CN115333419A - Current and voltage self-adaptive control method and control device of permanent magnet synchronous motor - Google Patents

Current and voltage self-adaptive control method and control device of permanent magnet synchronous motor Download PDF

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Publication number
CN115333419A
CN115333419A CN202211031393.3A CN202211031393A CN115333419A CN 115333419 A CN115333419 A CN 115333419A CN 202211031393 A CN202211031393 A CN 202211031393A CN 115333419 A CN115333419 A CN 115333419A
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voltage
current
attenuation rate
amplitude limiting
amplitude
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赵飞
王智玮
张凯强
栾宝伟
丁祥
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Hisense Home Appliances Group 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a current and voltage self-adaptive control method and a control device of a permanent magnet synchronous motor, wherein the method comprises the following steps: acquiring a current frequency limit protection value, a phase current amplitude, a voltage amplitude limit threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor, and calculating to obtain a current amplitude limit attenuation rate and a voltage amplitude limit attenuation rate; superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction and a direct axis current instruction; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in the current control module to obtain a quadrature axis voltage instruction and a direct axis voltage instruction; and carrying out park inverse transformation and modulation on the synchronous motor to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage. The invention can carry out self-adaptive control on the output voltage or the output current driven by the motor based on the voltage amplitude limiting attenuation rate or the current amplitude limiting attenuation rate so as to ensure the safe and reliable operation of the permanent magnet synchronous motor.

Description

Current and voltage self-adaptive control method and control device of permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a current and voltage self-adaptive control method and a current and voltage self-adaptive control device of a permanent magnet synchronous motor.
Background
In a frequency conversion algorithm platform project test, the adaptability of motor driving under sudden load change and sudden voltage change needs to be evaluated. In the case of sudden load increase, the variable frequency drive control increases the output current in order to provide a larger torque to the motor. However, excessive current may cause problems such as power device damage of the inverter and demagnetization of the motor, and thus shutdown protection is required. Under the condition of voltage dip, for a frequency converter with a power factor correction circuit, the voltage of a bus can be stably controlled through PFC, and the voltage change is slowed down. However, for a passive frequency converter, the voltage is maintained only by the energy storage of the electrolytic capacitor, and the effect of slowing down under heavy load is hardly achieved. Sudden change of voltage can influence the output of motor drive, and then arouse voltage saturation and the scheduling problem of overshoot, if do not carry out response handling, can cause step-out, overcurrent to cause the operation abnormal shut down.
When the load suddenly changes, if the motor still needs to be maintained to operate, the operation speed of the motor needs to be reduced. Because the speed loop in the existing control method has slow response, the time and the frequency cannot be limited when the load suddenly changes by simply reducing the speed instruction, and thus overcurrent shutdown can be caused. In order to deal with voltage sudden change, the normal operation of the motor is realized by reducing the output voltage through weak magnetic control in the conventional frequency conversion algorithm. However, field weakening control generally has a slow response, and when a voltage change is too fast, current fluctuation occurs, and the overcurrent shutdown probability is increased. And the speed reduction processing is carried out by low-voltage protection, and because the speed loop response is slow, the speed reduction is not timely when the voltage is reduced too fast, so that the step loss or overcurrent shutdown is easily caused.
Disclosure of Invention
The present invention is directed to a current-voltage adaptive control method and a control device for a permanent magnet synchronous motor, which can adaptively control an output voltage or an output current of a motor drive based on a voltage limit attenuation rate or a current limit attenuation rate to ensure safe and reliable operation of the permanent magnet synchronous motor.
A first embodiment of the present invention provides a current-voltage adaptive control method for a permanent magnet synchronous motor, including:
acquiring a current frequency limiting protection value, a phase current amplitude, a voltage amplitude limiting threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor;
calculating to obtain a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction Iq and a direct axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in the current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd;
and performing park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage.
In a current-voltage adaptive control method of a permanent magnet synchronous motor provided in a second embodiment of the present invention, the method further includes:
if the current amplitude limiting attenuation rate is smaller than the voltage amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is superposed into the speed control module;
and if the current amplitude limiting attenuation rate is greater than the voltage amplitude limiting attenuation rate, the voltage amplitude limiting attenuation rate is superposed into the speed control module.
