CN114900091A - Control method and device of permanent magnet synchronous motor and storage medium - Google Patents

Control method and device of permanent magnet synchronous motor and storage medium Download PDF

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CN114900091A
CN114900091A CN202210681580.XA CN202210681580A CN114900091A CN 114900091 A CN114900091 A CN 114900091A CN 202210681580 A CN202210681580 A CN 202210681580A CN 114900091 A CN114900091 A CN 114900091A
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permanent magnet
synchronous motor
magnet synchronous
voltage
flux component
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袁飞平
郑伟
曹力研
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Shenzhen Hpmont Technology Co Ltd
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Shenzhen Hpmont Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The embodiment of the application discloses a control method and device of a permanent magnet synchronous motor and a storage medium, which are used in the technical field of electrical control. The method in the embodiment of the application comprises the following steps: acquiring a voltage model stator magnetic flux component and a current model stator magnetic flux component of the permanent magnet synchronous motor in a static coordinate system; determining a voltage model compensation voltage under a static coordinate system according to the voltage model stator magnetic flux component and the current model stator magnetic flux component; correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component; determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model; the rotor magnetic pole position of the permanent magnet synchronous motor is obtained based on the synchronous speed, the operation of the permanent magnet synchronous motor is controlled through the rotor magnetic pole position, the problems of an integral initial value, drift and the like caused by a pure integral link in a voltage model can be effectively solved, and the speed pulsation quantity in a stable speed state is reduced.

Description

Control method and device for permanent magnet synchronous motor and storage medium
Technical Field
The embodiment of the application relates to the technical field of electrical control, in particular to a control method and device of a permanent magnet synchronous motor and a storage medium.
Background
The permanent magnet synchronous motor has the advantages of simple structure, small volume, light weight, small loss, high efficiency, high power factor and the like, and is widely applied. In the PMSM control system, PMSM's rotor position and rotational speed information are indispensable, and the mechanical type position sensor direct measurement who commonly uses and PMSM coaxial arrangement obtains PMSM's rotor position and rotational speed information, however, mechanical type position sensor can increase control system's volume and cost, has also increased the fault rate simultaneously to the control system has been restricted in the application of high temperature, strong corrosivity occasion.
To overcome these drawbacks, position sensorless technology has been proposed and is widely concerned, studied and applied. The current position-sensorless technology mainly adopts a voltage model and a current model which are derived based on a permanent magnet synchronous motor mathematical model to obtain the rotor position and rotating speed information of the permanent magnet synchronous motor.
However, for the voltage model, the problem of initial integration value and drift can be brought by adopting a pure integral ring, the influence of stator resistance on the voltage model is large, and particularly, the voltage drop ratio of the stator is large when the motor runs at low speed; for the current model, when the rotor position is calculated through the rotor flux linkage component inverse tangent, the speed pulsation quantity of the motor is large in the steady-speed state.
Disclosure of Invention
The embodiment of the application provides a control method and device of a permanent magnet synchronous motor and a storage medium, which can effectively solve the problems of an integral initial value, drift and the like caused by a pure integral link in a voltage model and reduce the speed pulsation quantity in a stable speed state.
The embodiment of the application provides a control method of a permanent magnet synchronous motor, which comprises the following steps:
acquiring a voltage model stator magnetic flux component and a current model stator magnetic flux component of the permanent magnet synchronous motor in a static coordinate system;
determining a voltage model compensation voltage under the static coordinate system according to the voltage model stator magnetic flux component and the current model stator magnetic flux component;
correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component;
determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model;
and obtaining the position of the magnetic pole of the permanent magnet synchronous motor based on the synchronous speed, and controlling the operation of the permanent magnet synchronous motor through the position of the magnetic pole of the rotor.
Further, the obtaining of the stator flux component of the current model of the permanent magnet synchronous motor in the static coordinate system includes:
according to the current model of the permanent magnet synchronous motor:
Figure BDA0003698617520000011
obtaining the stator flux component of the current model in a static coordinate system
Figure BDA0003698617520000012
And
Figure BDA0003698617520000013
wherein, the
Figure BDA0003698617520000014
And said
Figure BDA0003698617520000015
Is the rotor flux component of the permanent magnet synchronous motor in a static coordinate system, L d And said L q A direct axis inductance and a quadrature axis inductance of the permanent magnet synchronous motor, respectively, i α And said i β Is the current component of the permanent magnet synchronous motor in a static coordinate system, and theta is thetaAnd the magnetic pole position of the rotor of the permanent magnet synchronous motor.
