CN113972876A - Permanent magnet synchronous motor controller with torque estimation function and driving equipment - Google Patents
Permanent magnet synchronous motor controller with torque estimation function and driving equipment 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
- H02P21/20—Estimation of torque
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- 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
- 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 permanent magnet synchronous motor controller with a torque estimation function and driving equipment. The device comprises an angle acquisition module, a position acquisition module and a control module, wherein the angle acquisition module is used for acquiring the position angle of a motor rotor; the current sampling module is used for collecting three-phase current of the motor; the rotating speed sampling module is used for collecting the rotating speed of the motor; the coordinate transformation module is used for carrying out coordinate transformation on the three-phase current; the rotating speed loop module is used for determining given current according to the set rotating speed and the feedback rotating speed; the current loop module is used for determining a given voltage according to the feedback current and the given current; the SVPWM module is used for calculating the duty ratio of the three-phase square wave according to the static voltage; the inverter module is used for outputting three-phase voltage according to the duty ratio of the three-phase square wave; and the torque calculation module is used for calculating output torque according to the motor rotating speed, the feedback current and the given voltage. The motor controller calculates the output torque of the motor by a power estimation method, can accurately estimate the output torque and more accurately control the vehicle.
Description
Technical Field
The invention belongs to the technical field of new energy automobiles, and particularly relates to a permanent magnet synchronous motor controller with a torque estimation function and driving equipment.
Background
The current relatively common method is as follows: the torque is considered to be proportional to the current magnitude. When estimating the torque, the current amplitude and the output torque can be regarded as a proportional relationship. The output torque is obtained by a method of compensating the given torque by the ratio of the output current to the given current.
The calculation formula is as follows:
wherein: i isrefFor a given current amplitude; i isd_refFor a given D-axis current; i isq_refFor a given Q-axis current;
Ifedis the feedback current amplitude; i isd_fedTo feed back the D-axis current; i isq_fedTo feed back the Q-axis current;
the method is simple to use, and can express the current output torque in occasions with low precision requirements; the ripple condition of the current actual torque can also be expressed.
The actual current amplitude is not in direct proportion to the output torque, particularly in a weak magnetic region. If the feedback current does not track the given current well, the torque estimation accuracy is low.
Disclosure of Invention
The present invention is directed to solve the above-mentioned drawbacks of the prior art, and an object of the present invention is to provide a permanent magnet synchronous motor controller with a torque estimation function and a driving device, which can estimate an output torque more accurately.
The technical scheme adopted by the invention is as follows: a permanent magnet synchronous motor controller with torque estimation function comprises
The angle acquisition module is used for acquiring the position angle of the motor rotor, sending the position angle to the coordinate transformation module, processing the position angle to obtain a feedback rotating speed, and sending the feedback rotating speed to the rotating speed ring module;
the current sampling module is used for collecting three-phase currents Ia, Ib and Ic of the motor and sending the three-phase currents to the coordinate transformation module;
the rotating speed sampling module is used for collecting the rotating speed of the motor and sending the rotating speed to the torque calculating module;
the coordinate transformation module is used for carrying out coordinate transformation on the three-phase current according to the position angle to obtain feedback currents Id and Iq under a rotating coordinate system and sending the feedback currents Id and Iq to the current loop module and the torque module; the SVPWM module is used for converting the coordinates of the given voltage to obtain a static voltage under a two-phase static coordinate system and sending the static voltage to the SVPWM module;
the rotating speed loop module is used for determining given currents ID and IQ according to the set rotating speed and the feedback rotating speed and sending the given currents ID and IQ to the current loop module;
the current loop module is used for determining given voltages Ud and Uq according to the feedback current and the given current and sending the given voltages Ud and Uq to the coordinate transformation module and the torque calculation module;
the SVPWM module is used for calculating the duty ratio of the three-phase square wave according to the static voltages Ualpha and Ubeta and sending the duty ratio to the inverter;
the inverter module is used for outputting three-phase voltage according to the duty ratio of the three-phase square wave;
and the torque calculation module is used for calculating output torque according to the motor rotating speed, the feedback current and the given voltage.
