CN114070150A - Method and device for improving efficiency and power of permanent magnet synchronous motor and storage medium - Google Patents

Method and device for improving efficiency and power of permanent magnet synchronous motor and storage medium Download PDF

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CN114070150A
CN114070150A CN202111429328.1A CN202111429328A CN114070150A CN 114070150 A CN114070150 A CN 114070150A CN 202111429328 A CN202111429328 A CN 202111429328A CN 114070150 A CN114070150 A CN 114070150A
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voltage
permanent magnet
modulation
magnet synchronous
power
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CN114070150B (en
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王志斌
杜长虹
陈健
刘立
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Deep Blue Automotive Technology Co ltd
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Chongqing Changan New Energy Automobile Technology Co Ltd
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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
    • 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
    • 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
    • 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
    • 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

Abstract

The invention provides a method, a device and a storage medium for improving efficiency and power of a permanent magnet synchronous motor, wherein the method comprises the following steps: 1, improving the voltage of the stator side of the motor by adopting an overmodulation method; 2, switching frequency; 3, judging the adopted modulation mode according to the rotating speed, executing the step 5 when n is more than or equal to THD1, and executing the step 4 when n is less than or equal to THD 2; 4, calculating the duty ratio of the three-phase voltage through an SVPWM module, and executing SVPWM modulation; and 5, performing TSPWM modulation and suppressing common mode voltage. According to the invention, a modulation mode combining TSPWM and SVPWM is adopted at different rotating speeds, so that the inverter loss is reduced, the system efficiency is improved, and the control performance of the whole system is not influenced; meanwhile, in order to improve the torque output capacity of the constant voltage area and the maximum output voltage of the inverter, an overmodulation method applicable to different modulation modes is adopted, the high-speed running performance of the whole vehicle is improved, and the instantaneous overload capacity of the motor is ensured.

