CN115395843A - Current self-adaptive control method and control device of permanent magnet synchronous motor - Google Patents

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

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Publication number
CN115395843A
CN115395843A CN202211031531.8A CN202211031531A CN115395843A CN 115395843 A CN115395843 A CN 115395843A CN 202211031531 A CN202211031531 A CN 202211031531A CN 115395843 A CN115395843 A CN 115395843A
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current
permanent magnet
magnet synchronous
command
synchronous motor
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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
    • 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)

Abstract

The invention discloses a current self-adaptive control method and a control device of a permanent magnet synchronous motor, wherein the method comprises the following steps: acquiring a current amplitude limiting protection value and a phase current amplitude of the permanent magnet synchronous motor, and calculating to obtain a current amplitude limiting 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; inputting the quadrature axis current instruction and the direct axis current instruction into a second proportional-integral controller in a 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 alternating-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 current driven by the motor based on the current amplitude limiting attenuation rate so as to ensure the safe and reliable operation of the permanent magnet synchronous motor.

Description

Current 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 self-adaptive control method and a current 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 needs to be evaluated. In the case of a sudden load increase, the variable frequency drive control increases the output current in order to provide a greater torque to the motor. However, excessive current may cause damage to power devices of the inverter or demagnetization of the motor, and thus shutdown protection is required.
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 can not be limited when the load suddenly changes by simply reducing the speed instruction, thereby causing overcurrent shutdown.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a current adaptive control method and a control device for a permanent magnet synchronous motor, which can adaptively control the output current of a motor drive based on a current limit attenuation rate, so as to ensure the safe and reliable operation of the permanent magnet synchronous motor.
A first embodiment of the present invention provides a current adaptive control method for a permanent magnet synchronous motor, including:
acquiring a current frequency limiting protection value and a phase current 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;
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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a 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.
In a current adaptive control method for a permanent magnet synchronous motor according to a second 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 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.
In a current adaptive control method of a permanent magnet synchronous motor according to a third embodiment of the present invention, when the current limiting attenuation rate is smaller than 1, the speed command in the speed control module is smaller than or equal to the observation speed.
In a current adaptive control method for a permanent magnet synchronous motor according to a fourth 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 BDA0003817606970000021
Id is a direct axis current command, and Iq is a quadrature axis current command.
In a current adaptive control method of a permanent magnet synchronous motor according to a fifth embodiment of the present invention, the performing reverse park transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage outputs of a driving motor specifically includes:
performing park inverse transformation on the quadrature-axis voltage command Vq and the direct-axis voltage command Vd, and converting the quadrature-axis voltage command Vq and the direct-axis voltage command Vd of a rotating coordinate system into voltage commands V alpha and V beta of a static coordinate system;
and performing sine wave modulation or space vector modulation on the voltage commands V alpha and V beta to obtain the three-phase voltage output of the driving motor.
A sixth embodiment of the present invention provides a current adaptive control device for a permanent magnet synchronous motor, including:
the acquisition module is used for acquiring a current frequency limiting protection value and a phase current amplitude value 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;
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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a current control module to obtain a quadrature axis voltage command Vq and a direct axis voltage command 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 adaptive control apparatus of a permanent magnet synchronous motor according to a seventh embodiment of the present invention, the apparatus further includes a 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 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.
In an eighth embodiment of the present invention, in the current adaptive control device for a permanent magnet synchronous motor, when the current limit 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 current adaptive control apparatus for a permanent magnet synchronous motor according to a ninth 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 BDA0003817606970000031
Id is a direct axis current command, and Iq is a quadrature axis current command.
In a current adaptive control device for a permanent magnet synchronous motor according to a tenth embodiment of the present invention, the performing reverse pascal transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage outputs of a driving motor specifically includes:
performing reverse pascal transformation on the quadrature axis voltage command Vq and the direct axis voltage command Vd, and converting the quadrature axis voltage command Vq and the direct axis voltage command Vd of a rotating coordinate system into voltage commands V alpha and V beta of a static coordinate system;
and performing sine wave modulation or space vector modulation on the voltage commands V alpha and V beta to obtain the three-phase voltage output of the driving motor.
