CN114785204A - Torque ripple suppression method for permanent magnet synchronous motor and related system - Google Patents
Torque ripple suppression method for permanent magnet synchronous motor and related system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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Abstract
The application discloses a method for inhibiting torque ripple of a permanent magnet synchronous motor and a related system, relates to the technical field of vehicles, can reduce the torque ripple of the permanent magnet synchronous motor in a simple mode, can avoid using a high-performance low-pass filter, and can avoid causing contradictions of the system in accuracy and stability. The method for suppressing the torque ripple of the permanent magnet synchronous motor comprises the following steps: obtaining quadrature axis current and direct axis current of a current loop of a permanent magnet synchronous motor control system; performing compensation operation on the quadrature axis current and the direct axis current to respectively obtain a quadrature axis current reference direct current quantity and a direct axis current reference direct current quantity; and inputting the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity to the current loop to perform closed-loop control of the current.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a torque ripple suppression method and a related system for a permanent magnet synchronous motor.
Background
At present, the technical development of new energy automobiles is more and more rapid. The driving permanent magnet synchronous motor serves as a core component of a new energy automobile, wherein the permanent magnet synchronous motor has the advantages of high efficiency, high output torque, high power density, good dynamic performance and the like, and gradually becomes the first choice of a pure electric automobile driving system. The torque ripple of the permanent magnet synchronous motor is closely related to the harmonic component of the motor phase current, so that the specific subharmonic component in the motor phase current can be controlled, and the torque ripple is eliminated by suppressing the specific subharmonic current or injecting the specific subharmonic current to generate a counter torque, thereby realizing the suppression or elimination of the torque ripple. The existing harmonic control method of the permanent magnet synchronous motor is mainly a multi-synchronous rotating coordinate system control method.
However, the traditional multi-synchronous rotation coordinate system control method needs a large amount of coordinate transformation, a high-performance low-pass filter needs to be designed, and the system has contradiction in accuracy and stability.
Disclosure of Invention
The embodiment of the application provides a method and a related system for inhibiting torque ripple of a permanent magnet synchronous motor, which can reduce the torque ripple of the permanent magnet synchronous motor in a simple mode, avoid using a high-performance low-pass filter, and avoid causing contradiction between accuracy and stability of the system.
In a first aspect of an embodiment of the present application, a method for suppressing torque ripple of a permanent magnet synchronous motor is provided, including:
obtaining quadrature axis current and direct axis current of a current loop of a permanent magnet synchronous motor control system;
performing compensation operation on the quadrature axis current and the direct axis current to respectively obtain a quadrature axis current reference direct current quantity and a direct axis current reference direct current quantity;
and inputting the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity into the current loop to perform closed-loop control on the current.
In some embodiments, the performing a compensation operation on the quadrature axis current and the direct axis current to obtain a quadrature axis current reference dc quantity and a direct axis current reference dc quantity respectively includes:
obtaining direct-axis current direct current quantity based on the direct-axis current;
acquiring a power factor angle of the permanent magnet synchronous motor, and acquiring a direct-axis reference current based on the power factor angle, the quadrature-axis current and the direct-axis current;
and obtaining the direct-axis current reference direct current quantity based on the direct-axis current direct current quantity and the direct-axis reference current.
In some embodiments, the obtaining a power factor angle of the permanent magnet synchronous motor, and obtaining a direct-axis reference current based on the power factor angle, the quadrature-axis current, and the direct-axis current, includes:
obtaining the power factor angle of the permanent magnet synchronous motor;
summing the square of the quadrature axis current and the square of the direct axis current, then opening the square, and multiplying the value obtained by opening the square by the cosine value of the power factor angle to obtain a direct axis reference current;
the obtaining the direct-axis current reference direct-current quantity based on the direct-axis current direct-current quantity and the direct-axis reference current comprises:
and after performing difference operation on the direct-axis reference current and the direct-axis current quantity, summing the direct-axis reference current and the direct-axis current quantity to obtain the direct-axis current reference direct-current quantity.
