CN113965111A - Control method and device for motor, motor assembly and fuel cell system - Google Patents
Control method and device for motor, motor assembly and fuel cell system Download PDFInfo
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- CN113965111A CN113965111A CN202010704192.XA CN202010704192A CN113965111A CN 113965111 A CN113965111 A CN 113965111A CN 202010704192 A CN202010704192 A CN 202010704192A CN 113965111 A CN113965111 A CN 113965111A
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- motor
- control
- control signal
- control method
- rotational 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
Abstract
The invention provides a control method for a motor, wherein the control method comprises the following steps: comparing the rotational speed of the motor with a predetermined rotational speed threshold; executing a first control mode when the rotation speed of the motor is lower than a preset rotation speed threshold value, wherein a control signal for controlling the motor is determined according to a target rotation speed instruction for the motor; the method comprises the steps of obtaining current operation information of the motor after the rotating speed of the motor is increased to be higher than a preset rotating speed threshold value, determining real-time motor parameters according to the current operation information of the motor, and executing a second control mode, wherein control signals used for controlling the motor are determined according to a target rotating speed instruction, the current operation information of the motor and the real-time motor parameters. By means of the invention, the motor can be operated stably and reliably during the whole operation period. The invention also relates to a control device for the motor, a motor assembly and a fuel cell system.
Description
Technical Field
The present invention relates to a control method for an electric motor, a control device for an electric motor, an electric motor assembly, and a fuel cell system.
Background
Permanent magnet synchronous motors are used as driving devices in various industrial fields. The permanent magnet synchronous motor has the advantages of small volume, high efficiency, low loss, large electromagnetic torque and the like, so that the permanent magnet synchronous motor is widely applied.
A control device for a permanent magnet synchronous motor generally requires a sensor that detects a rotational position of a rotor to perform drive control of the motor. However, the use of such sensors increases the size and cost of the motor and reduces the reliability of the sensor when operating in high temperature, humidity and other harsh conditions. In addition, the requirements on the rotational speed of the drive are increasing. For example, in a fuel cell, a high-speed driving device is required to supply air. However, for high-speed drives, it is very difficult to mount a position sensor on the rotor of the motor. Therefore, a sensorless control method of controlling the motor by estimating the rotation angle based on information such as current or voltage and by using the estimated rotation angle without using a sensor has been developed.
Sensorless control methods for permanent magnet motors are known, which are based directly or indirectly on extracting position information from the back emf of the motor. For example, state observations, virtual rotor position, and voltage and current measurements have been successfully used in sensorless motor control methods. Since the back electromotive force does not exist in the motor start and low speed stages in practice, the error of this control method is large in the motor start and low speed rotation stages.
Disclosure of Invention
It is an object of the present invention to provide an improved control method and control device for an electric motor, as well as an electric motor assembly and a fuel cell system, which enable the electric motor to operate stably and reliably throughout the entire operation period. The entire operating period of the electric machine comprises, among other things, a start-up phase, a relatively low-speed phase and a relatively high-speed phase.
According to a first aspect of the present invention, there is provided a control method for an electric machine, wherein the control method comprises the steps of:
comparing the rotational speed of the motor with a predetermined rotational speed threshold;
executing a first control mode when the rotation speed of the motor is lower than a preset rotation speed threshold value, wherein a control signal for controlling the motor is determined according to a target rotation speed instruction for the motor;
after the rotational speed of the motor has increased above a predetermined rotational speed threshold,
acquiring current operation information of a motor;
determining real-time motor parameters according to current operation information of the motor; and
and executing a second control mode, wherein a control signal for controlling the motor is determined according to the target rotating speed instruction, the current operation information of the motor and the real-time motor parameter.
According to an exemplary embodiment, the real-time motor parameters are determined by querying a pre-stored motor parameter table containing motor parameter information in different motor operating states according to current operating information of the motor.
According to an exemplary embodiment, the motor parameter table is obtained based on motor parameters in an offline state; and/or the motor parameter table is obtained based on the motor parameters in the commissioning state.
According to an exemplary embodiment, the real-time motor parameters comprise at least one of the following parameters: stator inductance, stator resistance, and rotor flux linkage.
According to an exemplary embodiment, the real-time motor parameters are determined according to at least one of the following parameters: temperature of the motor, current of the motor, voltage of the motor, and rotational speed of the motor.
