of the second electromagnetic power with respect to the phase advance angle of the first current is proportional to the target dc component, and the target dc component is controlled to be equal to zero (i.e., the control is performed
Equal to zero) such that the partial differential of the second electromagnetic power over the phase advance angle of the first current is equal to zero, thereby yielding the MTPA operating point.
Fig. 5 is a diagram showing an example of a current phase advance angle optimization control system based on the virtual signal injection method. As shown in FIG. 5, the phase advance angle β of the reference current outputted from the target controller according to the present applicationrefThe reference d-axis stator current i can be calculateddrefAnd reference q-axis stator current iqrefWill refer to d-axis stator current idrefAnd reference q-axis stator current iqrefInputting the current to a proportional-integral controller, and decoupling to obtain d-axis stator current idAnd q-axis stator current iqAnd after coordinate transformation, the data are transmitted to an inverter. The inverter may be a Space Vector Pulse Width Modulation (SVPWM) inverter. Wherein i in FIG. 5aAnd ibIs the stator current in abc coordinates.
Taking the virtual injection method and a driving system of a three-phase permanent magnet synchronous motor as an example, fig. 6a shows an example of the current amplitude, and fig. 6b shows an example of the response curve of the optimal current phase advance angle. Fig. 6a sets the constant current amplitude signal. The response curve in fig. 6b is based on the current magnitude shown in fig. 6 a.
As can be seen from fig. 6b, the time for the MTPA control method to search the MTPA operating point is about 0.52 seconds, the time for the conventional MTPA control method to search the MTPA operating point is about 10.2 seconds, and the MTPA control method of the present application can significantly increase the speed for determining the optimal current phase advance angle.
Taking the dummy injection method as an example, fig. 7a shows another exemplary graph of the current amplitude, and fig. 7b shows another exemplary graph of the response curve of the optimal current phase advance angle. Fig. 7a shows the transition current amplitude signal. The response curve in fig. 7b is based on the current magnitude shown in fig. 7 a.
As can be seen from fig. 7b, the response speed of the conventional MTPA control method is slow and there is a significant overshoot, whereas the response speed of the MTPA control method of the present application is fast and the overshoot is significantly small.
The conventional MTPA control method in fig. 6b and 7b is an MTPA control method using a band-pass filter and a low-pass filter.
According to the embodiment of the application, on the basis of the first embodiment, the first alternating current component and the second alternating current component are obtained through the target observer, and the MTPA working point can be determined by changing the first alternating current component and the second alternating current component through the trigonometric function. In the process, a band-pass filter and a low-pass filter are not needed, so that the calculated amount in the MTPA control process is reduced, the dynamic response speed of MTPA control is improved, the MTPA working point can be quickly determined, the precision is high, and the convergence is stable. Therefore, under the complicated and changeable working condition, the motor driving system can be kept in a good working state, and the energy loss is reduced.
Fig. 8 is a schematic structural diagram of a maximum torque current ratio control device according to a third embodiment of the present application, and for convenience of description, only the portions related to the third embodiment of the present application are shown.
The maximum torque current ratio control device includes:
a signal acquisition module 81 for acquiring a target signal;
the signal injection module 82 is configured to inject a target signal into a first current phase lead angle of the permanent magnet synchronous motor to obtain a second current phase lead angle;
the component determining module 83 is configured to determine a first alternating current component and a second alternating current component according to a second current phase advance angle, where the first alternating current component is an alternating current component in first electromagnetic power of the permanent magnet synchronous motor, the alternating current component having the same frequency as a target signal, the second alternating current component is an identical-frequency alternating current component in which a phase of the first alternating current component lags behind the target angle, and the first electromagnetic power is electromagnetic power injected into the target signal;
and a lead angle adjusting module 84, configured to adjust the first current phase lead angle according to the first ac component and the second ac component, so that the permanent magnet synchronous motor satisfies a maximum torque-current ratio.
In one embodiment, the component determining module 83 includes:
a power determination unit for determining the first electromagnetic power according to the second current phase lead angle;
the power input unit is used for inputting the first electromagnetic power to a target observer to obtain a first alternating current component and a second alternating current component, the target observer comprises a first transfer function and a second transfer function, the first transfer function is a transfer function between the first alternating current component and the first electromagnetic power, and the second transfer function is a transfer function between the second alternating current component and the first electromagnetic power;
wherein,
d(s) denotes a first transfer function, q(s) denotes a second transfer function, ω denotes an observation frequency of the target observer, ξ denotes a damping coefficient, and s denotes a differential operator.