In some embodiments, the performing a compensation operation on the quadrature axis current and the direct axis current to obtain a quadrature axis current reference dc quantity and a direct axis current reference dc quantity respectively includes:
obtaining quadrature axis current direct current quantity based on the quadrature axis current;
obtaining quadrature axis harmonic current based on the quadrature axis current and the quadrature axis current direct current quantity;
obtaining a predicted ripple torque based on the quadrature axis harmonic current and the direct axis current direct current quantity;
performing equivalent harmonic calculation on the predicted pulse torque to obtain a reference harmonic current;
and obtaining the quadrature axis current reference direct current quantity based on the quadrature axis harmonic current and the reference harmonic current.
In some embodiments, the deriving quadrature harmonic currents based on the quadrature current and the quadrature dc current comprises:
performing difference operation on the quadrature axis current and the quadrature axis current direct current quantity to obtain quadrature axis harmonic current;
the obtaining the quadrature axis current reference direct current quantity based on the quadrature axis harmonic current and the reference harmonic current comprises:
performing difference operation on the quadrature-axis harmonic current and the reference harmonic current to obtain quadrature-axis equivalent harmonic current;
and summing the quadrature axis current direct current quantity and the quadrature axis equivalent harmonic current to obtain the quadrature axis current reference direct current quantity.
In a second aspect of the embodiments of the present application, there is provided a torque ripple suppression system for a permanent magnet synchronous motor, including:
the current acquisition module is used for acquiring quadrature axis current and direct axis current of a current loop of the permanent magnet synchronous motor control system;
the operation module is used for performing compensation operation on the quadrature-axis current and the direct-axis current to respectively obtain quadrature-axis current reference direct-current quantity and direct-axis current reference direct-current quantity;
and the current output module is used for inputting the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity into the current loop so as to carry out closed-loop control on the current.
In some embodiments, the operation module comprises:
the direct-axis current average value module is used for obtaining direct-axis current direct current quantity based on the direct-axis current;
the power factor lookup table module is used for acquiring a power factor angle of the permanent magnet synchronous motor;
and the direct-axis reference current calculation module is used for summing the square of the quadrature-axis current and the square of the direct-axis current, then performing square opening, and multiplying the value obtained by square opening by the cosine value of the power factor angle to obtain the direct-axis reference current.
In some embodiments, the operation module further comprises:
the quadrature axis current average value module is used for obtaining quadrature axis current direct current quantity based on the quadrature axis current;
the ripple torque prediction module is used for obtaining a predicted ripple torque based on the direct current quantity of the direct current;
and the equivalent harmonic current calculation module is used for performing equivalent harmonic calculation on the predicted ripple torque to obtain a reference harmonic current.
In some embodiments, the operation module further comprises:
at least two operators for performing a difference operation or a sum operation.
In a third aspect of the embodiments of the present application, there is provided a permanent magnet synchronous motor control system, including:
the permanent magnet synchronous motor torque ripple suppression system of the second aspect.
According to the method and the system for inhibiting the torque ripple of the permanent magnet synchronous motor, quadrature axis current and direct axis current are obtained from the current ring, quadrature axis current reference direct current quantity and direct axis current reference direct current quantity which are subjected to current compensation operation are input into the current ring, the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity can be subjected to closed-loop control in the current ring, the torque ripple of the permanent magnet synchronous motor is inhibited in a current compensation mode, the inhibition precision is high, the stability is good, the mode is simple, a high-performance low-pass filter can be avoided, and contradiction between the accuracy and the stability of the system is avoided. The method for suppressing the torque ripple of the permanent magnet synchronous motor is simple, reliable and easy to implement, does not need to modify a motor control algorithm to a large extent, and can be reused for different motor controllers.
Drawings
Fig. 1 is a schematic flowchart of a torque ripple suppression method for a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 2 is a schematic structural block diagram of a torque ripple suppression system of a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 3 is a schematic structural block diagram of an operation module according to an embodiment of the present application;
fig. 4 is a schematic structural block diagram of a permanent magnet synchronous motor control system according to an embodiment of the present application;
fig. 5 is a schematic structural block diagram of another permanent magnet synchronous motor control system provided in an embodiment of the present application.
Detailed Description
In order to better understand the technical solutions provided by the embodiments of the present specification, the technical solutions of the embodiments of the present specification are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present specification are detailed descriptions of the technical solutions of the embodiments of the present specification, and are not limitations on the technical solutions of the embodiments of the present specification, and the technical features in the embodiments and examples of the present specification may be combined with each other without conflict.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element. The term "two or more" includes the case of two or more.