According to an exemplary embodiment, after the rotational speed of the electric machine is increased to the predetermined rotational speed threshold and before the second control mode is executed, a transition mode is executed in which the control signal determined based on the first control mode is proportionally combined with the control signal determined based on the second control mode and the combined control signal is taken as the final control signal.
According to an exemplary embodiment, in the transition mode, the proportion of the control signal determined based on the first control mode in the final control signal is reduced from 100% to 0%.
According to an exemplary embodiment, the control method includes: and adjusting the received initial rotating speed instruction, and converting the initial rotating speed instruction into a target rotating speed instruction.
According to an exemplary embodiment, in the first control mode, a variable voltage/variable frequency open loop control for the motor is performed.
According to an exemplary embodiment, in the second control mode, an extended kalman filter based closed-loop control for the electric machine is performed.
According to an exemplary embodiment, the reliability determination of the extended kalman filter is performed after the rotation speed of the motor is increased above a predetermined rotation speed threshold, and the second control mode is executed only after it is determined that the extended kalman filter is stably operating.
According to a second aspect of the present invention, there is provided a control device for a motor for performing the control method according to the present invention, wherein the control device includes a controller and a drive circuit for driving the motor according to a control signal from the controller.
According to a third aspect of the invention, a motor assembly is provided, wherein the motor assembly comprises a stator, a rotor and a control device according to the invention.
According to a fourth aspect of the present invention, a fuel cell system is provided, wherein the fuel cell system comprises a control device according to the present invention or a motor assembly according to the present invention.
The invention has the positive effects that: by the control method and the control device for the motor according to the present invention, the motor can be stably and reliably operated during the entire operation period including the starting stage, the relatively low speed stage, and the relatively high speed stage, and can be adapted to the demand for high speed operation. The requirements of the fuel cell system on the driving device can be met through the stable and reliable high-speed motor.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:
fig. 1 shows a schematic view of a control device for an electric machine according to an exemplary embodiment of the present invention;
FIG. 2 illustrates a schematic diagram of a first control module according to an exemplary embodiment of the present invention;
FIG. 3 illustrates a schematic diagram of a second control module in accordance with an exemplary embodiment of the present invention; and
fig. 4 shows a schematic view of a control device for an electric machine according to another exemplary embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Fig. 1 shows a schematic view of a control device for an electric machine according to an exemplary embodiment of the present invention. The electric machine is for example a permanent magnet synchronous machine. The present invention will be explained below by taking a three-phase motor as an example. It should be understood, however, that the present invention is not limited to control of permanent magnet synchronous machines and three-phase machines.
The control apparatus for the motor may include a controller receiving a rotational speed command for the motor and outputting a control signal, and a driving circuit for driving the motor according to the control signal.
The controller may comprise a master control module 1. The main control module 1 may be configured as a dual-stage control module and includes a first control module 11 and a second control module 12. The first control module 11 is configured to execute a first control mode in which a target rotational speed command for the electric machine is based
And determining a control signal for controlling the motor based on a predetermined dynamic model. The control signal may be a voltage control signal for determining the respective phase voltage of the stator of the motor
Target speed command
Which indicates the rotational speed to be achieved of the motor controlled by the control means. The second control module 12 is configured to execute a second control mode in which the target speed is commanded
And determines a control signal for controlling the motor based on the current operation information of the motor. The operational information may be current information iabcSuch as three-phase sampled currents measured by sensors. By taking into account the current operating information of the motor when determining the control signal for controlling the motor, a feedback control is formed.
The controller further comprises a mode selection module 2, said mode selection module 2 being arranged to compare the rotational speed of the electrical machine with a predetermined rotational speed threshold, such that the first control module 11 is operated when the rotational speed of the electrical machine is below the predetermined rotational speed threshold, and the second control module 12 is operated after the rotational speed of the electrical machine has increased above the predetermined rotational speed threshold. The rotational speed of the electric machine can be controlled in accordance with a target rotational speed command
And/or the current speed of the motor estimated by the main control module 1
To be determined. The predetermined rotational speed threshold is, for example, between 4000rpm and 6000rpm, for example 5000 rpm.
Open loop control may be performed using the first control module 11. Closed loop control may be performed using the second control module 12. By means of the double-stage control module and the mode selection module 2, an open-loop control mode can be adopted in the starting stage and the relatively low-speed stage of the motor so as to avoid negative effects caused by voltage estimation errors, accurate control is achieved, and meanwhile a closed-loop control mode can be adopted when the rotating speed of the motor is increased to a preset rotating speed threshold value so as to achieve more reliable control.
