CN113489401A - Control device and method for six-phase permanent magnet synchronous motor and six-phase permanent magnet synchronous motor system - Google Patents
Control device and method for six-phase permanent magnet synchronous motor and six-phase permanent magnet synchronous motor system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a control device and a control method of a six-phase permanent magnet synchronous motor and a six-phase permanent magnet synchronous motor system, wherein the device comprises: the device comprises a high-speed current detection module, a rotor position detection module and a current processing module; the current processing module is electrically connected with the high-speed current detection module and the rotor position detection module respectively; the current processing module is used for performing space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquiring the current angle of the rotor output by the rotor position detection module, and generating a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive. Therefore, by adopting the embodiment of the application, the full decoupling control of six-phase electricity can be realized, and the engineering realization difficulty of the six-phase permanent magnet synchronous motor controller is greatly reduced.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a six-phase permanent magnet synchronous motor control device and method and a six-phase permanent magnet synchronous motor system.
Background
With the continuous development of motors and control technologies thereof, the multiphase variable frequency driving control technology is mature day by day, and in recent years, new energy technologies have attracted great interest. As a motor control device that converts renewable energy into mechanical energy, a motor controller has a wide application prospect, such as a new energy automobile drive system. For controlling the current and torque of a dual-three-phase PMSM (permanent magnet synchronous motor), a conventional dual-d-q-axis six-phase PMSM control method is mostly adopted. However, the conventional dual d-q axis control method has difficulty in achieving effective suppression of harmonic components.
Disclosure of Invention
The embodiment of the application provides a control device and a control method for a six-phase permanent magnet synchronous motor. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present application provides a control device for a six-phase permanent magnet synchronous motor, where the device includes:
the device comprises a high-speed current detection module, a rotor position detection module and a current processing module; wherein,
the current processing module is respectively and electrically connected with the high-speed current detection module and the rotor position detection module;
the current processing module is used for performing space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquiring the current angle of the rotor output by the rotor position detection module, and generating a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive.
Optionally, the high-speed current detection module is configured to collect six-phase currents at an input end of the six-phase permanent magnet synchronous motor;
and the rotor position detection module is used for detecting the position of the rotor in the six-phase permanent magnet synchronous motor and outputting the current angle of the rotor according to the position of the rotor.
Optionally, the current processing module includes a space vector decoupling transformation submodule, a Park transformation submodule, a controller submodule, a matrix transformation submodule, an iPark transformation submodule, a space vector pulse width modulation submodule, and a six-phase inverter;
the space vector decoupling conversion submodule, the Park conversion submodule, the controller submodule, the matrix conversion submodule, the iPad conversion submodule, the space vector pulse width modulation submodule and the six-phase inverter are electrically connected in sequence.
Optionally, the rotor position detection module is electrically connected to the Park transformation submodule and the iPark transformation submodule respectively; and the rotor position detection module is mechanically connected with the six-phase permanent magnet synchronous motor.
Optionally, the space vector decoupling transformation submodule is configured to transform the six-phase current to two perpendicular stationary coordinate systems, and output a space vector of the first coordinate system and a space vector of the second coordinate system;
the Park transformation submodule is used for acquiring the current angle of the rotor sent by the rotor position detection module, carrying out Park transformation on the space vector of the first coordinate system and the space vector of the second coordinate system according to the current angle and outputting two groups of current vectors under a rotating coordinate system;
the controller submodule is used for generating two groups of first voltage vectors according to the two groups of current vectors;
the matrix transformation submodule is used for performing matrix transformation on the two groups of first voltage vectors to generate two groups of second voltage vectors under a rotating coordinate system;
the iPadk transformation submodule is used for obtaining the current angle of the rotor sent by the rotor position detection module, and carrying out iPadk transformation on the two groups of second voltage vectors under the rotating coordinate system according to the current angle to generate two groups of second voltage vectors under the static coordinate system;
the space vector pulse width modulation submodule is used for carrying out space vector pulse width modulation on two groups of second voltage vectors under a static coordinate system to generate two groups of PWM signals, wherein each group of the two groups of PWM signals comprises 3 paths of PWM signals;
and the six-phase inverter is used for generating power signals according to the two groups of PWM signals to control the six-phase permanent magnet synchronous motor to drive.
Optionally, the controller sub-module includes a current controller and a harmonic controller; wherein,
the current controller is used for generating a group of first voltage vectors according to a first group of current vectors in the two groups of current vectors;
and the harmonic controller is used for generating another group of first voltage vectors according to the second group of current vectors in the two groups of current vectors.