At present, the technical development of new energy automobiles is more and more rapid. The driving permanent magnet synchronous motor serves as a core component of a new energy automobile, wherein the permanent magnet synchronous motor has the advantages of high efficiency, high output torque, high power density, good dynamic performance and the like, and gradually becomes the first choice of a pure electric automobile driving system. The torque ripple of the permanent magnet synchronous motor is closely related to the harmonic component of the motor phase current, so that the specific subharmonic component in the motor phase current can be controlled, and the torque ripple is eliminated or injected by suppressing the specific subharmonic current or generating counter torque by injecting the specific subharmonic current, thereby realizing the suppression or elimination of the torque ripple. The existing harmonic control method of the permanent magnet synchronous motor mainly comprises multi-synchronous rotating coordinate system control and resonance control.
However, the conventional synchronous rotating coordinate system control method needs a large amount of coordinate transformation, and simultaneously needs to design a high-performance low-pass filter, so that the system has contradiction in accuracy and stability, and large signal delay and poor real-time performance can be caused. And after the discretization digital realization of the ideal resonance controller, characteristic distortion exists, and the stable control of high-frequency signals is difficult to ensure when the motor runs at high speed.
In view of this, embodiments of the present application provide a method and a related system for suppressing torque ripple of a permanent magnet synchronous motor, which can reduce the torque ripple of the permanent magnet synchronous motor in a simple manner, avoid using a high-performance low-pass filter, and avoid causing contradictions between accuracy and stability of the system.
In a first aspect of an embodiment of the present application, a method for suppressing a torque ripple of a permanent magnet synchronous motor is provided, and fig. 1 is a schematic flowchart of the method for suppressing the torque ripple of the permanent magnet synchronous motor provided in the embodiment of the present application. As shown in fig. 1, a method for suppressing torque ripple of a permanent magnet synchronous motor according to an embodiment of the present application includes:
s100: quadrature axis current and direct axis current of a current loop of a permanent magnet synchronous motor control system are obtained. The quadrature axis current and the direct axis current can be subjected to coordinate system transformation, Clark transformation, Park transformation, and the like in a current loop.
S200: and performing compensation operation on the quadrature axis current and the direct axis current to respectively obtain a quadrature axis current reference direct current quantity and a direct axis current reference direct current quantity. The compensation operation is mainly current compensation, can be mainly compensation of direct current components of current, and can carry out a series of independent compensation operations on quadrature axis current and direct axis current to respectively obtain quadrature axis current reference direct current quantity and direct axis current reference direct current quantity.
S300: and inputting the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity into a current loop to perform closed-loop control on the current. The quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity which are subjected to current compensation operation are input into a current ring, and the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity can be subjected to conversion processes such as coordinate system conversion, Clark conversion and Park conversion in the current ring, so that closed-loop control over current can be achieved, and torque pulsation of the permanent magnet synchronous motor is restrained in a current compensation mode. The method does not need to arrange a high-performance low-pass filter or carry out a large amount of coordinate transformation, does not cause contradiction between the accuracy and the stability of the system, and does not have the problem of poor real-time performance of signal delay.
According to the method for suppressing the torque ripple of the permanent magnet synchronous motor, quadrature axis current and direct axis current are obtained from the current ring, quadrature axis current reference direct current quantity and direct axis current reference direct current quantity which are subjected to current compensation operation are input into the current ring, the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity can be subjected to closed-loop control in the current ring, the torque ripple of the permanent magnet synchronous motor is suppressed in a current compensation mode, the suppression precision is high, the stability is good, the mode is simple, a high-performance low-pass filter can be avoided, and contradiction between the accuracy and the stability of the system is avoided. The method for suppressing the torque ripple of the permanent magnet synchronous motor is simple, reliable and easy to implement, does not need to modify a motor control algorithm to a large extent, and can be reused for different motor controllers.
In some embodiments, step S200 may include:
and obtaining direct current quantity of the direct current of the direct axis based on the direct current of the direct axis. Illustratively, the direct-axis current id of the current loop is obtained through coordinate transformation of a permanent magnet synchronous motor control system, and the direct-axis direct-current quantity id0 corresponding to the quadrature-axis direct-current fundamental component is obtained through a current averaging module.