In a current-voltage adaptive control method of a permanent magnet synchronous motor provided in a third embodiment of the present invention, the method further includes:
carrying out amplitude limiting processing on the speed control module through a first amplitude limiting link so as to ensure the stability of the position observer; the current amplitude limiting attenuation rate is subjected to amplitude limiting processing through a second amplitude limiting link, so that when the load suddenly changes, the output current can quickly follow; and carrying out amplitude limiting processing on the voltage amplitude limiting attenuation rate through a third amplitude limiting link so as to realize rapid following of the output voltage when the voltage changes suddenly.
In a current-voltage adaptive control method of a permanent magnet synchronous motor according to a fourth embodiment of the present invention, when the current clipping attenuation rate is less than 1 or the voltage clipping attenuation rate is less than 1, a speed command in the speed control module is equal to or less than an observation speed.
In a current-voltage adaptive control method for a permanent magnet synchronous motor according to a fifth embodiment of the present invention, a calculation formula of the current limit attenuation rate is: ratio (R) cur ＝Ilim/Im*；
Wherein Ratio cur The current amplitude limiting attenuation rate is shown, ilim is a current frequency limiting protection value, im is a phase current amplitude value, and the phase current amplitude value
Figure BDA0003817558840000031
Id is a direct axis current command, and Iq is a quadrature axis current command;
the calculation formula of the voltage amplitude limiting attenuation rate is as follows: ratio (R) sat ＝Vsat/Vm*；
Wherein Ratio sat For voltage limiting attenuation rate, vsat is voltage limiting threshold value, vm modulates voltage amplitude, said modulated voltage amplitude
Figure BDA0003817558840000032
And Vq is a quadrature axis voltage command.
A sixth embodiment of the present invention provides a current-voltage adaptive control device for a permanent magnet synchronous motor, including:
the acquisition module is used for acquiring a current frequency limiting protection value, a phase current amplitude, a voltage amplitude limiting threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor;
the calculation module is used for calculating to obtain a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
the self-adaptive module is used for superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in the speed control module to obtain a quadrature-axis current instruction Iq and a direct-axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in the current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd;
and the control module is used for carrying out park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage.
In a current and voltage adaptive control apparatus of a permanent magnet synchronous motor according to a seventh embodiment of the present invention, the apparatus further includes a feed-forward module, configured to:
if the current amplitude limiting attenuation rate is smaller than the voltage amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is superposed into the speed control module;
and if the current amplitude limiting attenuation rate is greater than the voltage amplitude limiting attenuation rate, the voltage amplitude limiting attenuation rate is superposed into the speed control module.
An eighth embodiment of the present invention provides a current and voltage adaptive control apparatus for a permanent magnet synchronous motor, where the apparatus further includes an amplitude limiting module, configured to:
the speed control module is subjected to amplitude limiting processing through a first amplitude limiting link to ensure the stability of the position observer; the current amplitude limiting attenuation rate is subjected to amplitude limiting processing through a second amplitude limiting link, so that when the load suddenly changes, the output current can quickly follow; and carrying out amplitude limiting processing on the voltage amplitude limiting attenuation rate through a third amplitude limiting link so as to realize rapid following of the output voltage when the voltage changes suddenly.
In a current-voltage adaptive control apparatus of a permanent magnet synchronous motor according to a ninth embodiment of the present invention, when the current clipping attenuation rate is less than 1 or the voltage clipping attenuation rate is less than 1, a speed command in the speed control module is equal to or less than an observation speed.
In a current-voltage adaptive control apparatus for a permanent magnet synchronous motor according to a tenth embodiment of the present invention, a calculation formula of the current limiting attenuation rate is: ratio (R) cur ＝Ilim/Im*；
Wherein Ratio cur The current amplitude limiting attenuation rate is shown, ilim is a current frequency limiting protection value, im is a phase current amplitude value, and the phase current amplitude value
Figure BDA0003817558840000041
Id is a direct axis current command, and Iq is a quadrature axis current command;
the calculation formula of the voltage amplitude limiting attenuation rate is as follows: ratio (R) sat ＝Vsat/Vm*；
Wherein Ratio sat For the voltage limit decay rate, vsat is the voltage limit threshold, vm modulates the voltage amplitude, said modulated voltage amplitude
Figure BDA0003817558840000042
And Vq is a quadrature axis voltage command.