Optionally, the space vector pulse width modulation submodule includes a first space vector pulse width modulation unit and a second space vector pulse width modulation unit; wherein,
the first space vector pulse width modulation unit is used for carrying out space vector pulse width modulation on a first group of voltage vectors in the two groups of second voltage vectors to generate a group of PWM signals;
and the second space vector pulse width modulation unit is used for carrying out space vector pulse width modulation on the second group of voltage vectors in the two groups of second voltage vectors to generate another group of PWM signals.
Optionally, the high-speed current detection module is a resistance-type current sensor.
In a second aspect, an embodiment of the present application provides a method for controlling a six-phase permanent magnet synchronous motor, where the method includes:
the high-speed current detection module collects six-phase current at the input end of the six-phase permanent magnet synchronous motor;
the rotor position detection module detects the position of a rotor in the six-phase permanent magnet synchronous motor and outputs the current angle of the rotor according to the position of the rotor;
the current processing module performs space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquires the current angle of the rotor output by the rotor position detection module, and generates a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive.
In a second aspect, an embodiment of the present application provides a six-phase permanent magnet synchronous motor system, which includes:
a six-phase permanent magnet synchronous motor; and
the control device of a six-phase permanent magnet synchronous motor according to any one of claims 1 to 8, the control device of the six-phase permanent magnet synchronous motor being configured to control the six-phase permanent magnet synchronous motor to be driven.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the embodiment of the application, a control device of a six-phase permanent magnet synchronous motor collects six-phase current at the input end of the six-phase permanent magnet synchronous motor through a high-speed current detection module, then the rotor position detection module is adopted to detect the rotor position in the six-phase permanent magnet synchronous motor, the current angle of a rotor is output according to the rotor position, finally, a current processing module is adopted to perform space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, the current angle of the rotor output by the rotor position detection module is obtained, and a power signal is generated based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive. The current processing module comprises a space vector decoupling conversion submodule, a Park conversion submodule, a controller submodule, a matrix conversion submodule, an iPad conversion submodule, a space vector pulse width modulation submodule and a six-phase inverter. By adopting the embodiment of the application, the following effects can be achieved, (1) the current control frequency can be obviously improved through the sampling of the high-speed current sampling module, and the harmonic components of the six-phase PMSM can be obviously reduced, (2) the full decoupling control of the six-phase power can be realized through the combination of the space vector decoupling transformation submodule and the three-phase space vector pulse width modulation submodule, and the engineering realization difficulty of the six-phase PMSM controller is greatly reduced; (3) the voltage utilization rate of the six-phase PMSM can be improved by using the three-phase space vector pulse width modulation submodule, (4) the harmonic control efficiency of the six-phase motor can be effectively improved by using the harmonic controller, and the harmonic of the six-phase motor is reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic device diagram of a control device of a six-phase permanent magnet synchronous motor according to an embodiment of the present application;
fig. 2 is a schematic diagram of a transformation matrix in an application scenario according to an embodiment of the present application;
fig. 3 is a method schematic diagram of a control method of a six-phase permanent magnet synchronous motor according to an embodiment of the present application.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Referring to fig. 1, fig. 1 is a schematic diagram of a control apparatus of a six-phase permanent magnet synchronous motor according to an embodiment of the present disclosure, where the apparatus includes a high-speed current detection module, a rotor position detection module, and a current processing module; the current processing module is electrically connected with the high-speed current detection module and the rotor position detection module respectively; the current processing module is used for performing space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquiring the current angle of the rotor output by the rotor position detection module, and generating a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive.
Specifically, the high-speed current detection module is used for collecting six-phase current at the input end of the six-phase permanent magnet synchronous motor; and the rotor position detection module is used for detecting the position of the rotor in the six-phase permanent magnet synchronous motor and outputting the current angle of the rotor according to the position of the rotor.
Specifically, the current processing module comprises a space vector decoupling conversion submodule, a Park conversion submodule, a controller submodule, a matrix conversion submodule, an iPad conversion submodule, a space vector pulse width modulation submodule and a six-phase inverter; the space vector decoupling conversion submodule, the Park conversion submodule, the controller submodule, the matrix conversion submodule, the iPad conversion submodule, the space vector pulse width modulation submodule and the six-phase inverter are electrically connected in sequence.
Specifically, the rotor position detection module is electrically connected with the Park transformation submodule and the iPad transformation submodule respectively; and the rotor position detection module is mechanically connected with the six-phase permanent magnet synchronous motor.
