CN114204872A - Permanent magnet synchronous motor speed switching control method - Google Patents

Permanent magnet synchronous motor speed switching control method Download PDF

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Publication number
CN114204872A
CN114204872A CN202111444552.8A CN202111444552A CN114204872A CN 114204872 A CN114204872 A CN 114204872A CN 202111444552 A CN202111444552 A CN 202111444552A CN 114204872 A CN114204872 A CN 114204872A
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current
quadrature
axis
voltage
direct
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何忠祥
尹传涛
程力
毛金
张瑞
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Wuhan Institute of Marine Electric Propulsion China Shipbuilding Industry Corp No 712 Institute CSIC
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Wuhan Institute of Marine Electric Propulsion China Shipbuilding Industry Corp No 712 Institute CSIC
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • 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
    • H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a permanent magnet synchronous motor speed switching control method, according to the current rotating speed of a permanent magnet synchronous motor, the corresponding alternating current and direct current axis current and voltage setting under the working condition are obtained by a table look-up method; calculating to obtain a real-time set value of the initial voltage of the quadrature-direct axis according to the current bus voltage and the voltage corresponding to the working condition table; selecting conventional rotating speed current double closed-loop control or fast switching current single-loop control according to the switching time and the time limit value; applying the calculated quadrature-direct axis voltage to the control object permanent magnet synchronous motor through the inverter; sampling motor phase current, and obtaining quadrature-axis and direct-axis current through 3s/2r coordinate transformation; and finally, updating the self-adaptive adjustment component of the quadrature-direct axis integration link in real time according to the quadrature-direct axis current setting and the feedback deviation. By adopting the switching control method with the speed, the switching capability under different rotating speed working conditions can be improved on the premise of not reducing the rotating speed of the motor.

Description

Permanent magnet synchronous motor speed switching control method
Technical Field
The invention belongs to the technical field of power electronics, and particularly relates to a permanent magnet synchronous motor speed switching control method which is suitable for high-performance and high-function control places of a permanent magnet synchronous motor, in particular to the fields of propeller direct drive, wind power generation and the like which need the permanent magnet synchronous motor with speed switching function.
Background
With the improvement of the performance of rare earth permanent magnet materials and the development of digital control technology, the permanent magnet synchronous motor is widely applied to the fields of ship comprehensive electric propulsion, railway track traffic, wind power generation and the like by means of higher power factor and outstanding starting performance. However, under the influence of the inertia of the equipment, water flow, wind speed and other factors, the permanent magnet synchronous motor is not in a static state when being electrified for the first time. Therefore, the research on the switching control technology with speed suitable for the permanent magnet synchronous motor has important application value.
In order to meet the requirement of the permanent magnet synchronous motor with the speed reentering function, expert scholars provide a series of position identification methods according to the relation between the position of a motor rotor and physical quantities such as short-circuit current, rotor flux linkage, switching time and the like. The Chinese invention patent CN103516281B indicates that the initial position of the permanent magnet synchronous motor is a key parameter for realizing the switching of the permanent magnet synchronous belt speed, and the position estimation method of the permanent magnet synchronous motor without a voltage sensor is provided through the derivation of a mathematical theory. In 2015, an IEEE document "Re-standing Technologies for rolling Controlled AC Motors" refers to "research on synchronous motor belt speed based on no position sensor," 10th independent Control reference (ASCC) in 2015, and by combining a position identification algorithm and a switched short-circuit pulse current method under a medium-high speed working condition, switching and stable operation of a permanent magnet synchronous motor under no position sensor are realized.
However, the existing permanent magnet synchronous motor speed switching control method has the following disadvantages:
1) research focuses on position identification at the switching moment of the permanent magnet synchronous motor, and whether matching between initial output voltage of a frequency converter and counter electromotive force of the motor is considered is not considered; the coil of the permanent magnet synchronous motor for high-power electric driving has large sectional area, a plurality of pole pairs and small inductance, and at the moment, unmatched voltage difference can cause overcurrent of motor phase current to cause switching failure.
