CN113472170B - Variable magnetic flux permanent magnet synchronous motor, control method and control system - Google Patents
Variable magnetic flux permanent magnet synchronous motor, control method and control system Download PDFInfo
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- CN113472170B CN113472170B CN202110896436.3A CN202110896436A CN113472170B CN 113472170 B CN113472170 B CN 113472170B CN 202110896436 A CN202110896436 A CN 202110896436A CN 113472170 B CN113472170 B CN 113472170B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/02—Details
- H02K21/021—Means for mechanical adjustment of the excitation flux
- H02K21/028—Means for mechanical adjustment of the excitation flux by modifying the magnetic circuit within the field or the armature, e.g. by using shunts, by adjusting the magnets position, by vectorial combination of field or armature sections
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Abstract
The invention provides a variable magnetic flux permanent magnet synchronous motor, a control method and a control system, wherein the variable magnetic flux permanent magnet synchronous motor comprises a rotor assembly and a stator assembly, and further comprises the following steps: the magnetic adjustment controller is characterized in that a low-coercivity permanent magnet is arranged in the rotor assembly, a three-phase winding is arranged in the stator assembly, and the magnetic induction intensity of the low-coercivity permanent magnet is adjusted through the three-phase winding by the magnetic adjustment controller. Therefore, the rotor magnetic field can be adjusted according to the requirement, the work is flexible, the power performance is good, the permanent magnet provides a constant rotor magnetic field during the work, and the energy loss and the heat productivity of the rotor are greatly reduced.
Description
Technical Field
The invention relates to the technical field of motors and control, in particular to a variable magnetic flux permanent magnet synchronous motor, a control method and a control system.
Background
When the alternating current synchronous motor works, the balanced and symmetrical alternating current in the stator winding generates a stator rotating magnetic field, and the stator rotating magnetic field interacts with a rotating magnetic field generated by the rotor to generate torque.
Alternating current synchronous motors are classified into permanent magnet synchronous motors and excitation synchronous motors due to different generation mechanisms of rotor magnetic fields. The former rotor magnetic field is generated by permanent magnets embedded in the rotor, and the latter rotor magnetic field is generated by energizing a direct current with excitation windings wound on rotor laminations.
The permanent magnet synchronous motor has the traditional advantages that once the permanent magnet is magnetized, a constant magnetic field can be generated all the time, no energy loss exists, and the heat productivity of a rotor is low; the disadvantage is that the generated magnetic field is constant and cannot be adjusted. The excitation synchronous motor has the traditional advantages that the magnetic field of the rotor can be controlled by adjusting the current of the excitation winding, so that the motor works more flexibly, and the torque and power performance in the full rotating speed range are better; the disadvantages are that the energizing of the field winding causes electrical loss, reduces efficiency, and the rotor generates heat and is difficult to cool.
Therefore, there is a need to develop new motors that can combine the advantages of both configurations.
Disclosure of Invention
The problem addressed by the present invention is the lack of a motor with low energy losses and an adjustable rotor field.
In order to solve the above problems, the present invention provides a variable flux permanent magnet synchronous motor, including a rotor assembly and a stator assembly, further including: the magnetic adjustment controller is characterized in that a low-coercivity permanent magnet is arranged in the rotor assembly, a three-phase winding is arranged in the stator assembly, and the magnetic induction intensity of the low-coercivity permanent magnet is adjusted through the three-phase winding by the magnetic adjustment controller.
Therefore, the rotor magnetic field can be adjusted according to requirements, the work is flexible, the power performance is good, the permanent magnet is used for providing a constant rotor magnetic field during the work, and the energy loss and the heat productivity of the rotor are greatly reduced.
Preferably, a high-coercivity permanent magnet is further arranged in the rotor assembly and is arranged on the inner side of the low-coercivity permanent magnet.
Preferably, the high coercive force permanent magnet or the low coercive force permanent magnet is arranged on the rotor assembly in a V shape.
Preferably, the stator assembly is provided with stator slots, and the three-phase winding is arranged in the stator slots.
Preferably, the stator assembly and the rotor assembly are arranged at intervals to form an air gap.
Preferably, the variable flux permanent magnet synchronous motor further comprises an inverter, and the three-phase winding is electrically connected with the direct current bus through the inverter.
