CN115378322A - Voltage self-adaptive control method and control device of permanent magnet synchronous motor - Google Patents

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

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Publication number
CN115378322A
CN115378322A CN202211032432.1A CN202211032432A CN115378322A CN 115378322 A CN115378322 A CN 115378322A CN 202211032432 A CN202211032432 A CN 202211032432A CN 115378322 A CN115378322 A CN 115378322A
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voltage
permanent magnet
magnet synchronous
synchronous motor
amplitude limiting
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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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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
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

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

Description

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 voltage self-adaptive control method and a 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 the condition of voltage sudden change needs to be evaluated. 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.
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, flux weakening control generally has a slow response, and when the voltage changes 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, when the voltage reduction is too fast, the step loss or overcurrent shutdown is easily caused because the speed reduction is not timely.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a voltage adaptive control method and a control device for a permanent magnet synchronous motor, which can adaptively control the output voltage of a motor drive based on a voltage amplitude limiting attenuation rate, so as to ensure the safe and reliable operation of the permanent magnet synchronous motor.
A voltage adaptive control method for a permanent magnet synchronous motor according to a first embodiment of the present invention includes:
acquiring a voltage amplitude limiting threshold value and a modulation voltage amplitude value of the permanent magnet synchronous motor;
calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
outputting a quadrature axis current instruction Iq and a direct axis current instruction Id through a first proportional integral controller in a speed control module, inputting the quadrature axis current instruction Iq and the direct axis current instruction Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller 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 voltage adaptive control method of a permanent magnet synchronous motor according to a second embodiment of the present invention, before obtaining a voltage slice threshold and a modulation voltage amplitude of the permanent magnet synchronous motor, the method further includes:
acquiring a bus voltage and an output voltage amplitude of the permanent magnet synchronous motor;
and judging whether a preset voltage self-adaptive control condition is reached or not according to the bus voltage and the output voltage amplitude.
In a voltage adaptive control method of a permanent magnet synchronous motor provided by 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; and carrying out amplitude limiting processing on the voltage amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output voltage when the voltage changes suddenly.
In the voltage adaptive control method for a permanent magnet synchronous motor according to the fourth embodiment of the present invention, when the voltage amplitude limiting attenuation rate is less than 1, the speed command in the speed control module is equal to or less than the observation speed.
In a voltage adaptive control method of a permanent magnet synchronous motor according to a fifth embodiment of the present invention, a calculation formula of the voltage limiting attenuation rate is: 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 BDA0003817998430000021
And Vq is a quadrature axis voltage command.
A sixth embodiment of the present invention provides a voltage adaptive control device for a permanent magnet synchronous motor, including:
the acquisition module is used for acquiring a voltage amplitude limiting threshold value and a modulation voltage amplitude value of the permanent magnet synchronous motor;
the calculation module is used for calculating and obtaining 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 outputting a quadrature axis current instruction Iq and a direct axis current instruction Id through a first proportional integral controller in the speed control module, inputting the quadrature axis current instruction Iq and the direct axis current instruction Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller 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 voltage adaptive control apparatus for a permanent magnet synchronous motor according to a seventh embodiment of the present invention, the apparatus further includes a determining module, configured to:
acquiring a bus voltage and an output voltage amplitude of the permanent magnet synchronous motor;
and judging whether a preset voltage self-adaptive control condition is reached or not according to the bus voltage and the output voltage amplitude.
In a voltage adaptive control apparatus of a permanent magnet synchronous motor according to an eighth embodiment of the present invention, the apparatus further includes an amplitude limiting module, configured to:
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; and carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
In the voltage adaptive control device for a permanent magnet synchronous motor according to the ninth embodiment of the present invention, when the voltage limiting attenuation rate is smaller than 1, the speed command in the speed control module is equal to or smaller than the observation speed.
In a voltage adaptive control apparatus for a permanent magnet synchronous motor according to a tenth embodiment of the present invention, a calculation formula of the voltage limiting attenuation rate is: ratio 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 BDA0003817998430000041
And Vq is a quadrature axis voltage command.
Compared with the prior art, the voltage self-adaptive control method and the voltage self-adaptive control device for the permanent magnet synchronous motor have the advantages that: obtaining a voltage amplitude limiting threshold value and a modulation voltage amplitude value of the permanent magnet synchronous motor; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude; outputting a quadrature axis current instruction Iq and a direct axis current instruction Id through a first proportional integral controller in a speed control module, inputting the quadrature axis current instruction Iq and the direct axis current instruction Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller 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 driven by the motor based on the voltage amplitude limiting attenuation rate so as to ensure the safe and reliable operation of the permanent magnet synchronous motor.
Drawings
