CN116111903A - Quick response control method for current loop of surface-mounted permanent magnet synchronous motor - Google Patents
Quick response control method for current loop of surface-mounted permanent magnet synchronous motor Download PDFInfo
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- CN116111903A CN116111903A CN202310162661.3A CN202310162661A CN116111903A CN 116111903 A CN116111903 A CN 116111903A CN 202310162661 A CN202310162661 A CN 202310162661A CN 116111903 A CN116111903 A CN 116111903A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P21/06—Rotor flux based control 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
- 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
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- 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
- 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
- H02P2207/055—Surface mounted magnet motors
Abstract
The invention discloses a quick response control method for a current loop of a surface-mounted permanent magnet synchronous motor, which belongs to the technical field of motor control and comprises the steps of indirectly obtaining a plurality of parameters of a stator winding of the surface-mounted permanent magnet synchronous motor through a current loop control algorithm; acquiring a pre-judging resistance voltage drop of a stator winding on an exciting current loop and a torque current loop, a first actual coupling voltage of the exciting current loop, a second actual coupling voltage of the torque current loop and a pre-judging counter potential value of the torque current loop; the stator winding on the exciting current loop pre-judging resistance voltage drop and the second actual coupling voltage are compensated to the exciting current loop in advance; and pre-judging the resistance voltage drop and the first actual coupling voltage of the stator winding on the torque current loop, and pre-judging the counter potential value of the given rotor electric angular speed and the torque current loop to be compensated to the torque current loop in advance. The components in the exciting current loop voltage and the torque current loop voltage of the motor are obtained in advance and compensated in advance, so that the following performance of the motor is improved.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a quick response control method for a current loop of a surface-mounted permanent magnet synchronous motor.
Background
In the alternating current servo system of the surface-mounted permanent magnet synchronous motor, the transient state and steady state performance of the system are determined by the characteristics of the current loop, and how to construct the current loop system with high stability, good dynamic performance and high control precision becomes the key of high-performance servo control. Therefore, current loop control with excellent transient becomes a research hotspot for servo control.
The current loop control algorithm of the surface-mounted permanent magnet synchronous motor is various, so that the current research is mature, and Proportional Integral (PI) control and direct torque control are more used. PI control has good steady-state control performance, but has poor dynamic performance, and can cause system overshoot when the response is fast, and the response rapidity is sacrificed when the system is not overshoot. The direct torque control has high response speed and better parameter robustness, but is essentially hysteresis control, the current of the direct torque control continuously changes even in a steady state, and the switching frequency of the direct torque control is always changed, so that the motor is buffeting. Therefore, how to complete a more complex algorithm in one current loop period, so that the novel surface-mounted permanent magnet synchronous motor control algorithm can be applied, and the problem to be solved is urgent at present.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method for controlling the quick response of a current loop of a surface-mounted permanent magnet synchronous motor, which aims to solve the technical problem of poor dynamic response performance of the current loop in a surface-mounted permanent magnet synchronous motor control system in the prior art.
The embodiment of the invention provides a quick response control method for a current loop of a surface-mounted permanent magnet synchronous motor, which comprises the following steps:
indirectly acquiring a plurality of parameters of a stator winding of the surface-mounted permanent magnet synchronous motor through a current loop control algorithm; the parameters comprise the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor, a first component and a second component of the stator winding of the surface-mounted permanent magnet synchronous motor under an alternating-direct axis and the rotor permanent magnet flux linkage of the surface-mounted permanent magnet synchronous motor;
acquiring a pre-judging resistance voltage drop of a stator winding on an exciting current loop and a torque current loop, a first actual coupling voltage of the exciting current loop, a second actual coupling voltage of the torque current loop and a pre-judging counter potential value of the torque current loop according to a plurality of parameters;
the stator winding on the exciting current loop pre-judging resistance voltage drop and the second actual coupling voltage are compensated to the exciting current loop in advance;
and pre-judging the resistance voltage drop and the first actual coupling voltage of the stator winding on the torque current loop, and pre-judging the counter potential value of the given rotor electric angular speed and the torque current loop to be compensated to the torque current loop in advance.
