CN114301341A - Permanent magnet synchronous motor controller, method for recovering operation after stopping of permanent magnet synchronous motor controller and electric vehicle - Google Patents
Permanent magnet synchronous motor controller, method for recovering operation after stopping of permanent magnet synchronous motor controller and electric vehicle Download PDFInfo
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Abstract
The invention provides a permanent magnet synchronous motor controller, a method for recovering operation after stopping and an electric vehicle, wherein the permanent magnet synchronous motor controller resets the torque of a magnetic synchronous motor to 0 N.m after receiving a recovery operation signal; obtaining d-axis current I under the current motor rotating speedd(ii) a Applying the d-axis current IdAs IvalueAn input regulator, an output I of said regulatoroutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us‑Umax)，Ivalue＝Ki*∑(Us‑Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient; output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn(ii) a The permanent magnet synchronous motor controller is controlled according to the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous motor controller, a method for recovering operation after the controller stops and an electric vehicle.
Background
The permanent magnet synchronous motor is a high-performance motor adopted in the current new energy automobile electric drive system, has the advantages of high power density, high efficiency, small pulsation torque, wider field weakening speed regulation range and the like, and is the best choice for the new energy automobile drive motor.
The permanent magnet synchronous motor control system can be recovered to work at any rotating speed after stopping working. Aiming at a permanent magnet synchronous motor control system with voltage closed-loop feedback and automatic field weakening, a voltage closed-loop PI controller needs to stop working and reset when the control system stops working, and starts to work from a reset current instruction when the control system recovers working. When the motor resumes operation, the current command is usually 0, the current 0 is outside the voltage limit ellipse, and if the current is directly reset to 0, the target current is outside the voltage limit, and the control system operation is unstable.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide a permanent magnet synchronous motor controller for avoiding current mutation, a method for recovering operation after stopping the permanent magnet synchronous motor controller and an electric vehicle.
The invention discloses a method for recovering the running of a permanent magnet synchronous motor controller after stopping, which comprises the following steps: after receiving a running recovery signal, the permanent magnet synchronous motor controller resets the torque of the magnetic synchronous motor to 0 N.m; obtaining d-axis current I under the current motor rotating speedd(ii) a Applying the d-axis current IdAs IvalueAn input regulator, an output I of said regulatoroutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient; output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn(ii) a The permanent magnet synchronous motor controller is controlled according to the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
Preferably, the d-axis current I at the current motor rotating speed is acquireddThe method comprises the following steps: obtaining the current bus voltage, and obtaining the d-axis current I needing to output 0 N.m according to the current motor rotating speed and the bus voltaged。
Preferably, the d-axis current I required to be output by 0N · m is acquired through the current motor rotating speed and the bus voltagedThe method comprises the following steps: by the formula
D-axis current I is obtained through calculationd(ii) a Wherein Udc is bus voltage, omega is motor angular velocity, psi is motor permanent magnet flux linkage, LdIs a d-axis inductor; or the rotating speed, the bus voltage, the torque and the d-axis current I of the motor are established through test datadBy searching the off-line table to obtain the d-axis current Id。
Preferably, the d-axis current I at the current motor rotating speed is acquireddThe method comprises the following steps: obtaining the short-circuit current I at the current rotating speedsIs denoted as d-axis current Id。
Preferably, the short-circuit current I at the current rotating speed is obtainedsThe method comprises the following steps: by the formula Is＝ψ/LdCalculating to obtain short-circuit current IsWhere psi is motor permanent magnet flux linkage, LdIs a d-axis inductor; or the motor rotating speed and the d-axis current I are established by testing the short-circuit current under different rotating speedsdBy searching the off-line table to obtain the d-axis current Id。
Preferably, the regulator is a PI regulator.