And acquiring a power factor angle of the permanent magnet synchronous motor, and acquiring a direct-axis reference current based on the power factor angle, the quadrature-axis current and the direct-axis current. The power factor angle can be obtained based on the phase voltage and the phase current, and the direct-axis reference current is obtained through calculation.
Illustratively, obtaining the power factor angle of the permanent magnet synchronous motor, and obtaining the direct-axis reference current based on the power factor angle, the quadrature-axis current and the direct-axis current includes:
and acquiring a power factor angle of the permanent magnet synchronous motor. And acquiring the phase voltage and phase current phase angle difference of the permanent magnet synchronous motor, and acquiring a power factor angle through a power factor table look-up module.
And summing the square of the quadrature axis current and the square of the direct axis current, then performing square opening, and multiplying the value obtained by square opening by the cosine value of the power factor angle to obtain the direct axis reference current. The corresponding direct-axis reference current id _ ref may be obtained by inputting the power factor angle and the phase current to the direct-axis reference current calculation module.
Illustratively, the power factor table look-up module is obtained through actual testing, phase voltage and phase current of the permanent magnet synchronous motor at the same time are acquired through a phase voltage sensor and a phase current sensor, and the permanent magnet synchronous motor is controlled to operate under different working conditions to record parameters such as phase voltage, phase current, rotating speed and torque of the motor. The power factor angle of the permanent magnet synchronous motor at the current moment can be obtained by obtaining the phase difference between the phase voltage and the phase current at the same moment. Obtaining power factor angles of different loads in full rotating speed section
The direct axis reference current calculation module acquires the direct axis reference current id _ ref through the phase current and the power factor angle acquired by the phase current sensor according to the following formula.
Wherein iq is a quadrature axis current.
And obtaining the direct-axis current reference direct current quantity based on the direct-axis current direct current quantity and the direct-axis reference current.
Illustratively, the obtaining the direct-axis current reference dc quantity based on the direct-axis current dc quantity and the direct-axis reference current includes:
and after difference value operation is carried out on the direct-axis reference current and the direct-axis current quantity, the direct-axis reference current and the direct-axis current quantity are summed to obtain the direct-axis current reference direct-current quantity. And performing difference operation on the direct-axis reference current id _ ref and the direct-axis current direct-current quantity id0 to obtain a direct-axis current compensation quantity id _ com, and summing the direct-axis current compensation quantity id _ com and the direct-axis current direct-current quantity id0 to obtain a direct-axis current reference direct-current quantity id0_ ref.
In some embodiments, step S200 may further include:
and obtaining the direct current quantity of the quadrature axis current based on the quadrature axis current. Quadrature axis current iq of a current loop is obtained through coordinate transformation of a permanent magnet synchronous motor control system, and quadrature axis direct current iq0 corresponding to a quadrature axis current fundamental component is obtained through a current average value module.
Illustratively, the current averaging module obtains the direct current corresponding to the fundamental component by using the averaging principle by using the current structure characteristics. After three-phase current is converted from three-phase current to two-phase current, the times are respectively 6n and 6n +6, and n is a natural number which is arbitrarily larger than 0. The id and iq currents are subjected to T/6(T is a fundamental wave period) integration, the obtained nonzero component is a direct current component corresponding to the fundamental wave component, and the fundamental wave component iq0 of the quadrature axis current and the fundamental wave component id0 of the direct axis current can be obtained. It should be noted that id0 and iq0 can be obtained by synchronous acquisition, and the embodiment of the present application is not particularly limited.
And obtaining quadrature axis harmonic current based on the quadrature axis current and the quadrature axis current direct current quantity.
Obtaining quadrature harmonic current based on the quadrature axis current and the quadrature axis current direct current amount may include:
and performing difference operation on the quadrature axis current and the quadrature axis current direct current to obtain quadrature axis harmonic current. For example, the quadrature harmonic current iq6h may be obtained by subtracting the initial quadrature current iq from the quadrature current dc component iq 0.
And obtaining the predicted ripple torque based on the quadrature axis harmonic current and the direct axis current quantity.
