CN114977955A - Global control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor - Google Patents

Global control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor Download PDF

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CN114977955A
CN114977955A CN202210768589.4A CN202210768589A CN114977955A CN 114977955 A CN114977955 A CN 114977955A CN 202210768589 A CN202210768589 A CN 202210768589A CN 114977955 A CN114977955 A CN 114977955A
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current
voltage
pulse spectrum
dimensional
torque
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范雨卉
李岩
李帅
董力嘉
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FAW Group Corp
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FAW Group Corp
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Priority to PCT/CN2023/104384 priority patent/WO2024002315A1/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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
    • 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
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a global control method and a device of a permanent magnet synchronous motor and the permanent magnet synchronous motor, wherein the three-dimensional current pulse spectrum of a non-weak magnetic region is obtained by calibration, and the three-dimensional current pulse spectrum of a weak magnetic region is obtained by calculation, wherein the three-dimensional current pulse spectrum is a voltage-rotating speed-torque three-dimensional current pulse spectrum, under a first working condition, a maximum torque-current ratio control strategy is adopted according to the three-dimensional current pulse spectrum of the non-weak magnetic region, under a second working condition, a maximum torque-voltage ratio control strategy is adopted according to the three-dimensional current pulse spectrum of the weak magnetic region, on one hand, the three-dimensional current pulse spectrum is obtained by the non-weak magnetic region by a calibration method, the three-dimensional current pulse spectrum is obtained by calculation of the weak magnetic region, calibration time is reduced while motor parameters and motor loss are considered, the calibration cost is reduced, the obtained current MAP is more accurate, on the other hand, different control strategies are adopted according to different working conditions, the mutual coupling influence of the weak magnetic ring and the current ring is reduced, and the reliability and the stability of weak magnetic control are greatly improved.

Description

Global control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor global control method and device and a permanent magnet synchronous motor.
Background
In order to alleviate the increasingly severe problems of environmental pollution and energy exhaustion, electric vehicles have been brought to bear great attention due to the characteristics of environmental protection, and the permanent magnet synchronous motor is a core component of the electric vehicle as a substitute for other motors due to the advantages of good control performance, high power density and energy conservation. In order to improve the system efficiency, a maximum torque current ratio (MTPA) control algorithm is required to be used in the low-speed non-flux weakening zone of the motor, the voltage of the motor line approaches or exceeds the bus voltage due to the increase of the back electromotive force in the high-speed flux weakening zone, the back electromotive force is required to be reduced by using a MTPV flux weakening control algorithm, and the motor can normally run at a high rotating speed.
At present, a permanent magnet synchronous motor is generally calibrated in a manual mode, an operator manually calibrates motor data by using a rack, a large amount of calibration work is needed in the whole process to obtain a two-dimensional current MAP of rotating speed-torque-current, the working process is complicated, the efficiency is low, the current distribution speed of an original id weak magnetic vector control target is low, and the torque control precision is greatly influenced by motor parameters.
Disclosure of Invention
The invention provides a global control method and device of a permanent magnet synchronous motor and the permanent magnet synchronous motor, which are used for reducing calibration time, reducing calibration cost, obtaining a more accurate three-dimensional current pulse spectrum and improving the reliability and stability of weak magnetic control.
In a first aspect, an embodiment of the present invention provides a global control method for a permanent magnet synchronous motor, which obtains a three-dimensional current pulse spectrum of a non-weak magnetic region through calibration, and obtains a three-dimensional current pulse spectrum of a weak magnetic region through calculation, where the three-dimensional current pulse spectrum is a voltage-rotation speed-torque three-dimensional current pulse spectrum. And under a first working condition, adopting a maximum torque-current ratio control strategy according to the three-dimensional current pulse spectrum. And under a second working condition, adopting a maximum torque-voltage ratio control strategy according to the three-dimensional current pulse spectrum.
Optionally, the obtaining the three-dimensional current pulse spectrum of the non-weak magnetic region through calibration includes: under a rated voltage, giving a fixed rotating speed of the permanent magnet synchronous motor; setting a current step length when the fixed rotating speed is less than the basic speed of the permanent magnet synchronous motor, and giving a plurality of groups of current amplitude values i according to the current step length s And a current angle theta, traversing each group of current amplitude values i according to the current step length s And the current angle theta is summed, and the current amplitude i of each group is recorded s And the actual torque T at the current angle theta e Control voltage u of the direct axis d And quadrature axis control voltage u q 。
Optionally, traversing each set of current amplitudes i according to the current step size s And the current angle theta is summed, and the current amplitude i of each group is recorded s And the actual torque T at the current angle theta e Control voltage u of the direct axis d And quadrature axis control voltage u q Then, the method further comprises the following steps: at each current amplitude i s Next, the maximum actual torque Te is found max The current angle theta of the current, the current amplitude i at that time is recorded s Current angle theta and corresponding maximum actual torque Te max Performing coordinate transformation to obtain (i) d ，i q )～Te max Torque pulse spectrum, wherein i d For controlling the current for the direct axis i q For quadrature axis control of current, (i) is d ，i q )～Te max And fitting the torque pulse spectrum to obtain a maximum torque current ratio control curve.