Secondly, a method for controlling a variable flux permanent magnet synchronous motor is provided, which is used for controlling the variable flux permanent magnet synchronous motor, and comprises the following steps:
acquiring the operating parameters and the working torque of the variable magnetic flux permanent magnet synchronous motor;
determining a target D-axis current and a target Q-axis current according to the operating parameters and the working torque;
and controlling the three-phase winding to operate for a preset pulse time according to the target D-axis current and the target Q-axis current.
Therefore, the rotor magnetic field can be adjusted according to the requirement, the work is flexible, the power performance is good, the permanent magnet provides a constant rotor magnetic field during the work, and the energy loss and the heat productivity of the rotor are greatly reduced.
Preferably, the determining target D-axis current and target Q-axis current according to the operating parameter and the operating torque comprises:
determining the rotating speed of the variable magnetic flux permanent magnet synchronous motor according to the operating parameters;
determining a target rotor magnetic flux, to-be-determined D-axis current and to-be-determined Q-axis current corresponding to the rotating speed and the working torque;
and selecting an optimal combination from the plurality of to-be-determined D-axis currents and the plurality of to-be-determined Q-axis currents as the target D-axis current and the target Q-axis current.
Preferably, the target rotor magnetic flux, the to-be-determined D-axis current and the to-be-determined Q-axis current corresponding to the rotation speed and the working torque are determined by an experimental calibration method.
Preferably, the controlling the three-phase winding to operate for a preset pulse time according to the target D-axis current and the target Q-axis current includes:
reading the current three-phase current and the rotor position of the variable magnetic flux permanent magnet synchronous motor in the operation parameters;
determining the current D-axis current and the current Q-axis current according to the current three-phase current and the rotor position;
and sending a magnetic adjusting pulse to the inverter through a PI (proportional integral) controller according to the current D-axis current, the current Q-axis current, the target D-axis current and the target Q-axis current, wherein the magnetic adjusting pulse lasts for the preset pulse time.
Finally, a variable flux permanent magnet synchronous motor control system is provided, which comprises a computer readable storage medium storing a computer program and a processor, wherein the computer program is read by the processor and executed to implement the variable flux permanent magnet synchronous motor control method.
Therefore, the rotor magnetic field can be adjusted according to the requirement, the work is flexible, the power performance is good, the permanent magnet provides a constant rotor magnetic field during the work, and the energy loss and the heat productivity of the rotor are greatly reduced.
Drawings
FIG. 1 is a schematic structural diagram of a variable flux permanent magnet synchronous machine according to an embodiment of the present invention;
FIG. 2 is a block diagram of a variable flux permanent magnet synchronous machine according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of a variable flux permanent magnet synchronous machine according to an embodiment of the present invention;
FIG. 4 is a graph comparing the magnetization curves of NdFeB and AlNiCo in accordance with embodiments of the present invention;
FIG. 5 is a flow chart of a variable flux permanent magnet synchronous motor control method according to an embodiment of the present invention;
FIG. 6 is a flowchart of a variable flux permanent magnet synchronous motor control method S200 according to an embodiment of the present invention;
fig. 7 is a flowchart of a variable flux permanent magnet synchronous motor control method S300 according to an embodiment of the present invention;
FIG. 8 is a control schematic of a variable flux permanent magnet synchronous machine according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a variable flux permanent magnet synchronous motor control system according to an embodiment of the present invention.
Description of reference numerals:
the method comprises the following steps of 1-a rotor assembly, 11-a low-coercivity permanent magnet, 12-a high-coercivity permanent magnet, 2-a stator assembly, 21-a three-phase winding, 22-a stator slot, 23-an inverter, 3-a magnetic adjusting controller, 4-an air gap and 5-a direct current bus.
Detailed Description
The permanent magnet synchronous motor has the advantages that the permanent magnet can always generate a constant magnetic field which is the characteristic of the permanent magnet, no energy loss exists, and energy is saved; meanwhile, for the permanent magnet in the rotor, the rotor does not generate heat because no energy loss exists, and no energy (magnetic energy) is transferred. It should be noted that, the rotation of the rotor itself may generate friction or other interaction force with the supporting portion or the connecting portion, which may cause the rotor itself to convert the mechanical energy of rotation into heat energy, so that although the permanent magnet does not generate heat due to energy loss, the whole rotor may generate a certain heat generation phenomenon, but the heat generation amount of the rotor is very low due to non-heat generation of the permanent magnet.
However, although the permanent magnet is lossless, the magnetic field of the rotor is constant and does not change due to its characteristics, and the magnetic field cannot be adjusted.