Further, the output torque is calculated by the following formula
Te＝Pm/ωr
Pout＝ud·id+uq·iq
Pm＝Pout·η
Wherein: poutOutputting power for the controller; pmThe mechanical power of the motor; η is the motor efficiency.
Further, the angle sampling module is an angle encoder.
Further, the processing of the position angle is a differential processing.
Further, the current sampling module is a hall current sensor.
Further, the coordinate transformation module comprises a Clarke transformation module, and the Clarke transformation module is used for transforming the three-phase stationary coordinate system to the two-phase stationary coordinate system.
Further, the coordinate transformation module comprises a Park transformation module, and the Park transformation module is used for transforming the two-phase stationary coordinate system into the two-phase rotating coordinate system.
Further, the coordinate transformation module comprises an IPark transformation module for transforming the two-phase rotational coordinate system to the two-phase stationary coordinate system.
Furthermore, the rotating speed ring module determines a given torque according to the set rotating speed and the feedback rotating speed, and then obtains a given current after table lookup.
A steering apparatus comprising a permanent magnet synchronous motor controller as claimed in any preceding claim.
The invention has the beneficial effects that: the motor controller calculates the output torque of the motor by a power estimation method, can accurately estimate the output torque and more accurately control the vehicle.
Drawings
Fig. 1 is a schematic diagram of a motor controller according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Where the terms "comprising", "having" and "including" are used in this specification, there may be another part or parts unless otherwise stated, and the terms used may generally be in the singular but may also be in the plural.
It should be noted that although the terms "first," "second," "top," "bottom," "side," "other," "end," "other end," and the like may be used and used in this specification to describe various components, these components and parts should not be limited by these terms. These terms are only used to distinguish one element or section from another element or section. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, with the top and bottom elements being interchangeable or switchable with one another, where appropriate, without departing from the scope of the present description; the components at one end and the other end may be of the same or different properties to each other.
Further, in constituting the component, although it is not explicitly described, it is understood that a certain error region is necessarily included.
In describing positional relationships, for example, when positional sequences are described as being "on.. above", "over.. below", "below", and "next", unless such words or terms are used as "exactly" or "directly", they may include cases where there is no contact or contact therebetween. If a first element is referred to as being "on" a second element, that does not mean that the first element must be above the second element in the figures. The upper and lower portions of the member will change depending on the angle of view and the change in orientation. Thus, in the drawings or in actual construction, if a first element is referred to as being "on" a second element, it can be said that the first element is "under" the second element and the first element is "over" the second element. In describing temporal relationships, unless "exactly" or "directly" is used, the description of "after", "subsequently", and "before" may include instances where there is no discontinuity between steps.
The features of the various embodiments of the present invention may be partially or fully combined or spliced with each other and performed in a variety of different configurations as would be well understood by those skilled in the art. Embodiments of the invention may be performed independently of each other or may be performed together in an interdependent relationship.
As shown in FIG. 1, the present invention provides a permanent magnet synchronous motor controller with torque estimation function, comprising
The angle acquisition module is used for acquiring the position angle of the motor rotor, sending the position angle to the coordinate transformation module, processing the position angle to obtain a feedback rotating speed, and sending the feedback rotating speed to the rotating speed ring module;
the current sampling module is used for collecting three-phase currents Ia, Ib and Ic of the motor and sending the three-phase currents to the coordinate transformation module;
the rotating speed sampling module is used for collecting the rotating speed of the motor and sending the rotating speed to the torque calculating module;
the coordinate transformation module is used for carrying out coordinate transformation on the three-phase current according to the position angle to obtain feedback currents Id and Iq under a rotating coordinate system and sending the feedback currents Id and Iq to the current loop module and the torque module; the SVPWM module is used for converting the coordinates of the given voltage to obtain a static voltage under a two-phase static coordinate system and sending the static voltage to the SVPWM module;
the rotating speed loop module is used for determining given currents ID and IQ according to the set rotating speed and the feedback rotating speed and sending the given currents ID and IQ to the current loop module;
the current loop module is used for determining given voltages Ud and Uq according to the feedback current and the given current and sending the given voltages Ud and Uq to the coordinate transformation module and the torque calculation module;
in a PMSM transmission control system, a motor has a wide operating speed range, a current frequency range is from zero to hundreds of hertz, the motor current is required to be accurately detected in the wide frequency range, and a Hall element is often selected to realize the detection of the motor current. The Hall detection method has the advantages that: good dynamic response, signal transmission linearity and wide frequency band range.