Illustratively, the ripple torque prediction module may be utilized to obtain the predicted ripple torque Te by inputting the quadrature harmonic current iq6h and the direct current amount id 0.
And performing equivalent harmonic calculation on the predicted ripple torque to obtain a reference harmonic current.
Illustratively, the harmonic current average value in one rotor angle is obtained by collecting the quadrature harmonic current iq6h in one rotor angle and averaging the quadrature harmonic current iq6h, and the harmonic current average value can be used as the reference harmonic current iq6h _ ref, and the predicted ripple torque Te is obtained by the following formula:
wherein Δ L is Ld-Lq, Ld is direct axis inductance, Lq is quadrature axis inductance,
is a magnetic linkage corresponding to a straight shaft.
Specifically, the reference harmonic current iq6h — ref corresponding to the quadrature-axis harmonic current can be obtained by the above equation for the predicted ripple torque Te and the following equation for the predicted ripple torque Te:
wherein Np is the number of electrode pairs of the permanent magnet synchronous motor,
is a magnetic linkage. By combining the two equations, the reference harmonic current iq6h — ref can be obtained.
And obtaining the quadrature axis current reference direct current quantity based on the quadrature axis harmonic current and the reference harmonic current.
Obtaining a quadrature axis current reference direct current quantity based on the quadrature axis harmonic current and the reference harmonic current, including:
performing difference operation on the quadrature-axis harmonic current and the reference harmonic current to obtain quadrature-axis equivalent harmonic current;
and summing the quadrature axis current direct current quantity and the quadrature axis equivalent harmonic current to obtain a quadrature axis current reference direct current quantity.
Specifically, the quadrature harmonic current iq6h and the reference harmonic current iq6h _ ref are subjected to difference operation to obtain a corresponding quadrature equivalent harmonic current Δ iq _ ref, and the quadrature equivalent harmonic current Δ iq _ ref and the quadrature direct current iq0 are subjected to summation operation to obtain the quadrature direct current iq0_ ref.
In a second aspect of the embodiments of the present application, a torque ripple suppression system for a permanent magnet synchronous motor is provided, and fig. 2 is a schematic structural block diagram of the torque ripple suppression system for a permanent magnet synchronous motor provided in the embodiments of the present application.
As shown in fig. 2, a torque ripple suppression system of a permanent magnet synchronous motor according to an embodiment of the present application includes:
the current obtaining module 400 is configured to obtain quadrature axis current and direct axis current of a current loop of the permanent magnet synchronous motor control system.
The operation module 500 is configured to perform compensation operation on the quadrature axis current and the direct axis current to obtain a quadrature axis current reference direct current amount and a direct axis current reference direct current amount respectively;
the current output module 600 is configured to input the quadrature axis current reference dc amount and the direct axis current reference dc amount to a current loop to perform closed-loop control of current.
The system for suppressing the torque ripple of the permanent magnet synchronous motor, provided by the embodiment of the application, acquires quadrature axis current and direct axis current from a current ring, inputs quadrature axis current reference direct current quantity and direct axis current reference direct current quantity which are subjected to current compensation operation into the current ring, and can perform closed-loop control on the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity in the current ring. The method for suppressing the torque ripple of the permanent magnet synchronous motor is simple, reliable and easy to implement, does not need to modify a motor control algorithm to a large extent, and can be reused for different motor controllers.
In some embodiments, fig. 3 is a schematic structural block diagram of an operation module provided in an embodiment of the present application. As shown in fig. 3, the operation module 500 includes:
and a direct-axis current average module 510, configured to obtain a direct-axis current direct current amount based on the direct-axis current. And obtaining a direct-axis direct-current quantity id0 corresponding to the quadrature-axis direct-current fundamental component through the direct-axis current id passing through the direct-axis current averaging module 510.