The rotor magnetic field of the excitation motor is generated by electrifying direct current by the excitation winding wound on the rotor lamination, so that the rotor magnetic field can be correspondingly changed by changing the current of the excitation winding; thus, the magnetic field of the rotor can be changed at will, and more flexible working state is achieved; however, because of the rotor magnetic field generated by the excitation winding current, the current will generate loss in terms of electric energy when passing through the excitation winding, and the lost electric energy will be mainly converted into heat energy of the excitation winding, which will cause the rotor to generate heat under the condition of the rotor magnetic field and be difficult to cool correspondingly; in addition, the field winding current causes electrical loss, which also reduces the efficiency of use.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1 and 2, the variable flux permanent magnet synchronous motor includes a rotor assembly 1 and a stator assembly 2, and further includes: the magnetic adjustment controller 3 is characterized in that a low coercive force permanent magnet 11 is arranged in the rotor assembly 1, a three-phase winding 21 is arranged in the stator assembly 2, and the magnetic adjustment controller 3 adjusts the magnetic induction intensity of the low coercive force permanent magnet 11 through the three-phase winding 21.
In this way, the low coercive force permanent magnet 11 is arranged in the rotor assembly 1, the low coercive force permanent magnet 11 provides a constant magnetic field, and the low coercive force permanent magnet 11 serves as a permanent magnet to provide the constant magnetic field under the condition that the constant magnetic field (an adjusting magnetic field) does not need to be changed, so that energy consumption is avoided, energy is saved, and the heat productivity of the rotor is low; when the magnetic field needs to be adjusted, the magnetic induction intensity (residual magnetic intensity) of the low-coercivity permanent magnet 11 is adjusted through the three-phase winding 21, so that a rotor magnetic field meeting requirements is obtained, the motor works more flexibly, and the torque and power performance in the full rotating speed range are better; and the regulated normal working state still can be used as permanent magnet to provide constant rotor magnetic field. Therefore, the rotor magnetic field can be adjusted according to requirements, the work is flexible, the power performance is good, the permanent magnet is used for providing a constant rotor magnetic field during the work, and the energy loss and the heat productivity of the rotor are greatly reduced.
It should be noted that, if only the low coercive force permanent magnet is arranged in the rotor assembly, the low coercive force permanent magnet provides a constant magnetic field; if not only the low coercive force permanent magnet but also the high coercive force permanent magnet are provided in the rotor assembly, a constant magnetic field is provided by the low coercive force permanent magnet and the high coercive force permanent magnet together.
Optionally, a high-coercivity permanent magnet 12 is further disposed in the rotor assembly 1, and the high-coercivity permanent magnet 12 is disposed inside the low-coercivity permanent magnet 11.
For the low-coercivity permanent magnet 11, after the low-coercivity permanent magnet is contacted with a magnetic conducting material, local irreversible demagnetization or magnetic flux distribution deformity is easily caused; therefore, it is necessary to provide the high coercive force permanent magnet 12 in the rotor assembly 1, so that the balance and stability of the entire rotor magnetic field can be maintained, and the problem of magnetic field uncertainty caused by the low coercive force permanent magnet 11 can be reduced or avoided. In addition, the high-coercivity permanent magnet also has the effects of increasing the field intensity and increasing the motor output; the low-coercivity permanent magnet and the high-coercivity permanent magnet act together, wherein the high-coercivity permanent magnet provides a constant rotor magnetic flux component, the low-coercivity permanent magnet provides an adjustable component, and a final constant magnetic field is obtained by superposition of the low-coercivity permanent magnet and the adjustable component.
In addition, it should be noted that the rotor assembly 1 is a circular structure, and the outer side of the rotor assembly surrounds the stator assembly 2; in the application, the residual magnetic strength of the low-coercivity permanent magnet 11 is adjusted by generating a magnetic field for adjusting the magnetic field through the three-phase winding 21 in the stator assembly 2. Therefore, by disposing the high coercive force permanent magnet 12 inside the low coercive force permanent magnet 11, the low coercive force permanent magnet 11 can be made close to the stator assembly 2, and thus the remanence can be adjusted more easily in the case where the three-phase winding 21 generates a magnetic field for adjusting the remanence.
It should be noted that the permanent magnet synchronous motor is a conventional motor, and therefore, other parts which are not improved are not described herein again.