Specifically, the space vector decoupling transformation submodule is used for transforming the six-phase current to two mutually perpendicular stationary coordinate systems and outputting a first coordinate system space vector and a second coordinate system space vector; the Park transformation submodule is used for acquiring the current angle of the rotor sent by the rotor position detection module, carrying out Park transformation on the space vector of the first coordinate system and the space vector of the second coordinate system according to the current angle and outputting two groups of current vectors under a rotating coordinate system; the controller submodule is used for generating two groups of first voltage vectors according to the two groups of current vectors; the matrix transformation submodule is used for performing matrix transformation on the two groups of first voltage vectors to generate two groups of second voltage vectors under a rotating coordinate system; the iPadk transformation submodule is used for obtaining the current angle of the rotor sent by the rotor position detection module, and carrying out iPadk transformation on the two groups of second voltage vectors under the rotating coordinate system according to the current angle to generate two groups of second voltage vectors under the static coordinate system; the space vector pulse width modulation submodule is used for carrying out space vector pulse width modulation on two groups of second voltage vectors under a static coordinate system to generate two groups of PWM signals, wherein each group of the two groups of PWM signals comprises 3 paths of PWM signals; and the six-phase inverter is used for generating power signals according to the two groups of PWM signals to control the six-phase permanent magnet synchronous motor to drive.
Specifically, the controller submodule comprises a current controller and a harmonic controller; the current controller is used for generating a group of first voltage vectors according to a first group of current vectors in the two groups of current vectors; and the harmonic controller is used for generating another group of first voltage vectors according to the second group of current vectors in the two groups of current vectors.
Specifically, the space vector pulse width modulation submodule includes a first space vector pulse width modulation unit and a second space vector pulse width modulation unit; the first space vector pulse width modulation unit is used for carrying out space vector pulse width modulation on a first group of voltage vectors in the two groups of second voltage vectors to generate a group of PWM signals; and the second space vector pulse width modulation unit is used for carrying out space vector pulse width modulation on the second group of voltage vectors in the two groups of second voltage vectors to generate another group of PWM signals.
Specifically, the high-speed current detection module is a resistance-type current sensor.
Specifically, the Park transformation submodule includes a first Park unit and a second Park unit, the first Park unit is used for processing a set of currents output by the space vector decoupling transformation submodule, and the second Park unit is used for processing another set of currents output by the space vector decoupling transformation submodule.
Specifically, the iPark transformation submodule comprises a first iPark unit and a second iPark unit, the first iPark unit is used for processing a group of voltages output by the matrix transformation submodule, and standard iPark transformation is performed when the first iPark unit processes a group of voltages output by the matrix transformation submodule:
the second iPark unit is used for processing another group of voltages output by the matrix transformation submodule, and the second iPark unit performs phase shift 30-degree iPark transformation when processing another group of voltages output by the matrix transformation submodule:
for example, a high-speed current detection module samples a current signal of a six-phase permanent magnet synchronous motor to obtain ia, ib, ic, ix, iy, iz six-phase currents, and transmits the six-phase currents to a space vector decoupling transformation submodule, where a transformation matrix in an application scenario is as shown in fig. 2, and the space vector decoupling transformation submodule transforms the six-phase currents to two perpendicular stationary coordinate systems: an alpha-beta coordinate system and an x-y coordinate system, and outputs i alpha, i beta current and ix, iy current.
And the Park conversion sub-module receives the i alpha and i beta currents and the ix and iy currents, acquires the current angle of the rotor sent by the rotor position detection module, respectively converts the i alpha and i beta currents and the ix and iy currents according to the current angle, and respectively outputs the id and iq currents and the idx and iqy currents in a rotating coordinate system.
And a current controller in the controller submodule receives id and iq currents and outputs voltages Ud and Uq under a rotating coordinate system, and a harmonic controller in the controller submodule receives idx and iqy currents and outputs voltages Udx and Uqy under the rotating coordinate system. The voltages Ud, Uq and Udx, Uqy are thus available.
Inputting the voltage Ud and Uq and the voltage Udx and Uqy into a transformation matrix of a matrix transformation submodule, wherein the matrix in the matrix transformation submodule is as follows:
and outputting rotating coordinate system voltages Ud _ xyz and Uq _ xyz and voltages Ud _ abc and Uq _ abc. And the iPark conversion sub-module receives the voltages Ud _ xyz and Uq _ xyz and the voltages Ud _ abc and Uq _ abc, acquires the current angle of the rotor sent by the rotor position detection module, performs iPark conversion on the voltages Ud _ xyz and Uq _ xyz, the voltages Ud _ abc and Uq _ abc according to the current angle, and outputs the voltages Ualpha _ xyz and Ubeta _ abc of the stationary coordinate system.