And a power factor lookup table module 520, configured to obtain a power factor angle of the permanent magnet synchronous motor. The power factor lookup table module 520 collects phase voltage and phase current of the permanent magnet synchronous motor at the same time through the phase voltage sensor and the phase current sensor, and controls the permanent magnet synchronous motor to operate under different working conditions to record parameters such as the phase voltage, the phase current, the rotating speed, the torque of the motor and the like. The power factor angle of the permanent magnet synchronous motor at the current moment can be obtained by obtaining the phase difference between the phase voltage and the phase current at the same moment
And a direct-axis reference current calculation module 530, configured to sum the square of the quadrature-axis current and the square of the direct-axis current and then perform square division, and multiply a value obtained by the square division by a cosine value of the power factor angle to obtain a direct-axis reference current. The direct-axis reference current calculation module 530 obtains the direct-axis reference current id _ ref through the phase current and the power factor angle collected by the phase current sensor according to the following formula.
The direct-axis current reference direct current quantity can be obtained by utilizing an arithmetic unit to sum the direct-axis current quantity and the direct-axis current quantity after performing difference value operation on the direct-axis reference current and the direct-axis current quantity. The operation module may include a plurality of operators, and the operators may be configured to perform a difference operation or a sum operation. Referring to fig. 3, the arithmetic units for obtaining the direct-axis current reference dc amount may be a first arithmetic unit 571 and a second arithmetic unit 572, the first arithmetic unit 571 performs a difference operation on the direct-axis reference current id _ ref and the direct-axis current dc amount id0 to obtain a direct-axis current compensation amount id _ com, and the second arithmetic unit 572 sums the direct-axis current compensation amount id _ com and the direct-axis current dc amount id0 to obtain a direct-axis current reference dc amount id0_ ref.
In some embodiments, referring to fig. 3, the operation module 500 may further include:
and a quadrature axis current average module 540, configured to obtain a quadrature axis current dc amount based on the quadrature axis current. The quadrature-axis current iq passes through a quadrature-axis current average module 540 to obtain a quadrature-axis direct current iq0 corresponding to the fundamental component of the quadrature-axis direct current.
The operator may further include a third operator 573, the third operator 573 obtaining an quadrature harmonic current iq6h by performing a difference operation of the initial quadrature-axis current iq and the quadrature-axis current direct current iq 0.
And a ripple torque prediction module 550, configured to obtain a predicted ripple torque based on the direct current amount of the direct current. The ripple torque prediction module may be used to obtain the predicted ripple torque Te by inputting the quadrature harmonic current iq6h and the direct current amount id 0.
And the equivalent harmonic current calculation module 560 is used for performing equivalent harmonic calculation on the predicted ripple torque to obtain a reference harmonic current. Illustratively, the harmonic current average value in one rotor angle is obtained by collecting the quadrature harmonic current iq6h in one rotor angle and averaging the quadrature harmonic current iq6h, and the harmonic current average value can be used as the reference harmonic current iq6h _ ref, and the predicted ripple torque Te is obtained by the following formula:
wherein, DeltaL is Ld-Lq, Ld is direct axis inductance, Lq is quadrature axis inductance,
is a magnetic linkage corresponding to a straight shaft.
Specifically, the reference harmonic current iq6h — ref corresponding to the quadrature-axis harmonic current can be obtained by the above equation for obtaining the predicted ripple torque Te and the following equation for obtaining the predicted ripple torque Te:
wherein Np is the number of electrode pairs of the permanent magnet synchronous motor,
is a magnetic linkage. By combining the two equations, the reference harmonic current iq6h — ref can be obtained.
The fourth operator 574 performs a difference operation between the quadrature harmonic current iq6h and the reference harmonic current iq6h _ ref to obtain a corresponding quadrature equivalent harmonic current Δ iq _ ref, and the fifth operator 575 performs a sum operation between the quadrature equivalent harmonic current Δ iq _ ref and the quadrature direct current iq0 to obtain the quadrature direct current iq0_ ref.
In a third aspect of the embodiments of the present application, a control system of a permanent magnet synchronous motor is provided, and fig. 4 is a control system of a permanent magnet synchronous motor provided in an embodiment of the present application. As shown in fig. 4, a schematic structural block diagram of a permanent magnet synchronous motor control system provided in an embodiment of the present application includes:
the pm synchronous machine torque ripple suppression system 1000 according to the second aspect.