Optionally, the high coercivity permanent magnet 12 or the low coercivity permanent magnet 11 is arranged on the rotor assembly 1 in a V-shape. The V-shaped arrangement can enable the magnetic field of the permanent magnet to point to the outer side of the rotor, so that a better effect of cutting magnetic induction lines by a rotating magnetic field is achieved.
Wherein, the high coercive force permanent magnet 12 forms a V shape in an even number of symmetrical arrangement modes; the symmetrical arrangement can ensure that the distribution (magnetic field distribution) of the magnetic induction lines forms corresponding regularity, thereby forming a uniform rotor magnetic field.
Optionally, the stator assembly 2 is provided with a stator slot 22, and the three-phase winding 21 is disposed in the stator slot 22.
Optionally, the stator assembly 2 and the rotor assembly 1 are spaced apart from each other to form an air gap 4. Through the air gap 4, no contact between the stator assembly 2 and the rotor assembly 1 can be made, thereby avoiding the generation of resistance to the rotation of the rotor. In addition, the width of the air gap 4 is extremely small, so that the distance between the rotating magnetic field of the rotor and the rotating magnetic field of the stator can be shorter (the distance between the cores of the two magnetic fields), the attenuation of the magnetic field intensity is reduced, and the efficiency of cutting the magnetic induction lines (the current generated by cutting is related to the magnetic field intensity) is improved.
Optionally, the variable-flux permanent magnet synchronous motor further includes an inverter 23, and the three-phase winding 21 is electrically connected to the dc bus 5 through the inverter 23. Thus, the inverter 23 adjusts the three-phase current, and the control precision is improved.
It should be noted that fig. 2 and 3 illustrate an 8-pole 24-slot motor, but the present invention can also be used in other common slot configurations.
In fig. 2 and 3, the magnetic steels in the rotor structure are arranged in a double-layer V shape, wherein the inner layer magnetic steel close to the center of the circle is made of a high coercive force material (such as neodymium iron boron NdFeB), and the outer layer magnetic steel is made of a low coercive force material (such as AlNiCo).
As shown in fig. 4, the magnetization curve pair of ndfeb and alnico is shown in fig. 4. The cliff type falling down is a magnetization curve of alnico, so that alnico can be magnetized and demagnetized only by applying a small external magnetic field, and the magnetization state of the neodymium iron boron material is difficult to change.
After the inner layer magnetic steel (high coercivity permanent magnet 12) is magnetized and mounted in the rotor lamination, the magnetization state of the motor is kept unchanged during operation. After the outer layer magnetic steel (the low coercive force permanent magnet 11) is installed in the rotor lamination, the magnetization state of the outer layer magnetic steel can be dynamically adjusted in real time by the inverter 23 and the magnetism adjusting controller 3 according to the current operation state and by selecting the optimal magnetization state.
Therefore, the permanent magnet is embedded in the rotor, so that the permanent magnet has no energy loss, low heat generation and high efficiency when in operation as the traditional permanent magnet synchronous motor. The high coercive force and low coercive force permanent magnets 11 are matched and arranged on the rotor in a mixed mode, the magnetic field intensity of the low coercive force permanent magnets 11 is dynamically changed by using the magnetic adjusting pulse, and the strength of the magnetic field of the rotor can be controlled, so that the rotor has the advantage that the magnetic field of the rotor of a traditional excitation synchronous motor can be adjusted, the motor works flexibly, and the torque and power performance in the full rotating speed range are excellent.
The embodiment of the disclosure provides a control method of a variable magnetic flux permanent magnet synchronous motor, which is used for controlling the variable magnetic flux permanent magnet synchronous motor; the method may be performed by a flux controller or a variable flux permanent magnet synchronous motor control system, and the flux controller may be integrated in an electronic device such as a variable flux permanent magnet synchronous motor, a variable flux permanent magnet synchronous motor control system, or the like. As shown in fig. 5, the variable flux permanent magnet synchronous motor control method includes:
s100, acquiring the operating parameters and the working torque of the variable magnetic flux permanent magnet synchronous motor;
s200, determining a target D-axis current and a target Q-axis current according to the operation parameters and the working torque;
and S300, controlling the three-phase winding to operate for a preset pulse time according to the target D-axis current and the target Q-axis current.
For the control process, it is necessary to explain in conjunction with the schematic diagram shown in fig. 8.