In order to ensure the motor operates symmetrically, the feedback coefficients of the feedback channels of the three phases of the current must be equal, so that the components of the conditioning circuit are carefully selected and the parameters of the feedback loop are carefully adjusted. When the signal conditioning circuit uses an analog amplifier, the zero drift of the amplifier is a main factor influencing the low-speed running performance of the motor, and the amplifier needs to be carefully adjusted to control the zero drift within 10 mv.
The larger the proportionality coefficient of the current regulator is, the faster the current step tracking response speed is, and the larger the overshoot of the response is, the more the oscillation times are. The larger the integral coefficient of the current regulator, the smaller the steady state error of the current step tracking response, but too large will cause the current loop to oscillate. A current loop control object of the PMSM speed regulation control system is composed of a PWM inverter, a motor armature winding and a current detection link. In the actual system operation process, the current loop is correspondingly influenced by the counter electromotive force of the motor, the dynamic response of the current loop is poor, in order to improve the dynamic response performance of the current loop of the permanent magnet synchronous motor speed regulating system and inhibit the influence of the counter electromotive force on the current loop, when the actual system current regulator is manufactured, the proportion and the integral coefficient are adjusted, the proportion coefficient is increased, and the integral time constant is reduced.
If the current loop response is not added with a differential negative feedback link, the current loop dynamic response will generate oscillation and overshoot. However, in practical applications, a differential feedback element is not usually added, because the differential is very likely to cause oscillation of the system. And according to the correction principle of the current loop I-type system, the stability and high dynamic response of the current loop system can be realized only by adopting PI control.
The SVPWM module is used for calculating the duty ratio of the three-phase square wave according to the static voltages Ualpha and Ubeta and sending the duty ratio to the inverter;
the inverter module is used for outputting three-phase voltage according to the duty ratio of the three-phase square wave;
and the torque calculation module is used for calculating output torque according to the motor rotating speed, the feedback current and the given voltage.
In the above scheme, the angle sampling module is an angle encoder.
In the above scheme, the processing of the position angle is a differential processing.
In the above scheme, the current sampling module is a hall current sensor.
In the above scheme, the coordinate transformation module includes a Clarke transformation module, a Park transformation module, and an IPark transformation module, and the Clarke transformation module is configured to transform a three-phase stationary coordinate system to a two-phase stationary coordinate system; the Park transformation module is used for transforming the two-phase static coordinate system into the two-phase rotating coordinate system; the IPark transform module is configured to transform the two-phase rotational coordinate system to the two-phase stationary coordinate system.
In the scheme, the rotating speed ring module determines the given torque according to the set rotating speed and the feedback rotating speed, and then the given current is obtained after table lookup.