Further, the method further comprises:
obtaining three-phase current i of the permanent magnet synchronous motor α 、i b 、i c ；
According to the CLARKE transformation:
Figure BDA0003698617520000021
obtaining the current component i under a static coordinate system α 、i β ；
By the formula:
Figure BDA0003698617520000022
obtaining the rated rotor flux of the permanent magnet synchronous motor under a rotating coordinate system
Figure BDA0003698617520000023
Wherein, U emf Is the back electromotive force of the permanent magnet synchronous motor, f MotorRated The rated frequency of the permanent magnet synchronous motor is set;
according to the IPARK transformation:
Figure BDA0003698617520000024
obtaining the rotor magnetic flux component of the permanent magnet synchronous motor under a static coordinate system
Figure BDA0003698617520000025
And
Figure BDA0003698617520000026
and theta is the position of the magnetic pole of the rotor of the permanent magnet synchronous motor.
Further, the obtaining of the stator flux component of the voltage model of the permanent magnet synchronous motor in the static coordinate system includes:
according to the voltage model of the permanent magnet synchronous motor:
Figure BDA0003698617520000027
obtaining the position of the permanent magnet synchronous motor under a static coordinate systemStator flux component of the voltage model
Figure BDA0003698617520000028
And
Figure BDA0003698617520000029
wherein u is α And said u β The voltage of the permanent magnet synchronous motor under the static coordinate is obtained through a PI regulator and the position of a rotor magnetic pole, R s Is a stator resistance of the permanent magnet synchronous motor, i α And said i β A current component in a stationary coordinate system;
the determining a voltage model compensation voltage in the stationary coordinate system according to the voltage model stator flux component and the current model stator flux component includes:
according to the correction formula of the voltage model and the current model:
Figure BDA00036986175200000210
obtaining the voltage model compensation voltage u under the static coordinate system comp_α And u comp_β Wherein, the
Figure BDA00036986175200000211
And said
Figure BDA00036986175200000212
And for the stator magnetic flux component of the current model, the Kp and the Ki are respectively proportional gain and integral time of a PI correction link of the stator magnetic flux vector voltage model current model, and s is a constant of the PI correction link.
Further, the correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component includes:
correcting according to the voltage model of the permanent magnet synchronous motor and the voltage model compensation voltage:
Figure BDA00036986175200000213
obtaining the corrected stator flux component of the voltage model
Figure BDA00036986175200000214
And
Figure BDA00036986175200000215
wherein u is α And said u β The u is the voltage of the permanent magnet synchronous motor under the static coordinate obtained by a PI regulator and the position of a rotor magnetic pole comp_α And said u comp_β Compensating the voltage model for the voltage, R s Is a stator resistance of the permanent magnet synchronous motor, i α And said i β Current component in a stationary coordinate system.
Further, the determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model includes:
according to the formula:
Figure BDA00036986175200000216
obtaining the corrected rotor flux component of the permanent magnet synchronous motor
Figure BDA0003698617520000031
And
Figure BDA0003698617520000032
wherein said
Figure BDA0003698617520000033
And said
Figure BDA0003698617520000034
For the corrected voltage model stator flux component, L d And said L q Respectively being a direct axis inductance and a quadrature axis inductance of the permanent magnet synchronous motor, theta being a rotor magnetic pole position of the permanent magnet synchronous motor, i α And said i β For the current division of the permanent magnet synchronous motor under a static coordinate systemAn amount;
according to the corrected rotor flux component of the permanent magnet synchronous motor and a formula:
Figure BDA0003698617520000035
and obtaining the synchronous speed w of the permanent magnet synchronous motor.
Further, the obtaining the position of the magnetic pole of the permanent magnet synchronous motor based on the synchronous speed includes:
according to the formula: θ ═ wdt, and obtaining the position of the rotor magnetic pole of the permanent magnet synchronous motor, wherein w is the synchronous speed;
the controlling the operation of the permanent magnet synchronous motor by the rotor magnetic pole position includes:
and controlling the inverter to output three-phase voltage to the permanent magnet synchronous motor according to the position of the magnetic pole of the rotor so as to control the operation of the permanent magnet synchronous motor.
