CN114079413A - Power-loop-based high-speed permanent magnet synchronous motor control method - Google Patents

Power-loop-based high-speed permanent magnet synchronous motor control method Download PDF

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CN114079413A
CN114079413A CN202111421352.0A CN202111421352A CN114079413A CN 114079413 A CN114079413 A CN 114079413A CN 202111421352 A CN202111421352 A CN 202111421352A CN 114079413 A CN114079413 A CN 114079413A
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loop
power
current
speed
permanent magnet
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李可礼
张志良
张懿
魏海峰
陈椒娇
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Jiangsu University of Science and Technology
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Priority to CN202111421352.0A priority Critical patent/CN114079413A/en
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Priority to PCT/CN2022/124909 priority patent/WO2023093341A1/en
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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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • 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
    • H02P6/20—Arrangements for starting
    • H02P6/21—Open loop start
    • 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
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a power loop-based high-speed permanent magnet synchronous motor control method, which is characterized by comprising the following steps of: when the permanent magnet synchronous motor is started, the open loop current is initially given, and the power loop and the speed loop do not operate; when the rotating speed of the motor is increased to 80% -90% of the normal no-load rotating speed, the power ring is switched in to operate. The invention realizes the high-speed operation of the permanent magnet synchronous motor by using a control method based on a power loop; compared with the traditional control method, the method not only can fully utilize the bus voltage, but also ensures the motor performance and improves the accuracy of power compensation.