Fig. 1 is a schematic flowchart of a 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 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 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 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 voltage adaptive control method for 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 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 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 illustrating condition judgment in a voltage adaptive control method for 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 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 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 voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. The voltage self-adaptive control method of the permanent magnet synchronous motor comprises the following steps:
s1, acquiring a voltage amplitude limiting threshold value and a modulation voltage amplitude value of a permanent magnet synchronous motor;
s2, calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
s3, outputting a quadrature axis current command Iq and a direct axis current command Id through a first proportional integral controller in a speed control module, inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller to obtain a quadrature axis voltage command Vq and a direct axis voltage command 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 voltage adaptive control method for a permanent magnet synchronous motor, which obtains Vsat and a modulation voltage amplitude Vm of the permanent magnet synchronous motor. Calculating to obtain the voltage amplitude limit according to the voltage amplitude limit threshold value Vsat and the modulation voltage amplitude value VmRate of attenuation Ratio sat . Outputting a quadrature axis current instruction Iq and a direct axis current instruction Id through a first proportional integral controller in the speed control module, inputting the quadrature axis current instruction Iq and the direct axis current instruction Id into a second proportional integral controller in the current control module, and limiting the voltage and attenuating the rate Ratio sat And superposing the output of the second proportional-integral controller 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 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. In this embodiment, when calculating the quadrature axis current command Iq, the quadrature axis current command Iq may be directly output through the first proportional-integral PI controller, or may be calculated by multiplying the torque τ output from the first proportional-integral PI controller by a coefficient 1/Kt.
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 fundamental speed is referred to as a constant power region above, and weak magnetic (fw) control is typically employed to weaken the air gap flux linkage and limit the back emf from increasing with increasing 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 smaller, 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 back electromotive force from increasing 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 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 voltage adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. And the modulation sampling control module is used for modulating a part, namely the quadrature axis voltage command Vq and the direct axis voltage command Vd serving as control targets, 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, 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 (taking an observation phase theta ^ as a reference) through park conversion.
Referring to fig. 5, fig. 5 is a schematic diagram of a position estimation module in a 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, a 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 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 is 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 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 setting coefficient (generally not lower than the weak magnetic threshold). In voltage protection, when the output voltage amplitude Vm is larger than the bus voltage/2 set coefficient, the voltage protection is triggered. In this embodiment, the voltage amplitude limiting attenuation rate is calculated 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, and the output voltage can quickly follow when the voltage suddenly changes.
In another preferred embodiment, before obtaining the voltage limiting threshold and the modulation voltage amplitude of the permanent magnet synchronous motor, the method further includes:
acquiring a bus voltage and an output voltage amplitude of the permanent magnet synchronous motor;
and judging whether a preset voltage self-adaptive control condition is reached or not according to the bus voltage and the output voltage amplitude.
Specifically, please refer to fig. 8, fig. 8 is a schematic flow chart illustrating condition judgment in a voltage adaptive control method of a permanent magnet synchronous motor according to an embodiment of the present invention. In this embodiment, before the voltage amplitude limiting threshold value and the modulation voltage amplitude of the permanent magnet synchronous motor are obtained, the bus voltage and the output voltage amplitude of the permanent magnet synchronous motor are also obtained, and whether the preset voltage adaptive control condition is reached is judged according to the bus voltage and the output voltage amplitude. Illustratively, in this embodiment, the preset voltage adaptive control condition is that the output voltage amplitude Vm is greater than the bus voltage/2 set coefficient, and when the output voltage amplitude Vm is greater than the bus voltage/2 set coefficient, the voltage protection is triggered.
In yet another preferred embodiment, the method further comprises:
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; and carrying out amplitude limiting processing on the voltage amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output voltage when the voltage changes suddenly.
Specifically, please refer to fig. 9, wherein fig. 9 is a schematic flowchart of an amplitude limiting process in a 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 voltage amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output voltage when the voltage changes suddenly.
In yet another preferred embodiment, the speed command in the speed control module is equal to or less than an observed speed when the voltage clipping decay rate is less than 1.
Specifically, in the present embodiment, when the voltage slice attenuation Ratio is smaller than 1, namely 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 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 a voltage limiting state is ensured.
In a further preferred embodiment, the voltage clipping attenuation ratio is calculated by the formula: 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 BDA0003817998430000091
Vd is a direct axis voltage command and Vq is a quadrature axis voltage command.
It should be noted that, in the present embodiment, the voltage slice attenuation Ratio sat The maximum is 1. When the voltage amplitude limiting attenuation rate is less than 1, namely Ratio sat <1, the speed command ω in the speed control module must not be higher than the observed speed ω ^. Since the input side is the speed command-observed speed, when the input is less than or equal to 0, the output value cannot be increased, and therefore, when voltage 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.