The controller may also execute a transition mode. After the rotational speed of the motor is increased to a predetermined rotational speed threshold and before the second control mode is executed, a transition mode is executed in which a control signal determined based on the first control mode is proportionally combined with a control signal determined based on the second control mode, and the combined control signal is taken as a final control signal. In the transition mode, the proportion of the control signal determined based on the first control mode in the final control signal is reduced from 100% to 0%. In the transition mode, the control signal output by the first control module 11 and the control signal output by the second control module 12 are proportionally combined, and a final control signal is output, wherein the proportion of the control signal output by the first control module 11 can be reduced from 100% to 0%, and the proportion of the control signal output by the second control module 12 is correspondingly increased from 0% to 100%. For example, at a certain time in the transition mode, the final control signal is the control signal a output by the first control module 11 + the control signal (1-a) output by the second control module 12, wherein 100 ≧ a ≧ 0. Through the transition mode, the oscillation can be avoided in the process of switching the first control mode to the second control mode.
The controller may also include an online parameter module 3. The online parameter module 3 can determine real-time motor parameters according to the current operation information of the motor when the motor operates. The second control module 12 is further configured to command a target speed
The current operating information of the motor and the real-time motor parameters determine the control signals for controlling the motor. During operation of the motor, especially at high and ultra-high speeds, motor parameters change. By means of the online parameter module 3, the control device can control the motor based on real-time motor parameters, so that the parameter change of the motor during operation is adapted, and the accuracy and the stability of motor control are improved. Therefore, the motor can be operated more stably and reliably.
The online parameter module 3 can determine real-time motor parameters by inquiring a pre-stored motor parameter table, wherein the motor parameter table contains motor parameter information under different motor running states. This reduces the amount of computation of the control device, and in particular reduces the computation load of the control device during ultra-high speed operation.
The motor parameter table may be obtained based on motor parameters in an offline state. Alternatively or additionally, the motor parameter table may be obtained based on motor parameters in a commissioning state. For example, the motor can be run in a test mode and motor parameters in different motor running states can be recorded. Based on the motor parameters in the off-line state and/or the motor parameters in the trial operation state, the motor parameter changes which may occur during the operation of the motor can be estimated and stored in the control device of the motor in the form of a motor parameter table. The motor parameters close to the real condition can be obtained through the motor parameter table.
The real-time motor parameters may include at least one of the following parameters: the motor comprises a stator inductance of the motor, a stator resistance of the motor and a rotor flux linkage of the motor.
In the motor parameter table, the real-time motor parameters are determined according to at least one of the following parameters: temperature of the motor, current of the motor, voltage of the motor, and rotational speed of the motor. The temperature of the motor is, for example, the temperature of the stator measured by a sensor. The current of the motor is, for example, the current of the stator measured by a current sensor. The voltage of the motor being controlled, e.g. by a voltage control signal
To indicate.
According to an exemplary embodiment of the invention, the stator inductance of the electrical machine may be determined from the current of the electrical machine by consulting a two-dimensional stator inductance table whose input is the current of the electrical machine, e.g. the direct axis current idAnd quadrature axis current iqAnd the output is the stator inductance.
According to an exemplary embodiment of the invention, the stator resistance of the electrical machine may be determined from the temperature of the electrical machine, and for example by:
stator resistance (normal temperature resistance (1+ (temperature of motor-normal temperature) temperature coefficient) skin effect coefficient
Wherein, the normal temperature is usually 25 ℃, the skin effect coefficient is obtained by inquiring a one-dimensional skin effect coefficient table, the input of the skin effect coefficient table is the rotating speed, and the output is the skin effect coefficient.
According to an exemplary embodiment of the invention, the rotor flux linkage of the electrical machine may be dependent on the current of the electrical machine, the direct axis current idAnd the temperature of the motor, e.g. the motor rotor temperature, and is determined, for example, by:
normal temperature flux linkage (1- (rotor temperature-normal temperature) × coefficient)
Wherein, the normal temperature magnetic linkage can be obtained by inquiring a one-dimensional normal temperature magnetic linkage table calibrated at normal temperature (25 ℃), and the input of the normal temperature magnetic linkage table is direct axis current idThe output is the normal temperature magnetic linkage value; the rotor temperature can be obtained by inquiring a one-dimensional rotor temperature table, wherein the input of the rotor temperature table is the motor stator temperature, and the output of the rotor temperature table is the rotor temperature.