2) The success rate of switching of the permanent magnet synchronous motor can be improved by methods of reducing the rotating speed of the motor through active short circuit of a winding and the like, but the flexibility of a unit and the dynamic response characteristic of the motor are reduced by the strategy.
3) The speed switching capability of the permanent magnet synchronous motor can be improved by increasing the proportional-integral parameter of the regulator; however, if the parameters are too large, the stability of the motor in idle-load low-speed starting is reduced, and harmonic components in a given signal are amplified.
Disclosure of Invention
The invention aims to provide a simple and reliable permanent magnet synchronous motor speed switching control method which is suitable for engineering application.
The technical scheme adopted by the invention for solving the technical problems is as follows: a permanent magnet synchronous motor speed switching control method is used for a three-phase or multi-phase permanent magnet synchronous motor which is supplied with power by a voltage type inverter, and is based on a control system which consists of a working condition current determination link, an initial setting link, a closed-loop control link, a voltage action link, a current detection action link and a voltage amplitude self-adaptive adjustment link
Step 1, obtaining a corresponding alternating-direct axis current given i under the working condition through a table look-up method according to the current rotating speed of the permanent magnet synchronous motorqref0And idref0Voltage given uq0And ud0；
Step 2, passing the current bus voltage udcVoltage u corresponding to operating condition tabledc0And calculating to obtain the initial voltage of the quadrature-direct axis and giving u in real timeqref0And udref0；
Step 3, according to the switching time tstartAnd a time limit value tlimitSelecting conventional rotating speed current double closed-loop control or current single-loop control;
step 4, giving u the calculated quadrature-direct axis voltageqrefAnd udrefActing on the permanent magnet synchronous motor to be controlled through the inverter;
step 5, sampling motor phase current iabcAnd obtaining the quadrature-direct axis current i through the coordinate transformation of 3s/2rdAnd iq；
Step 6, according to the given and feedback deviation i of the quadrature-direct axis currentqerr、iderrObtaining the adaptive adjustment component u of quadrature-direct axis integral linkdi_add、uqi_add。
In the method for controlling the switching of the permanent magnet synchronous motor at the speed, the input of the working condition table in the step 1 is the current rotating speed n of the permanent magnet synchronous motor, and the output is the given i of the alternating current and direct current corresponding to the rotating speedqref0And idref0Voltage given uq0And ud0And bus voltage udc(ii) a If the working condition table has no corresponding rotating speed, the above off-line parameters can be obtained by a rotating speed interpolation method.
The permanent magnet synchronous motor speed switching control method comprises the step 2 of obtaining an off-line parameter according to a table look-up and a current bus voltage sampling value udcObtaining the real-time given of the initial voltage of the quadrature axis and the direct axis, wherein the calculation formula is as follows:
Figure BDA0003384386130000031
the speed switching control method of the permanent magnet synchronous motor specifically comprises the following steps of 3:
step 3.1, judging the switched time tstartAnd a time limit value tlimitThe magnitude relationship of (1);
step 3.2, if tstart≥tlimitThe switching process is stable, and the method can be converted into double closed-loop control of a conventional rotating speed outer ring and a current inner ring; if tstart＜tlimitIf the switching process is not finished, i is adoptedqref0And idref0Current loop single-loop control is given for the quadrature axis and the direct axis;
the current loop adopts a PI controller, and the parameters of proportion and integral are respectively kpAnd kiThe output of the controller can be expressed as:
udqi＝udqi_add+ki∑idqerr
udqref＝udqi+kpidqerr
integral component u of current loop controllerdqiAnd output udqrefAre all set to udref0And udref0。
In the permanent magnet synchronous motor speed switching control method, in the step 5, the current i in the static three-phase coordinate system is converted through the 3s/2r coordinatea、ibAnd icConverted into current i under a rotating two-phase coordinate systemdAnd iqThe calculation formula is:
Figure BDA0003384386130000041
the rotor position angle theta can be acquired through a position sensor such as a rotary transformer and can also be acquired through a position identification algorithm such as a short circuit vector method.