Optionally, the obtaining of the three-dimensional current pulse spectrum of the weak magnetic region by calculation includes: determining a flux linkage curved surface according to relevant data in the three-dimensional current pulse spectrum calibration process of the non-weak magnetic region; from the flux linkage surface, obtain (U) dc -ω-T e )～(i d ，i q ) Three-dimensional current pulse spectrum, wherein U dc Is the bus voltage; the expression of the flux linkage curved surface is as follows:
Figure BDA0003723050690000021
Figure BDA0003723050690000022
wherein u is d For the control of the voltage u for the direct axis q Controlling voltage for quadrature axis, omega for motor speed, R s Is the phase resistance, Ψ d Is a direct axis flux linkage psi q Is a quadrature axis magnetic linkage.
Optionally, obtaining (U) according to the flux linkage curved surface dc -ω-T e )～(i d ，i q ) The three-dimensional current pulse spectrum specifically comprises:
setting initial working condition points, and respectively setting bus voltage U according to the initial working condition points dc Voltage range and step length, rotational speed range and step length of motor rotational speed omega and torque T e Obtaining a plurality of working condition points according to the torque range and the step length;
calculating the rotating voltage amplitude u of each working point according to the process parameters of each working point s ；
Wherein the rotation voltage amplitude u s The expression is as follows:
u d ＝R s i d -ωΨ q
u q ＝R s i q +ωΨ d
Figure BDA0003723050690000031
optionally, the rotation voltage amplitude u at each operating point is calculated s Then, the method comprises the following steps: judging the rotating voltage amplitude u of each working condition point s Whether the allowable voltage is exceeded. If the rotation voltage amplitude u of the operating point s I of operating point is reserved without exceeding the allowable voltage d -i q Data; if the rotation voltage amplitude u of the operating point s Over the allowable voltage is based on
Figure BDA0003723050690000032
Obtaining a direct axis control current command
Figure BDA0003723050690000033
Wherein Δ i d Regulating current for flux weakening depth, controlling current command according to direct axis
Figure BDA0003723050690000034
Maximum actual torque Te max And (i) d ，i q )～Te max Torque pulse spectrum to obtain quadrature axis control current command
Figure BDA0003723050690000035
Direct axis control current command
Figure BDA0003723050690000036
And quadrature axis control current command
Figure BDA0003723050690000037
Re-substituting the rotation voltage amplitude u s Expression, circularly judging the rotating voltage amplitude u of the working point s Whether the allowable voltage is exceeded; amplitude u of the rotation voltage up to this operating point s Recording the operating point when the permissible voltage is not exceeded
Figure BDA0003723050690000038
And (4) data.
Optionally, if the current exceeds the maximum current amplitude of the current limit circle at the operating point, or the rotation voltage amplitude u s Adjusting current delta i with field weakening depth d If the working condition is decreased and increased, the working condition point stops calculating; recording the last time
Figure BDA0003723050690000041
And (4) data.
Optionally, the bus voltage U of each operating point is traversed dc Motor speed omega and torque T e And obtaining the three-dimensional current pulse spectrum of the weak magnetic region.
Optionally, under the first working condition, the three-dimensional current is measured according toPulse spectrum, adopting a maximum torque current ratio control strategy, comprising: under the first working condition, a three-dimensional current pulse spectrum (U) is searched according to the bus voltage, the motor rotating speed and the torque dc -ω-T e )～(i d ，i q ) Obtaining a command value which is a direct-axis control current command
Figure BDA0003723050690000042
And quadrature axis control current command
Figure BDA0003723050690000043
Optionally, in the second operating condition, a table look-up three-dimensional ammeter (U) is looked up dc -ω-T e )～(i d ，i q ) Obtaining a direct axis control current i d According to
Figure BDA0003723050690000044
Obtaining a direct axis control current command
Figure BDA0003723050690000045
And according to
Figure BDA0003723050690000046
Obtaining the cross-axis control current command
Figure BDA0003723050690000047
In a second aspect, an embodiment of the present invention further provides a global control device for a permanent magnet synchronous motor, where the global control device includes:
the calibration module is used for acquiring a three-dimensional current pulse spectrum of the non-weak magnetic region through calibration;
the calculation module is used for obtaining a three-dimensional current pulse spectrum of the weak magnetic region through calculation, wherein the three-dimensional current pulse spectrum is a voltage-rotating speed-torque three-dimensional current pulse spectrum;
the control module adopts a maximum torque-current ratio control strategy according to the three-dimensional current pulse spectrum under a first working condition; and under a second working condition, adopting a maximum torque-voltage ratio control strategy according to the three-dimensional current pulse spectrum.
In a third aspect, an embodiment of the present invention further provides a permanent magnet synchronous motor, where the permanent magnet synchronous motor employs the global control method described in any of the above embodiments.
The invention obtains the three-dimensional current pulse spectrum of the non-weak magnetic region by calibration, also obtains the three-dimensional current pulse spectrum of the weak magnetic region by calculation, wherein the three-dimensional current pulse spectrum is a voltage-rotating speed-torque three-dimensional current pulse spectrum, under a first working condition, a maximum torque current ratio control strategy is adopted according to the complete three-dimensional current pulse spectrum, under a second working condition, a maximum torque voltage ratio control strategy is adopted according to the complete three-dimensional current pulse spectrum, on one hand, the three-dimensional current pulse spectrum is obtained by the non-weak magnetic region by a calibration method, the three-dimensional current pulse spectrum is obtained by the weak magnetic region by calculation, the calibration time is reduced while the motor parameters and the motor loss are considered, the calibration cost is reduced, the obtained three-dimensional ammeter can be more accurate, on the other hand, different control strategies are adopted according to different working conditions, the mutual coupling influence of a weak magnetic ring and a current ring is reduced, and the reliability and the stability of weak magnetic control are greatly improved, the problems that in the prior art, the calibration working process is complicated, the efficiency is low, the current distribution speed of the original negative-id weak magnetic vector control target is low, and the torque control precision is greatly influenced by motor parameters are solved.