Fig. 2 shows a schematic diagram of the first control module 11 according to an exemplary embodiment of the present invention. The first control module 11 may be implemented, for example, as a variable voltage/variable frequency (V/F) open loop control module.
The first control module 11 may include a position command module 111, a first voltage command module 112, and a first control signal module 113, wherein the position command module 111 may command the target rotation speed
Generating a position command θ*The first voltage command module 112 commands the target rotation speed
Generating a voltage command v*The first control signal module 113 is used for controlling the position according to the position command theta*And voltage command v*A control signal is generated.
The first control module 11 may estimate the rotor position based on a predetermined dynamic model without measuring current operational information of the motor.
FIG. 3 illustrates a schematic diagram of the second control module 12 according to an exemplary embodiment of the present invention. The second control module 12 may be implemented as an extended kalman filter based closed loop control module.
The second control module 12 may include an extended kalman filter module 121. For example, the extended Kalman filter module 121 may be based on a voltage control signal determined by the main control module 1
And a sampling current i measured by a sensorabcE.g. three-phase sampled current, determining the current rotor position of the motor
And the current rotation speed
In one exemplary embodiment, the reliability determination of the extended kalman filter is performed after the rotation speed of the motor is increased above a predetermined rotation speed threshold, and the second control mode is executed only after it is determined that the extended kalman filter is stably operating. The reliability judgment of the extended Kalman filter may comprise at least one of the following steps: the extended kalman filtering module 121 estimates a stator current of the motor, and compares the stator current estimated by the kalman filtering module 121 with the sampling current to obtain a first difference; the current rotation speed estimated by the extended kalman filter module 121, the current rotation speed estimated by the extended kalman filter module 121 and the target rotation speed instruction
Comparing to obtain a second difference value; the extended kalman filter module 121 estimates a current rotor position of the motor, and the current rotor position estimated by the extended kalman filter module 121 and a position command θ*And comparing to obtain a third difference value. And when the corresponding difference obtained in the steps is smaller than a preset value, judging that the extended Kalman filter works stably.
The second control module 12 may also include: a torque command module 122 that commands a target rotational speed based on
And the current rotation speed determined by the extended Kalman Filter Module 121
Determining a torque command
A current command module 123 that commands torque based on
Determining a current command
A current conversion module 124 which converts the current information iabcConverting the current into quadrature axis current and direct axis current; a second voltage command module 125 according to the current command
From the current information iabcConverting the quadrature-axis current and the direct-axis current to determine a voltage command
A second control signal module 126 according to the voltage command
And current rotor position
A control signal is determined.
The second control module 12 may, for example, control the signal in dependence on the voltage determined by the main control module 1
And IIIPhase sampling the current, estimating rotor position
In the present embodiment, the estimation of the rotor position is realized by means of an extended kalman filter. The closed loop control implemented by the second control module 12 is particularly suited for high speed and ultra high speed operation of the motor. Thereby, the motor can be operated stably at a rotational speed of, for example, 120000 rpm.
Fig. 4 shows a schematic view of a control device for an electric machine according to another exemplary embodiment of the present invention.
In addition to the exemplary embodiment shown in fig. 1, the control device for an electric machine may also comprise a speed shaping module 4, which speed shaping module 4 receives an initial speed command N*Adjusting and converting into target rotating speed instruction
Then the target rotating speed is commanded
To the main control module 1 and the mode selection module 2. The rotating speed shaping module 4 can be used for giving an initial rotating speed instruction N based on the parameters of the motor*Is adjusted to generate a target speed command particularly suitable for the motor
The speed shaping module 4 may receive an initial speed command N from an upstream controller*. The initial rotating speed instruction N can be obtained through the rotating speed shaping module 4*Converted into target rotating speed instruction with more gentle change
This is at the initial speed command N*This is particularly advantageous in the case of a step change or a large difference in the current rotational speed of the motor.