Description

Method and device for improving efficiency and power of permanent magnet synchronous motor and storage medium
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control.
Background
The permanent magnet synchronous motor has the characteristics of high power density, high efficiency, high torque-current ratio, high reliability and the like, is widely applied in the field of military and civil equipment and production, and particularly provides higher requirements for key performances such as dynamic response speed, torque pulsation, steady-state error and the like of a motor system in the field of electric automobiles.
Considering the influence of parameter indexes such as switching tube loss, harmonic distortion rate, direct-current side voltage utilization rate and the like on a motor system, how to improve the system performance in multiple aspects has great significance in achieving the comprehensive optimal effect.
Patent document CN110707974A discloses a minimum loss control method for a driving system of a permanent magnet synchronous motor, which considers inverter loss for the permanent magnet synchronous motor and adopts a modulation strategy of DPWM instead of SVPWM modulation strategy. The problems of the method are that: the problem that the adoption of the DPWM modulation strategy in the low-speed section can cause the increase of current harmonic waves and even cause torque fluctuation is not considered.
Patent document cn201910769066.x discloses a PWM modulation method for an electric vehicle motor inverter, and develops an overmodulation strategy of NZPWM based on the PWM, so as to improve the utilization rate of bus voltage and also improve the output power of the system. The overmodulation strategy has no universality, and is not applicable to other modulation modes TSPWM and SVPWM.
Disclosure of Invention
The invention provides a method, a device and a storage medium for improving the efficiency and the power of a permanent magnet synchronous motor, aiming at improving the working efficiency of a motor system, a modulation mode combining TSPWM and SVPWM is adopted at different rotating speeds, thus reducing the loss of an inverter, improving the efficiency of the system and ensuring that the control performance of the whole system is not influenced; in order to improve the torque output capacity of the constant voltage area and the maximum output voltage of the inverter, an overmodulation method applicable to different modulation modes is adopted, the high-speed running performance of the whole vehicle is improved, and the instantaneous overload capacity of a motor is ensured.
The technical scheme of the invention is as follows:
a method for improving efficiency and power of a permanent magnet synchronous motor, comprising the steps of:
step 1, adopting an overmodulation method to reference input voltage Uα、UβAnd modulating to improve the voltage of the stator side of the motor. The purpose of overmodulation here is to increase the utilization of the bus voltage.
And 2, switching frequency.
And 3, judging which modulation mode is adopted according to the rotating speed, executing the step 5 when n is more than or equal to THD1, and executing the step 4 when n is less than or equal to THD 2.
And 4, calculating the duty ratio of the three-phase voltage through an SVPWM module, and executing SVPWM modulation.
And 5, performing TSPWM modulation and inhibiting common mode voltage.
The details of the technical scheme of the invention are as follows:
referring to the motor controller system of fig. 4, to enable the PMSM to operate above the base speed, field weakening control is required, but the output torque of the motor, which is related to the stator side voltage of the motor, is reduced. Under the condition that the input voltage of the inverter is constant, the voltage on the stator side of the motor needs to be increased by adopting an overmodulation method to increase the torque of the motor. In the scheme of the invention, a modulation coefficient MI is defined as the ratio of the fundamental amplitude of a phase voltage to the fundamental amplitude of a phase voltage in a rectangular wave mode:
Figure BDA0003379660560000021
wherein U is the fundamental amplitude of the phase voltage
Figure BDA0003379660560000022
udcIs the voltage of the direct-current bus,
Figure BDA0003379660560000023
the amplitude of the fundamental wave of the phase voltage in the rectangular wave mode.
When 0.907<MI<At 0.952, only the amplitude of the voltage vector is modified without changing its frequencyRate and phase, defining a reference angle alpharObtaining alpha according to the volt-second balance rule or the principle that the amplitude of the fundamental wave of the output phase voltage is equal to the amplitude of the fundamental wave of the expected output phase voltagerThe relationship of MI, see FIG. 5.
As MI continues to increase, the operating region enters overmodulation region II. In this region, both the modal length and the electrical angle of the voltage vector change, while the electrical angular velocity begins to be discontinuous. To achieve a greater degree of volt-second equilibrium near the base vector, the base vector is held for a period of time, referred to as the hold angle. The holdover angle controls the dwell time at the vertices of the hexagon, related to the fundamental of the desired voltage vector. Alpha is alphahThe relationship of-MI is obtained by table lookup, see FIG. 6.
When the rotating speed is lower than the TBD1, the SVPWM modulation mode is adopted, and when the rotating speed is higher than the TBD2, the TSPWM modulation mode is switched. The method can reduce the switching loss 1/3 in a high-speed area, improve the system efficiency, reduce current harmonic waves in a low-speed area, inhibit torque pulsation and ensure the stability and comfort of the whole vehicle system. TBD1 and TBD2 were obtained by calibration.
In order to further reduce the switching loss, a strategy of changing the switching frequency is adopted. Changing the switching frequency according to the rotating speed in a segmented manner, wherein the switching frequency is k1 in the initial state; when the rotating speed is higher than TBD3, the switching frequency adopts k 2; when the rotating speed is higher than TBD4, the switching frequency adopts k 3. When the rotating speed is reduced from a high rotating speed to TBD5, the switching frequency is k2, and is further lower than TBD6, the switching frequency is k 1. The value of TBD 3-TBD 6 can be obtained by calibration.
By adopting the technical scheme, the invention has the following advantages:
1. the invention adopts a modulation mode combining TSPWM and SVPWM, thereby reducing the loss of the inverter, improving the system efficiency and ensuring that the control performance of the whole system is not influenced.
2. The invention can match overmodulation algorithms of different modulation modes, improve the utilization rate of bus voltage and increase the output power of a system.
3. The invention can reduce the switching loss by designing the frequency conversion strategy which is adaptive to the modulation mode.
Drawings
Fig. 1 is a flow chart of a method for improving efficiency and power of a permanent magnet synchronous motor.
FIG. 2 is a flow chart of an overmodulation algorithm;
FIG. 3 is a flow chart of a variable switching frequency method;
FIG. 4 is an overall block diagram of the motor controller system;
FIG. 5 is a graph showing alpha for the operating region entering overmodulation I regionr-a plot of MI;
FIG. 6 is a diagram of alpha for the operating region into overmodulation region IIr-graph of MI relationship.
Detailed Description
The present invention is described in detail below with reference to the attached drawings.
Example 1:
referring to fig. 1, the method for improving efficiency and power of a permanent magnet synchronous motor comprises the following steps:
step 1, inputting a reference voltage U through an overmodulation algorithmα、UβModulating to improve the voltage of the stator side of the motor, wherein the specific process is as shown in figure 2:
first, according to a reference input voltage Uα、UβCalculating the magnitude of the reference voltage vector
Figure BDA0003379660560000031
In the second step, if Us＞2*UdcP, to Uα、UβPerform amplitude limiting
Figure BDA0003379660560000032
The third step, define
Figure BDA0003379660560000033
When MI is less than 0.907, the overmodulation module is not triggered, and the linear modulation region is directly entered. Here, 0.907 is a function in which the action time according to the zero vector is 0 or more:
Figure BDA0003379660560000034
to obtain
Figure BDA0003379660560000035
The fourth step, if MI is more than 0.907 and less than 0.952, entering an overmodulation I area, passing through Uα、UβThe angle of the voltage vector is determined. And according to alpharRelation of MI, finding reference angle alpha corresponding to MIr。
Fifthly, dividing the voltage vector angle into different sectors, and then recalculating the alpha and beta axis voltages Uα *、Uβ *。
Sixthly, if MI is more than 0.952 and less than 1, entering an overmodulation II area, passing through Uα、UβThe angle of the voltage vector is determined. And according to alphahRelation of MI, finding holding angle alpha for MIh. Dividing the voltage vector angle into different sectors, and then recalculating alpha and beta axis voltages Uα *、Uβ *。
Step 2, determining the switching frequency, wherein the specific process is as shown in fig. 3:
in the first step, at power-on initialization, the switching frequency of the carrier wave is k 1.
Secondly, when the rotating speed is increased to THD3, the switching frequency is switched to k 2; the speed continues to rise above THD4 and the switching frequency is switched to k 3.
Thirdly, when the rotating speed is reduced to THD5, the switching frequency is switched to k 2; when the rotational speed continues to decrease below THD6, the switching frequency is switched to k 1.
Step 3, judging which modulation mode is adopted, specifically as follows:
in the first step, when the rotating speed is higher than THD1, the method can effectively restrain the common mode voltage by adopting a TSPWM (time delay pulse width modulation) mode.
In the second step, when the rotation speed is lower than THD2, the traditional SVPWM is adopted.
In the above steps, the value of TBD 3-TBD 6 is obtained by calibration, THD6< THD3< THD5< THD4, for example, THD6 may take about 400Rpm, THD3 may take about 500Rpm, THD5 may take about 6000Rpm, and THD4 may take about 6300 Rpm.
In the above steps, k1< k2< k3, the smaller the switching frequency, the smaller the loss, but at high speed if the switching frequency is small, the current harmonic content will increase, which will reduce the efficiency of the motor system.
And step 4, performing SVPWM modulation.
Specifically, the duty ratio of the three-phase voltage is calculated through the SVPWM module, and the algorithm may adopt a general SVPWM algorithm, which is not described herein.
And step 5, performing TSPWM modulation, specifically as follows:
first, a reference voltage U is appliedα *、Uβ *Decomposed into three axes, defining three variables x, y, z.
Figure BDA0003379660560000041
Second, the U is putα *、Uβ *Coordinate inverse transformation is carried out to obtain UA，UB，UCA, B, C is defined as
Figure BDA0003379660560000042
And step three, defining N as A + B + C, and obtaining the sector number where the reference voltage vector is located.
Fourthly, defining the voltage component mu of the reference voltage vector on the adjacent coordinate axes under the xyz coordinate systeml、μrThe corresponding relationship between N and N is as follows:
N 1 2 3 4 5 6
μl -y x -z y -x z
μr x -y x -z y -x
fifthly, three-phase PWM duty ratio T in different sectorsa、Tb、TcObtained from the following table.
N 1 2 3 4 5 6
T a 1 μr 1-μ l 0 1-μr μl
Tb 1-μr μl 1 μr 1-μl 0
Tc 1-μ l 0 1-μr μl 1 μr
The sixth step, the T isa、Tb、TcAnd sending the data to a bottom layer PWM generating unit.
Example 2
The present embodiment is an apparatus for improving efficiency and power of a permanent magnet synchronous motor, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the method for improving efficiency and power of a permanent magnet synchronous motor as described in the previous embodiment is implemented.
Example 3
The present embodiment is a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method for improving efficiency and power of a permanent magnet synchronous motor according to the previous embodiment.
In the foregoing specification, the subject matter of the invention has been described with reference to specific examples. However, various modifications and changes may be made without departing from the gist of the present invention as set forth in the claims. The drawings in the present specification are illustrative and not restrictive. The scope of the inventive concept should, therefore, be determined by the claims and their legal equivalents, rather than by the examples described. Any steps set forth in any method or process claims of this specification may be performed in any order or combination of orders and are not limited to the specific order presented in the examples given in the claims.