The speed switching control method of the permanent magnet synchronous motor specifically comprises the following steps of 6:
step 6.1, giving i according to the quadrature-direct axis currentqref0And idref0And real-time current feedback iqAnd idObtaining a current feedback deviation iqerrAnd iderrCalculated according to the following formula:
Figure BDA0003384386130000042
step 6.2, respectively judging absolute values | i of quadrature-axis and direct-axis current feedback deviationsdqerrWhether | is greater than the maximum value i allowed by the current deviationlimitThe maximum value is a current fault alarm threshold value ifaultAnd the current is given and determined together, and the relation is satisfied:
ilimit＜min{ifault-idref0,ifault-iqref0}；
step 6.3, if | iqerr|＜ilimitIt is shown that the quadrature axis voltage deviation does not cause the motor phase current overcurrent in the switching transient process, the output voltage can be adjusted through a current loop, and the quadrature axis integral link self-adaptive adjustment component is set as u qi_add0; if iqerr|≥ilimitThe switching transient process is explained to have caused the motor phase current to generate the overcurrent phenomenon due to the quadrature axis voltage deviation, and in order to avoid the frequency converter entering the fault state due to continuous and repeated overcurrent, the switching transient process is carried out according to the formula uqi_add＝f(iqerr) Changing the integral output value of the quadrature axis current regulator; integral output regulation value uqi_addIs quadrature axis current deviation iqerrThe positive correlation function of (2) can be linear, quadratic or exponential;
step 6.4, if | iderr|＜ilimitIt is stated that the direct-axis voltage deviation does not cause the motor phase current overcurrent yet in the switching transient process, the output voltage can be adjusted through a current loop, and the self-adaptive adjustment component of the direct-axis integral link is set as u di_add0; if iderr|≥ilimitThe direct-axis voltage deviation in the switching transient process is proved to cause the overcurrent phenomenon of the motor phase current, and in order to avoid the situation that the frequency converter enters a fault state due to continuous and repeated overcurrent, the fault state is shown according to the formula udi_add＝f(iderr) Changing an integral output value of the direct-axis current regulator; integral output regulation value udi_addIs the deviation of the direct current iderrThe positive correlation function of (2) can be linear, quadratic or exponential.
In the permanent magnet synchronous motor speed switching control method, the integral output regulating value u in step 6di_add、uqi_addIs the quadrature-direct axis current deviation iderr、iqerrThe positive correlation function of (2) can be linear, quadratic or exponential.
The invention has the beneficial effects that: the invention applies the self-adaptive control to the switching control of the permanent magnet synchronous motor at the speed and improves the switching capability under different rotating speed working conditions on the premise of not reducing the rotating speed of the motor; a mathematical relation is established between the current deviation and the current loop integral output, so that the overcurrent fault phenomenon of the phase current caused by the direct double closed loop of the traditional rotating speed and current can be effectively reduced; the method is simple and easy to implement and is easy for engineering realization.
Drawings
FIG. 1 is a schematic diagram of the control method of the present invention.
The figures are numbered: 1-working condition current determination link, 2-initial setting link, 3-closed loop control link, 4-voltage action link, 5-current detection action link, and 6-voltage amplitude self-adaptive adjustment loop adjustment.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings and examples.
As shown in fig. 1, the control system of the three-phase or multi-phase permanent magnet synchronous motor for the power supply of the voltage-type inverter of the present invention is composed of a working condition current determination link 1, an initial setting link 2, a closed-loop control link 3, a voltage action link 4, a current detection action link 5 and a voltage amplitude adaptive adjustment loop 6, and the control method comprises the following steps:
step 1, according to the current rotating speed of the permanent magnet synchronous motor, obtaining the alternating current and direct current axis current and voltage setting corresponding to the working condition by a table look-up method. The input of the working condition table is the current rotating speed n of the permanent magnet synchronous motor, and the output is the given (i) of the alternating-direct axis current corresponding to the rotating speedqref0And idref0) Voltage given (u)q0And ud0) And bus voltage udc(ii) a If the working condition table has no corresponding rotating speed, the off-line parameters can be obtained by a linear interpolation method.