In this way, the required rotor magnetic flux (the rotor magnetic flux has corresponding target D-axis current and target Q-axis current) can be determined according to the working torque and the operation parameters, so that the three-phase winding is controlled to operate according to the target D-axis current and the target Q-axis current to generate a magnetic field for adjusting the remanence of the low-coercivity permanent magnet of the rotor, and a preset value of the remanence of the low-coercivity permanent magnet of the rotor is changed.
Wherein, the operation parameters of the variable magnetic flux permanent magnet synchronous motor can comprise: instantaneous values of the three-phase current at the current moment, three-phase voltages at the current moment, a rotor position of the rotor at the current moment and the like.
The working torque can be the torque of the whole variable magnetic flux permanent magnet synchronous motor at the current moment, and is obtained by measuring through a torque sensor and the like; the torque required to be applied by the variable-flux permanent magnet synchronous motor can also be obtained by presetting and the like.
Here, the operating torque and the load of the variable-flux permanent magnet synchronous motor have a correspondence relationship, and when one of the operating torque and the load is known, the other is calculated.
The three-phase winding is controlled to operate for a preset pulse time according to the target D-axis current and the target Q-axis current, and after the three-phase winding operates according to the target D-axis current and the target Q-axis current, a corresponding magnetic regulating magnetic field can be generated, so that the low-coercivity permanent magnet is subjected to magnetic regulation; after the preset pulse time, the magnetic adjustment is stopped, and the residual magnetic strength (magnetic induction strength) of the low-coercivity permanent magnet is adjusted to a corresponding value.
Optionally, as shown in fig. 6, the determining, at S200, a target D-axis current and a target Q-axis current according to the operating parameter and the operating torque includes:
s210, determining the rotating speed of the variable magnetic flux permanent magnet synchronous motor according to the operation parameters;
s220, determining a target rotor magnetic flux, to-be-determined D-axis current and to-be-determined Q-axis current corresponding to the rotating speed and the working torque;
and S230, selecting an optimal combination from the plurality of to-be-determined D-axis currents and the to-be-determined Q-axis currents as the target D-axis current and the target Q-axis current.
In the case of a variable flux permanent magnet synchronous motor, when the rotation speed of the rotor and the torque (operating torque) of the rotor are determined, the rotor flux of the rotor is also determined to be unchanged, so that the rotation speed of the rotor can be preferentially calculated through the operating parameters, and the required rotor flux, that is, the target rotor flux, can be determined.
The calculation method of the rotor magnetic flux is as follows:
wherein the content of the first and second substances,
is the generator phase voltage, R ph Is the generator phase resistance, L d ，L q Is the phase inductance of the generator,
and
is D, Q axis current, omega re Is the angular speed of the generator rotor, Λ PM Is the rotor flux corresponding to the permanent magnet.
Here, it should be noted that, for a certain rotor magnetic flux of the rotor, there is not only one target D-axis current and target Q-axis current corresponding thereto, but there are a plurality of target D-axis currents and target Q-axis currents corresponding thereto. That is, one rotor flux corresponds to a combination of a plurality of target D-axis currents and a target Q-axis current.
The optimum combination may be evaluated based on the operating efficiency, power factor, or corresponding voltage of the combination of the target D-axis current and the target Q-axis current, so that the combination with the highest efficiency, the highest power factor, and the lowest voltage may be regarded as the optimum combination. One or more of the above or other indicators may be selected to determine the selection of the optimal combination, as long as it can meet specific requirements.
Optionally, in step S220, the target rotor magnetic flux, the to-be-determined D-axis current, and the to-be-determined Q-axis current, which correspond to the rotation speed and the working torque, are determined by an experimental calibration method.
If an experimental calibration method is used, the whole working rotating speed and working torque range of the motor should be traversed. The motor to be calibrated is installed on the test bench, the input shaft is connected with the test bench motor, and the test bench motor works in a constant rotating speed control mode. For a given certain rotation speed and torque, the combination of current and rotor flux (target D-axis current, target Q-axis current, target rotor flux) that can satisfy the rotation speed and torque is tested. And selecting the optimal combination from all available combinations and storing the optimal combination in a database.
In the experimental calibration, the rotation speed and the torque of the rotor may be divided into a plurality of values, and each rotation speed-torque combination is measured one by one, so as to obtain a corresponding database. The optimal combination can be stored in a plurality of indexes, the indexes are selected according to the actual condition during specific reading, the current of the D shaft to be determined and the current of the Q shaft to be determined can be obtained, and the optimal combination is selected after reading.