Drawings
Fig. 1 is a flowchart of a global control method for a permanent magnet synchronous motor according to a first embodiment of the present invention;
fig. 2 is a flowchart of a non-weak magnetic region calibration method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a calibration control according to an embodiment of the present invention;
fig. 4 is a flowchart of a weak magnetic region calculation method according to a second embodiment of the present invention;
fig. 5 is a detailed flowchart of a global current control method according to a third embodiment of the present invention;
fig. 6 is a block diagram of a strategy of a global current control method according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a global control device of a permanent magnet synchronous motor according to a fourth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a global control method for a permanent magnet synchronous motor according to an embodiment of the present invention, which is applicable to global control of a permanent magnet synchronous motor, and the method can be executed by a global control device, which can be implemented in a form of hardware and/or software. As shown in fig. 1, the method includes:
and S110, obtaining a three-dimensional current pulse spectrum of the non-weak magnetic region through calibration.
Specifically, under a d-q rotating coordinate system, the actual torque formula of the motor is as follows:
T e ＝p[Ψ f i q +(L d -L q )i d i q ]
therein, Ψ f Is a permanent magnet flux linkage, p is the number of pole pairs of the motor, L d Is a direct-axis inductor, L q Is a quadrature axis inductor, i d Control of current, i, for the direct axis q For quadrature control of current, i.e. electricityThe actual torque of the motor is determined by the permanent magnet flux linkage, the pole pair number of the motor, the direct axis inductance, the quadrature axis inductance, the direct axis control current and the quadrature axis control current. In addition, the control operation of the permanent magnet synchronous motor is driven by the output of an inverter, so the operation performance of the motor is restricted by the inverter, and when the motor operates in a non-flux weakening region below a base speed, the most main limiting condition is the maximum output current of the inverter, namely the limiting condition is a current limit circle, and the formula is satisfied:
Figure BDA0003723050690000061
at this time, if the three-dimensional current pulse spectrum of the non-weak magnetic region is obtained by calculation, that is, (U) dc -ω-T e )～(i d ，i q ) The three-dimensional current pulse spectrum has very complex operation and large operation amount in control, and cannot eliminate the influence of loss of the motor and the inverter, so the embodiment of the invention obtains the current pulse spectrum by a calibration method (U) dc -ω-T e )～(i d ，i q ) Three-dimensional current pulse spectra. Fig. 2 is a flowchart of a non-weak magnetic region calibration method according to an embodiment of the present invention, and referring to fig. 2, a specific calibration process is described below:
s1101, setting a fixed rotating speed of the permanent magnet synchronous motor under a rated voltage; the fixed rotation speed is less than the basic speed of the permanent magnet synchronous motor.
Specifically, referring to fig. 3, under a rated voltage, the pm synchronous motor is pulled to a relatively stable fixed rotation speed below the base speed by the dynamometer, and the fixed rotation speed is lower than the base speed, so as to ensure that all torque states at the fixed rotation speed do not cause the pm synchronous motor to enter a flux weakening condition.
S1102, setting current step length, and giving multiple groups of current amplitude values i according to the current step length s And a current angle theta. Specifically, a plurality of groups of different current amplitudes i are given by setting the current step length s And current angle theta, as well as current amplitude maximum and current angle maximum.
S1103, traversing each group of current amplitude values i according to current step length s And the current angle theta is summed, and the current amplitude i of each group is recorded s And current angle thetaActual torque T e Control voltage u of the direct axis d And quadrature axis control voltage u q . Specifically, in the calibration process, the temperature of the stator of the permanent magnet synchronous motor is in a stable range, in a current limit circle, the second quadrant and the third quadrant traverse all the electric areas and the power generation areas, the range of a current angle theta is 90 degrees to 270 degrees, and the current amplitude i recorded at the moment s Sum current angle θ, and actual torque T detected by dynamometer e To obtain (i) s -θ)～T e Torque pulse spectrum and direct axis control voltage pulse spectrum converted to d-q rotation coordinate system at the moment s -θ)～u d And quadrature axis control voltage pulse spectrum (i) s -θ)～u q 。
S1104, at each current amplitude i s Next, the maximum actual torque Te is found max The current angle theta of the current, the current amplitude i at that time is recorded s Current angle theta and corresponding maximum actual torque Te max 。
S1105, coordinate transformation is executed to obtain (i) d ，i q )～Te max Torque pulse spectrum of d ，i q )～Te max And fitting the torque pulse spectrum to obtain a maximum torque current ratio control curve, wherein the maximum torque current ratio control curve is the three-dimensional current pulse spectrum of the non-weak magnetic region.
And then the three-dimensional current pulse spectrum of the non-weak magnetic region can be obtained through calibration.
And S120, obtaining a three-dimensional current pulse spectrum of the weak magnetic area through calculation.