In an embodiment, the power determining unit is specifically configured to:
determining a target d-axis stator current and a target q-axis stator current of the permanent magnet synchronous motor in a d-q coordinate system according to the second current phase advance angle, wherein the target d-axis stator current refers to the d-axis stator current after the target signal is injected, and the target q-axis stator current refers to the q-axis stator current after the target signal is injected;
and determining the first electromagnetic power according to the target d-axis stator current and the target q-axis stator current.
In an embodiment, the target observer further includes a third transfer function, where the third transfer function is a transfer function between the direct current component in the first electromagnetic power and the first electromagnetic power;
wherein,
n(s) represents a third transfer function.
In one embodiment, the maximum torque current ratio control device further includes:
the coefficient determining module is used for determining a first coefficient from the target signal, wherein the first coefficient refers to a coefficient which changes along with time in the target signal;
the lead angle adjustment module 84 is specifically configured to:
and adjusting a first current phase advance angle according to the first coefficient, the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
In one embodiment, the lead angle adjusting module 84 includes:
the coefficient processing unit is used for lagging the phase of the first coefficient by a target angle to obtain a second coefficient;
the first calculation unit is used for calculating the product of the first coefficient and the first alternating current component to obtain a first product;
the second calculation unit is used for calculating the product of the second coefficient and the second alternating current component to obtain a second product;
and the lead angle adjusting unit is used for adjusting the first current phase lead angle according to the first product and the second product so that the permanent magnet synchronous motor meets the maximum torque current ratio.
In one embodiment, the lead angle adjusting unit includes:
the determining subunit is configured to add the first product and the second product, determine that a value obtained after the addition is a target direct-current component, where the target direct-current component is proportional to a partial derivative of a second electromagnetic power of the permanent magnet synchronous motor to a current phase advance angle, and the second electromagnetic power is an electromagnetic power that is not injected into the target signal;
and the adjusting subunit is used for adjusting the first current phase advance angle, so that the target direct-current component is equal to the current phase advance angle when the current phase advance angle is zero, and determining that the permanent magnet synchronous motor meets the maximum torque-current ratio when the target direct-current component is equal to zero.
The maximum torque current ratio control device provided in the embodiment of the present application can be applied to the first method embodiment and the second method embodiment, and for details, reference is made to the description of the first method embodiment and the second method embodiment, and details are not repeated here.
Fig. 9 is a schematic structural diagram of a terminal device according to a fourth embodiment of the present application. As shown in fig. 9, the terminal device 9 of this embodiment includes: one or more processors 90 (only one shown), a memory 91, and a computer program 92 stored in the memory 91 and executable on the processors 90. The steps in the various embodiments of the maximum torque to current ratio control method described above are implemented when the processor 90 executes the computer program 92.
The terminal device 9 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 90, a memory 91. Those skilled in the art will appreciate that fig. 9 is only an example of a terminal device 9 and does not constitute a limitation of the terminal device 9 and may include more or less components than those shown, or combine some of the components, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 90 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 91 may be an internal storage unit of the terminal device 9, such as a hard disk or a memory of the terminal device 9. The memory 91 may also be an external storage device of the terminal device 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the terminal device 9. Further, the memory 91 may also include both an internal storage unit of the terminal device 9 and an external storage device. The memory 91 is used for storing computer programs and other programs and data required by the terminal device. The memory 91 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments described above may be implemented by a computer program, which is stored in a computer readable storage medium and used by a processor to implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
When the computer program product runs on the terminal device, the steps in the method embodiments can be realized when the terminal device executes the computer program product.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A maximum torque current ratio control method, characterized by comprising:
acquiring a target signal;
injecting the target signal into a first current phase lead angle of a permanent magnet synchronous motor to obtain a second current phase lead angle;
determining a first alternating current component and a second alternating current component according to the second current phase advance angle, wherein the first alternating current component refers to an alternating current component with the same frequency as the target signal in the first electromagnetic power of the permanent magnet synchronous motor, the second alternating current component refers to a same-frequency alternating current component with the phase of the first alternating current component lagging by a target angle, and the first electromagnetic power refers to the electromagnetic power injected into the target signal;
and adjusting the first current phase advance angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
2. The maximum torque to current ratio control method of claim 1, wherein said determining a first alternating current component and a second alternating current component based on said second current phase advance angle comprises:
determining the first electromagnetic power according to the second current phase advance angle;
inputting the first electromagnetic power to a target observer to obtain a first alternating current component and a second alternating current component, wherein the target observer comprises a first transfer function and a second transfer function, the first transfer function is a transfer function between the first alternating current component and the first electromagnetic power, and the second transfer function is a transfer function between the second alternating current component and the first electromagnetic power;
wherein,
d(s) represents the first transfer function, q(s) represents the second transfer function, ω represents the observation frequency of the target observer, ξ represents the damping coefficient, and s represents the differential operator.