Description

Power-loop-based high-speed permanent magnet synchronous motor control method
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a power-loop-based high-speed permanent magnet synchronous motor control method.
Background
The permanent magnet synchronous motor has the advantages of high efficiency, quick response, low noise and the like. Therefore, permanent magnet synchronous machines have been widely used in more and more industries.
The traditional permanent magnet synchronous motor leads the current phase of a stator to be advanced by controlling a switching element of an inverter, weakens a permanent magnet excitation magnetic field, and thus achieves the aim of weak magnet speed increase. The magnetic field of the stator armature is used for offsetting a part of permanent magnetic field, so that the back electromotive force of the motor is reduced and cannot exceed the voltage limit. However, in the control process of the scheme, the bus voltage is not fully utilized, the current is increased, the efficiency is deteriorated, and the motor performance is reduced due to the sensitivity and inaccuracy of inductance parameters of the motor.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems of poor efficiency, poor motor performance and unstable power of the traditional control method of the high-speed permanent magnet synchronous motor at present, the invention provides the control method of the high-speed permanent magnet synchronous motor based on the power loop, and open-loop current is injected into a current loop, a speed loop and the power loop, so that the purposes of keeping constant power, motor performance and efficiency in the high-speed operation of the permanent magnet synchronous motor are achieved.
The technical scheme is as follows: the control method of the high-speed permanent magnet synchronous motor based on the power loop comprises the following steps:
(1) when the permanent magnet synchronous motor is started, initially giving open-loop current;
(2) open loop current ramps up and the power loop and speed loop do not operate;
(3) when the rotating speed of the motor is increased to 80% -90% of the normal no-load rotating speed, the power ring is switched in to operate.
The initial given open loop current is iq。
The initial given open loop current iqCurrent limiting, gradually increasing, and climbing open loop current valueComprises the following steps:
Figure BDA0003376708460000011
wherein iqmax is the maximum allowable starting current and t is the preset desired starting time.
The step 3 is as follows:
(3.1) setting the rotating speed of the cut-in power ring motor to be 80% -90% of the normal no-load rotating speed;
(3.2) before the rotating speed reaches 80% -90% of the set rotating speed of the power, the power ring and the speed ring do not operate, when the initial given open-loop current is gradually increased and the rotating speed reaches 80% -90% of the set rotating speed of the power, the open-loop injection current is cut off, and the current ring, the speed ring and the power ring operate simultaneously;
(3.3) real-time sampling of the bus voltage and the bus current, and performing power compensation by taking the difference between the product of the two terms and the given power;
and (3.4) setting the periods of the current loop, the speed loop and the power loop.
The method for sampling the bus current comprises the following steps:
when sector vector of SVPWM is 000, 111, i is adoptedsCalculating; other sector conditions are directly calculated by using real-time sampled bus current isThe specific calculation formula of (A) is as follows:
Figure BDA0003376708460000021
wherein idD-axis current, i, sampled in real timeqIs the q-axis current sampled in real time.
The method for setting the three loops in the step (3.4) is as follows:
the current loop period is equal to the PWM period; a current loop period of 10 to 20 times the speed loop period; power loop period 5 to 10 times speed loop period.
The current loop needs to be operated in each FOC operation period; the speed loop and the power loop do not need to operate every FOC operation period.
And carrying out PI amplitude limiting on the rotation speed increase of the motor.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages:
1. the invention realizes the high-speed operation of the permanent magnet synchronous motor by using a control method based on a power loop; compared with the traditional control method, the method not only can fully utilize the bus voltage, but also ensures the motor performance.
2. The invention firstly uses open-loop current to start, and makes the climbing and current limiting of the open-loop circuit, and achieves the expected rotating speed value in short time.
3. The invention adds a power ring on the basis of a current ring and a speed ring, and ensures the dynamic stability of the power of the permanent magnet synchronous motor in high-speed operation.
4. In the power loop power compensation, the bus current sampling is considered separately according to the SVPWM sector, so that the accuracy of the power compensation is improved.
Drawings
FIG. 1 is a flow chart of a power loop based high speed PMSM control method;
fig. 2 is a power loop-based vector control block diagram of a high-speed permanent magnet synchronous motor.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1, the method for controlling a high-speed permanent magnet synchronous motor based on a power loop includes the following steps:
(1) when the permanent magnet synchronous motor is started, open-loop current is initially given. Reaching the expected rotating speed in a short time;
(2) judging whether the rotating speed increase caused by the gradual increase of the open-loop current is improved to 80% -90% of the power set rotating speed or not, if so, cutting off the injection of the open-loop current and entering the next process; otherwise, continuously giving open-loop current for climbing;
(3) when the initial given open-loop current is gradually increased and the rotating speed reaches 80% -90% of the power set rotating speed, the open-loop injection current is cut off, and the current loop, the speed loop and the power loop operate simultaneously;
(4) and when the power loop operates, the bus current and the bus voltage are sampled in real time to perform power compensation.
As shown in fig. 2, the present invention provides a vector control block diagram of a high-speed permanent magnet synchronous motor based on a power loop, which includes: open-loop current injection current loop, speed loop, power loop; when the motor is started, open-loop current control is injected firstly, at the moment, a speed loop and a power loop do not operate, and i is adopteddThe control decoupling strategy of 0 realizes the current static decoupling of the d-q axis. When the open loop current reaches the vicinity of the maximum allowable starting current, switching into a current loop, a speed loop and a power loop to operate simultaneously; when the power loop operates, the given power and the product of the bus voltage sampled in real time and the bus current are subjected to power compensation by taking the difference, wherein the bus voltage is the bus voltage sampled in real time, the sector vector of the bus current in SVPWM is 000, and i is adopted when the sector vector of the bus current in SVPWM is 111sEstimating; other sector conditions are calculated directly using the bus current sampled in real time. In order to ensure the accuracy of the sampling period, the period of a current loop is equal to the PWM period; a current loop period of 10 to 20 times the speed loop period; power loop period 5 to 10 times speed loop period.