Specifically, in the weak magnetic region, (U) of the weak magnetic region can be obtained by calculation dc -ω-T e )～(i d ，i q ) Three-dimensional current pulse spectra. During the calibration of the non-weak magnetic region, different direct axis control currents i have been recorded d Quadrature axis control current i q Corresponding direct axis control voltage u d And quadrature axis control voltage u q Therefore, a voltage curve (i) corresponding to the maximum torque current ratio control curve can be obtained d ，i q )～u d And (i) d ，i q )～u q 。
Then go throughFormula u d ＝R s i d -ωΨ q And u q ＝R s i q +ωΨ d The variation can result in a flux linkage surface expression:
Figure BDA0003723050690000081
Figure BDA0003723050690000082
wherein u is d For the control of the voltage u for the direct axis q Controlling voltage for quadrature axis, omega for motor speed, R s Is the phase resistance, Ψ d Is a direct axis flux linkage psi q For quadrature axis flux linkage, the formula can obtain the (i) corresponding to the maximum torque current ratio control curve d ，i q )～Ψ d And (i) d ，i q )～Ψ q The direct axis flux linkage and the quadrature axis flux linkage are only related to inductance (current) and rotor flux (temperature), so the flux linkage curve pulse spectrum can be used for calculating each voltage of each rotating speed, a three-layer ergodic calculation process can be set according to the contents, and a weak magnetic region (U) can be obtained according to the calculation process dc -ω-T e )～(i d ，i q ) Three-dimensional current pulse spectra.
And S130, under a first working condition, adopting a maximum torque current ratio control strategy according to the three-dimensional current pulse spectrum, and under a second working condition, adopting a maximum torque voltage ratio control strategy according to the three-dimensional current pulse spectrum.
The control method comprises the following steps that the first working condition is a working condition under a conventional condition, weak magnetic depth adjustment cannot be triggered under the first working condition, the second working condition is a working condition of low temperature, rapid acceleration and deceleration or an extremely severe road surface, namely, the weak magnetic ring can be triggered only under the working condition of low temperature rapid acceleration and deceleration or the extremely severe road surface, and under the first working condition, a maximum torque-current ratio control strategy is adopted according to an obtained complete three-dimensional current pulse spectrum, namely, a required stator current amplitude of the permanent magnet synchronous motor is minimum under the condition of outputting a target torque. Under the second working condition, according to the obtained complete three-dimensional current pulse spectrum, a maximum torque-current ratio control strategy is adopted, namely when the voltage provided by the inverter is constant, the output torque of the permanent magnet motor can be improved to the greatest extent, and the maximum running power of the motor is improved.
The technical scheme of the embodiment includes that a three-dimensional current pulse spectrum of a non-weak magnetic region is obtained through calibration, a three-dimensional current pulse spectrum of a weak magnetic region is obtained through calculation, wherein the three-dimensional current pulse spectrum is a voltage-rotating speed-torque three-dimensional current pulse spectrum, a maximum torque-current ratio control strategy is adopted according to the complete three-dimensional current pulse spectrum under a first working condition, and a maximum torque-voltage ratio control strategy is adopted according to the complete three-dimensional current pulse spectrum under a second working condition, on one hand, the three-dimensional current pulse spectrum is obtained by the non-weak magnetic region through a calibration method, the three-dimensional current pulse spectrum is obtained by the weak magnetic region through calculation, calibration time is reduced while motor parameters and motor loss are considered, calibration cost is reduced, the obtained current MAP is more accurate, on the other hand, different control strategies are adopted according to different working conditions, the mutual coupling influence of a weak magnetic ring and a current ring is reduced, the reliability and the stability of flux weakening control are greatly improved, and the problems that in the prior art, the calibration working process is complicated, the efficiency is low, the current distribution speed of the original negative-id flux weakening vector control target is low, and the torque control precision is greatly influenced by motor parameters are solved.
Example two
Fig. 4 is a flowchart of a weak magnetic region calculation method according to a second embodiment of the present invention, and this embodiment specifically describes a specific process for calculating a three-dimensional current pulse spectrum of a weak magnetic region based on the foregoing embodiments.
S210, setting initial working condition points, and respectively setting bus voltage U according to the initial working condition points dc Voltage range and step length of (d), rotational speed range and step length of motor rotational speed ω, and actual torque T e And obtaining a plurality of working condition points according to the torque range and the step length.
Specifically, an initial operating point is set, and the operating point comprises an initial bus voltage and an initial voltageSetting step length for initial bus voltage, initial motor speed and initial actual torque to obtain bus voltage U dc Voltage range of (d), rotational speed range of motor rotational speed ω, and actual torque T e While obtaining a plurality of included bus voltages U dc Motor speed omega and actual torque T e The operating point of (1).
S220, calculating the rotating voltage amplitude u of each working point according to the process parameters of each working point s 。
Wherein each operating point comprises an initial operating point, and a plurality of operating points set by the initial operating point. The process parameters are parameters recorded in the calibration process of the non-weak magnetic region. Specifically, at each operating point, (i) of the maximum torque current ratio curve is substituted d -i q ) By rotating the voltage amplitude u s Expression (c):
u d ＝R s i d -ωΨ q
u q ＝R s i q +ωΨ d
Figure BDA0003723050690000101
calculating the rotation voltage amplitude u of each working condition point s Wherein u is d For the control of the voltage u for the direct axis q Controlling voltage for quadrature axis, omega for motor speed, R s Is the phase resistance, Ψ d Is a direct axis flux linkage psi q Is a quadrature axis magnetic linkage.
S230, judging the rotating voltage amplitude u of each working condition point s Whether the allowable voltage is exceeded.