Claims (8)

1. A method for increasing efficiency and power of a permanent magnet synchronous motor, comprising the steps of:
step 1, adopting an overmodulation method to reference input voltage Uα、UβModulating and improving the voltage of the stator side of the motor;
step 2, switching frequency;
step 3, judging the adopted modulation mode according to the rotating speed, executing step 5 when n is more than or equal to THD1, and executing step 4 when n is less than or equal to THD 2;
step 4, calculating the duty ratio of the three-phase voltage through an SVPWM module, and executing SVPWM modulation;
and 5, performing TSPWM modulation and inhibiting common mode voltage.
2. The method for improving efficiency and power of a permanent magnet synchronous motor according to claim 1, wherein the step 1 comprises: defining a modulation coefficient MI as the ratio of the amplitude of the fundamental wave of the phase voltage to the amplitude of the fundamental wave of the phase voltage in a rectangular wave mode:
Figure FDA0003379660550000011
where U is the fundamental amplitude of the phase voltage, UdcIs the voltage of the direct-current bus,
Figure FDA0003379660550000012
phase voltage fundamental amplitude in the rectangular wave mode;
step 1.1, according to the reference input voltage Uα、UβCalculating the magnitude of the reference voltage vector
Figure FDA0003379660550000013
Step 1.2, if Us＞2*UdcP, to Uα、UβPerform amplitude limiting
Figure FDA0003379660550000014
Wherein, UdcThe/pi is the phase voltage fundamental wave amplitude in the rectangular wave mode;
step 1.3, defining modulation factor
Figure FDA0003379660550000015
Wherein u isdcIs the voltage of the direct-current bus,
Figure FDA0003379660550000016
phase voltage fundamental amplitude in the rectangular wave mode;
when MI is less than 0.907, the overmodulation module is not triggered, and the linear modulation region is directly entered;
step 1.4, if 0.907<MI<0.952, into overmodulation I region, through Uα、UβJudging the angle of the voltage vector and according to alpharRelation of MI, finding reference angle alpha corresponding to MIr；
Step 1.5, dividing the voltage vector angle into different sectors, recalculating the reference voltage U of the alpha and beta axesα *、Uβ *；
Step 1.6, if 0.952<MI<1, enter overmodulation II region, pass Uα、UβJudging the angle of the voltage vector and according to alphahRelation of MI, finding holding angle alpha for MIhDividing the voltage vector angle into different sectors, and recalculating alpha and beta axis voltages Uα *、Uβ *。
3. Method for increasing efficiency and power of a permanent magnet synchronous machine according to claim 1 or 2, characterized in that the switching frequency of step 2 comprises:
step 2.1, electrifying and initializing, wherein the switching frequency of the carrier wave is k 1;
step 2.2, when the rotating speed is increased to THD3, switching the switching frequency to k 2; the rotating speed continues to rise over THD4, and the switching frequency is switched to k 3;
step 2.3, when the rotating speed is reduced to THD5, switching the switching frequency to k 2; when the rotating speed continues to be reduced to be lower than THD6, the switching frequency is switched to be k 1;
wherein, TBD 3-TBD 6 value is obtained by calibration, THD6< THD3< THD5< THD 4; k1< k2< k 3.
4. The method for improving efficiency and power of a permanent magnet synchronous motor according to claim 1 or 2, wherein the step 5 of performing TSPWM modulation comprises:
step 5.1, recalculate the reference voltage Uα *、Uβ *Split into three axesDefining three variables x, y, z
Figure FDA0003379660550000021
Step 5.2, adding Uα *、Uβ *Coordinate inverse transformation is carried out to obtain UA，UB，UCA, B, C is defined as
Figure FDA0003379660550000022
Step 5.3, if N is defined as a + B + C, a sector number where the reference voltage vector is located is obtained;
step 5.4, defining voltage components mu of the reference voltage vector on the adjacent coordinate axes under the xyz coordinate systeml、μrAnd N;
step 5.5, obtaining three-phase PWM duty ratio T in different sectorsa、Tb、Tc；
Step 5.6, adding Ta、Tb、TcAnd sending the data to a bottom layer PWM generating unit.
5. Method for increasing efficiency and power of a permanent magnet synchronous machine according to claim 4, characterized in that step 5.4, the voltage component μl、μrThe correspondence between N and N is as follows:
N 1 2 3 4 5 6 μl -y x -z y -x z μr x -y x -z y -x
。
6. method for improving efficiency and power of permanent magnet synchronous motors according to claim 4, characterized in that step 5.5, three-phase PWM duty cycle T in different sectorsa、Tb、TcIs obtained by the following table:
N 1 2 3 4 5 6 Ta 1 μr 1-μl 0 1-μr μl Tb 1-μr μl 1 μr 1-μl 0 Tc 1-μl 0 1-μr μl 1 μr
。
7. an apparatus for improving efficiency and power of a permanent magnet synchronous motor, comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, implements a method for improving efficiency and power of a permanent magnet synchronous motor according to any of claims 1-6.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for improving efficiency and power of a permanent magnet synchronous motor according to any one of claims 1 to 4.
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