In addition, since the rotation speed and the torque of the rotor are divided into a plurality of independent numerical values, when the database is read, the current rotation speed and torque data may not exist in the database, and only similar data exists; at this time, the rotation speed and the torque can form a grid through the traversed values, and the current rotation speed and the current torque data are determined to which data of the database correspond in an interpolation approximation mode.
Optionally, in S220, the target rotor magnetic flux, the to-be-determined D-axis current, and the to-be-determined Q-axis current corresponding to the rotation speed and the working torque are determined through electromagnetic finite element simulation.
If electromagnetic finite element simulation is used, theoretical calculation (such as electromagnetic finite element simulation) can be used, the optimal working point is solved for given rotating speed and torque, and a database is established. The specific solving method is not described again.
Optionally, as shown in fig. 7, in step S300, controlling the three-phase winding to operate for a preset pulse time according to the target D-axis current and the target Q-axis current includes:
s310, reading the current three-phase current and the rotor position of the variable magnetic flux permanent magnet synchronous motor in the operation parameters;
s320, determining the current D-axis current and the current Q-axis current according to the current three-phase current and the rotor position;
and S330, sending a magnetic adjusting pulse to the inverter through the PI controller according to the current D-axis current, the current Q-axis current, the target D-axis current and the target Q-axis current, wherein the magnetic adjusting pulse lasts for the preset pulse time.
In S320, the read three-phase current instantaneous values and the rotor position are converted into D-axis and Q-axis currents in a rotor reference system by using the following formulas:
wherein i a ，i b ，i c Is the instantaneous value of the three-phase current, theta, measured by the current sensor r Is the rotor position measured by the rotor position sensor, P is the generator pole number,
and
d-axis and Q-axis currents in the rotor reference system are obtained through calculation. D and Q axis voltages from three-phase voltage to rotor reference system
And
the same applies to the transformation of (1).
Here, as can be seen from fig. 8, for the final target current control, it is necessary to first determine the field weakening control current, the present D-axis current and the present Q-axis current, and the target D-axis current and the target Q-axis current, so that accurate control can be performed. However, it should be noted that the magnitude of the weak magnetic control current is very small, and therefore, it is much smaller than the target D-axis current and the target Q-axis current, so that the weak magnetic control current may not be considered when performing the magnetic adjustment control.
In addition, the control process not only comprises a magnetic regulation control stage, but also comprises the control of the normal operation state of the variable magnetic flux permanent magnet synchronous motor after the magnetic regulation is finished, and under the control condition, the magnetic regulation current (the target D-axis current and the target Q-axis current in the application) is set to be 0, so that the influence on the normal operation state is avoided.
Therefore, the low-coercivity permanent magnet is arranged in the rotor assembly and is used for providing a constant magnetic field, and the low-coercivity permanent magnet is used as the permanent magnet to provide the constant magnetic field under the condition that the constant magnetic field (an adjusting magnetic field) does not need to be changed, so that energy consumption is avoided, energy is saved, and the heat productivity of the rotor is low; when the magnetic field needs to be adjusted, the magnetic induction intensity (residual magnetic intensity) of the low-coercivity permanent magnet is adjusted through the three-phase winding, so that a rotor magnetic field meeting requirements is obtained, the motor works more flexibly, and the torque and power performance are better in the full rotating speed range; and the regulated normal working state still can be used as permanent magnet to provide constant rotor magnetic field. Therefore, the rotor magnetic field can be adjusted according to the requirement, the work is flexible, the power performance is good, the permanent magnet provides a constant rotor magnetic field during the work, and the energy loss and the heat productivity of the rotor are greatly reduced.
Having described the internal functions and structure of the variable-flux permanent magnet synchronous motor, as shown in fig. 9, in practice, the variable-flux permanent magnet synchronous motor may be implemented as a variable-flux permanent magnet synchronous motor control system including: the control method comprises a processor and a memory, wherein the memory stores a control program, and the control program realizes the control method of the variable magnetic flux permanent magnet synchronous motor when being executed by the processor.