Compared with the prior art, the current and voltage self-adaptive control method and the control device of the permanent magnet synchronous motor provided by the embodiment of the invention have the beneficial effects that: obtaining a current frequency limiting protection value, a phase current amplitude, a voltage amplitude limiting threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor; calculating to obtain a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude; superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction Iq and a direct axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in a current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd; and performing park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage. The embodiment of the invention can carry out self-adaptive control on the output voltage of the motor drive based on the voltage amplitude limiting attenuation rate and carry out self-adaptive control on the output current of the motor drive based on the current amplitude limiting attenuation rate, thereby ensuring the safe and reliable operation of the permanent magnet synchronous motor.
Drawings
Fig. 1 is a schematic flowchart of a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a speed control module in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a current control module in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a modulation sampling control module in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a position estimation module in a current-voltage adaptive control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a driving control model in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a control model in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of forward feedback in a current-voltage adaptive control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 9 is a schematic flowchart of amplitude limiting processing in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a current-voltage adaptive control device of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
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.
Referring to fig. 1, fig. 1 is a schematic flow chart of a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. The current and voltage self-adaptive control method of the permanent magnet synchronous motor comprises the following steps:
s1, acquiring a current frequency limiting protection value, a phase current amplitude, a voltage amplitude limiting threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor;
s2, calculating to obtain a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
s3, superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction Iq and a direct axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in the current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd;
and S4, performing park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage.
Specifically, the present embodiment provides a current-voltage adaptive control method for a permanent magnet synchronous motor, which obtains a current frequency-limiting protection value Ilim, a phase current amplitude Im, a voltage-limiting threshold value Vsat, and a modulation voltage amplitude Vm of the permanent magnet synchronous motor. Calculating to obtain a current amplitude limiting attenuation rate Ratio according to the current frequency limiting protection value Ilim and the phase current amplitude Im cur (ii) a Calculating and obtaining the voltage amplitude limiting attenuation rate Ratio according to the voltage amplitude limiting threshold value Vsat and the modulation voltage amplitude Vm sat . Clipping the current by the attenuation Ratio cur Superposing the output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction Iq and a direct axis current instruction Id; limiting the voltage by the attenuation Ratio sat And superposing the output of the second proportional-integral controller in the current control module to obtain a quadrature axis voltage command Vq and a direct axis voltage command Vd. And performing park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage.
It should be noted that in this embodiment, the driving without a position sensor of the permanent magnet synchronous motor is implemented by using a current vector dual-loop control and a position estimation algorithm. Specifically, the driving control model comprises a speed control module, a current control module, a modulation sampling control module and a position estimation module.
Referring to fig. 2, fig. 2 is a schematic diagram of a speed control module in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. The speed control module is used for obtaining a quadrature axis current instruction Iq by taking the omega speed instruction as a control target and taking the omega observation speed as negative feedback input and calculating and outputting through a first proportional-integral PI controller (or other controllers); and meanwhile, calculating or calibrating based on the quadrature axis current command Iq and the related parameters of the motor to obtain a direct axis current command Id.
It should be noted that, in the control of the permanent magnet synchronous motor, when the dc bus voltage is a rated value and the motor output torque is a rated torque, the corresponding motor rotation speed is referred to as a base speed. The base speed is called constant torque area hereinafter, and the unit current maximum torque (mtpa) control is usually adopted to reduce the copper loss of the motor and improve the operation efficiency. The basic speed is referred to as a constant power region above, and weak magnetic (fw) control is generally adopted to weaken air gap flux linkage and limit back electromotive force from increasing with increasing rotation speed. mtpa refers to a control method for minimizing the stator current by reasonably distributing the current components of the d axis and the q axis on the premise of giving reference torque, namely maximizing the output torque of the motor under the unit current. mtpa control can reduce the copper consumption of the motor, improve the operation efficiency and optimize the system performance. In addition, because the current required to be output by the inverter is small, the capacity requirement of the inverter can be relatively reduced. The fw control is an important means for realizing high-speed operation of the permanent magnet synchronous motor, and is used for weakening air gap flux linkage and limiting counter electromotive force from increasing along with the increase of the rotating speed. When the permanent magnet synchronous motor works in a constant torque area, in order to improve the efficiency of a driving system, an mtpa control strategy is generally adopted; when the permanent magnet synchronous motor works in a constant power region, in order to ensure the normal work of the motor, an fw control strategy must be adopted. In a constant power region, in order to improve the efficiency of the inverter, the inverter outputs a maximum space voltage vector, and at the moment, the output torque can be ensured to be consistent with the target torque by controlling an included angle between the maximum voltage vector and the q-axis voltage, which is called fw control based on a space voltage vector angle.