Step 2, passing the current bus voltage udcVoltage u corresponding to operating condition tabledc0And calculating to obtain the initial voltage of the quadrature-direct axis and giving u in real timeqref0And udref0。
The real-time given calculation formula of the output quadrature-direct axis initial voltage is as follows:
udref0＝ud0udc0/udc
uqref0＝uq0udc0/udc
step 3, according to the switching time tstartAnd a time limit value tlimitAnd selecting conventional rotating speed and current double closed-loop control or current single-loop control.
The method specifically comprises the following steps:
step 3.1, judging the switched time tstartAnd a time limit value tlimitThe magnitude relationship of (1);
step 3.2, if tstart≥tlimitThe switching process is stable, and the method can be converted into double closed-loop control of a conventional rotating speed outer ring and a current inner ring; if tstart＜tlimitIf the switching process is not finished, i is adoptedqref0And idref0The current loop single-loop control is given for the quadrature axis and the direct axis.
The current loop adopts a PI controller, and the parameters of proportion and integral are respectively kpAnd ki. The output of the controller can be expressed as:
udqi＝udqi_add+ki∑idqerr
udqref＝udqi+kpidqerr
integral component u of current loop controllerdqiAnd output udqrefAre all set to udref0And udref0
Step 4, giving u the calculated quadrature-direct axis voltageqrefAnd udrefActing on the permanent magnet synchronous motor to be controlled through the inverter;
step 5, sampling motor phase current iabcAnd obtaining the quadrature-direct axis current i through the coordinate transformation of 3s/2rdAnd iq。
The calculation formula of the quadrature axis and direct axis current is as follows:
Figure BDA0003384386130000071
the rotor position angle theta can be acquired through a position sensor such as a rotary transformer and can also be acquired through a position identification algorithm such as a short circuit vector method.
Step 6, according to the given and feedback deviation (i) of the quadrature-direct axis currentqerr、iderr) Obtaining the adaptive adjustment component (u) of quadrature-direct axis integral linkdi_add、uqi_add)；
The method specifically comprises the following steps:
step 6.1, give (i) according to the quadrature-direct axis currentqref0And idref0) And real-time current feedback (i)qAnd id) Obtaining a current feedback deviation (i)qerrAnd iderr) Calculated according to the following formula:
iderr＝idref0-id
iqerr＝iqref0-iq
step 6.2, respectively judging absolute values | i of quadrature-axis and direct-axis current feedback deviationsdqerrWhether | is greater than the maximum value i allowed by the current deviationlimitThe maximum value is a current fault alarm threshold value ifaultAnd the current is given and determined together, and the relation is satisfied:
ilimit＜min{ifault-idref0,ifault-iqref0}
step 6.3, if | iqerr|＜ilimitIt is shown that the quadrature axis voltage deviation does not cause the motor phase current overcurrent in the switching transient process, the output voltage can be adjusted through a current loop, and the quadrature axis integral link self-adaptive adjustment component is set as u qi_add0; if iqerr|≥ilimitThe switching transient process indicates that the quadrature axis voltage deviation already causes the overcurrent phenomenon of the motor phase current, so as to avoid that the frequency converter enters a fault state due to continuous and repeated overcurrent.
According to quadrature axis current deviation iqerrCalculating the integral output change value of the quadrature axis current regulator, wherein the equation is as follows:
Figure BDA0003384386130000072
where A and B are two specific real-time cases, k1And k2Is a positive coefficient, and the positive integer n is a power number.
Step 6.4, if | iderr|＜ilimitIt is shown that the quadrature axis voltage deviation does not cause the motor phase current overcurrent in the switching transient process, the output voltage can be adjusted through a current loop, and the quadrature axis integral link self-adaptive adjustment component is set as u di_add0; if iderr|≥ilimitThe switching transient process indicates that the quadrature axis voltage deviation already causes the overcurrent phenomenon of the motor phase current, so as to avoid that the frequency converter enters a fault state due to continuous and repeated overcurrent.
Also, according to the direct axis current deviation iderrCalculating the integral output change value of the direct-axis current regulator, wherein the equation is as follows:
Figure BDA0003384386130000081
the embodiment of the control method is specifically described by taking a surface-mounted three-phase permanent magnet synchronous motor as an example. The rated power of the motor is 150kW, the rated voltage is 450V, the rated current is 500A, the rated rotating speed is 90r/min, the number of pole pairs is 20, and the current operating rotating speed is 60 r/min.