The embodiment of the application also provides a control device of the permanent magnet synchronous motor, which comprises;
the acquiring unit is used for acquiring a voltage model stator magnetic flux component and a current model stator magnetic flux component of the permanent magnet synchronous motor in a static coordinate system;
a first determination unit configured to determine a voltage model compensation voltage in the stationary coordinate system from the voltage model stator magnetic flux component and the current model stator magnetic flux component;
the first execution unit is used for correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component;
the second determining unit is used for determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model;
and the second execution unit is used for obtaining the position of the magnetic pole of the rotor of the permanent magnet synchronous motor based on the synchronous speed and controlling the operation of the permanent magnet synchronous motor through the position of the magnetic pole of the rotor.
The embodiment of the present application further provides a control device for a permanent magnet synchronous motor, including:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, and execute the instruction operations in the memory on a control plane functional entity to execute the control method.
The embodiment of the present application further provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium includes instructions, when the instructions are run on a computer, the instructions cause the computer to execute the above control method.
According to the technical scheme, the embodiment of the application has the following advantages:
in the embodiment of the application, the voltage model compensation voltage under a static coordinate system is determined according to the voltage model stator magnetic flux component and the current model stator magnetic flux component; correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component; determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model; the rotor magnetic pole position of the permanent magnet synchronous motor is obtained based on the synchronous speed, the operation of the permanent magnet synchronous motor is controlled through the rotor magnetic pole position, the problems of an integral initial value, drift and the like caused by a pure integral link in a voltage model can be effectively solved, and the speed pulsation quantity in a stable speed state is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a control flow chart of a permanent magnet synchronous motor disclosed in an embodiment of the present application;
fig. 2 is a control schematic diagram of a permanent magnet synchronous motor disclosed in an embodiment of the present application;
fig. 3 is a diagram of a control device of a permanent magnet synchronous motor disclosed in an embodiment of the present application;
fig. 4 is a diagram of another control device of a permanent magnet synchronous motor disclosed in an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless explicitly stated or limited otherwise; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The current position-sensorless technology mainly adopts a voltage model and a current model which are derived based on a permanent magnet synchronous motor mathematical model to obtain the rotor position and rotating speed information of the permanent magnet synchronous motor. However, for the voltage model, the problem of initial integration value and drift can be brought by adopting a pure integral ring, the influence of stator resistance on the voltage model is large, and particularly, the voltage drop ratio of the stator is large when the motor runs at low speed; for the current model, when the rotor position is calculated through the rotor flux linkage component inverse tangent, the speed pulsation quantity of the motor is large in the steady-speed state. The influence of the rotor magnetic pole position and the quadrature-direct axis inductance on the current model is large, and the two models are both open-loop flux linkage observer models and are poor in robustness. Therefore, the embodiment of the application provides a control method for a permanent magnet synchronous motor, which can effectively solve the problems of an integral initial value, drift and the like caused by a pure integral link in a voltage model, and reduce the speed pulsation amount in a stable speed state, and the specific steps are as shown in fig. 1:
101. and acquiring a voltage model stator magnetic flux component and a current model stator magnetic flux component of the permanent magnet synchronous motor in a static coordinate system.
Before controlling the permanent magnet synchronous motor to control, the control device of the permanent magnet synchronous motor in the embodiment of the application needs to obtain the voltage model stator magnetic flux component and the current model stator magnetic flux component of the permanent magnet synchronous motor in the static coordinate system.
Specifically, the control device can obtain three-phase current i of the permanent magnet synchronous motor a 、i b 、i c (ii) a The three-phase current of the permanent magnet synchronous motor can be sampled by an analog-to-digital conversion (ADC) module or the three-phase current i of the permanent magnet synchronous motor can be sampled by a current sampling sensor a 、i b 、i c And is not particularly limited herein.
According to the CLARKE transformation:
Figure BDA0003698617520000051
obtaining a current component i under an alpha beta static coordinate system α 、i β 。
Then, the rated rotor flux (namely, the permanent magnet flux linkage) of the permanent magnet synchronous motor under the dq rotation coordinate system is obtained
Figure BDA0003698617520000052
)。
The specific formula is as follows:
Figure BDA0003698617520000053
obtaining the rated rotor flux of the permanent magnet synchronous motor under a rotating coordinate system
Figure BDA0003698617520000054
Wherein, U emf Is the back electromotive force of the permanent magnet synchronous motor, f MotorRated Is the rated frequency of the permanent magnet synchronous motor.