Referring to fig. 3, fig. 3 is a schematic diagram of a current control module in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. And the current control module takes the quadrature axis current command Iq and the direct axis current command Id as control targets, takes the actual quadrature axis current Iq and the actual direct axis current Id of the motor as negative feedback input, calculates and outputs through a second proportional-integral PI controller (or other controllers), and obtains a quadrature axis voltage command Vq and a direct axis voltage command Vd through decoupling (or omitting).
Referring to fig. 4, fig. 4 is a schematic diagram of a modulation sampling control module in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. And the modulation part is used for converting the quadrature axis voltage command Vq and the direct axis voltage command Vd of a rotating coordinate system (taking an observation phase theta ^ as a reference) into voltage commands V alpha and V beta of a static coordinate system through park inverse transformation by taking the quadrature axis voltage command Vq and the direct axis voltage command Vd as control targets, and obtaining three-phase voltage output of the driving motor through sine wave modulation (SPWM) or Space Vector Modulation (SVM) so as to realize effective driving of the motor. And a sampling part for obtaining three-phase currents iu, iv and iw by sampling the motor current (three-phase sampling or single-phase/two-phase sampling reconstruction). Converting three-phase current in a three-phase coordinate system into currents i alpha and i beta of a two-phase static coordinate system through Clark conversion, and converting the i alpha and the i beta into quadrature axis current Iq and direct axis current Id of a rotating coordinate system (with an observation phase theta ^ as reference) through park conversion.
Referring to fig. 5, fig. 5 is a schematic diagram of a position estimation module in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. And the Position estimation module is used for performing model calculation on the Position prediction by taking a quadrature axis voltage command Vq, a direct axis voltage command Vd, a quadrature axis current Iq, a direct axis current Id, or voltage commands V alpha and V beta of a static coordinate system and currents i alpha and i beta as inputs and combining with relevant parameters of the motor to obtain a phase difference delta theta between the observed Position and the actual Position of the rotor d And then calculating and outputting through a phase-locked loop controller PLL (or other controllers) to obtain the observation speed omega ^ of the motor. And integrating the observed speed omega ^ to obtain the phase theta ^ of the motor rotor.
Based on the 4 control modules, the permanent magnet synchronous motor position sensorless drive control model is formed. Referring to fig. 6, fig. 6 is a schematic diagram of a driving control model in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention.
In this embodiment, a voltage amplitude limiting attenuation rate and a current amplitude limiting attenuation rate are introduced based on the position sensorless driving control model of the permanent magnet synchronous motor, please refer to fig. 7, and fig. 7 is a schematic diagram of a control model in a current-voltage adaptive control method of the permanent magnet synchronous motor according to an embodiment of the present invention. Where Vdc is the bus voltage and Ksat is the set coefficient (generally not lower than the weak magnetic threshold). In voltage protection, voltage protection is triggered when the output voltage amplitude Vm > the bus voltage/2 set factor. According to the current amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is calculated according to the current frequency limiting protection value and the phase current amplitude; and calculating to obtain the voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude. The self-adaptive control is carried out on the output voltage driven by the motor based on the voltage amplitude limiting attenuation rate, so that the output voltage can quickly follow when the voltage suddenly changes; the self-adaptive control is carried out on the output current driven by the motor based on the current amplitude limiting attenuation rate, and the output current can quickly follow when the load suddenly changes.
In another preferred embodiment, the method further comprises:
if the current amplitude limiting attenuation rate is smaller than the voltage amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is superposed into the speed control module;
and if the current amplitude limiting attenuation rate is greater than the voltage amplitude limiting attenuation rate, the voltage amplitude limiting attenuation rate is superposed into the speed control module.