Wherein the allowable voltage is a voltage limit value u slimit Voltage limit value u slimit Under the restriction of an inverter, under the general d-q rotating coordinate system, the voltage limit value u slimit The value is the bus voltage divided by the root three. Rotating voltage amplitude u at calculated operating point s Post-judgment rotation voltage amplitude u s Whether or not to exceed electricityPressure limit value u slimit . If the amplitude u of the rotation voltage at this operating point s Not exceeding a voltage limit value u slimit Then i of the operating point is retained d -i q Data; if the rotation voltage amplitude u of this operating point s Exceeding a voltage limit u slimit Then according to
Figure BDA0003723050690000111
Obtaining a direct axis control current command
Figure BDA0003723050690000112
And passing the actual torque T e And direct axis control current command
Figure BDA0003723050690000113
In the course of back-checking the non-weak magnetic region d ，i q )～Te max Torque pulse spectrum to obtain quadrature axis control current command
Figure BDA0003723050690000114
At the moment, the direct axis controls the current instruction
Figure BDA0003723050690000115
And quadrature axis control current command
Figure BDA0003723050690000116
Substituting the rotation voltage amplitude expression again to obtain the rotation voltage amplitude u s Wherein Δ i d The current is adjusted for field weakening depth.
S240, circularly judging the rotating voltage amplitude u of the working point s Whether the allowable voltage is exceeded or not until the amplitude u of the rotating voltage s Not exceeding allowable voltage and recording the operating point
Figure BDA0003723050690000117
And (4) data.
Specifically, after step S220, the rotation voltage amplitude u s Still exceeds the voltage limit u slimit Then continue to be based on
Figure BDA0003723050690000118
Obtaining a direct axis control current command
Figure BDA0003723050690000119
And quadrature axis control current command
Figure BDA00037230506900001110
And calculating the amplitude u of the rotating voltage at the moment s Judging the rotation voltage amplitude u of the operating point again s Whether or not the voltage limit value u is exceeded slimit The step is cycled until the rotation voltage amplitude u s Not exceeding a voltage limit value u slimit Recording the operating point at that time
Figure BDA00037230506900001111
And (4) data.
S250, if the current exceeds the maximum current amplitude of the current limit circle or the rotation voltage amplitude u at the working point s Step size Δ i of current control with straight axis d If the working condition is decreased and increased, the working condition point stops calculating; recording the last time
Figure BDA00037230506900001112
And (4) data.
S260, traversing bus voltage U of each working condition point dc Motor speed omega and torque T e And obtaining the three-dimensional current pulse spectrum of the weak magnetic region. Specifically, steps S220-S240 are performed for each operating point, so that (U) of the weak magnetic region can be obtained dc -ω-T e )～(i d ，i q ) The three-dimensional current pulse spectrum can obtain the external characteristics of the torque under fixed voltage and rotating speed.
According to the technical scheme of the embodiment, the maximum torque output by the same terminal voltage at a certain working point can be obtained by adopting a calculation method in the weak magnetic area, so that the control of the maximum torque-voltage ratio is realized, the utilization rate of the bus voltage of the electric drive system is improved, and the system efficiency is improved.
EXAMPLE III
Fig. 5 is a detailed flowchart of a global current control method provided by the third embodiment of the present invention, and fig. 6 is a block diagram of a strategy of the global current control method provided by the third embodiment of the present invention, where this embodiment specifically explains control methods for different working conditions on the basis of the above embodiments, and the method specifically includes:
and S310, obtaining a three-dimensional current pulse spectrum of the non-weak magnetic region through calibration.
And S320, obtaining a three-dimensional current pulse spectrum of the weak magnetic area through calculation.
S330, under the first working condition, looking up a three-dimensional current pulse spectrum (U) according to the bus voltage, the motor rotating speed and the torque dc -ω-T e )～(i d ，i q ) An instruction value is obtained.
Specifically, referring to fig. 6, the permanent magnet synchronous motor global control system may include a three-dimensional current look-up module, a current control module, a coordinate transformation module, a pulse width modulation module, a decoupling module, a weak magnetic depth adjustment module, and an inverter. Under most normal conditions, the weak magnetic depth adjustment cannot be triggered, and the weak magnetic depth adjustment current delta i d Is limited to 0A. At this time, the voltage can be determined according to the bus voltage U dc Motor speed omega and actual torque T e Table look-up three-dimensional current pulse spectrum (U) dc -ω-T e )～(i d ，i q ) To obtain a command value, i.e. direct-axis control current command
Figure BDA0003723050690000121
And quadrature axis control current command
Figure BDA0003723050690000122
S340, under the second working condition, looking up a table of a three-dimensional current pulse spectrum (U) dc -ω-T e )～(i d ，i q ) Obtaining a direct axis control current i d According to
Figure BDA0003723050690000123
Obtaining a direct axis control current command
Figure BDA0003723050690000124
And in accordance with
Figure BDA0003723050690000125
Figure BDA0003723050690000126
Obtaining the cross-axis control current command
Figure BDA0003723050690000127
Specifically, due to the accuracy of the three-dimensional pulse spectrum of the weak magnetic area, the weak magnetic ring can be triggered only under the working conditions of low temperature, rapid acceleration and deceleration or extremely bad road surface, and negative weak magnetic depth adjusting current delta i is output at the moment d Increasing the weak magnetic depth to ensure that the whole weak magnetic area does not exceed the limit of the voltage limit circle, delta i d And look-up table (U) dc -ω-T e )～(i d ，i q ) Direct axis control current i obtained by three-dimensional current pulse spectrum d Summing as a new direct axis control current command
Figure BDA0003723050690000128
At this time, in order to ensure that the whole control does not exceed the limit of the current limit circle, a new quadrature axis control current instruction
Figure BDA0003723050690000131
By looking up a table three-dimensional ammeter (U) dc -ω-T e )～(i d ，i q ) Obtaining a direct axis control current i d And quadrature axis control current i q And a new direct axis control current command
Figure BDA0003723050690000132
Are jointly determined, i.e.