Linking permanent magnets with each other
Figure BDA0003698617520000055
Converting the IPARK into an alpha beta two-phase static coordinate system to obtain a rotor magnetic flux component
Figure BDA0003698617520000056
And
Figure BDA0003698617520000057
specifically, according to the IPARK transform:
Figure BDA0003698617520000058
obtaining the rotor flux component of the permanent magnet synchronous motor in a static coordinate system
Figure BDA0003698617520000059
And
Figure BDA00036986175200000510
and theta is the position of the magnetic pole of the rotor of the permanent magnet synchronous motor.
And obtaining the stator magnetic flux component of the current model under the alpha and beta two-phase static coordinate system according to the current model of the permanent magnet synchronous motor.
Specifically, the calculation formula according to the current model of the permanent magnet synchronous motor is as follows:
Figure BDA00036986175200000511
wherein the magnetic flux component of the current model stator in the static coordinate system is
Figure BDA00036986175200000512
And
Figure BDA00036986175200000513
Figure BDA00036986175200000514
and
Figure BDA00036986175200000515
is the rotor flux component of the permanent magnet synchronous motor in a static coordinate system, Ld and L q Direct-axis inductance and quadrature-axis inductance of the PMSM, i alpha and i, respectively β The current component of the permanent magnet synchronous motor in a static coordinate system is shown, and theta is the position of a magnetic pole of a rotor of the permanent magnet synchronous motor.
The method comprises the following steps of obtaining a voltage model stator magnetic flux component of the permanent magnet synchronous motor under a static coordinate system, wherein the specific formula is as follows:
Figure BDA00036986175200000516
obtaining the stator flux component of the voltage model of the permanent magnet synchronous motor under the static coordinate system
Figure BDA00036986175200000517
And
Figure BDA00036986175200000518
wherein u is α And u β The voltage R of the permanent magnet synchronous motor under the static coordinate is obtained through a PI regulator and the position of a rotor magnetic pole s Is the stator resistance of a permanent magnet synchronous machine i α And i β Current component in a stationary coordinate system.
102. And determining the voltage model compensation voltage under the static coordinate system according to the voltage model stator magnetic flux component and the current model stator magnetic flux component.
The control device can determine the voltage model compensation voltage under the static coordinate system according to the voltage model stator magnetic flux component and the current model stator magnetic flux component, and obtain the compensation quantity (voltage model compensation voltage) according to the voltage model and the current model of the permanent magnet synchronous motor, and the specific correction formula is as follows:
Figure BDA00036986175200000519
obtaining the voltage model compensation voltage u under the static coordinate system comp_α And u comp_β Wherein, in the step (A),
Figure BDA00036986175200000520
and
Figure BDA00036986175200000521
and Kp and Ki are respectively proportional gain and integral time of a stator flux vector voltage model current model PI correction link and constants of an sPI correction link for the stator flux component of the current model.
103. And correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain the corrected voltage model stator magnetic flux component.
The control device may correct the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component, specifically, correct according to the voltage model of the permanent magnet synchronous motor and the voltage model compensation voltage, and the correction formula is as follows:
Figure BDA0003698617520000061
obtaining the corrected stator flux component of the voltage model
Figure BDA0003698617520000062
And
Figure BDA0003698617520000063
wherein u is α And u β To pass through PI regulatorAnd the voltage, u, of the permanent magnet synchronous motor under the static coordinate obtained from the magnetic pole position of the rotor comp_α And u comp_β Compensating the voltage, R, for the voltage model s Is the stator resistance of a permanent magnet synchronous machine i α And i β Current component in a stationary coordinate system.
104. And determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model.
The control device can determine the synchronous speed of the permanent magnet synchronous motor according to the corrected voltage model stator flux component, firstly, the rotor flux component of the permanent magnet synchronous motor can be determined according to the corrected voltage model stator flux component, and the specific formula is as follows:
Figure BDA0003698617520000064
obtaining rotor flux component of corrected permanent magnet synchronous motor
Figure BDA0003698617520000065
And
Figure BDA0003698617520000066
wherein
Figure BDA0003698617520000067
And
Figure BDA0003698617520000068
for said corrected voltage model stator flux component, L d And L q Respectively, the direct axis inductance and the quadrature axis inductance of the permanent magnet synchronous motor, theta is the position of the magnetic pole of the rotor of the permanent magnet synchronous motor, i α And i β The current component is the current component of the permanent magnet synchronous motor in the static coordinate system.