Specifically, please refer to fig. 8, fig. 8 is a schematic flow chart of forward feedback in a current-voltage adaptive control method of a permanent magnet synchronous motor according to an embodiment of the present invention. In the embodiment, if the current amplitude limiting attenuation rate is smaller than the voltage amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is superposed into the speed control module; if the current amplitude limiting attenuation rate is greater than the voltage amplitude limiting attenuation rate, the voltage amplitude limiting attenuation rate is superposed into the speed control module to ensure that the output voltage and the output current do not exceed the limit value, and simultaneously, voltage and current protection is carried out.
In yet another preferred embodiment, the method further comprises:
the speed control module is subjected to amplitude limiting processing through a first amplitude limiting link to ensure the stability of the position observer; the current amplitude limiting attenuation rate is subjected to amplitude limiting processing through a second amplitude limiting link, so that the output current can quickly follow when the load suddenly changes; and carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a third amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
Specifically, please refer to fig. 9, wherein fig. 9 is a schematic flowchart of an amplitude limiting process in a current-voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. In this embodiment, the first amplitude limiting link is used to perform amplitude limiting processing on the speed control module, so as to ensure the stability of the position observer. And carrying out amplitude limiting processing on the current amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output current when the load suddenly changes. And carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a third amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
In yet another preferred embodiment, the speed command in the speed control module is equal to or less than an observed speed when the current clip attenuation rate is less than 1 or the voltage clip attenuation rate is less than 1.
Specifically, in this embodiment, when the current clipping attenuation rate is less than 1 or the voltage clipping attenuation rate is less than 1, that is, ratio cur <1 or Ratio sat <1, the speed command ω in the speed control module must not be higher than the observed speed ω ^.
According to the embodiment, the adaptive amplitude limiting control is performed on the current or the voltage driven by the permanent magnet synchronous motor, and meanwhile, the amplitude limiting processing is performed on the speed loop, so that the stability of the position observer in the current or voltage limiting state is ensured.
In a further preferred embodiment, the current clipping attenuation rate is calculated by the formula: ratio (R) cur ＝Ilim/Im*；
Wherein Ratio cur For the current amplitude limiting attenuation rate, ilim is the current frequency limiting protection value, im is the phase current amplitude, and the phase current amplitude
Figure BDA0003817558840000111
Id is a direct axis current command, and Iq is a quadrature axis current command;
the calculation formula of the voltage amplitude limiting attenuation rate is as follows: ratio (R) sat ＝Vsat/Vm*；
Wherein Ratio sat Vsat is voltage clip attenuation rateThreshold value, vm modulation voltage amplitude, said modulation voltage amplitude
Figure BDA0003817558840000112
And Vq is a quadrature axis voltage command.
It should be noted that the current-limiting attenuation Ratio in the present embodiment cur Maximum 1, voltage clipping attenuation Ratio sat The maximum is 1. When the current clipping attenuation rate is less than 1 or the voltage clipping attenuation rate is less than 1, namely Ratio cur <1 or Ratio sat <1, the speed command ω in the speed control module must not be higher than the observed speed ω ^. Because the input side is the speed command-observation speed, when the input is less than or equal to 0, the output value cannot be increased, and therefore, when voltage protection or current protection occurs, the speed loop output cannot be increased. If the speed loop output increases, the current loop input increases, indirectly resulting in an increase in the output voltage or output current.
Correspondingly, the invention also provides a current and voltage self-adaptive control device of the permanent magnet synchronous motor, which can realize all the processes of the current and voltage self-adaptive control method of the permanent magnet synchronous motor in the embodiment.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a current-voltage adaptive control device of a permanent magnet synchronous motor according to an embodiment of the present invention. The current and voltage self-adaptive control device of the permanent magnet synchronous motor comprises:
the obtaining module 101 is configured to obtain a current frequency limiting protection value, a phase current amplitude, a voltage limiting threshold value, and a modulation voltage amplitude of the permanent magnet synchronous motor;
the calculating module 102 is configured to calculate a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
the self-adaptive module 103 is configured to superimpose the current clipping attenuation rate on an output of a first proportional integral controller in the speed control module to obtain an quadrature axis current instruction Iq and a direct axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in a current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd;
and the control module 104 is configured to perform park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain a three-phase voltage output of the driving motor, and control the permanent magnet synchronous motor according to the three-phase voltage.