The invention also discloses a permanent magnet synchronous motor controller, wherein the output end of the permanent magnet synchronous motor controller is connected with the control end of the inverter of the permanent magnet synchronous motor; after receiving a running recovery signal, the permanent magnet synchronous motor controller resets the torque of the magnetic synchronous motor to 0 N.m; obtaining d-axis current I under the current motor rotating speedd(ii) a Applying the d-axis current IdAs IvalueAn input regulator, an output I of said regulatoroutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient; output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn(ii) a The permanent magnet synchronous motor controller is controlled according to the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
The invention also discloses an electric vehicle which comprises a permanent magnet synchronous motor controller, wherein the output end of the permanent magnet synchronous motor controller is connected with the control end of an inverter of the permanent magnet synchronous motor; after receiving a running recovery signal, the permanent magnet synchronous motor controller resets the torque of the magnetic synchronous motor to 0 N.m; obtaining d-axis current I under the current motor rotating speedd(ii) a Applying the d-axis current IdAs IvalueAn input regulator, an output I of said regulatoroutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient; output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn(ii) a The permanent magnet synchronous motor controller is controlled according to the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. the problem that when the permanent magnet synchronous motor control system is recovered after stopping is solved, the current is reset to 0, so that the permanent magnet synchronous motor control system can operate beyond a voltage limit ellipse during recovery, and the control system is unstable; d-axis current I when voltage feedback closed loop PI controller is reset to 0 N.m before operation is recovereddSo that the system does not generate current sudden change; after the reset, the operation is transited to the target torque instruction from the active short circuit, the initial current of the operation is the same as the current in the active short circuit, and the dynamic current impact caused by the sudden change of the current is avoided.
Drawings
Fig. 1 is an exemplary diagram of an MTPA curve, an MTPV curve voltage limit ellipse, and a current limit circle of an exemplary permanent magnet synchronous motor provided by the present invention;
FIG. 2 is a schematic flow chart illustrating a method for resuming operation of a PMSM controller after a shut-off condition according to the present invention;
fig. 3 is a schematic flow chart of a method for recovering operation after active short circuit of a permanent magnet synchronous motor controller according to the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
The invention discloses a method for recovering the running of a permanent magnet synchronous motor controller after stopping, which comprises the following steps:
s100, after receiving a running recovery signal, the permanent magnet synchronous motor controller resets the torque of the magnetic synchronous motor to 0 N.m;
s200, obtaining d-axis current I under the current motor rotating speedd；
S300, converting the d-axis current IdAs IvalueInput regulator, output of regulator IoutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient;
s400, outputting I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn(ii) a The permanent magnet synchronous motor controller is based on the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
Referring to fig. 1, the full circle is a current limit circle, the ellipse is a voltage limit ellipse, and a constant torque curve exists in the current limit circle, and the MTPA curve and the MTPV curve are also shown. In general, the operation is resumed according to the torque command Trqref, namely, the operation is started from a point 0 (point a) to a point Trqref (point B), at which the point a is outside the voltage limit ellipse, and the current abrupt change is generated when the point a is operated to the point B.
The permanent magnet synchronous motor controller of the invention is recovering operationBefore the motor runs, the torque is reset to 0 N.m to obtain the d-axis current I required by outputting 0 N.m at the current motor rotating speeddThe value of (d) is input into a regulator, and the regulator outputs a d-axis current I required by 0 N.m according to the current motor rotating speeddValue of, present output voltage UsTo output a regulated new d-axis current IdnAccording to the new d-axis current IdnCalculating to obtain new q-axis current IqnThen, the new d-axis current I can be calculateddnAnd a new q-axis current IqnThe operation is started, the current during the operation recovery is also positioned in the voltage limit ellipse according to the method, then the normal operation is started when the operation is carried out to the moment instruction Trqref point (point B), and the condition that the permanent magnet synchronous motor system is unstable in operation is avoided.
Normally, the permanent magnet synchronous motor is shut down after a power failure or after an active short circuit, and the d-axis current I to be obtained for the two conditionsdDifferent.