Figure BDA0003723050690000133
At the moment, the whole control process is ensured not to exceed the current limit circle and the voltage limit circle, and the control stability is ensured.
In summary, the control method of the present embodiment first needs to be implementedObtaining command values, i.e. direct-axis control current commands
Figure BDA0003723050690000134
And quadrature axis control current command
Figure BDA0003723050690000135
Under different working conditions, the command value is different. Specifically, a three-dimensional ammeter (U) is obtained by looking up a table dc -ω-T e )～(i d ，i q ) Query the original i d -i q Data according to the corresponding direct-axis and direct-axis control voltage u d And quadrature axis control voltage u q Calculating the amplitude u of the rotating voltage s 。
When the amplitude u of the rotation voltage s Does not reach the voltage limit value u slimit Then, the output current delta i of weak magnetic depth adjustment after PI adjustment d Limited to 0A, i.e. the first operating mode at this time, the actual command value of the direct-axis control current command
Figure BDA0003723050690000136
And quadrature axis control current command
Figure BDA0003723050690000137
And look-up table to obtain original i d -i q The data are identical.
When the amplitude u of the rotation voltage s Reach the voltage limit value u slimit Triggering PI regulation and outputting negative weak magnetic depth regulating current delta i d At this time, the second operating condition, Δ i d And looking up a table to obtain the control current i of the direct axis d Summing as a new direct axis control current command
Figure BDA0003723050690000138
And according to the formula
Figure BDA0003723050690000139
Calculating a new quadrature axis control current command
Figure BDA00037230506900001310
The instruction value obtained in the above steps
Figure BDA00037230506900001311
And
Figure BDA00037230506900001312
is a control instruction. In particular, the actual three-phase current i of the permanent magnet synchronous motor is converted into the actual three-phase current a 、i b 、i c Obtaining the actual current value i of the d-q rotating coordinate system through coordinate transformation dfdk And i qfdk Making the d-q axis current actual value i through a current control module dfdk And i qfdk Follow direct axis control current command
Figure BDA00037230506900001313
And quadrature axis control current command
Figure BDA00037230506900001314
The output quantity of the current control module is d-q axis voltage, namely direct axis control voltage u d And quadrature axis control voltage u q Obtaining the alpha-beta axis voltage u through coordinate transformation α And u β Let the alpha-beta axis voltage u α And u β And calculating the time of each phase switch of the inverter as the input of pulse width modulation, and controlling the inverter to output current and torque which accord with the command.
The technical scheme of the embodiment adopts a semi-calibration and semi-calculation method to ensure the calibration precision, obviously shorten the calibration time, improve the calibration efficiency, ensure the consistency, reliability and high efficiency of calibration data and obtain the three-dimensional ammeter (U) dc -ω-T e )～(i d ，i q ) The method is applied to a three-dimensional global current control strategy, different instruction values are obtained according to different working conditions, the inverter is controlled according to the instruction values to output currents and torques which accord with instructions, and compared with the traditional negative id current control strategy, a weak magnetic depth regulating current delta i is reduced under most working conditions d Control closed loop, retaining only i d And i q Two current closed loops reduce the mutual coupling influence of the weak magnetic ring and the current loop, thereby greatly improvingHigh flux-weakening control reliability and stability.
Example four
Fig. 5 is a schematic structural diagram of a global control device of a permanent magnet synchronous motor according to a fourth embodiment of the present invention, which is applicable to global control of a permanent magnet synchronous motor in the fourth embodiment, and the specific structure of the global control device of the permanent magnet synchronous motor is as follows:
the calibration module 51 is used for acquiring a three-dimensional current pulse spectrum of the non-weak magnetic region through calibration;
the calculation module 52 is used for obtaining a three-dimensional current pulse spectrum of the weak magnetic region through calculation, wherein the three-dimensional current pulse spectrum is a voltage-rotating speed-torque three-dimensional current pulse spectrum;
the control module 53 adopts a maximum torque-current ratio control strategy according to the three-dimensional current pulse spectrum under the first working condition; and under a second working condition, adopting a maximum torque voltage ratio control strategy according to the three-dimensional current pulse spectrum.
The calibration module 51 is specifically configured to set a fixed rotation speed of the permanent magnet synchronous motor at a rated voltage; the fixed rotating speed is less than the basic speed of the permanent magnet synchronous motor; setting current step length, and giving multiple groups of current amplitude values i according to the current step length s And a current angle θ; traversing each group of current amplitude i according to the current step length s And the current angle theta is summed, and the current amplitude i of each group is recorded s And the actual torque T at the current angle theta e Direct axis control voltage u d And quadrature axis control voltage u q 。
The calibration module 51 is also used for calibrating each current amplitude i s Next, the maximum actual torque Te is found max The current angle theta of the current, the current amplitude i at that time is recorded s Current angle theta and corresponding maximum actual torque Te max Performing coordinate transformation to obtain (i) d ，i q )～Te max Torque pulse spectrum, wherein i d For controlling the current for the direct axis i q Controlling the current for quadrature axis; will (i) d ，i q )～Te max And fitting the torque pulse spectrum to obtain a maximum torque current ratio control curve.
The calculation module 52 is further configured to calibrate the process according to the three-dimensional current pulse spectrum of the weak magnetic regionDetermining a flux linkage curved surface according to the related data in (1); from the flux linkage surface, obtain (U) dc -ω-T e )～(i d ，i q ) Three-dimensional current pulse spectra.