Preferably, the apparatus further comprises a feed forward module 105 for:
if the current amplitude limiting attenuation rate is smaller than the voltage amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is superposed into the speed control module;
and if the current amplitude limiting attenuation rate is greater than the voltage amplitude limiting attenuation rate, the voltage amplitude limiting attenuation rate is superposed into the speed control module.
Preferably, the apparatus further comprises a clipping module 106 configured to:
the speed control module is subjected to amplitude limiting processing through a first amplitude limiting link to ensure the stability of the position observer; the current amplitude limiting attenuation rate is subjected to amplitude limiting processing through a second amplitude limiting link, so that the output current can quickly follow when the load suddenly changes; and carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a third amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
Preferably, when the current amplitude limiting attenuation rate is less than 1 or the voltage amplitude limiting attenuation rate is less than 1, the speed command in the speed control module is less than or equal to the observation speed.
Preferably, the current clipping attenuation rate is calculated by the following formula: ratio (R) cur ＝Ilim/Im*；
Wherein Ratio cur The current amplitude limiting attenuation rate is shown, ilim is a current frequency limiting protection value, im is a phase current amplitude value, and the phase current amplitude value
Figure BDA0003817558840000121
Id is a direct axis current command, and Iq is a quadrature axis current command;
the calculation formula of the voltage amplitude limiting attenuation rate is as follows: ratio (R) sat ＝Vsat/Vm*；
Wherein Ratio sat For the voltage limit decay rate, vsat is the voltage limit threshold, vm modulates the voltage amplitude, said modulated voltage amplitude
Figure BDA0003817558840000122
And Vq is a quadrature axis voltage command.
In specific implementation, the working principle, the control flow and the technical effect of the current and voltage adaptive control device for the permanent magnet synchronous motor provided in the embodiment of the present invention are the same as those of the current and voltage adaptive control method for the permanent magnet synchronous motor in the above embodiment, and are not described herein again.
The embodiment of the invention provides a current and voltage self-adaptive control method and a control device of a permanent magnet synchronous motor, wherein a current frequency limiting protection value, a phase current amplitude, a voltage limiting threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor are obtained; calculating to obtain a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude; superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction Iq and a direct axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in a current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd; and performing park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage. The embodiment of the invention can carry out self-adaptive control on the output voltage of the motor drive based on the voltage amplitude limiting attenuation rate and carry out self-adaptive control on the output current of the motor drive based on the current amplitude limiting attenuation rate, thereby ensuring the safe and reliable operation of the permanent magnet synchronous motor.
It should be noted that the above-described system embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the system provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (10)

1. A current and voltage self-adaptive control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a current frequency limiting protection value, a phase current amplitude, a voltage amplitude limiting threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor;
calculating to obtain a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in a speed control module to obtain a quadrature axis current instruction Iq and a direct axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in the current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd;
and performing park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage.
2. The current-voltage adaptive control method of a permanent magnet synchronous motor according to claim 1, further comprising:
if the current amplitude limiting attenuation rate is smaller than the voltage amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is superposed into the speed control module;
and if the current amplitude limiting attenuation rate is greater than the voltage amplitude limiting attenuation rate, the voltage amplitude limiting attenuation rate is superposed into the speed control module.
3. The current-voltage adaptive control method of a permanent magnet synchronous motor according to claim 2, further comprising:
the speed control module is subjected to amplitude limiting processing through a first amplitude limiting link to ensure the stability of the position observer; the current amplitude limiting attenuation rate is subjected to amplitude limiting processing through a second amplitude limiting link, so that the output current can quickly follow when the load suddenly changes; and carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a third amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
4. The current-voltage adaptive control method of a permanent magnet synchronous motor according to claim 3, wherein the speed command in the speed control module is equal to or less than an observed speed when the current limit attenuation rate is less than 1 or the voltage limit attenuation rate is less than 1.