Note that iPark transformation of the voltages Ud _ abc and Uq _ abc by the first iPark unit is standard transformation, and iPark transformation of the voltages Ud _ xyz and Uq _ xyz by the second iPark unit is phase-shifted by 30 °.
Voltages Ualpha _ xyz and Ubeta _ xyz and voltages Ualpha _ abc and Ubeta _ abc under a static coordinate system are respectively input to a first SVPWM pulse width modulation unit and a second SVPWM pulse width modulation unit in a space vector pulse width modulation submodule, and the first SVPWM pulse width modulation unit and the second SVPWM pulse width modulation unit respectively output three paths of PWM signals Sa, Sb, Sc, Sx, Sy and Sz (six paths in total).
And inputting six paths of PWM signals Sa, Sb, Sc, Sx, Sy and Sz into a six-phase inverter, and sending output power signals of the six-phase inverter to a six-phase permanent magnet synchronous motor to realize the driving of the six-phase permanent magnet synchronous motor.
In the embodiment of the application, a control device of a six-phase permanent magnet synchronous motor collects six-phase current at the input end of the six-phase permanent magnet synchronous motor through a high-speed current detection module, then the rotor position detection module is adopted to detect the rotor position in the six-phase permanent magnet synchronous motor, the current angle of a rotor is output according to the rotor position, finally, a current processing module is adopted to perform space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, the current angle of the rotor output by the rotor position detection module is obtained, and a power signal is generated based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive. The current processing module comprises a space vector decoupling conversion submodule, a Park conversion submodule, a controller submodule, a matrix conversion submodule, an iPad conversion submodule, a space vector pulse width modulation submodule and a six-phase inverter. By adopting the embodiment of the application, the following effects can be achieved, (1) the current control frequency can be obviously improved through the sampling of the high-speed current sampling module, and the harmonic components of the six-phase PMSM can be obviously reduced, (2) the full decoupling control of the six-phase power can be realized through the combination of the space vector decoupling transformation submodule and the three-phase space vector pulse width modulation submodule, and the engineering realization difficulty of the six-phase PMSM controller is greatly reduced; (3) the voltage utilization rate of the six-phase PMSM can be improved by using the three-phase space vector pulse width modulation submodule, (4) the harmonic control efficiency of the six-phase motor can be effectively improved by using the harmonic controller, and the harmonic of the six-phase motor is reduced.
The embodiment of the application provides a six-phase permanent magnet synchronous motor system, which comprises a six-phase permanent magnet synchronous motor; and a control device of the six-phase permanent magnet synchronous motor shown in fig. 1, the control device of the six-phase permanent magnet synchronous motor being used for controlling the six-phase permanent magnet synchronous motor to drive.
Referring to fig. 3, a schematic flow chart of a control method applied to a six-phase permanent magnet synchronous motor is provided for the embodiment of the present application. As shown in fig. 3, the method of the embodiment of the present application may include the following steps:
s101, a high-speed current detection module collects six-phase current at the input end of a six-phase permanent magnet synchronous motor;
s102, a rotor position detection module detects the position of a rotor in the six-phase permanent magnet synchronous motor and outputs the current angle of the rotor according to the position of the rotor;
in one embodiment, the rotor detecting device may employ a conventional rotor detecting apparatus having a function of detecting the current angle of the rotor.
And S103, the current processing module performs space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquires the current angle of the rotor output by the rotor position detection module, and generates a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive.
In a possible implementation mode, the input end of the high-speed current detection module is connected to the six-phase PMSM, the current is detected, the detected current is transmitted to the space vector decoupling transformation submodule after being detected by the high-speed current, and the space vector decoupling transformation submodule is converted to obtain an alpha-beta space vector and an x-y space vector, namely a static coordinate system; inputting an alpha-beta space vector and an x-y space vector into a Park transformation submodule to be converted into two independent rotating coordinate systems, respectively using a current controller and a harmonic controller in the rotating coordinate system to output two first voltage vectors, obtaining two second voltage vectors of a rotating coordinate system of a double winding through a transformation matrix in a matrix transformation submodule, respectively inputting the two second voltage vectors in the rotating coordinate system into two SVPWM in a space vector pulse width modulation submodule to output two groups of PWM signals (three PWM signals in each group), respectively inputting the two groups of PWM signals into two inverters, and outputting modulation signals to a six-phase PMSM by the two inverters to realize the control of the six-phase PMSM.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware that is related to instructions of a computer program, and the program can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.
Claims (10)
1. A control device of a six-phase permanent magnet synchronous motor, characterized by comprising:
the device comprises a high-speed current detection module, a rotor position detection module and a current processing module; wherein,
the current processing module is respectively and electrically connected with the high-speed current detection module and the rotor position detection module;
the current processing module is used for performing space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquiring the current angle of the rotor output by the rotor position detection module, and generating a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive.