Fig. 5 is a schematic structural block diagram of another permanent magnet synchronous motor control system provided in an embodiment of the present application. As shown in fig. 5, the control system of the permanent magnet synchronous motor provided in the embodiment of the present application mainly includes a current loop PI regulator and a rotating speed loop PI regulator, and both the current loop PI regulator and the rotating speed loop PI regulator are identified by PI in fig. 5. The permanent magnet synchronous motor control system further comprises an ammeter table look-up module Isearch, a Park inverse transformation module Inv-Park, an SVPWM module SVPWM, an Inverter module Inverter, a Clark transformation module Clark, a Park transformation module Park, a permanent magnet synchronous motor PMSM, an Encoder Encoder, a permanent magnet synchronous motor torque ripple suppression system 1000 and the like. According to a torque request signal torque _ ref and a permanent magnet synchronous Motor rotating speed signal Motor _ mecchspeed, an original quadrature axis current Iq _ ref, an original direct axis current and Id _ ref are obtained through a current meter table look-up module Isearch, and specifically, the original quadrature axis current Iq _ ref, the original direct axis current and Id _ ref are obtained through searching in a two-dimensional table stored in the current meter table look-up module Isearch based on the torque request signal torque _ ref and the permanent magnet synchronous Motor rotating speed signal Motor _ mecchspeed. The permanent magnet synchronous motor torque ripple suppression system obtains a compensated quadrature axis current direct current quantity iq0_ ref and a compensated direct axis current direct current quantity id0_ ref through the input quadrature axis current iq and the input direct axis current id. The regulated quadrature current Iq is obtained by an operator on the basis of the original quadrature current Iq _ ref and the quadrature current dc component Iq0_ ref, and the regulated direct current Id is obtained by an operator on the basis of the original direct current Id _ ref and the direct current Id0_ ref. The current loop PI regulator and the rotating speed loop PI regulator respectively convert the regulated quadrature axis current iq and the regulated direct axis current id into quadrature axis voltage uq and direct axis voltage ud, wherein the quadrature axis voltage uq and the direct axis voltage ud are voltages under a rotating coordinate system; the quadrature axis voltage uq and the direct axis voltage ud are converted into u beta and u alpha under a static coordinate system through a Park inverse conversion module Inv-Park, and finally converted into a switching signal for controlling an Inverter module Inverter through an SVPWM module SVPWM, so that the Inverter module Inverter is controlled to output alternating three-phase currents (ia, ib and ic), and further the PMSM is controlled. The Clark conversion module Clark converts the three-phase current into i alpha and i beta, and converts the three-phase current into id and iq through the Park conversion module Park, thereby realizing the closed-loop control of the current.
The permanent magnet synchronous motor control system provided by the embodiment of the application mainly solves the problems that in the prior art, a large amount of coordinate transformation is needed, the overlarge operation amount of a motor controller is increased, meanwhile, a quadrature-direct axis fundamental wave component is obtained by adopting a quadrature-direct axis current average value, the high-performance low-pass filter is avoided, the system is in contradiction in accuracy and stability, and meanwhile, the problems of large signal delay and poor signal real-time performance caused by the adoption of the low-pass filter can be solved. In addition, the embodiment of the application is simple, reliable and easy to realize, does not need to modify the motor control algorithm to a large extent, and can be reused for different motor controllers.
While the preferred embodiments of the present specification have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the specification.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present specification without departing from the spirit and scope of the specification. Thus, if such modifications and variations of the present specification fall within the scope of the claims of the present specification and their equivalents, then such modifications and variations are also intended to be included in the present specification.
Claims (10)
1. A torque ripple suppression method for a permanent magnet synchronous motor is characterized by comprising the following steps:
obtaining quadrature axis current and direct axis current of a current loop of a permanent magnet synchronous motor control system;
performing compensation operation on the quadrature axis current and the direct axis current to respectively obtain a quadrature axis current reference direct current quantity and a direct axis current reference direct current quantity;
and inputting the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity to the current loop to perform closed-loop control of the current.
2. The method for suppressing the torque ripple of the permanent magnet synchronous motor according to claim 1, wherein the performing the compensation operation on the quadrature axis current and the direct axis current to obtain a quadrature axis current reference direct current amount and a direct axis current reference direct current amount respectively comprises:
obtaining direct current quantity of the direct current of the direct shaft based on the direct current of the direct shaft;
acquiring a power factor angle of the permanent magnet synchronous motor, and acquiring a direct-axis reference current based on the power factor angle, the quadrature-axis current and the direct-axis current;
and obtaining the direct-axis current reference direct current quantity based on the direct-axis current direct current quantity and the direct-axis reference current.