Claims (8)

1. The control method of the high-speed permanent magnet synchronous motor based on the power loop is characterized by comprising the following steps:
(1) when the permanent magnet synchronous motor is started, initially giving open-loop current;
(2) open loop current ramps up and the power loop and speed loop do not operate;
(3) when the rotating speed of the motor is increased to 80% -90% of the normal no-load rotating speed, the power ring is switched in to operate.
2. The power-loop-based high-speed permanent magnet synchronous motor control method according to claim 1, wherein the initial given open-loop current is iq。
3. Power-loop-based high-speed permanent magnet synchronous motor control method according to claim 2Method, characterized in that said initial given open loop current iqThe current is limited and gradually increased, and the open loop current value of climbing is as follows:
Figure FDA0003376708450000011
wherein iqmax is the maximum allowable starting current and t is the preset desired starting time.
4. The power-loop-based high-speed permanent magnet synchronous motor control method according to claim 1, wherein the step 3 is:
(3.1) setting the rotating speed of the cut-in power ring motor to be 80% -90% of the normal no-load rotating speed;
(3.2) before the rotating speed reaches 80% -90% of the set rotating speed of the power, the power ring and the speed ring do not operate, when the initial given open-loop current is gradually increased and the rotating speed reaches 80% -90% of the set rotating speed of the power, the open-loop injection current is cut off, and the current ring, the speed ring and the power ring operate simultaneously;
(3.3) real-time sampling of the bus voltage and the bus current, and performing power compensation by taking the difference between the product of the two terms and the given power;
and (3.4) setting the periods of the current loop, the speed loop and the power loop.
5. The power-loop-based high-speed permanent magnet synchronous motor control method according to claim 4, wherein the method for sampling the bus current comprises the following steps:
when sector vector of SVPWM is 000, 111, i is adoptedsCalculating; other sector conditions are directly calculated by using real-time sampled bus current isThe specific calculation formula of (A) is as follows:
Figure FDA0003376708450000012
wherein idD-axis current, i, sampled in real timeqIs the q-axis current sampled in real time.
6. The power-loop-based high-speed permanent magnet synchronous motor control method according to claim 4, wherein the three loop setting method in the step (3.4) is as follows:
the current loop period is equal to the PWM period; a current loop period of 10 to 20 times the speed loop period; power loop period 5 to 10 times speed loop period.
7. The power-loop-based high-speed permanent magnet synchronous motor control method according to claim 4, wherein the current loop requires operation every FOC operation period; the speed loop and the power loop do not need to operate every FOC operation period.
8. The power-loop-based high-speed permanent magnet synchronous motor control method according to claim 1, wherein the motor speed increase is PI limited.
CN202111421352.0A 2021-11-26 2021-11-26 Power-loop-based high-speed permanent magnet synchronous motor control method Pending CN114079413A (en)

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PCT/CN2022/124909 WO2023093341A1 (en) 2021-11-26 2022-10-12 High-speed permanent magnet synchronous motor control method based on power loop

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Cited By (3)

* Cited by examiner, † Cited by third party
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CN115189608A (en) * 2022-05-19 2022-10-14 广东逸动科技有限公司 Motor control method, control device, computer device and readable storage medium
WO2023093341A1 (en) * 2021-11-26 2023-06-01 江苏科技大学 High-speed permanent magnet synchronous motor control method based on power loop
CN117767831A (en) * 2023-12-26 2024-03-26 湖南进芯电子科技有限公司 High-speed permanent magnet synchronous motor control method based on power control

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CN104811095B (en) * 2015-04-28 2018-03-27 广东美的暖通设备有限公司 Startup control method, device and the air conditioner of motor
CN111022364B (en) * 2019-11-07 2022-07-05 广东尚研电子科技有限公司 Constant air volume control method and device for range hood
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023093341A1 (en) * 2021-11-26 2023-06-01 江苏科技大学 High-speed permanent magnet synchronous motor control method based on power loop
CN115189608A (en) * 2022-05-19 2022-10-14 广东逸动科技有限公司 Motor control method, control device, computer device and readable storage medium
CN115189608B (en) * 2022-05-19 2024-04-09 广东逸动科技有限公司 Motor control method, control device, computer device and readable storage medium
CN117767831A (en) * 2023-12-26 2024-03-26 湖南进芯电子科技有限公司 High-speed permanent magnet synchronous motor control method based on power control

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