CN115664288A - Combined control method of permanent magnet synchronous and alternating current asynchronous driver - Google Patents
Combined control method of permanent magnet synchronous and alternating current asynchronous driver Download PDFInfo
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- CN115664288A CN115664288A CN202211446786.0A CN202211446786A CN115664288A CN 115664288 A CN115664288 A CN 115664288A CN 202211446786 A CN202211446786 A CN 202211446786A CN 115664288 A CN115664288 A CN 115664288A
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Abstract
The invention discloses a combination control method of a permanent magnet synchronous and alternating current asynchronous driver, and relates to the technical field of drivers. The invention comprises the following steps: the permanent magnet synchronous driver and the alternating current asynchronous driver are connected with the servo motor; electrically controlling the servo motor by using a controller; calculating the difference value of the response values of the permanent magnet synchronous driver and the alternating current asynchronous driver during operation to obtain an intermediate value; performing response adjustment on the driver according to the corresponding pulse intermediate value; obtaining a PWM control signal through proportion calculation; setting an operation range based on standard parameters for checking to obtain a standard value; and the standard value is used as a control reference of the permanent magnet synchronous driver and the alternating current asynchronous driver to complete combination control. The invention has no copper consumption of the rotor when running after the combination control, improves the efficiency, has small rotational inertia of the rotor and good dynamic performance, has no permanent magnet high-temperature demagnetization problem, and can prolong the peak power, the rated power and the working time of the peak power.
Description
Technical Field
The invention relates to the technical field of drivers, in particular to a combination control method of a permanent magnet synchronous and alternating current asynchronous driver.
Background
The motor driver is a controller used for controlling a servo motor, is usually applied to a high-precision positioning system, and mainly comprises a permanent magnet synchronous driver and an alternating current asynchronous driver;
at present, a permanent magnet synchronous driver and an alternating current asynchronous driver are used independently, and have advantages but disadvantages, and the advantages cannot be integrated to overcome the disadvantages of the permanent magnet synchronous driver and the alternating current asynchronous driver, and a control method needs to be improved; therefore, we propose a combined control method for permanent magnet synchronous and ac asynchronous drives.
Disclosure of Invention
The present invention is directed to a method for controlling a combination of permanent magnet synchronous and ac asynchronous drives, which solves the problems set forth in the background above.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a combination control method of a permanent magnet synchronous and alternating current asynchronous driver, which comprises the following steps:
step 1: preparing a permanent magnet synchronous driver and an alternating current asynchronous driver, and connecting servo motors at output ends of the permanent magnet synchronous driver and the alternating current asynchronous driver to be used as driving sources of the two groups of drivers;
and 2, step: the controller is used for electrically controlling the servo motor and driving the permanent magnet synchronous driver and the alternating current asynchronous driver to operate;
and step 3: acquiring response values of the permanent magnet synchronous driver and the alternating current asynchronous driver during operation, calculating a difference value of two groups of response data, and acquiring a middle value;
and 4, step 4: according to the corresponding pulse intermediate value, response adjustment is carried out on the permanent magnet synchronous driver and the alternating current asynchronous driver, so that the two groups of drivers run in parallel;
and 5: setting a current instruction output range of a controller, obtaining a PWM control signal through proportional calculation, and substituting a permanent magnet synchronous driver and an alternating current asynchronous driver for trial;
step 6: setting an operation range based on standard parameters, and checking operation data of an operation state in the range to obtain a standard value after checking calculation;
and 7: based on the standard value, the control reference of the permanent magnet synchronous driver and the alternating current asynchronous driver is used, and the combination control of the permanent magnet synchronous driver and the alternating current asynchronous driver is completed;
in the step 1, the permanent magnet synchronous drivers and the alternating current asynchronous drivers at least comprise one group, the servo motors comprise two groups, one group of servo motors is connected with the permanent magnet synchronous drivers, and the other group of servo motors is connected with the alternating current asynchronous drivers.
And 2, the controller sends scanning instructions to the servo motors, and the two groups of servo motors respectively perform response feedback on the controller, so that corresponding response values are generated.
And 3, calculating the difference value of the two groups of response data, wherein the difference value comprises the longest response value of the permanent magnet synchronous driver and the shortest response value of the alternating current asynchronous driver, or the shortest response value of the permanent magnet synchronous driver and the longest response value of the alternating current asynchronous driver.