2. The control device of a six-phase permanent magnet synchronous motor according to claim 1,
the high-speed current detection module is used for collecting six-phase current at the input end of the six-phase permanent magnet synchronous motor;
and the rotor position detection module is used for detecting the position of the rotor in the six-phase permanent magnet synchronous motor and outputting the current angle of the rotor according to the position of the rotor.
3. The control device of a six-phase permanent magnet synchronous motor according to claim 2,
the current processing module comprises a space vector decoupling conversion submodule, a Park conversion submodule, a controller submodule, a matrix conversion submodule, an iPad conversion submodule, a space vector pulse width modulation submodule and a six-phase inverter;
the space vector decoupling conversion submodule, the Park conversion submodule, the controller submodule, the matrix conversion submodule, the iPad conversion submodule, the space vector pulse width modulation submodule and the six-phase inverter are electrically connected in sequence.
4. The control device of a six-phase permanent magnet synchronous motor according to claim 3,
the rotor position detection module is electrically connected with the Park transformation submodule and the iPad transformation submodule respectively; and the rotor position detection module is mechanically connected with the six-phase permanent magnet synchronous motor.
5. The control device of a six-phase permanent magnet synchronous motor according to claim 3,
the space vector decoupling transformation submodule is used for transforming the six-phase current to two mutually perpendicular static coordinate systems and outputting a first coordinate system space vector and a second coordinate system space vector;
the Park transformation submodule is used for acquiring the current angle of the rotor sent by the rotor position detection module, performing Park transformation on the space vector of the first coordinate system and the space vector of the second coordinate system according to the current angle and outputting two groups of current vectors under a rotating coordinate system;
the controller submodule is used for generating two groups of first voltage vectors according to the two groups of current vectors;
the matrix transformation submodule is used for performing matrix transformation on the two groups of first voltage vectors to generate two groups of second voltage vectors under a rotating coordinate system;
the iPadk transformation submodule is used for obtaining the current angle of the rotor sent by the rotor position detection module, and carrying out iPadk transformation on the two groups of second voltage vectors under the rotating coordinate system according to the current angle to generate two groups of second voltage vectors under a static coordinate system;
the space vector pulse width modulation submodule is used for carrying out space vector pulse width modulation on two groups of second voltage vectors under the static coordinate system to generate two groups of PWM signals, wherein each group of the two groups of PWM signals comprises 3 paths of PWM signals;
and the six-phase inverter is used for generating power signals according to the two groups of PWM signals to control the six-phase permanent magnet synchronous motor to drive.
6. The control device of a six-phase permanent magnet synchronous motor according to claim 5,
the controller submodule comprises a current controller and a harmonic controller; wherein,
the current controller is used for generating a group of first voltage vectors according to a first group of current vectors in the two groups of current vectors;
the harmonic controller is used for generating another group of first voltage vectors according to a second group of current vectors in the two groups of current vectors.
7. The control device of a six-phase permanent magnet synchronous motor according to claim 5,
the space vector pulse width modulation submodule comprises a first space vector pulse width modulation unit and a second space vector pulse width modulation unit; wherein,
the first space vector pulse width modulation unit is used for carrying out space vector pulse width modulation on a first group of voltage vectors in the two groups of second voltage vectors to generate a group of PWM signals;
and the second space vector pulse width modulation unit is used for carrying out space vector pulse width modulation on the second group of voltage vectors in the two groups of second voltage vectors to generate another group of PWM signals.
8. The control device of a six-phase permanent magnet synchronous motor according to claim 1,
the high-speed current detection module is a resistance type current sensor.
9. A method of controlling a six-phase permanent magnet synchronous motor, the method comprising:
the high-speed current detection module collects six-phase current at the input end of the six-phase permanent magnet synchronous motor;
a rotor position detection module detects the position of a rotor in the six-phase permanent magnet synchronous motor and outputs the current angle of the rotor according to the position of the rotor;
the current processing module performs space vector decoupling on the six-phase current collected by the high-speed current detection module to generate a space vector, acquires the current angle of the rotor output by the rotor position detection module, and generates a power signal based on the space vector and the current angle of the rotor to control the current six-phase permanent magnet synchronous motor to drive.
10. A six-phase permanent magnet synchronous motor system, the system comprising:
a six-phase permanent magnet synchronous motor; and
the control device of a six-phase permanent magnet synchronous motor according to any one of claims 1 to 8, which is used for controlling the six-phase permanent magnet synchronous motor to drive.
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