Compared with the prior art, the current 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 and a phase current amplitude value 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; 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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a 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. The embodiment of the invention can carry out self-adaptive control on the output current driven by the motor based on the current 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 current 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 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 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 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 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 current 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 adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 8 is a schematic flowchart of an amplitude limiting process in a current adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 9 is a schematic flow chart of modulation in a current 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 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 adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention. The current self-adaptive control method of the permanent magnet synchronous motor comprises the following steps:
s1, acquiring a current frequency limiting protection value and a phase current amplitude of a 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;
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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a current control module 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 current adaptive control method for a permanent magnet synchronous motor, which obtains a current frequency-limited protection value Ilim and a phase current amplitude value Im of the permanent magnet synchronous motor. The current frequency limiting protection value Ilim can be calculated according to the demagnetization current of the motor and the current resistance protection value of the power device of the variable frequency controller, and then a certain design margin is taken. Calculating to obtain electricity according to the current frequency limiting protection value Ilim and the phase current amplitude ImStream slice attenuation Ratio cur . 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; and 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 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 double-loop control of a current vector 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 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 the present 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 by the first proportional-integral PI controller by the coefficient 1/Kt.
It should be noted that, in the permanent magnet synchronous motor control, when the dc bus voltage is a rated value and the motor output torque is a rated torque, the corresponding motor rotation speed is called 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 is 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 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 current 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 De-coupling (which can be omitted).
Referring to fig. 4, fig. 4 is a schematic diagram of a modulation sampling control module in a current 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 (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 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 current adaptive control method for a permanent magnet synchronous motor according to an embodiment of the present invention.
In this embodiment, a current 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 current adaptive control method of the permanent magnet synchronous motor according to an embodiment of the present invention. According to the embodiment, the current amplitude limiting attenuation rate is calculated according to the current frequency limiting protection value and the phase current amplitude. 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:
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 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.
Specifically, please refer to fig. 8, fig. 8 is a schematic flow chart illustrating a limiting process in a current adaptive control method of 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.
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 clipping decay rate is less than 1.
Specifically, in the present embodiment, when the current clipping attenuation Ratio is smaller than 1, namely Ratio cur <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 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 current 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 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 BDA0003817606970000091
Id is a direct axis current command, and Iq is a quadrature axis current command.
Specifically, the current clipping attenuation Ratio in the present embodiment cur The maximum is 1. When the current clipping attenuation rate is less than 1, namely Ratio cur <1, the speed command ω in the speed control module must not be higher than the observed speed ω ^. Because the input side is a speed command-observation speed, when the input is less than or equal to0, the output value does not increase, so the speed loop output cannot increase when current protection occurs. If the speed loop output increases, the current loop input increases, indirectly resulting in an increase in output current.
In another preferred embodiment, the performing reverse park 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 specifically includes:
performing reverse pascal transformation on the quadrature axis voltage command Vq and the direct axis voltage command Vd, and converting the quadrature axis voltage command Vq and the direct axis voltage command Vd of a rotating coordinate system into voltage commands V alpha and V beta of a static coordinate system;
and performing sine wave modulation or space vector modulation on the voltage commands V alpha and V beta to obtain the three-phase voltage output of the driving motor.
Specifically, in this embodiment, when performing the park inverse transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain the three-phase voltage output of the driving motor, the quadrature axis voltage command Vq and the direct axis voltage command Vd are first subjected to the park inverse transformation, so as to convert the quadrature axis voltage command Vq and the direct axis voltage command Vd of the rotating coordinate system into the voltage commands V α and V β of the stationary coordinate system. And then performing sine wave modulation (SPWM) or Space Vector Modulation (SVM) on the voltage commands V alpha and V beta to obtain three-phase voltages Vu, vv and Vw output of the driving motor, and further controlling the permanent magnet synchronous motor according to the three-phase voltages Vu, vv and Vw.