The calculating module 52 is specifically configured to set initial operating points and set bus voltages U according to the initial operating points dc Voltage range and step length of (d), rotational speed range and step length of motor rotational speed ω, and actual torque T e Obtaining a plurality of working condition points according to the torque range and the step length; calculating the rotating voltage amplitude u of each working point according to the process parameters of each working point s 。
Judging the rotating voltage amplitude u of each operating point s Whether the allowable voltage is exceeded; if the rotation voltage amplitude u of the operating point s I of operating point is reserved without exceeding the allowable voltage d -i q Data; if the rotation voltage amplitude u of the operating point s Over the allowable voltage is based on
Figure BDA0003723050690000151
Obtaining a direct axis control current command
Figure BDA0003723050690000152
Wherein Δ i d Adjusting current for the weak magnetic depth; controlling current commands according to the direct axis
Figure BDA0003723050690000153
Actual torque T e And (i) d ，i q )～Te max Torque pulse spectrum to obtain quadrature axis control current command
Figure BDA0003723050690000154
Direct axis control current command
Figure BDA0003723050690000155
And quadrature axis control current command
Figure BDA0003723050690000156
Re-substituting the rotation voltage amplitude u s Expression, cyclic judgment of rotation of this operating pointAmplitude u of the switching voltage s Whether the allowable voltage is exceeded; amplitude u of the rotation voltage up to this operating point s Recording the operating point if the permissible voltage is not exceeded
Figure BDA0003723050690000157
And (4) data.
If the current exceeds the maximum current amplitude of the current limit circle or the rotation voltage amplitude u at the working point s Adjusting current delta i with field weakening depth d If the working point is decreased and increased, the working point stops calculating; recording the last time
Figure BDA0003723050690000158
And (4) data.
Bus voltage U traversing each working condition point dc Motor speed omega and torque T e And obtaining the three-dimensional current pulse spectrum of the weak magnetic region.
The control module 53 further includes a first control unit and a second control unit; a first control unit for looking up a three-dimensional current pulse spectrum (U) according to the bus voltage, the motor speed and the torque under a first working condition dc -ω-T e )～(i d ，i q ) Obtaining a command value which is a direct-axis control current command
Figure BDA0003723050690000161
And quadrature axis control current command
Figure BDA0003723050690000162
A second control unit for looking up a three-dimensional ammeter (U) under the second working condition dc -ω-T e )～(i d ，i q ) Obtaining a direct axis control current i d According to
Figure BDA0003723050690000163
Obtaining a direct axis control current command
Figure BDA0003723050690000164
And according to
Figure BDA0003723050690000165
Obtaining the cross-axis control current command
Figure BDA0003723050690000166
The technical scheme of the embodiment adopts a semi-calibration and semi-calculation method to ensure the calibration precision, obviously shorten the calibration time, improve the calibration efficiency, ensure the consistency, reliability and high efficiency of calibration data and obtain the three-dimensional ammeter (U) dc -ω-T e )～(i d ，i q ) The method is applied to a three-dimensional global current control strategy, different instruction values are obtained according to different working conditions, the inverter is controlled according to the instruction values to output currents and torques which accord with instructions, and compared with the traditional negative id current control strategy, a weak magnetic depth regulating current delta i is reduced under most working conditions d Control closed loop, retaining only i d And i q The two current closed loops reduce the mutual coupling influence of the weak magnetic ring and the current loop, and greatly improve the reliability and stability of weak magnetic control.
EXAMPLE five
Based on the above inventive concept, embodiments of the present invention further provide a permanent magnet synchronous motor, and the global control method of the permanent magnet synchronous motor according to any embodiment of the present invention is adopted, so that the permanent magnet synchronous motor provided by the embodiments of the present invention has the beneficial effects corresponding to the global control method of the permanent magnet synchronous motor provided by the embodiments of the present invention, and details are not repeated herein.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.

Claims (12)

1. The global control method of the permanent magnet synchronous motor is characterized by comprising the following steps:
obtaining a three-dimensional current pulse spectrum of the non-weak magnetic region through calibration;
obtaining a three-dimensional current pulse spectrum of a weak magnetic region through calculation, wherein the three-dimensional current pulse spectrum is a voltage-rotating speed-torque three-dimensional current pulse spectrum;
under a first working condition, adopting a maximum torque-current ratio control strategy according to the three-dimensional current pulse spectrum;
and under a second working condition, adopting a maximum torque-voltage ratio control strategy according to the three-dimensional current pulse spectrum.
2. The global control method according to claim 1, wherein the obtaining of the three-dimensional current pulse spectrum of the non-weak magnetic region by calibration includes:
under the rated voltage, giving the fixed rotating speed of the permanent magnet synchronous motor; the fixed rotating speed is less than the basic speed of the permanent magnet synchronous motor;
setting current step length, and giving multiple groups of current amplitude values i according to the current step length s And a current angle θ;
traversing each group of current amplitudes i according to the current step length s And the current angle theta is summed, and the current amplitude i of each group is recorded s And the actual torque T at the current angle theta e Direct axis control voltage u d And quadrature axis control voltage u q 。
3. Global control method according to claim 2, characterized in that said traversing each set of current amplitudes i according to said current step s And the current angle theta is summed, and the current amplitude i of each group is recorded s And the actual torque T at the current angle theta e Control voltage u of the direct axis d And quadrature axis control voltage u q Then, the method also comprises the following steps:
at each current amplitude i s Next, the maximum actual torque Te is found max Current angle theta, record the current at that timeAmplitude of flow i s Current angle theta and corresponding maximum actual torque Te max Performing coordinate transformation to obtain (i) d ，i q )～Te max Torque pulse spectrum, wherein i d For controlling the current for the direct axis i q Controlling the current for quadrature axis;
will (i) d ，i q )～Te max And fitting the torque pulse spectrum to obtain a maximum torque current ratio control curve.