In particular, during the start-up phase of the electric machine, the speed shaping module 4 may command an initial speed based on a predetermined start-up speed profileN*Converted into an adjusted target speed command
The invention also relates to a control method for an electric machine, wherein the control method comprises the following steps:
comparing the rotational speed of the motor with a predetermined rotational speed threshold;
when the rotational speed of the motor is below a predetermined rotational speed threshold, a first control mode is executed in which a target rotational speed command for the motor is based
Determining a control signal for controlling the motor;
after the rotational speed of the motor has increased above a predetermined rotational speed threshold,
acquiring current operation information of a motor;
determining real-time motor parameters according to current operation information of the motor; and
executing a second control mode in which the target rotation speed is instructed
The current operating information of the motor and the real-time motor parameters determine the control signals for controlling the motor.
Further developments of the control method for an electric motor according to the invention can be taken from the above description of the control device for an electric motor.
The control method and the control apparatus for a motor according to the present invention can be used to control a motor in a fuel cell system. The motor may in particular drive a compressor for supplying air. In the fuel cell system, sufficient air needs to be supplied to the cell unit. By increasing the rotational speed of the motor, the compressor can provide sufficient air without increasing the volume of the compressor.
"module" as referred to herein means a module that can be implemented by software and/or hardware.
The control method and the control device for the motor according to the present invention are a position sensorless control method and a position sensorless control device.
Although specific embodiments of the invention have been described herein in detail, they have been presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications may be devised without departing from the spirit and scope of the present invention.
Claims (10)
1. A control method for an electric machine, wherein the control method comprises the steps of:
comparing the rotational speed of the motor with a predetermined rotational speed threshold;
executing a first control mode when the rotation speed of the motor is lower than a preset rotation speed threshold value, wherein a control signal for controlling the motor is determined according to a target rotation speed instruction for the motor;
after the rotational speed of the motor has increased above a predetermined rotational speed threshold,
acquiring current operation information of a motor;
determining real-time motor parameters according to current operation information of the motor; and
and executing a second control mode, wherein a control signal for controlling the motor is determined according to the target rotating speed instruction, the current operation information of the motor and the real-time motor parameter.
2. The control method according to claim 1,
and determining real-time motor parameters by inquiring a pre-stored motor parameter table according to the current operation information of the motor, wherein the motor parameter table contains motor parameter information under different motor operation states.
3. The control method according to claim 2, wherein,
the motor parameter table is obtained based on motor parameters in an off-line state; and/or
The motor parameter table is obtained based on the motor parameters in the trial run state.
4. The control method according to claim 1,
the real-time motor parameters include at least one of the following parameters: stator inductance, stator resistance and rotor flux linkage; and/or
The real-time motor parameters are determined from at least one of the following parameters: temperature of the motor, current of the motor, voltage of the motor, and rotational speed of the motor.
5. The control method according to any one of claims 1 to 4,
after the rotational speed of the motor is increased to a predetermined rotational speed threshold and before the second control mode is executed, a transition mode is executed in which a control signal determined based on the first control mode is proportionally combined with a control signal determined based on the second control mode, and the combined control signal is taken as a final control signal.
6. The control method according to claim 5,
in the transition mode, the proportion of the control signal determined based on the first control mode in the final control signal is reduced from 100% to 0%.
7. The control method according to any one of claims 1 to 6, wherein the control method includes at least one of the following steps:
adjusting the received initial rotating speed instruction, and converting the initial rotating speed instruction into a target rotating speed instruction;
in a first control mode, performing a variable voltage/variable frequency open loop control for the motor; and
in a second control mode, performing extended Kalman filter based closed loop control for the motor; and
and after the rotating speed of the motor is increased to be higher than a preset rotating speed threshold value, reliability judgment of the extended Kalman filter is carried out, and the second control mode is executed only after the extended Kalman filter is judged to work stably.
8. A control device for an electric motor for performing the control method according to any one of claims 1 to 7, wherein the control device comprises a controller and a drive circuit for driving the electric motor in accordance with a control signal from the controller.
9. An electric motor assembly, wherein the electric motor assembly comprises a stator, a rotor and a control device according to claim 8.
10. A fuel cell system, wherein the fuel cell system comprises the control device according to claim 8 or the motor assembly according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010704192.XA CN113965111A (en) | 2020-07-21 | 2020-07-21 | Control method and device for motor, motor assembly and fuel cell system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010704192.XA CN113965111A (en) | 2020-07-21 | 2020-07-21 | Control method and device for motor, motor assembly and fuel cell system |
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| CN113965111A true CN113965111A (en) | 2022-01-21 |
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| CN202010704192.XA Pending CN113965111A (en) | 2020-07-21 | 2020-07-21 | Control method and device for motor, motor assembly and fuel cell system |
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