Referring to fig. 2, for the shutdown, the current bus voltage Udc needs to be obtained, and the d-axis current I needing to be output 0N · m is obtained through the current motor speed (i.e. spd) and the bus voltaged。
Specifically, the d-axis current I can be obtained by formula calculationdOr an off-line table is established through test data, and the d-axis current I is obtained through table lookupd。
Is given by the formula
Wherein Udc is bus voltage, omega is motor angular velocity, psi is motor permanent magnet flux linkage, LdIs the d-axis inductance.
If the method is a table look-up method, test data are obtained through a plurality of tests, and the motor rotating speed, the bus voltage, the torque and the d-axis current I are established according to the test datadThe d-axis current I can be obtained by searching the off-line tabled。
Referring to fig. 3, for an active short circuit, when the short circuit occurs, a short-circuit current exists in the system, that is, the current is not 0, but the current value of the recovery point 0 is 0, and the recovery point 0 and the active short circuit point are not the same, if the operation of the permanent magnet synchronous motor controller is directly recovered, sudden current change in the system is caused, and dynamic current impact is caused due to the sudden current change.
Therefore, for the active short circuit situation, the short circuit current I at the current rotation speed needs to be obtainedsThe short-circuit current is directly recorded as d-axis current IdTherefore, the initial current of operation is the same as the current in active short circuit, and dynamic current impact caused by current mutation is avoided.
Specifically, the d-axis current I can be obtained by formula calculationdOr an off-line table is established through test data, and the d-axis current I is obtained through table lookupd。
Formula Is＝ψ/LdWhere psi is motor permanent magnet flux linkage, LdIs the d-axis inductance.
If the method is a table look-up method, test data of short-circuit current under different rotating speeds are obtained through a plurality of tests, and the rotating speed of the motor and the d-axis current I are established according to the test datadBy looking up the off-line table to obtain the d-axis current Id。
Preferably, the regulator is a PI regulator, and forms a voltage feedback closed-loop PI controller.
Referring to FIGS. 2-3, for the PI regulator, the output consists of two parts, PvalueAnd Ivalue，Pvalue＝Kp*err，Ivalue＝KiΣ err, where err is the input of the regulator, and as can be seen from the figure, err ═ Us-Umax. It can be understood that as the process continues, PvalueIs a replacement value (override value), and IvalueIt is an integrated value which does not cover the previous value but is superimposed and has a "processivity", which can be understood as differentiation and catastrophe. Due to the above features, the obtained d-axis current I will be calculateddThe value replacement assigns a value of IvalueInstead of being changed to a desired current value at once, a "slow" change of the current can be achieved, and a sudden change of the current value can be avoidedAnd thus avoid dynamic impact of current.
It is noted that "slow" as referred to herein is relatively slow in that it is gradual, i.e., slow in comparison to "abrupt", but in practice also in the order of microseconds.
In addition, the recovery command may be a command sent by an upper computer, or a command manually operated, such as a shutdown due to a fault, or an automatic recovery after the fault is eliminated, which is not limited herein.