Then, the differential of the rotor flux component of the permanent magnet synchronous motor after correction can be used for obtaining the synchronous speed of the permanent magnet synchronous motor, and the specific formula is as follows:
Figure BDA0003698617520000069
and obtaining the synchronous speed w of the permanent magnet synchronous motor.
105. And obtaining the position of the magnetic pole of the rotor of the permanent magnet synchronous motor based on the synchronous speed, and controlling the operation of the permanent magnet synchronous motor through the position of the magnetic pole of the rotor.
The control device can obtain the position of the magnetic pole of the permanent magnet synchronous motor based on the synchronous speed, and the specific formula is as follows:
θ ═ wdt, the position of the rotor magnetic pole of the permanent magnet synchronous motor is obtained, and w is the synchronous speed of the permanent magnet synchronous motor. It is understood that the rotor pole position of the permanent magnet synchronous motor at the beginning is an initial rotor pole position, which can be obtained by an equal pulse width voltage injection method or a high frequency sinusoidal voltage injection method, and is not limited herein. After the rotor magnetic pole position of the permanent magnet synchronous motor is obtained in step 105, the initial rotor magnetic pole position is updated by using the rotor magnetic pole position of the permanent magnet synchronous motor.
Then, the control device can control the operation of the permanent magnet synchronous motor through the position of the magnetic pole of the rotor, and particularly controls the inverter to output three-phase voltage to the permanent magnet synchronous motor according to the position of the magnetic pole of the rotor so as to control the operation of the permanent magnet synchronous motor.
In one achievable scheme, shown in FIG. 2, a given speed w * The difference value of the synchronous speed w obtained in the step 104 is used as the input of a speed loop PI regulator, and the torque current is obtained through the calculation of the PI regulator
Figure BDA00036986175200000610
Enabling the current component i of the permanent magnet synchronous motor obtained in the step 101 to be in a static coordinate system α 、i β And step 105, obtaining a rotor magnetic pole position theta, obtaining a current component of a feedback current in a dq rotation coordinate system through PARK conversion, and obtaining an excitation current i d And torque current i q . Given exciting current
Figure BDA00036986175200000611
Torque current
Figure BDA00036986175200000612
With feedback of exciting current i d Torque current i q The difference values are respectively used as the input of a d-axis current loop PI regulator and a q-axis current loop PI regulator, and the output voltages u of the d axis and the q axis are respectively obtained through the calculation of the d-axis current loop PI regulator and the q-axis current loop PI regulator d 、u q . Will output a voltage u d 、u q And obtaining a voltage u under a two-phase static coordinate system through the IPARK according to the rotor magnetic pole position theta obtained in the step 105 α 、u β . Voltage u at stationary coordinate α 、u β And (3) carrying out space voltage vector transformation (SVPWM) to calculate the duty ratio of three-phase PWM, outputting corresponding three-phase PWM waves to the inverter, and outputting three-phase voltage by the inverter to drive the permanent magnet synchronous motor to operate.
In the embodiment of the application, the voltage model compensation voltage under a static coordinate system is determined according to the voltage model stator magnetic flux component and the current model stator magnetic flux component; correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component; determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model; the rotor magnetic pole position of the permanent magnet synchronous motor is obtained based on the synchronous speed, the operation of the permanent magnet synchronous motor is controlled through the rotor magnetic pole position, the problems of an integral initial value, drift and the like caused by a pure integral link in a voltage model can be effectively solved, and the speed pulsation quantity in a stable speed state is reduced. The output of the PI regulator based on mutual correction of the voltage model and the current model is used as a voltage model compensation quantity, and the stator resistance voltage drop is effectively compensated. Meanwhile, a method for solving the synchronous speed by differentiating the rotor flux linkage component replaces a method for calculating the position of the rotor by directly solving the inverse tangent of the rotor flux linkage component, so that the speed pulsation quantity in a stable speed state is reduced.