3. The maximum torque to current ratio control method of claim 2, wherein said determining the first electromagnetic power based on the second current phase advance angle comprises:
determining a target d-axis stator current and a target q-axis stator current of the permanent magnet synchronous motor in a d-q coordinate system according to the second current phase lead angle, wherein the target d-axis stator current refers to the d-axis stator current injected into the target signal, and the target q-axis stator current refers to the q-axis stator current injected into the target signal;
and determining the first electromagnetic power according to the target d-axis stator current and the target q-axis stator current.
4. The maximum torque to current ratio control method according to claim 2, wherein the target observer further includes a third transfer function that is a transfer function between a direct-current component in the first electromagnetic power and the first electromagnetic power;
wherein,
n(s) represents the third transfer function.
5. The maximum torque current ratio control method according to any one of claims 1 to 4, further comprising, before adjusting the first current phase advance angle so that the permanent magnet synchronous motor satisfies a maximum torque current ratio in accordance with the first alternating current component and the second alternating current component:
determining a first coefficient from the target signal, wherein the first coefficient refers to a coefficient which changes along with time in the target signal;
the adjusting the first current phase advance angle according to the first alternating current component and the second alternating current component such that the permanent magnet synchronous motor satisfies a maximum torque current ratio includes:
and adjusting the first current phase advance angle according to the first coefficient, the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
6. The maximum torque current ratio control method according to claim 5, wherein the adjusting the first current phase advance angle so that the permanent magnet synchronous motor satisfies a maximum torque current ratio in accordance with the first coefficient, the first alternating current component, and the second alternating current component includes:
lagging the phase of the first coefficient by the target angle to obtain a second coefficient;
calculating a product of the first coefficient and the first alternating current component to obtain a first product;
calculating a product of the second coefficient and the second alternating current component to obtain a second product;
adjusting the first current phase advance angle according to the first product and the second product so that the permanent magnet synchronous motor satisfies a maximum torque current ratio.
7. The maximum torque to current ratio control method of claim 6, wherein said adjusting the first current phase advance angle based on the first product and the second product such that the permanent magnet synchronous motor satisfies a maximum torque to current ratio comprises:
adding the first product and the second product, and determining that a value obtained after the addition is a target direct-current component, wherein the target direct-current component is in direct proportion to partial differentiation of a second electromagnetic power of the permanent magnet synchronous motor to the phase advance angle of the first current, and the second electromagnetic power is the electromagnetic power which is not injected into the target signal;
adjusting the first current phase advance angle so that the target direct current component is equal to zero, and determining that the permanent magnet synchronous motor meets a maximum torque current ratio when the target direct current component is equal to zero.
8. A maximum torque current ratio control device, characterized by comprising:
the signal acquisition module is used for acquiring a target signal;
the signal injection module is used for injecting the target signal into a first current phase lead angle of the permanent magnet synchronous motor to obtain a second current phase lead angle;
a component determining module, configured to determine a first alternating current component and a second alternating current component according to the second current phase advance angle, where the first alternating current component is an alternating current component in first electromagnetic power of the permanent magnet synchronous motor, the alternating current component having a frequency same as that of the target signal, the second alternating current component is an alternating current component with a same frequency, and a phase of the first alternating current component lags behind the target angle, and the first electromagnetic power is electromagnetic power injected into the target signal;
and the advance angle adjusting module is used for adjusting the first current phase advance angle according to the first alternating current component and the second alternating current component, so that the permanent magnet synchronous motor meets the maximum torque current ratio.
9. A terminal device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the maximum torque to current ratio control method according to any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the maximum torque to current ratio control method according to any one of claims 1 to 7.
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