4. The global control method as claimed in claim 3, wherein said obtaining the three-dimensional current pulse spectrum of the weak magnetic region by calculation comprises:
determining a flux linkage curved surface according to relevant data in the three-dimensional current pulse spectrum calibration process of the non-weak magnetic region;
from the flux linkage surface, obtain (U) dc -ω-T e )～(i d ，i q ) Three-dimensional current pulse spectrum, wherein U dc Is the bus voltage; the expression of the flux linkage curved surface is as follows:
Figure FDA0003723050680000021
Figure FDA0003723050680000022
wherein u is d For the control of the voltage u for the direct axis q Controlling voltage for quadrature axis, omega for motor speed, R s Is the phase resistance, Ψ d Is a direct axis flux linkage psi q Is a quadrature axis magnetic linkage.
5. The global control method according to claim 4, wherein the (U) is obtained according to a linkage surface dc -ω-T e )～(i d ，i q ) The three-dimensional current pulse spectrum specifically comprises:
setting initial working condition points, and respectively setting bus voltage U according to the initial working condition points dc Voltage range of andstep length, rotating speed range and step length of motor rotating speed omega and actual torque T e Obtaining a plurality of working condition points according to the torque range and the step length;
calculating the rotating voltage amplitude u of each working point according to the process parameters of each working point s ；
Wherein the rotation voltage amplitude u s The expression is as follows:
u d ＝R s i d -ωΨ q
u q ＝R s i q +ωΨ d
Figure FDA0003723050680000023
6. global control method according to claim 5, characterised in that the rotation voltage amplitude u is calculated for each operating point s Then, the method comprises the following steps:
judging the rotating voltage amplitude u of each working condition point s Whether the allowable voltage is exceeded;
if the rotation voltage amplitude u of the operating point s I of operating point is reserved without exceeding the allowable voltage d -i q Data;
if the rotation voltage amplitude u of the operating point s Over the allowable voltage is based on
Figure FDA0003723050680000031
Obtaining a direct axis control current command
Figure FDA0003723050680000032
Wherein Δ i d Adjusting current for the weak magnetic depth;
controlling current commands according to the direct axis
Figure FDA0003723050680000033
Actual torque T e And (i) d ，i q )～Te max Torque pulse spectrum to obtain quadrature axisControl current command
Figure FDA0003723050680000034
Direct axis control current command
Figure FDA0003723050680000035
And quadrature axis control current command
Figure FDA0003723050680000036
Re-substituting the rotation voltage amplitude u s The rotating voltage amplitude u of the working point is circularly judged according to the expression s Whether the allowable voltage is exceeded; amplitude u of the rotation voltage up to this operating point s Recording the operating point when the permissible voltage is not exceeded
Figure FDA0003723050680000037
And (4) data.
7. The global control method according to claim 6,
if the current exceeds the maximum current amplitude of the current limit circle or the rotation voltage amplitude u at the working point s Adjusting current delta i with field weakening depth d If the working condition is decreased and increased, the working condition point stops calculating; recording the last time
Figure FDA0003723050680000038
And (4) data.
8. The global control method according to claim 7,
bus voltage U traversing each working condition point dc Motor speed omega and torque T e And obtaining the three-dimensional current pulse spectrum of the weak magnetic region.
9. The global control method according to claim 3, wherein in the first operating condition, according to the three-dimensional current pulse spectrum, a maximum torque-to-current ratio control strategy is adopted, which includes:
under the first working condition, a three-dimensional current pulse spectrum (U) is searched according to the bus voltage, the motor rotating speed and the torque dc -ω-T e )～(i d ，i q ) Obtaining a command value which is a direct-axis control current command
Figure FDA0003723050680000039
And quadrature axis control current command
Figure FDA00037230506800000310
10. The global control method according to claim 8, wherein in the second operating condition, according to the three-dimensional current pulse spectrum, a maximum torque-to-voltage ratio control strategy is adopted, which includes:
under the second working condition, look-up table three-dimensional ammeter (U) dc -ω-T e )～(i d ，i q ) Obtaining a direct axis control current i d According to
Figure FDA0003723050680000041
Obtaining a direct axis control current command
Figure FDA0003723050680000042
And according to
Figure FDA0003723050680000043
Obtaining the cross-axis control current command
Figure FDA0003723050680000044
11. A global control device of a permanent magnet synchronous motor is characterized by comprising:
the calibration module is used for acquiring a three-dimensional current pulse spectrum of the non-weak magnetic region through calibration;
the calculation module is used for obtaining a three-dimensional current pulse spectrum of the weak magnetic region through calculation, wherein the three-dimensional current pulse spectrum is a voltage-rotating speed-torque three-dimensional current pulse spectrum;
the control module adopts a maximum torque-current ratio control strategy according to the three-dimensional current pulse spectrum under a first working condition; and under a second working condition, adopting a maximum torque voltage ratio control strategy according to the three-dimensional current pulse spectrum.
12. A permanent magnet synchronous machine employing the global control method of any one of claims 1-10.
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