Optionally, indirectly obtaining the plurality of parameters of the stator winding of the surface-mounted permanent magnet synchronous motor through a current loop control algorithm includes:
enabling the surface-mounted permanent magnet synchronous motor to operate in a current mode; wherein the excitation current loop is regulated based on the first PI controller; the torque current loop is regulated based on the second PI controller;
setting a first given torque current of the surface-mounted permanent magnet synchronous motor; the value of the first given torque current is set to zero;
setting a first given exciting current of the surface-mounted permanent magnet synchronous motor; the value of the first given exciting current is set to a first rated current value;
acquiring a first actual exciting current and a first actual torque current;
when the first actual exciting current and the first actual torque current respectively reach a first given exciting current and a second given torque current and are in a steady state, acquiring a first output voltage value of the first PI controller and a second output voltage value of the second PI controller;
and obtaining the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor according to the first output voltage value and/or the second output voltage value and the first actual exciting current.
Optionally, indirectly obtaining the plurality of parameters of the stator winding of the surface-mounted permanent magnet synchronous motor through the current loop control algorithm further comprises:
enabling the surface-mounted permanent magnet synchronous motor to operate in a speed mode; wherein the excitation current loop is regulated based on the first PI controller; the torque current loop is regulated based on the second PI controller;
setting a given constant load working condition, a first given rotor electric angular speed, a second given exciting current and a second given torque current of the surface-mounted permanent magnet synchronous motor; the first given rotor electrical angular velocity is a nominal value; the second given excitation current is zero; the second given torque current is set according to the output of the second PI controller;
acquiring a second actual exciting current, a second actual torque current and an actual rotor electric angular speed;
when the second actual exciting current, the second actual torque current and the actual rotor electric angular speed all reach given values and are in a steady state, acquiring a third output voltage value of the current second PI controller and a fourth output voltage value of the second PI controller;
and obtaining the permanent magnet flux linkage of the rotor of the surface-mounted permanent magnet synchronous motor according to the fourth output voltage value, the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor, the second actual torque current and the actual rotor electric angular velocity.
Optionally, obtaining the pre-determined resistance voltage drop of the stator winding on the exciting current loop and the torque current loop, the first actual coupling voltage of the exciting current loop, the second actual coupling voltage of the torque current loop and the pre-determined counter potential value of the torque current loop according to a plurality of parameters includes:
acquiring a stator winding pre-judgment resistance voltage drop on an exciting current loop according to a third given exciting current and the resistance of a stator winding of the surface-mounted permanent magnet synchronous motor;
acquiring a first actual coupling voltage on an exciting current loop according to the actual rotor electric angular speed, the second component and the third actual torque current;
acquiring a stator winding pre-judgment resistance voltage drop on a torque current loop according to the third given torque current and the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor;
obtaining a second actual coupling voltage on the torque current loop according to the actual rotor electric angular speed, the first component and the third actual exciting current;
and acquiring a pre-determined counter potential value of the torque current loop according to the second given rotor electric angular speed and the permanent magnet flux linkage on the torque current loop.
Optionally, compensating the stator winding pre-determined resistance voltage drop and the second actual coupling voltage on the exciting current loop in advance to the exciting current loop includes:
superposing the second coupling voltage to the exciting current loop in advance;
and the output of the exciting current loop after superposition compensation is the sum of the output voltage of the first PI controller, the second coupling voltage and the pre-judging resistance voltage drop of the stator winding on the exciting current loop.
Optionally, pre-determining the resistive voltage drop and the first actual coupling voltage of the stator winding on the torque current loop, and pre-determining the counter-potential value for the given rotor electrical angular velocity and the torque current loop, is pre-compensated to the torque current loop, comprising:
and outputting the torque current loop subjected to superposition compensation as the sum of the output voltage of the second PI controller, the first actual coupling voltage, the pre-determined resistance voltage drop of the stator winding on the torque current loop and the pre-determined counter potential of the torque current loop.
Optionally, the conditions of the first PI controller and the second PI controller when setting the parameters are: the actual exciting current and the actual torque current can be stabilized at the given exciting current and the given torque current without considering the influence of the current quick response.