3. The method for suppressing the torque ripple of the permanent magnet synchronous motor according to claim 2, wherein the obtaining a power factor angle of the permanent magnet synchronous motor and obtaining a direct-axis reference current based on the power factor angle, the quadrature-axis current and the direct-axis current comprises:
acquiring the power factor angle of the permanent magnet synchronous motor;
summing the square of the quadrature axis current and the square of the direct axis current, then opening the square, and multiplying the value obtained by opening the square by the cosine value of the power factor angle to obtain a direct axis reference current;
the obtaining the direct-axis current reference direct-current quantity based on the direct-axis current direct-current quantity and the direct-axis reference current comprises:
and after performing difference operation on the direct-axis reference current and the direct-axis current quantity, summing the direct-axis reference current and the direct-axis current quantity to obtain the direct-axis current reference direct-current quantity.
4. The method for suppressing the torque ripple of the permanent magnet synchronous motor according to claim 2, wherein the performing the compensation operation on the quadrature axis current and the direct axis current to obtain a quadrature axis current reference direct current amount and a direct axis current reference direct current amount respectively comprises:
obtaining quadrature axis current direct current quantity based on the quadrature axis current;
obtaining quadrature axis harmonic current based on the quadrature axis current and the quadrature axis current direct current quantity;
obtaining a predicted ripple torque based on the quadrature axis harmonic current and the direct axis current direct current quantity;
performing equivalent harmonic calculation on the predicted ripple torque to obtain a reference harmonic current;
and obtaining the quadrature axis current reference direct current quantity based on the quadrature axis harmonic current and the reference harmonic current.
5. The method for suppressing torque ripple of a permanent magnet synchronous motor according to claim 4, wherein obtaining quadrature harmonic current based on the quadrature axis current and the quadrature axis current direct current amount comprises:
performing difference operation on the quadrature axis current and the quadrature axis current direct current quantity to obtain quadrature axis harmonic current;
the obtaining the quadrature axis current reference direct current quantity based on the quadrature axis harmonic current and the reference harmonic current comprises:
performing difference operation on the quadrature axis harmonic current and the reference harmonic current to obtain quadrature axis equivalent harmonic current;
and summing the quadrature axis current direct current quantity and the quadrature axis equivalent harmonic current to obtain the quadrature axis current reference direct current quantity.
6. A system for suppressing torque ripple of a permanent magnet synchronous motor, comprising:
the current acquisition module is used for acquiring quadrature axis current and direct axis current of a current loop of the permanent magnet synchronous motor control system;
the operation module is used for performing compensation operation on the quadrature-axis current and the direct-axis current to respectively obtain quadrature-axis current reference direct-current quantity and direct-axis current reference direct-current quantity;
and the current output module is used for inputting the quadrature axis current reference direct current quantity and the direct axis current reference direct current quantity to the current loop so as to perform closed-loop control on the current.
7. The system of claim 6, wherein the computing module comprises:
the direct-axis current average value module is used for obtaining direct-axis current direct current quantity based on the direct-axis current;
the power factor lookup table module is used for acquiring a power factor angle of the permanent magnet synchronous motor;
and the direct-axis reference current calculation module is used for summing the square of the quadrature-axis current and the square of the direct-axis current and then opening the square, and multiplying the value obtained by opening the square by the cosine value of the power factor angle to obtain the direct-axis reference current.
8. The system of claim 7, wherein the computing module further comprises:
the quadrature axis current average value module is used for obtaining quadrature axis current direct current quantity based on the quadrature axis current;
the ripple torque prediction module is used for obtaining predicted ripple torque based on the direct current quantity of the direct current of the direct shaft;
and the equivalent harmonic current calculation module is used for performing equivalent harmonic calculation on the predicted ripple torque to obtain a reference harmonic current.
9. The pm synchronous motor torque ripple suppression system of any one of claims 6-8, wherein the arithmetic module further comprises:
at least two operators for performing a difference operation or a sum operation.
10. A permanent magnet synchronous motor control system, comprising:
the pm synchronous motor torque ripple suppression system of any one of claims 6 to 9.
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