After the set rotating speed SPDset of a Permanent Magnet Synchronous Motor (PMSM) is set, a motor controller transmits the deviation amount of a rotating speed feedback value and a rotating speed set value to a speed ring; the speed loop PI regulator processes the input error signal according to the set PI control parameter and converts the input error signal into a target torque model; obtaining target current signals ID and IQ of a DQ axis through a look-up table, and outputting the target current signals ID and IQ to a current loop regulator as given values; obtaining a three-phase current value through current sampling, then obtaining feedback values id and iq of the DQ axis current through CLARK conversion and PARK conversion, and outputting the feedback values id and iq as feedback to a current loop regulator; the current loop regulator converts the current signal into the voltage UD and UQ of the quadrature axis for output after the PI regulation; after an IPARK conversion link, Ualfa and Ubeta are obtained; and the signals are transmitted to an SVPWM module to generate 6 paths of duty ratio signals to drive a PMSM to operate. The detailed functions of the modules are respectively as follows:
an angle sampling module: the angle signal theta is collected through the encoder, and then the feedback rotating speed signal spd can be obtained through a differential link. An incremental encoder is commonly used, and an output pulse signal of a rotary encoder can be directly input to a PLC (programmable logic controller), and the pulse signal of the PLC is counted by using a high-speed counter of the PLC to obtain a measurement result. The rotary encoders of different models have different phase numbers of output pulses, and some rotary encoders output A, B, Z three-phase pulses, some rotary encoders output A, B two-phase pulses, and the simplest rotary encoders output only a phase A. The encoder has 5 leads, 3 of which are pulse output lines, 1 of which is a COM terminal line, and 1 of which is a power supply line (OC gate output type). The power supply of the encoder can be an external power supply, and can also directly use the DC24V power supply of the PLC. The "-" terminal of the power supply is connected with the COM terminal of the encoder, and the "+" terminal is connected with the power supply terminal of the encoder. The COM end of the encoder is connected with the COM end of the PLC input, the A, B, Z two-phase pulse output line is directly connected with the input end of the PLC, A, B is pulses with a phase difference of 90 degrees, a Z-phase signal only has one pulse in one rotation of the encoder and is usually used as a basis for a zero point, and the response time of the PLC input needs to be noticed during connection. The rotary encoder is also provided with a shielding wire, and the shielding wire is grounded when the rotary encoder is used, so that the anti-interference performance is improved.
A current sampling module: two-phase current was collected by hall sensor.
A coordinate transformation module: the coordinate systems to be used in vector control systems can be divided into two categories: one is a stationary coordinate system, including a three-phase stationary coordinate system ABC and a two-phase stationary coordinate system a β; the other type is a rotating coordinate system, which is divided into a rotor rotating coordinate system and a stator rotating coordinate system, and a rotor rotating coordinate system dq is used herein. The transformation of the ABC three-phase stationary coordinate system to the two-phase stationary coordinate system, a β, is generally referred to as Clarke transformation, and the transformation of a β to the two-phase rotating coordinate system, dq, is generally referred to as Park transformation. The following specifically describes the specific processes of the two coordinate transformations. However, in the actual simulation, the three-phase stationary natural coordinate system is directly transformed into the coordinate system synchronously rotating with the rotor, which is called Park transformation. The results before and after the coordinate transformation can be seen from the simulations below.
Clarke transformation module:
for simplifying the operation, an a axis in a two-phase static coordinate system is defined to be coincident with a phase winding of the stator A, and a beta axis leads the a axis by 90 space electrical angles anticlockwise. Obtaining a transformation matrix C3s/2s according to a constant amplitude transformation principle as follows:
the transformation of physical quantities in the three-phase stationary coordinate system into the two-phase stationary coordinate system according to the above formula can be expressed as:
a Park transformation module:
and defining a two-phase coordinate system dq which rotates at a synchronous speed in space, wherein the d axis is superposed with the axis of the rotor magnetic pole, the q axis leads the d axis by 90-degree space electrical angle anticlockwise, and the included angle between the d axis and the A-phase stator winding is theta. The transformation matrix C2 s/2r can also be obtained as:
the physical quantities that can be obtained in a two-phase rotating coordinate system can be expressed as:
a current loop module:
in a closed-loop control system, a current loop belongs to an inner loop, the function of the current loop is to enable the current of a motor to follow the change of given current, and the current loop has important influence on the rapidity and the accuracy of system response. According to a voltage balance equation of the permanent magnet synchronous motor, the influence of quadrature-direct axis coupling and back electromotive force is not considered, and an idealized current loop model of a PI controller is added.