The invention also discloses a permanent magnet synchronous motor controller, wherein the output end of the permanent magnet synchronous motor controller is connected with the control end of the inverter of the permanent magnet synchronous motor, and the permanent magnet synchronous motor controller resets the torque of the permanent magnet synchronous motor to 0 N.m after receiving the operation recovery signal. Then d-axis current I under the current motor rotating speed is obtainedd(ii) a Will d-axis current IdAs IvalueInput regulator, output of regulator IoutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a scaling factor. Then the output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current IdnBy a new d-axis current IdnCalculating to obtain new q-axis current IqnThe permanent magnet synchronous motor controller is based on the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
The invention also discloses an electric vehicle which comprises a permanent magnet synchronous motor controller, wherein the output end of the permanent magnet synchronous motor controller is connected with the control end of the inverter of the permanent magnet synchronous motor, and the permanent magnet synchronous motor controller resets the torque of the permanent magnet synchronous motor to 0 N.m after receiving the operation recovery signal. Then d-axis current I under the current motor rotating speed is obtainedd(ii) a Will d-axis current IdAs IvalueInput regulator, regulatorOutput IoutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a scaling factor. Then the output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current IdnBy a new d-axis current IdnCalculating to obtain new q-axis current IqnThe permanent magnet synchronous motor controller is based on the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (8)
1. A method for recovering operation of a permanent magnet synchronous motor controller after stopping is characterized by comprising the following steps:
after receiving a running recovery signal, the permanent magnet synchronous motor controller resets the torque of the magnetic synchronous motor to 0 N.m;
obtaining d-axis current I under the current motor rotating speedd；
Applying the d-axis current IdAs IvalueAn input regulator, an output I of said regulatoroutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient;
output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn；
The permanent magnet synchronous motor controller is controlled according to the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
2. Method according to claim 1, characterized in that the d-axis current I at the present motor speed is obtaineddThe method comprises the following steps:
obtaining the current bus voltage, and obtaining the d-axis current I needing to output 0 N.m according to the current motor rotating speed and the bus voltaged。
3. The method according to claim 1, characterized in that the d-axis current I required to output 0N-m is obtained through the current motor speed and the bus voltagedThe method comprises the following steps:
by the formula
D-axis current I is obtained through calculationd(ii) a Wherein Udc is bus voltage, omega is motor angular velocity, psi is motor permanent magnet flux linkage, LdIs a d-axis inductor;
or the rotating speed, the bus voltage, the torque and the d-axis current I of the motor are established through test datadBy searching the off-line table to obtain the d-axis current Id。
4. Method according to claim 1, characterized in that the d-axis current I at the present motor speed is obtaineddThe method comprises the following steps:
obtaining the short-circuit current I at the current rotating speedsIs denoted as d-axis current Id。
5. The method of claim 1, wherein the step of removing the metal oxide is performed in a batch processIn that the short-circuit current I at the current rotation speed is obtainedsThe method comprises the following steps:
by the formula Is＝ψ/LdCalculating to obtain short-circuit current IsWhere psi is motor permanent magnet flux linkage, LdIs a d-axis inductor;
or the motor rotating speed and the d-axis current I are established by testing the short-circuit current under different rotating speedsdBy searching the off-line table to obtain the d-axis current Id。
6. The method of claim 1, wherein the regulator is a PI regulator.
7. The permanent magnet synchronous motor controller is characterized in that the output end of the permanent magnet synchronous motor controller is connected with the control end of an inverter of the permanent magnet synchronous motor;
after receiving a running recovery signal, the permanent magnet synchronous motor controller resets the torque of the magnetic synchronous motor to 0 N.m;
obtaining d-axis current I under the current motor rotating speedd；
Applying the d-axis current IdAs IvalueAn input regulator, an output I of said regulatoroutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient;
output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn；
The permanent magnet synchronous motor controller is controlled according to the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
8. An electric vehicle is characterized by comprising a permanent magnet synchronous motor controller, wherein the output end of the permanent magnet synchronous motor controller is connected with the control end of an inverter of a permanent magnet synchronous motor;
after receiving a running recovery signal, the permanent magnet synchronous motor controller resets the torque of the magnetic synchronous motor to 0 N.m;
obtaining d-axis current I under the current motor rotating speedd；
Applying the d-axis current IdAs IvalueAn input regulator, an output I of said regulatoroutputIs Pvalue+Ivalue，Pvalue＝Kp*(Us-Umax)，Ivalue＝Ki*∑(Us-Umax) Wherein, UsIs an output voltage of UmaxMaximum permissible voltage, K, of an inverter for a permanent magnet synchronous machinei、KpIs a proportionality coefficient;
output I of the regulatoroutputAs d-axis current IdTo obtain a new d-axis current Idn(ii) a By a new d-axis current IdnCalculating to obtain new q-axis current Iqn；
The permanent magnet synchronous motor controller is controlled according to the new d-axis current IdnAnd a new q-axis current IqnAnd (5) reopening the pipe.
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