And 4, performing response adjustment on the permanent magnet synchronous driver and the alternating current asynchronous driver according to the corresponding pulse intermediate value, writing the pulse intermediate value into a controller, and controlling the two groups of drivers to operate by the controller.
And 5, setting a current instruction output range of the controller, and calculating according to the output power of the servo motor.
And 6, checking the operation data of the operation state in the range, and based on the trial state of the permanent magnet synchronous driver and the alternating current asynchronous driver in the operation of the data.
And 7, taking the standard value as a control reference of the permanent magnet synchronous driver and the alternating current asynchronous driver, and establishing specific data by combining with an actual running state, wherein the specific data can still be adaptively adjusted within the range of the standard value.
The invention has the following beneficial effects:
the method for controlling the combination of the permanent magnet synchronous driver and the alternating current asynchronous driver has the advantages that the permanent magnet synchronous driver and the alternating current asynchronous driver are controlled in a combined mode, rotor copper consumption is avoided during operation, efficiency is improved, rotor rotational inertia is small, dynamic performance is good, high power and torque output is achieved during low efficiency, the problem of permanent magnet high-temperature demagnetization is avoided, peak power, rated power and peak power can be prolonged in working time, and the influence of the environment is small.
The method for controlling the combination of the permanent magnet synchronous driver and the alternating current asynchronous driver has the advantages that the permanent magnet synchronous driver and the alternating current asynchronous driver are subjected to response adjustment through the corresponding pulse intermediate values, the current instruction output range of the controller is set, the permanent magnet synchronous driver and the alternating current asynchronous driver are controlled in a combination mode, and operation controllability is high.
Of course, it is not necessary for any product to practice the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling the combination of permanent magnet synchronous and AC asynchronous drives according to 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.
Please refer to fig. 1: the invention relates to a combination control method of a permanent magnet synchronous and alternating current asynchronous driver, which comprises the following steps:
step 1: preparing a permanent magnet synchronous driver and an alternating current asynchronous driver, and connecting servo motors at output ends of the permanent magnet synchronous driver and the alternating current asynchronous driver to be used as driving sources of the two groups of drivers, wherein the permanent magnet synchronous driver and the alternating current asynchronous driver respectively comprise at least one group, the servo motors comprise two groups, one group of servo motors are connected with the permanent magnet synchronous driver, and the other group of servo motors are connected with the alternating current asynchronous driver; and 2, step: the controller is used for electrically controlling the servo motors, the controller sends scanning instructions to the servo motors, and the two groups of servo motors respectively respond and feed back to the controller so as to generate corresponding response values and drive and operate the permanent magnet synchronous driver and the alternating current asynchronous driver;
and step 3: acquiring response values of the permanent magnet synchronous driver and the alternating current asynchronous driver during operation, and calculating a difference value of two groups of response data, wherein the difference value comprises a longest response value of the permanent magnet synchronous driver and a shortest response value of the alternating current asynchronous driver, or the shortest response value of the permanent magnet synchronous driver and the longest response value of the alternating current asynchronous driver, and acquiring a middle value;
and 4, step 4: the permanent magnet synchronous driver and the alternating current asynchronous driver are subjected to response adjustment according to the corresponding pulse intermediate value, the pulse intermediate value is written into the controller, and the controller controls the two groups of drivers to operate, so that the two groups of drivers operate in parallel; and 5: setting a current instruction output range of a controller, calculating according to the output power of a servo motor, obtaining a PWM control signal through proportional calculation, and substituting a permanent magnet synchronous driver and an alternating current asynchronous driver for trial;
step 6: setting an operation range based on standard parameters, checking operation data of an operation state in the range, and obtaining a standard value after checking calculation based on the trial operation states of a permanent magnet synchronous driver and an alternating current asynchronous driver in the data operation; and 7: and based on the standard values, the control reference is used as the control reference of the permanent magnet synchronous driver and the alternating current asynchronous driver, the combination control of the permanent magnet synchronous driver and the alternating current asynchronous driver is completed, specific data is established by combining with the actual running state, and the adaptive adjustment can be still carried out in the range of the standard values in the period.