A rotating speed ring module:
the rotating speed ring belongs to an outer ring and has the function of enabling the rotating speed of the motor to follow the change of the given rotating speed. The input is the rotational speed deviation, and the output is the given torque.
And an SVPWM module:
the theoretical basis of SVPWM is the principle of mean value equivalence, i.e. the mean value of a basic voltage vector is made equal to a given voltage vector by combining the basic voltage vectors during a switching cycle. At a certain moment, the rotation of the voltage vector into a certain area can be obtained by two adjacent non-zero vectors making up this area and by different combinations of zero vectors in time. The action time of the two vectors is applied for a plurality of times in a sampling period, thereby controlling the action time of each voltage vector, enabling the voltage space vector to approach to rotate according to a circular track, approaching to an ideal magnetic flux circle through the actual magnetic flux generated by different switching states of the inverter, and determining the switching state of the inverter according to the comparison result of the two vectors, thereby forming a PWM waveform. And the current magnitude of the three phases of the motor is controlled by controlling the complementary PWM signals of the upper bridge and the lower bridge of the 3 paths. The output is three comparison values CMPa, CMPb and CMPc.
In the inverter circuit, the voltage on a direct current bus is Udc, three-phase voltages output by an inverter are UA, UB and UC, the three-phase voltages are respectively applied to a plane coordinate system with a spatial difference of 120 degrees, three voltage space vectors are defined as UA (t), UB (t) and UC (t), the directions of the three voltage space vectors are always on respective axes, the magnitudes of the three voltage space vectors change with time according to a sine law, and the time phases are different by 120 degrees. Assuming Um is the effective value of the phase voltage and f is the power frequency, then:
the resultant space vector u (t) of the three-phase voltage space vector addition can be expressed as:
it can be seen that u (t) is a rotating space vector, whose amplitude is constant, and is a phase voltage peak value, and rotates at a constant speed in the counterclockwise direction at an angular frequency ω -2 pi f. The purpose of the SVPWM algorithm is to represent the u (t) vector rotating in space using the switching states of the three-phase bridge.
Since the inverter has 6 switching tubes in total for three-phase arms, in order to study the space voltage vector output by the inverter when the upper and lower arms of each phase are combined with different switches, a specific switching function Sx (x ═ a, b, c) is defined as follows:
all possible combinations of (Sa, Sb, Sc) are eight in total, including 6 non-zero vectors Ul (001), U2(010), U3(011), U4(100), U5(101), U6(110), and two zero vectors U0(000), U7(111), and the following is an analysis taking one of the switch combinations as an example, assuming Sx (x ═ a, b, c) ═ 100, so the phase voltages can be expressed as: (phase voltage is the voltage of each phase relative to the motor intermediate connection point)
The same can be said that the phase voltages of the three phases in other switch states. In addition, the line voltage is the voltage difference between two phases, for example Uab ═ Ua-Ub.
As previously mentioned
When the switch Sa is 1, ua (t) Udc; when the switch Sb is 1, ub (t) is Udc; when the switch Sc is 1, uc (t) Udc.
The three-phase voltage gives the synthesized voltage vector rotation angular speed to be omega-2 pi f, and the time required by one rotation is T-1/f; if the carrier frequency is fs, the frequency ratio is R ═ fs/f. Thus, the voltage rotation plane etc. is cut into R small increments, i.e. the angle of each increment of the voltage vector is set to: γ is 2 π/R.
Now, assuming that a space vector Uref needs to be output, we first take out the I-th sector separately and then represent it with two voltage space vectors adjacent to it.