Correspondingly, the invention also provides a current self-adaptive control device of the permanent magnet synchronous motor, which can realize all the processes of the current self-adaptive control method of the permanent magnet synchronous motor in any embodiment.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a current adaptive control device of a permanent magnet synchronous motor according to an embodiment of the present invention. The current 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 and a phase current 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;
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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a current control module 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 clipping module 105 for:
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 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.
Preferably, when the current clipping attenuation rate is less than 1, the speed command in the speed control module is less than or equal to an observed 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 BDA0003817606970000111
Id is a direct axis current command, and Iq is a quadrature axis current command.
Preferably, the performing 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 specifically includes:
performing reverse pascal transformation on the quadrature axis voltage command Vq and the direct axis voltage command Vd, and converting the quadrature axis voltage command Vq and the direct axis voltage command Vd of a rotating coordinate system into voltage commands V alpha and V beta of a static coordinate system;
and performing sine wave modulation or space vector modulation on the voltage commands V alpha and V beta to obtain the three-phase voltage output of the driving motor.
In a specific implementation, the working principle, the control flow and the technical effect of the current adaptive control device of the permanent magnet synchronous motor provided in the embodiment of the present invention are the same as those of the current 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 current self-adaptive control method and a control device of a permanent magnet synchronous motor, which are characterized in that a current frequency limit protection value and a phase current amplitude value 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; 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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a 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. The embodiment of the invention can carry out self-adaptive control on the output current driven by the motor based on the current 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 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 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 current self-adaptive control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a current frequency limiting protection value and a phase current 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;
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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a 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.
2. The current adaptive control method of a permanent magnet synchronous motor according to claim 1, 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 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.
3. The method as claimed in claim 2, wherein the speed command in the speed control module is equal to or less than the observed speed when the current limit attenuation rate is less than 1.
4. The current adaptive control method of a permanent magnet synchronous motor according to claim 3, wherein the current clipping attenuation rate is calculated by the formula: ratio 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 FDA0003817606960000011
Id is a direct axis current command, and Iq is a quadrature axis current command.
5. The current adaptive control method of a permanent magnet synchronous motor according to claim 1, wherein the performing reverse park transformation and modulation on the quadrature axis voltage command Vq and the direct axis voltage command Vd to obtain three-phase voltage outputs of a driving motor specifically comprises:
performing reverse pascal transformation on the quadrature axis voltage command Vq and the direct axis voltage command Vd, and converting the quadrature axis voltage command Vq and the direct axis voltage command Vd of a rotating coordinate system into voltage commands V alpha and V beta of a static coordinate system;
and performing sine wave modulation or space vector modulation on the voltage commands V alpha and V beta to obtain the three-phase voltage output of the driving motor.
6. A current adaptive control device of a permanent magnet synchronous motor is characterized by comprising:
the acquisition module is used for acquiring a current frequency limit protection value and a phase current amplitude value 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;
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; inputting the quadrature axis current command Iq and the direct axis current command Id into a second proportional-integral controller in a current control module to obtain a quadrature axis voltage command Vq and a direct axis voltage command 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 clipping module for:
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 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.
8. The method as claimed in claim 7, wherein the speed command in the speed control module is equal to or less than the observed speed when the current limit attenuation rate is less than 1.
9. The current adaptive control method of a permanent magnet synchronous motor according to claim 8, wherein 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 FDA0003817606960000031
Id is a direct axis current command, and Iq is a quadrature axis current command.
10. The current adaptive control method of a permanent magnet synchronous motor according to claim 6, wherein the performing 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 specifically comprises:
performing reverse pascal transformation on the quadrature axis voltage command Vq and the direct axis voltage command Vd, and converting the quadrature axis voltage command Vq and the direct axis voltage command Vd of a rotating coordinate system into voltage commands V alpha and V beta of a static coordinate system;
and performing sine wave modulation or space vector modulation on the voltage commands V alpha and V beta to obtain the three-phase voltage output of the driving motor.
CN202211031531.8A 2022-08-26 2022-08-26 Current self-adaptive control method and control device of permanent magnet synchronous motor Pending CN115395843A (en)

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