In the scheme, the control principle of the permanent magnet synchronous motor comprises an initial angle, wherein the initial angle is an included angle between a rotary transformer installed at a stator end and a U phase of an armature winding at a stator end, the range is 0-360 degrees, the initial angle is used for determining a relative angle between a rotor and a stator, and then the angle is used as a parameter for space vector calculation; vector control, the vector means that the stator winding produces after the electrification and has the magnetic potential of direction and magnitude, the magnetic potential interacts with magnetic potential produced by rotor permanent magnet, make the electrical machinery rotor produce the rotary motion, the three-phase winding that the stator is arranged in star, through space coordinate conversion, change the stator three-phase stationary coordinate system into two-phase stationary coordinate system of stator, change from two-phase stationary coordinate system of stator into two-phase rotating coordinate system of rotor, the rotating coordinate system is relatively stationary with the rotor, the vector control is from the essence, the control to two components in the rotor rotating coordinate system (d axle, q-axis coordinate system) of the stator current, the magnitude of the electromagnetic torque of the electrical machinery depends on the current component of d axle and q axle, for given output torque, can have a plurality of different d axle and q-axis control combinations of the current, different combinations will influence the efficiency, power factor, terminal voltage of the electrical machinery and output capacity of the torque;
the electric excitation motor needs special windings and corresponding devices and needs continuous supply capacity to keep current flowing, and the other type generates the magnetic field by a permanent magnet, so that the magnetic field can be established in the surrounding space without external energy, the motor structure is simplified, and the energy is saved; the rotating direction depends on the current phase sequence in the stator winding, namely the rotating direction of the rotating magnetic field is a winding of one phase with a current lag from a phase with a current ahead to a phase with a current lag, and the control current is three-phase sinusoidal current;
the permanent magnet motor is characterized in that the rotor is a fixed magnetic field, a stator winding generates a rotating magnetic field after being electrified, and the interaction force between the stator magnetic field and the rotor magnetic field enables the motor rotor to generate rotating motion; the control mode of the PMSM comprises vector control and direct torque control, the vector control controls the amplitude and the phase of a stator current vector of the motor, the torque of the motor depends on a space vector is of the stator current, the size and the phase of the is depend on id and iq, and the motor torque can be controlled by controlling the id and the iq.
In the scheme, the alternating current asynchronous motor has the advantages of good reliability, good high-rotation-speed performance, easy control of cost, low power density (larger volume under the same power level), low energy conversion efficiency (85-90 percent) and high energy consumption; the advantages of the permanent magnet synchronous motor include high power density, high energy conversion efficiency (90-95%), low energy consumption, and disadvantages of the permanent magnet such as increased cost due to the addition of the permanent magnet, and risk of demagnetization of the permanent magnet in high-temperature and vibration environments;
the vehicle type of the permanent magnet synchronous motor is selected to tend to have priority on energy consumption, the performance output and the high-efficiency operation of the permanent magnet synchronous motor at the low-speed stage are utilized, the vehicle type permanent magnet synchronous motor is suitable for medium and small vehicles, the vehicle type permanent magnet synchronous motor is characterized by small volume and light weight, the endurance can be increased, the speed regulation performance is good, the high efficiency can be kept when the vehicle is subjected to repeated starting, stopping, accelerating and decelerating, the performance of the alternating current asynchronous motor is selected to tend to have priority, the performance output and the efficiency advantage of the alternating current asynchronous motor at the high rotating speed are utilized, the scheme obtains the advantages of two drivers by combining the two drivers, and the respective disadvantages are avoided; when the permanent magnet synchronous motor is used, a low-speed high-efficiency permanent magnet synchronous motor can be carried on the front shaft, the rear shaft is carried on the alternating current asynchronous motor with a deviation to a high-speed performance, the two are closely matched, and the efficiency is higher.