Therefore, the low-coercivity permanent magnet is arranged in the rotor assembly and is used for providing a constant magnetic field, and the low-coercivity permanent magnet is used as the permanent magnet to provide the constant magnetic field under the condition that the constant magnetic field (an adjusting magnetic field) does not need to be changed, so that energy consumption is avoided, energy is saved, and the heat productivity of the rotor is low; when the magnetic field needs to be adjusted, the magnetic induction intensity (residual magnetic intensity) of the low-coercivity permanent magnet is adjusted through the three-phase winding, so that a rotor magnetic field meeting the requirement is obtained, the motor works more flexibly, and the torque and power performance in the full rotating speed range are better; and the regulated normal working state still can be used as permanent magnet to provide constant rotor magnetic field. Therefore, the rotor magnetic field can be adjusted according to the requirement, the work is flexible, the power performance is good, the permanent magnet provides a constant rotor magnetic field during the work, and the energy loss and the heat productivity of the rotor are greatly reduced.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. The variable magnetic flux permanent magnet synchronous motor control method is used for controlling a variable magnetic flux permanent magnet synchronous motor and is characterized in that the variable magnetic flux permanent magnet synchronous motor comprises a rotor assembly, a stator assembly and a magnetic regulation controller, wherein a low coercive force permanent magnet and a high coercive force permanent magnet are arranged in the rotor assembly, the high coercive force permanent magnet and the low coercive force permanent magnet are arranged on the rotor assembly in a V shape, the high coercive force permanent magnet is arranged on the inner side of the low coercive force permanent magnet, the low coercive force permanent magnet is not parallel to the adjacent high coercive force permanent magnet, a three-phase winding is arranged in the stator assembly, and the magnetic regulation controller regulates the magnetic induction intensity of the low coercive force permanent magnet through the three-phase winding; the variable flux permanent magnet synchronous motor control method comprises the following steps:
s100, acquiring the operating parameters and the working torque of the variable magnetic flux permanent magnet synchronous motor;
s200, determining a target D-axis current and a target Q-axis current according to the operation parameters and the working torque, and specifically comprising the following steps:
s210, determining the rotating speed of the variable magnetic flux permanent magnet synchronous motor according to the operating parameters;
s220, determining a target rotor magnetic flux, an undetermined D-axis current and a to-be-determined Q-axis current corresponding to the rotating speed and the working torque, wherein the target rotor magnetic flux, the undetermined D-axis current and the to-be-determined Q-axis current are determined by an experimental calibration method;
s230, selecting an optimal combination from the undetermined D-axis current and the undetermined Q-axis current as the target D-axis current and the target Q-axis current;
s300, controlling the three-phase winding to operate for a preset pulse time according to the target D-axis current and the target Q-axis current, and specifically comprising the following steps:
s310, reading the current three-phase current and the rotor position of the variable magnetic flux permanent magnet synchronous motor in the operation parameters;
s320, determining the current D-axis current and the current Q-axis current according to the current three-phase current and the rotor position;
and S330, sending a magnetic adjusting pulse to the inverter through a PI controller according to the current D-axis current, the current Q-axis current, the target D-axis current and the target Q-axis current, wherein the magnetic adjusting pulse lasts for the preset pulse time.
2. The variable flux permanent magnet synchronous motor control method of claim 1, wherein stator slots are provided on the stator assembly, and the three phase windings are disposed in the stator slots.
3. The variable flux permanent magnet synchronous machine control method of claim 1, wherein the stator assembly and the rotor assembly are spaced apart to form an air gap.
4. The variable flux permanent magnet synchronous motor control method of claim 1, further comprising an inverter through which the three-phase winding is electrically connected to a dc bus.
5. A variable flux permanent magnet synchronous motor control system comprising a computer readable storage medium storing a computer program and a processor, the computer program being read and executed by the processor to implement the variable flux permanent magnet synchronous motor control method according to any one of claims 1 to 4.
Priority Applications (1)
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| CN1707911A (en) * | 2005-05-18 | 2005-12-14 | 天津大学 | Built-in mixed rotor magnetic circuit structural controllable flux permanent magnetic synchronous machine |
| CN111697899A (en) * | 2020-06-11 | 2020-09-22 | 华中科技大学 | Closed-loop control method and system for magnetizing state of variable flux permanent magnet motor |
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| CN109980878A (en) * | 2019-04-08 | 2019-07-05 | 哈尔滨工业大学 | The U-shaped series-parallel adjustable flux permanent magnet synchronous motor of mixed magnetic circuit of internal type V- |
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| CN111697899A (en) * | 2020-06-11 | 2020-09-22 | 华中科技大学 | Closed-loop control method and system for magnetizing state of variable flux permanent magnet motor |
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