Correspondingly, the invention also provides a voltage self-adaptive control device of the permanent magnet synchronous motor, which can realize all the processes of the 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 voltage adaptive control device of a permanent magnet synchronous motor according to an embodiment of the present invention. The voltage self-adaptive control device of the permanent magnet synchronous motor comprises:
the acquisition module 101 is configured to acquire a voltage amplitude limiting threshold value and a modulation voltage amplitude value of the permanent magnet synchronous motor;
the calculating module 102 is configured to calculate 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 used for outputting a quadrature axis current command Iq and a direct axis current command Id through a first proportional integral controller in the speed control module, inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller to obtain a quadrature axis voltage command Vq and a direct axis voltage command Vd;
and the control module 104 is used for 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.
Preferably, the apparatus further comprises a determining module 105, configured to:
acquiring a bus voltage and an output voltage amplitude of the permanent magnet synchronous motor;
and judging whether a preset voltage self-adaptive control condition is reached or not according to the bus voltage and the output voltage amplitude.
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; and carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
Preferably, when 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 voltage limiting attenuation rate is calculated by the following formula: ratio (R) sat ＝Vsat/Vm*；
Wherein Ratio sat For voltage-clipping attenuation rate, vsat is voltage-clipping threshold value, vm modulates voltage amplitude, saidModulating voltage amplitude
Figure BDA0003817998430000111
And Vq is a quadrature axis voltage command.
In a specific implementation, the working principle, the control flow and the technical effect of the voltage adaptive control device of the permanent magnet synchronous motor provided in the embodiment of the present invention are the same as those of the voltage adaptive control method of the permanent magnet synchronous motor in the above embodiment, and are not described herein again.
The embodiment of the invention provides a voltage self-adaptive control method and a control device of a permanent magnet synchronous motor, wherein the voltage amplitude limiting threshold value and the modulation voltage amplitude value of the permanent magnet synchronous motor are obtained; calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude; outputting a quadrature axis current instruction Iq and a direct axis current instruction Id through a first proportional integral controller in a speed control module, inputting the quadrature axis current instruction Iq and the direct axis current instruction Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller 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 driven by the motor based on the voltage amplitude limiting attenuation rate so as to ensure 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 system embodiment provided by the present invention, the connection relationship between the modules indicates that there is a communication connection therebetween, 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 it 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 voltage self-adaptive control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a voltage amplitude limiting threshold value and a modulation voltage amplitude value of the permanent magnet synchronous motor;
calculating to obtain a voltage amplitude limiting attenuation rate according to the voltage amplitude limiting threshold value and the modulation voltage amplitude;
outputting a quadrature axis current instruction Iq and a direct axis current instruction Id through a first proportional integral controller in a speed control module, inputting the quadrature axis current instruction Iq and the direct axis current instruction Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller 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 adaptive voltage control method for a permanent magnet synchronous motor according to claim 1, wherein before obtaining the voltage slice threshold and the modulation voltage amplitude of the permanent magnet synchronous motor, the method further comprises:
acquiring a bus voltage and an output voltage amplitude of the permanent magnet synchronous motor;
and judging whether a preset voltage self-adaptive control condition is reached or not according to the bus voltage and the output voltage amplitude.
3. The method of adaptive voltage control for a permanent magnet synchronous motor according to claim 2, further comprising:
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; and carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
4. The adaptive voltage 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 voltage limiting attenuation rate is less than 1.
5. The voltage adaptive control method of a permanent magnet synchronous motor according to claim 4, wherein the voltage limiting attenuation rate is calculated by the following formula: 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 FDA0003817998420000021
And Vq is a quadrature axis voltage command.
6. A voltage adaptive control device of a permanent magnet synchronous motor is characterized by comprising:
the acquisition module is used for acquiring a voltage amplitude limiting threshold value and a modulation voltage amplitude value of the permanent magnet synchronous motor;
the calculation module is used for calculating and obtaining 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 outputting a quadrature axis current instruction Iq and a direct axis current instruction Id through a first proportional integral controller in the speed control module, inputting the quadrature axis current instruction Iq and the direct axis current instruction Id into a second proportional integral controller in the current control module, and superposing the voltage amplitude limiting attenuation rate to the output of the second proportional integral controller 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 determining module for:
acquiring a bus voltage and an output voltage amplitude of the permanent magnet synchronous motor;
and judging whether a preset voltage self-adaptive control condition is reached or not according to the bus voltage and the output voltage amplitude.
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; and carrying out amplitude limiting treatment on the voltage amplitude limiting attenuation rate through a second amplitude limiting link so as to realize rapid following of the output voltage when the voltage suddenly changes.
9. The adaptive voltage control apparatus 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 voltage slice attenuation rate is less than 1.
10. The apparatus of claim 9, wherein the voltage limiting attenuation is performed by a voltage adaptive controller of the PMSMThe formula for calculating the ratio is: ratio 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 FDA0003817998420000031
And Vq is a quadrature axis voltage command.
CN202211032432.1A 2022-08-26 2022-08-26 Voltage self-adaptive control method and control device of permanent magnet synchronous motor Pending CN115378322A (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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