In this scheme, power motor's energy transmission process includes: the direct current electric energy of the energy storage system is converted into alternating current to be supplied to a motor unit under the power control of a power control system, a rotor in the motor unit rotates under the action of a magnetic field generated by the alternating current, so that the electric energy is converted into mechanical rotating force, the rotating force is output to a gearbox unit through an output shaft, the gearbox unit enables the rotation to be decelerated through the matching of various gear mechanisms in the gearbox unit, and the rotating force is output to a half shaft of a wheel after being adjusted by a differential gear;
the asynchronous induction motor has higher rotating speed limit which can reach 15000 rpm to the maximum, stronger overload capacity which can reach 5 times of a rated value to the maximum, and simultaneously has the advantages of good structural firmness, low cost and good reliability; actually, an asynchronous induction motor and a permanent magnet synchronous motor have advantages respectively, an asynchronous alternating current motor which is prone to high-speed and high-performance expression is placed on a rear shaft, a permanent magnet synchronous motor which is prone to low-speed and high-efficiency is arranged on a front shaft, the permanent magnet synchronous motor works when the speed is low, the high-efficiency advantage of the permanent magnet synchronous motor is exerted to obtain longer pure electric endurance, double motors work simultaneously when the road condition is high-speed, the acceleration performance of a vehicle is optimized, motor allocation is intelligently carried out according to braking requirements when the vehicle decelerates, braking energy recovery is carried out by the permanent magnet synchronous motor in ordinary braking, and energy recovery is carried out when braking torque is provided by the double motors when the vehicle decelerates suddenly.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The method for controlling the combination of the permanent magnet synchronous and alternating current asynchronous drivers is characterized by comprising the following steps:
step 1: preparing a permanent magnet synchronous driver and an alternating current asynchronous driver, and connecting servo motors at output ends of the permanent magnet synchronous driver and the alternating current asynchronous driver as driving sources of the two groups of drivers;
step 2: the controller is used for electrically controlling the servo motor and driving the permanent magnet synchronous driver and the alternating current asynchronous driver to operate;
and 3, step 3: acquiring response values of the permanent magnet synchronous driver and the alternating current asynchronous driver during operation, calculating a difference value of two groups of response data, and acquiring a middle value;
and 4, step 4: according to the corresponding pulse intermediate value, response adjustment is carried out on the permanent magnet synchronous driver and the alternating current asynchronous driver, so that the two groups of drivers run in parallel;
and 5: setting a current instruction output range of a controller, obtaining a PWM control signal through proportional calculation, and substituting a permanent magnet synchronous driver and an alternating current asynchronous driver for trial;
and 6: setting an operation range based on standard parameters, and checking operation data of an operation state in the range to obtain a checked standard value;
and 7: and based on the standard values, the control reference of the permanent magnet synchronous driver and the alternating current asynchronous driver is used, and the combination control of the permanent magnet synchronous driver and the alternating current asynchronous driver is completed.
2. The combination control method of the permanent magnet synchronous and alternating current asynchronous driver according to claim 1, wherein the permanent magnet synchronous driver and the alternating current asynchronous driver in step 1 each comprise at least one group, and the servo motors comprise two groups, one group of servo motors is connected with the permanent magnet synchronous driver, and the other group of servo motors is connected with the alternating current asynchronous driver.
3. The method as claimed in claim 1, wherein the step 2 controller sends scanning commands to the servo motors, and the two sets of servo motors respectively perform response feedback to the controller, thereby generating corresponding response values.
4. The method as claimed in claim 1, wherein the step 3 performs a difference calculation on two sets of response data, including a longest response value of the permanent magnet synchronous driver and a shortest response value of the ac asynchronous driver, or a shortest response value of the permanent magnet synchronous driver and a longest response value of the ac asynchronous driver.
5. The method as claimed in claim 1, wherein the step 4 adjusts the response of the permanent magnet synchronous drive and the ac asynchronous drive according to the corresponding pulse intermediate value, writes the pulse intermediate value into the controller, and the controller controls the operation of the two sets of drives.
6. The combination control method of permanent magnet synchronous and alternating current asynchronous driver as claimed in claim 1, wherein said step 5 sets the current command output range of the controller, and calculates according to the output power of the servo motor.
7. The method as claimed in claim 1, wherein the step 6 checks the operation data of the in-range operation state, and the trial operation states of the permanent magnet synchronous drive and the ac asynchronous drive are operated based on the data.
8. The combination control method of the permanent magnet synchronous and alternating current asynchronous driver according to claim 1, wherein the step 7 uses the standard value as the control reference of the permanent magnet synchronous driver and the alternating current asynchronous driver, and combines the actual operation status to establish specific data, during which the adjustment can still be performed within the range of the standard value.
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| CN202211446786.0A CN115664288A (en) | 2022-11-18 | 2022-11-18 | Combined control method of permanent magnet synchronous and alternating current asynchronous driver |
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| CN202211446786.0A CN115664288A (en) | 2022-11-18 | 2022-11-18 | Combined control method of permanent magnet synchronous and alternating current asynchronous driver |
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