An embodiment of the present application provides a control apparatus for a permanent magnet synchronous motor, as shown in fig. 3, including;
the acquiring unit 301 is configured to acquire a voltage model stator magnetic flux component and a current model stator magnetic flux component of the permanent magnet synchronous motor in a static coordinate system;
a first determining unit 302 for determining a voltage model compensation voltage in the stationary coordinate system from the voltage model stator flux component and the current model stator flux component;
a first executing unit 303, configured to modify the voltage model stator magnetic flux component based on the voltage model compensation voltage, so as to obtain a modified voltage model stator magnetic flux component;
a second determining unit 304, configured to determine a synchronous speed of the permanent magnet synchronous motor according to the corrected voltage model stator flux component;
and a second executing unit 305, configured to obtain a rotor magnetic pole position of the permanent magnet synchronous motor based on the synchronous speed, and control operation of the permanent magnet synchronous motor according to the rotor magnetic pole position.
The embodiment of the present application further provides a control apparatus 400 of a permanent magnet synchronous motor, as shown in fig. 4, including:
a central processing unit 401, a memory 402, an input/output interface 403, a wired or wireless network interface 404, and a power supply 405;
the memory 402 is a transient storage memory or a persistent storage memory;
the central processor 401 is configured to communicate with the memory 402, and execute the instruction operations in the memory 402 on a control surface function entity to execute the control method of the permanent magnet synchronous motor.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.

Claims (10)

1. A control method of a permanent magnet synchronous motor, comprising:
acquiring a voltage model stator magnetic flux component and a current model stator magnetic flux component of the permanent magnet synchronous motor in a static coordinate system;
determining a voltage model compensation voltage under the static coordinate system according to the voltage model stator magnetic flux component and the current model stator magnetic flux component;
correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component;
determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model;
and obtaining the position of the magnetic pole of the permanent magnet synchronous motor based on the synchronous speed, and controlling the operation of the permanent magnet synchronous motor through the position of the magnetic pole of the rotor.
2. The control method of claim 1, wherein the obtaining of the current model stator flux component of the permanent magnet synchronous motor in the stationary coordinate system comprises:
according to the current model of the permanent magnet synchronous motor:
Figure FDA0003698617510000011
obtaining the stator flux component of the current model in a static coordinate system
Figure FDA0003698617510000012
And
Figure FDA0003698617510000013
wherein, the
Figure FDA0003698617510000014
And said
Figure FDA0003698617510000015
For the rotor flux of the permanent magnet synchronous motor under a static coordinate systemComponent of said L d And said L q A direct axis inductance and a quadrature axis inductance of the permanent magnet synchronous motor, respectively, i α And said i β And theta is the current component of the permanent magnet synchronous motor in a static coordinate system, and theta is the position of the magnetic pole of the rotor of the permanent magnet synchronous motor.
3. The control method according to claim 2, characterized in that the method further comprises:
obtaining three-phase current i of the permanent magnet synchronous motor a 、i b 、i c ；
According to the CLARKE transformation:
Figure FDA0003698617510000016
obtaining the current component i under a static coordinate system α 、i β ；
By the formula:
Figure FDA0003698617510000017
obtaining the rated rotor flux of the permanent magnet synchronous motor under a rotating coordinate system
Figure FDA0003698617510000018
Wherein, U emf Is the back electromotive force of the permanent magnet synchronous motor, f MotorRated The rated frequency of the permanent magnet synchronous motor is set;
according to the IPARK transformation:
Figure FDA0003698617510000019
obtaining the rotor magnetic flux component of the permanent magnet synchronous motor under a static coordinate system
Figure FDA00036986175100000110
And
Figure FDA00036986175100000111
and theta is the position of the magnetic pole of the rotor of the permanent magnet synchronous motor.