5. The current-voltage adaptive control method of a permanent magnet synchronous motor according to claim 4, wherein the current-limiting attenuation rate is calculated by the formula: ratio (R) cur ＝Ilim/Im*；
Wherein Ratio cur The current amplitude limiting attenuation rate is shown, ilim is a current frequency limiting protection value, im is a phase current amplitude value, and the phase current amplitude value
Figure FDA0003817558830000021
Id is a direct axis current command, and Iq is a quadrature axis current command;
the calculation formula of the voltage amplitude limiting attenuation rate is as follows: ratio (R) sat ＝Vsat/Vm*；
Wherein Ratio sat For voltage limiting attenuation rate, vsat is voltage limiting threshold value, vm modulates voltage amplitude, said modulated voltage amplitude
Figure FDA0003817558830000022
Vd is a direct axis voltage command and Vq is a quadrature axis voltage command.
6. A current-voltage adaptive control device of a permanent magnet synchronous motor is characterized by comprising:
the acquisition module is used for acquiring a current frequency limiting protection value, a phase current amplitude, a voltage amplitude limiting threshold value and a modulation voltage amplitude of the permanent magnet synchronous motor;
the calculation module is used for calculating to obtain a current amplitude limiting attenuation rate according to the current frequency limiting protection value and the phase current amplitude; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
the self-adaptive module is used for superposing the current amplitude limiting attenuation rate to the output of a first proportional integral controller in the speed control module to obtain a quadrature axis current instruction Iq and a direct axis current instruction Id; superposing the voltage amplitude limiting attenuation rate to the output of a second proportional-integral controller in the current control module to obtain a quadrature axis voltage instruction Vq and a direct axis voltage instruction Vd;
and the control module is used for carrying out park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage output of the driving motor, and controlling the permanent magnet synchronous motor according to the three-phase voltage.
7. The apparatus of claim 6, further comprising a feed forward module for:
if the current amplitude limiting attenuation rate is smaller than the voltage amplitude limiting attenuation rate, the current amplitude limiting attenuation rate is superposed into the speed control module;
and if the current amplitude limiting attenuation rate is greater than the voltage amplitude limiting attenuation rate, the voltage amplitude limiting attenuation rate is superposed into the speed control module.
8. The apparatus of claim 7, further comprising a clipping module for:
carrying out amplitude limiting processing on the speed control module through a first amplitude limiting link so as to ensure the stability of the position observer; the current amplitude limiting attenuation rate is subjected to amplitude limiting processing through a second amplitude limiting link, so that when the load suddenly changes, the output current can quickly follow; and carrying out amplitude limiting processing on the voltage amplitude limiting attenuation rate through a third amplitude limiting link so as to realize rapid following of the output voltage when the voltage changes suddenly.
9. The current-voltage adaptive control device of a permanent magnet synchronous motor according to claim 8, wherein the speed command in the speed control module is equal to or less than an observed speed when the current-limiting attenuation rate is less than 1 or the voltage-limiting attenuation rate is less than 1.
10. The current-voltage adaptive control device of a permanent magnet synchronous motor according to claim 9, wherein the current clipping attenuation rate is calculated by the formula: ratio (R) cur ＝Ilim/Im*；
Wherein Ratio cur The current amplitude limiting attenuation rate is shown, ilim is a current frequency limiting protection value, im is a phase current amplitude value, and the phase current amplitude value
Figure FDA0003817558830000031
Id is a direct axis current command, and Iq is a quadrature axis current command;
said voltageThe calculation formula of the amplitude limiting attenuation rate is as follows: ratio (R) sat ＝Vsat/Vm*；
Wherein Ratio sat For the voltage limit decay rate, vsat is the voltage limit threshold, vm modulates the voltage amplitude, said modulated voltage amplitude
Figure FDA0003817558830000041
And Vq is a quadrature axis voltage command.
CN202211031393.3A 2022-08-26 2022-08-26 Current and voltage self-adaptive control method and control device of permanent magnet synchronous motor Pending CN115333419A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116526915A (en) * 2023-06-28 2023-08-01 上海灵动微电子股份有限公司 Voltage amplitude limiting method and device for permanent magnet synchronous motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116526915A (en) * 2023-06-28 2023-08-01 上海灵动微电子股份有限公司 Voltage amplitude limiting method and device for permanent magnet synchronous motor
CN116526915B (en) * 2023-06-28 2023-09-01 上海灵动微电子股份有限公司 Voltage amplitude limiting method and device for permanent magnet synchronous motor

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