In a two-phase stationary reference frame (α, β), let UrefAnd U4The angle between is θ, which can be obtained by the sine theorem:
because of | U4|＝|U6|＝2UdcAnd/3, therefore, the state retention time of each vector can be obtained as follows:
where m is the SVPWM modulation factor (modulation ratio),
and the time allocated for the zero voltage vector is:
T7＝T0＝(Ts-T4-T6)/2
having obtained the time for Uref synthesized with U4, U6, U7, and U0, it follows how to generate the actual pulse width modulated waveform. In the SVPWM modulation scheme, the selection of the zero vector is the most flexible, and the zero vector is properly selected, so that the switching frequency can be reduced to the maximum extent, the switching action at the moment when the load current is large can be avoided as much as possible, and the switching loss can be reduced to the maximum extent. Therefore, we aim to reduce the number of switching times and choose the distribution principle of the basic vector action sequence as follows: the switching state of only one of the phases is changed at each switching state transition. And the zero vectors are equally distributed in time to make the generated PWM symmetrical, thereby effectively reducing harmonic components of the PWM. It can be seen that when U4(100) is switched to U0(000), only the upper and lower pairs of switches of phase a need to be changed, and when U4(100) is switched to U7(111), the upper and lower pairs of switches of phase B, C need to be changed, which doubles the switching loss. Therefore, to change the magnitudes of the voltage vectors U4(100), U2(010), and U1(001) needs to match the zero voltage vector U0(000), and to change the magnitudes of the voltage vectors U6(110), U3(011), and U5(100) needs to match the zero voltage vector U7 (111). Thus, by arranging different switching sequences in different intervals, symmetrical output waveforms can be obtained, with the switching sequences for other sectors shown in Table 2-2.
TABLE 2-2UREFThe position and switch switching sequence of the switch
| UREFAt the position of | Switching sequence of switches |
| Zone I (theta is more than or equal to 0 degree and less than or equal to 60 degree) | ...0-4-6-7-7-6-4-0... |
| Zone II (theta is more than or equal to 60 degrees and less than or equal to 120 degrees) | ...0-2-6-7-7-6-2-0... |
| Zone III (theta is more than or equal to 120 degrees and less than or equal to 180 degrees) | ...0-2-3-7-7-3-2-0... |
| IV zone (theta is more than or equal to 180 degrees and less than or equal to 240 degrees) | ...0-1-3-7-7-3-1-0... |
| V zone (theta is more than or equal to 240 degrees and less than or equal to 300 degrees) | ...0-1-5-7-7-5-1-0... |
| VI zone (theta is more than or equal to 300 degrees and less than or equal to 360 degrees) | ...0-4-5-7-7-5-4-0... |
Therefore, Uref can be shown by the sequence and time length of U4, U6, U7 and U0.
Taking sector I as an example, the generated three-phase wave modulation waveform has the sequence of voltage vectors of U0, U4, U6, U7, U6, U4 and U0 in a carrier cycle time Ts, and the three-phase waveforms of the voltage vectors correspond to the representation symbols of the switches in table 2-2. Then, increasing gamma for the angle of the Uref in the next carrier period Ts, and recalculating new values of T0, T4, T6 and T7 by using the formula (2-33) to obtain a new synthesized three-phase waveform; thus, each carrier period TS will synthesize a new vector, and as θ increases, Uref will enter the I, II, III, IV, V, VI regions in sequence. After a period of voltage vector rotation, R resultant vectors are generated. SVPWM is therefore calculated once per carrier period.
Through the derivation and analysis of the SVPWM rule, it can be known that to implement the real-time modulation of the SVPWM signal, the interval position where the reference voltage vector Uref is located needs to be known first, and then the reference voltage vector is synthesized by using the two adjacent voltage vectors of the located sector and a proper zero vector.
The control system needs to output a vector voltage signal Uref which rotates anticlockwise in space at a certain angular frequency omega, when the vector voltage signal Uref rotates to a certain 60-degree sector of a vector diagram, the system calculates a basic voltage space vector required by the interval, and drives the power switching element to act according to the state corresponding to the vector. When the control vector rotates 360 degrees in space, the inverter can output sine wave voltage of one period.
A torque calculation module:
when the motor speed is more than or equal to 300rpm, the output torque is estimated through the output power, and the method is as follows
In a d-q coordinate system, the controller output power can be calculated from the d-q axis current and voltage:
Pout＝ud·id+uq·iq
Pm＝Pout·η
in the formula: poutOutputting power for the controller; pmThe mechanical power of the motor; η is the motor efficiency.