Step 1, obtaining the corresponding alternating-direct axis current given value (i) under the working condition by a table look-up method according to the current rotating speed of the permanent magnet synchronous motorqref0150A and idref00A), voltage set (u)q0320V and ud0＝5V)。
Step 2, passing the current bus voltage udc800V and voltage u corresponding to the working condition tabledc0Calculating to obtain the initial voltage of the quadrature-direct axis and giving u in real time as 900Vqref0360V and udref0＝5.625V。
Step 3, according to the switching time tstartAnd a time limit value tlimitSelecting conventional rotating speed current double closed loop control or current single as 1sAnd (4) controlling a loop.
If tstartThe switching process is stable and can be converted into double closed-loop control of a conventional rotating speed outer loop and a current inner loop; if tstartIf the value is less than 1, the switching process is not finished, and at the moment, i is adoptedqref0150A and idref0The 0A is the current loop single loop control given by the quadrature axis and the quadrature axis.
The current loop adopts a PI controller, and the parameters of proportion and integral are respectively kp2 and ki0.001. The output of the controller can be expressed as:
udqi＝udqi_add+0.001∑idqerr
udqref＝udqi+2idqerr
integral component u of current loop controllerdqiAnd output udqrefAre set to 0V and 360V.
Step 4, giving u the calculated quadrature-direct axis voltageqrefAnd udrefThe PWM technique acts on the permanent magnet synchronous motor to be controlled via the inverter.
Step 5, sampling motor phase current iabcAnd obtaining the quadrature-direct axis current i through the coordinate transformation of 3s/2rdAnd iqThe motor position is provided by resolver detection.
And 6, obtaining the self-adaptive adjustment component of the quadrature-direct axis integral link according to the quadrature-direct axis current setting and the feedback deviation.
Calculating to obtain the given and feedback deviation i of the quadrature-direct axis currentqerr60A and iderr＝20A。
Let ilimit＝50A、ifault800A and Δ u ═ 5V, then:
udi_add＝0
uqi_add＝5(e60/50-1)
the specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (7)

1. A permanent magnet synchronous motor speed switching control method is based on a control system consisting of a working condition current determination link (1), an initial setting link (2), a closed-loop control link (3), a voltage action link (4), a current detection action link (5) and a voltage amplitude adaptive adjustment loop (6), and is characterized in that: comprises the steps of
Step 1, obtaining a corresponding alternating-direct axis current given i under the working condition through a table look-up method according to the current rotating speed of the permanent magnet synchronous motorqref0And idref0Voltage given uq0And ud0；
Step 2, passing the current bus voltage udcVoltage u corresponding to operating condition tabledc0And calculating to obtain the initial voltage of the quadrature-direct axis and giving u in real timeqref0And udref0；
Step 3, according to the switching time tstartAnd a time limit value tlimitSelecting conventional rotating speed current double closed-loop control or current single-loop control;
step 4, giving u the calculated quadrature-direct axis voltageqrefAnd udrefActing on the permanent magnet synchronous motor to be controlled through the inverter;
step 5, sampling motor phase current iabcAnd obtaining the quadrature-direct axis current i through the coordinate transformation of 3s/2rdAnd iq；
Step 6, according to the given and feedback deviation i of the quadrature-direct axis currentqerr、iderrObtaining the adaptive adjustment component u of quadrature-direct axis integral linkdi_add、uqi_add。
2. The switching control method according to claim 1, wherein the input of the operating condition table in step 1 is the current rotation speed n of the permanent magnet synchronous motor, and the output is the quadrature-direct axis current given i corresponding to the rotation speedqref0And idref0Voltage given uq0And ud0And bus voltage udc(ii) a If there is no correspondence in the working condition tableAnd the rotating speed is obtained by a rotating speed interpolation method.