4. The control method according to claim 1, wherein the obtaining of the voltage model stator flux component of the permanent magnet synchronous motor in the stationary coordinate system comprises:
according to the voltage model of the permanent magnet synchronous motor:
Figure FDA00036986175100000112
obtaining the stator flux component of the voltage model of the permanent magnet synchronous motor in a static coordinate system
Figure FDA00036986175100000113
And
Figure FDA00036986175100000114
wherein u is α And said u β The voltage of the permanent magnet synchronous motor under the static coordinate is obtained through a PI regulator and the position of a rotor magnetic pole, R s Is a stator resistance of the permanent magnet synchronous motor, i α And said i β A current component in a stationary coordinate system;
the determining a voltage model compensation voltage in the stationary coordinate system according to the voltage model stator flux component and the current model stator flux component includes:
according to the correction formula of the voltage model and the current model:
Figure FDA0003698617510000021
obtaining the voltage model compensation voltage u under the static coordinate system comp_α And u comp_β Wherein, the
Figure FDA0003698617510000022
And said
Figure FDA0003698617510000023
For the stator flux component of the current model, the Kp and the Ki are respectively fixedAnd (3) proportional gain and integral time of a PI correction link of the sub-magnetic flux vector voltage model current model, wherein s is a constant of the PI correction link.
5. The control method of claim 1, wherein the modifying the voltage model stator flux component based on the voltage model compensation voltage to obtain a modified voltage model stator flux component comprises:
correcting according to the voltage model of the permanent magnet synchronous motor and the voltage model compensation voltage:
Figure FDA0003698617510000024
obtaining the corrected stator flux component of the voltage model
Figure FDA0003698617510000025
And
Figure FDA0003698617510000026
wherein u is α And said u β The u is the voltage of the permanent magnet synchronous motor under the static coordinate obtained by a PI regulator and the position of a rotor magnetic pole comp_α And said u comp_β Compensating the voltage model for the voltage, R s Is a stator resistance of the permanent magnet synchronous motor, i α And said i β Current component in a stationary coordinate system.
6. The control method of claim 1, wherein said determining the synchronous speed of the permanent magnet synchronous machine from the corrected voltage model stator flux component comprises:
according to the formula:
Figure FDA0003698617510000027
obtaining the corrected rotor flux component of the permanent magnet synchronous motor
Figure FDA0003698617510000028
And
Figure FDA0003698617510000029
wherein said
Figure FDA00036986175100000210
And said
Figure FDA00036986175100000211
For the corrected voltage model stator flux component, L d And said L q Respectively being a direct axis inductance and a quadrature axis inductance of the permanent magnet synchronous motor, theta being a rotor magnetic pole position of the permanent magnet synchronous motor, i α And said i β The current component of the permanent magnet synchronous motor under the static coordinate system is obtained;
according to the corrected rotor flux component of the permanent magnet synchronous motor and a formula:
Figure FDA00036986175100000212
and obtaining the synchronous speed w of the permanent magnet synchronous motor.
7. The control method of claim 1, wherein the deriving the rotor pole position of the permanent magnet synchronous motor based on the synchronous speed comprises:
according to the formula: θ ═ wdt, and obtaining the position of the rotor magnetic pole of the permanent magnet synchronous motor, wherein w is the synchronous speed;
the controlling the operation of the permanent magnet synchronous motor by the rotor magnetic pole position includes:
and controlling the inverter to output three-phase voltage to the permanent magnet synchronous motor according to the position of the magnetic pole of the rotor so as to control the operation of the permanent magnet synchronous motor.
8. A control device of a permanent magnet synchronous motor is characterized by comprising;
the acquiring unit is used for acquiring a voltage model stator magnetic flux component and a current model stator magnetic flux component of the permanent magnet synchronous motor in a static coordinate system;
a first determination unit configured to determine a voltage model compensation voltage in the stationary coordinate system from the voltage model stator magnetic flux component and the current model stator magnetic flux component;
the first execution unit is used for correcting the voltage model stator magnetic flux component based on the voltage model compensation voltage to obtain a corrected voltage model stator magnetic flux component;
the second determining unit is used for determining the synchronous speed of the permanent magnet synchronous motor according to the corrected stator flux component of the voltage model;
and the second execution unit is used for obtaining the position of the magnetic pole of the rotor of the permanent magnet synchronous motor based on the synchronous speed and controlling the operation of the permanent magnet synchronous motor through the position of the magnetic pole of the rotor.
9. A control device of a permanent magnet synchronous motor, characterized by comprising:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, the instructions in the memory being executable on a control plane functional entity to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium, comprising instructions which, when executed on a computer, cause the computer to perform the method of claims 1 to 7.
CN202210681580.XA 2022-06-16 2022-06-16 Control method and device of permanent magnet synchronous motor and storage medium Pending CN114900091A (en)

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