Output torque TeThe motor mechanical power and the motor rotating speed are calculated to obtain:
Te＝Pm/ωr，ωris the motor speed.
The method needs to calibrate the motor efficiency, and records the output power of the controller when calibrating the motor torque. And the motor efficiency under each working condition point can be calculated at the later stage. And calculating the output torque of the motor according to the formula. The method calculates the feedback torque of the motor by a power estimation method, and the output torque of the motor can be accurately estimated under various working conditions.
The embodiment of the invention also provides driving equipment, which comprises the controller in any embodiment.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
The foregoing description of the embodiments and specific examples of the invention have been presented for purposes of illustration and description; it is not intended to be the only form in which the embodiments of the invention may be practiced or utilized. The embodiments are intended to cover the features of the various embodiments as well as the method steps and sequences for constructing and operating the embodiments. However, other embodiments may be utilized to achieve the same or equivalent functions and step sequences.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A permanent magnet synchronous motor controller with torque estimation, characterized by: comprises that
The angle acquisition module is used for acquiring the position angle of the motor rotor, sending the position angle to the coordinate transformation module, processing the position angle to obtain a feedback rotating speed, and sending the feedback rotating speed to the rotating speed ring module;
the current sampling module is used for collecting three-phase current of the motor and sending the three-phase current to the coordinate transformation module;
the rotating speed sampling module is used for collecting the rotating speed of the motor and sending the rotating speed to the torque calculating module;
the coordinate transformation module is used for carrying out coordinate transformation on the three-phase current according to the position angle to obtain feedback current in a rotating coordinate system and sending the feedback current to the current loop module and the torque module; the SVPWM module is used for converting the coordinates of the given voltage to obtain a static voltage under a two-phase static coordinate system and sending the static voltage to the SVPWM module;
the rotating speed loop module is used for determining a given current according to a set rotating speed and a feedback rotating speed and sending the given current to the current loop module;
the current loop module is used for determining a given voltage according to the feedback current and the given current and sending the given voltage to the coordinate transformation module and the torque calculation module;
the SVPWM module is used for calculating the duty ratio of the three-phase square wave according to the static voltage and sending the duty ratio to the inverter;
the inverter module is used for outputting three-phase voltage according to the duty ratio of the three-phase square wave;
and the torque calculation module is used for calculating output torque according to the motor rotating speed, the feedback current and the given voltage.
2. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: calculating the output torque by the following formula
Te＝Pm/ωr
Pout＝ud·id+uq·iq
Pm＝Pout·η
Wherein: t iseIs the output torque; omegarThe motor rotating speed; poutOutputting power for the controller; pmThe mechanical power of the motor; eta is the motor efficiency; i.e. id、iqD-axis and q-axis feedback currents, respectively; u. ofd、uqVoltages are given for the d-axis and q-axis, respectively.
3. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: the angle sampling module is an angle encoder.
4. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: the processing of the position angle is differential processing.
5. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: the current sampling module is a Hall current sensor.
6. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: the coordinate transformation module comprises a Clarke transformation module, and the Clarke transformation module is used for transforming the three-phase static coordinate system into the two-phase static coordinate system.
7. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: the coordinate transformation module comprises a Park transformation module, and the Park transformation module is used for transforming the two-phase stationary coordinate system into the two-phase rotating coordinate system.
8. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: the coordinate transformation module comprises an IPark transformation module for transforming the two-phase rotational coordinate system to the two-phase stationary coordinate system.
9. The permanent magnet synchronous motor controller with torque estimation function according to claim 1, characterized in that: the rotating speed loop module determines a given torque according to the set rotating speed and the feedback rotating speed, and then obtains a given current after table lookup.
10. A steering apparatus, characterized in that: the steering apparatus comprising a permanent magnet synchronous motor controller according to any of the preceding claims 1-9.
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