3. The permanent magnet synchronous motor speed switching control method according to claim 2, wherein the off-line parameters obtained in step 2 by table lookup and the current bus voltage sampling value udcObtaining the real-time given of the initial voltage of the quadrature axis and the direct axis, wherein the calculation formula is as follows:
Figure FDA0003384386120000011
4. the switching control method for the belt speed of the permanent magnet synchronous motor according to claim 3, wherein the step 3 specifically comprises:
step 3.1, judging the switched time tstartAnd a time limit value tlimitThe magnitude relationship of (1);
step 3.2, if tstart≥tlimitIf the switching process is stable, the switching process is converted into the double closed-loop control of the conventional rotating speed outer ring and the current inner ring; if tstart＜tlimitIf the switching process is not finished, i is adoptedqref0And idref0Current loop single-loop control is given for the quadrature axis and the direct axis;
the current loop adopts a PI controller, and the parameters of proportion and integral are respectively kpAnd kiThe output of the controller is expressed as:
udqi＝udqi_add+ki∑idqerr
udqref＝udqi+kpidqerr
integral component u of current loop controllerdqiAnd output udqrefAre all set to udref0And udref0。
5. The permanent magnet synchronous motor speed switching control method according to claim 4, wherein the step 5 is performed by3s/2r coordinate transformation is carried out on the current i under a static three-phase coordinate systema、ibAnd icConverted into current i under a rotating two-phase coordinate systemdAnd iqThe calculation formula is:
Figure FDA0003384386120000021
the rotor position angle θ is acquired by a position sensor or obtained by a position identification algorithm.
6. The switching control method for the belt speed of the permanent magnet synchronous motor according to claim 5, wherein the step 6 specifically comprises:
step 6.1, giving i according to the quadrature-direct axis currentqref0And idref0And real-time current feedback iqAnd idObtaining a current feedback deviation iqerrAnd iderrCalculated according to the following formula:
Figure FDA0003384386120000022
step 6.2, respectively judging absolute values | i of quadrature-axis and direct-axis current feedback deviationsdqerrWhether | is greater than the maximum value i allowed by the current deviationlimitThe maximum value is a current fault alarm threshold value ifaultAnd the current is given and determined together, and the relation is satisfied:
ilimit＜min{ifault-idref0,ifault-iqref0}；
step 6.3, if | iqerr|＜ilimitThe switching transient process shows that the quadrature axis voltage deviation does not cause the motor phase current overcurrent yet, the output voltage is adjusted through a current loop, and the quadrature axis integral link self-adaptive adjustment component is set as uqi_add0; if iqerr|≥ilimitThe switching transient state process indicates that the quadrature axis voltage deviation already causes the overcurrent phenomenon of the motor phase current, so as to avoid the continuous overcurrentThe frequency converter enters a fault state according to the formula uqi_add＝f(iqerr) Changing the integral output value of the quadrature axis current regulator;
step 6.4, if | iderr|＜ilimitThe direct-axis voltage deviation in the switching transient process does not cause the overcurrent of the phase current of the motor, the output voltage is adjusted through a current loop, and the self-adaptive adjustment component of the direct-axis integral link is set as udi_add0; if iderr|≥ilimitThe direct-axis voltage deviation in the switching transient process is proved to cause the overcurrent phenomenon of the motor phase current, and in order to avoid the situation that the frequency converter enters a fault state due to continuous and repeated overcurrent, the fault state is shown according to the formula udi_add＝f(iderr) The integral output value of the direct-axis current regulator is changed.
7. The switching control method according to claim 6, wherein the integral output adjustment value u in step 6 is used for controlling the switching of the permanent magnet synchronous motor at a speeddi_add、uqi_addIs the quadrature-direct axis current deviation iderr、iqerrThe two are in linear, quadratic or exponential relationship.
CN202111444552.8A 2021-11-30 2021-11-30 Permanent magnet synchronous motor speed switching control method Pending CN114204872A (en)

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Publication number Priority date Publication date Assignee Title
CN116317715A (en) * 2023-02-27 2023-06-23 重庆青山工业有限责任公司 Method for adaptively adjusting torque control of permanent magnet synchronous motor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116317715A (en) * 2023-02-27 2023-06-23 重庆青山工业有限责任公司 Method for adaptively adjusting torque control of permanent magnet synchronous motor

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