Optionally, after compensating the stator winding pre-determined resistive voltage drop and the first actual coupling voltage on the torque current loop, and the given rotor electrical angular velocity and the pre-determined counter potential value of the torque current loop in advance to the torque current loop, further comprising:
the method comprises the steps that a surface-mounted permanent magnet synchronous motor is operated in a current mode, and initial values of a first PI controller in an exciting current loop and a second PI controller in a torque current loop are given; setting the torque current of the surface-mounted permanent magnet synchronous motor to be zero; giving excitation current of the surface-mounted permanent magnet synchronous motor as a step of rated current of the motor;
acquiring a response waveform of an actual exciting current;
gradually increasing the parameter set value of the first PI controller until the response waveform of the actual exciting current can quickly follow the given exciting current waveform without overshoot;
the parameter set value of the second PI controller is consistent with the parameter set value of the first PI controller.
The embodiment of the invention has the beneficial effects that:
1. according to the quick response control method for the surface-mounted permanent magnet synchronous motor current loop, provided by the embodiment, the motor parameters are not required to be known in advance, the components in the motor exciting current loop voltage and the torque current loop voltage are obtained in advance and compensated in advance, and the original PI controller is matched for auxiliary adjustment, so that the adjustment sensitivity of the PI controller parameters is reduced, current pulsation can be effectively restrained, the response speed and the implementation precision of the current loop are improved, and the following performance of the motor is improved. 2. The parameter adjusting method of the PI controller in the exciting current loop and the PI controller in the torque current loop after compensation provided by the embodiment abandons the traditional given exciting current
Zero, given torque current
The regulating thought for rated value is converted into a given torque current
At zero, given exciting current
Is the adjusting thought of the rated value. Starting from the field current regulation aspect, the motor has no torque force in the debugging process, and the motor can not run, so that the motor galloping phenomenon in the parameter regulation process can be effectively prevented, and the counter-potential pair current ring after the motor runs can be effectively avoidedThe influence of PI controller parameter adjustment greatly enhances the accuracy of PI controller parameter adjustment in the exciting current loop and the torque current loop.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
fig. 1 shows an overall flowchart of a method for controlling a fast response of a current loop of a surface-mounted permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a block diagram showing a method for controlling a fast response of a current loop of a surface-mounted permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for obtaining stator resistance of a surface-mounted permanent magnet synchronous motor in an embodiment of the invention;
FIG. 4 is a flow chart of a method for obtaining components of stator winding inductance of a surface-mounted permanent magnet synchronous motor under an alternating-direct axis and rotor permanent magnet flux linkage in a specific embodiment of the invention;
fig. 5 shows a flow chart of a method of adjusting parameters of PI controllers in the excitation current loop and the torque current loop after compensation in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention provides a quick response control method for a current loop of a surface-mounted permanent magnet synchronous motor, which is shown in fig. 1 and 2 and comprises the following steps:
step S1, indirectly acquiring a plurality of parameters of a stator winding of a surface-mounted permanent magnet synchronous motor through a current loop control algorithm; the parameters comprise the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor, the first component and the second component of the stator winding of the surface-mounted permanent magnet synchronous motor under the alternating-direct axis and the rotor permanent magnet flux linkage of the surface-mounted permanent magnet synchronous motor.
In this embodiment, the resistance R of the stator winding of the surface-mounted permanent magnet synchronous motor is not required to be known in advance, and is indirectly obtained through a current loop control algorithm, and the resistance R is used for calculating the pre-determined resistance voltage drops of the stator windings on the exciting current loop and the torque current loop. First component of stator winding inductance of surface-mounted permanent magnet synchronous motor under alternating-direct axis
And a second component
And rotor permanent magnet flux linkage of surface-mounted permanent magnet synchronous motor
Measurement by an instrument is difficult, and therefore, the measurement is also indirectly obtained by a current loop control algorithm.
And S2, acquiring the pre-judging resistance voltage drop of the stator windings on the exciting current loop and the torque current loop, the first actual coupling voltage of the exciting current loop, the second actual coupling voltage of the torque current loop and the pre-judging counter potential value of the torque current loop according to a plurality of parameters.
In this embodiment, the multiple parameters obtained in step S1 are used to calculate the actual torque current on the exciting current loop of the surface-mounted permanent magnet synchronous motor
The induced actual exciting current on the first actual coupling voltage and torque current loop
The induced second actual coupling voltage and the given rotor electrical angular velocity on the torque current loop
And permanent magnet flux linkage
The back electromotive force is predicted.
And S3, pre-judging the resistance voltage drop of the stator winding on the exciting current loop and compensating the second actual coupling voltage to the exciting current loop in advance.
And S4, pre-judging the resistance voltage drop and the first actual coupling voltage of the stator winding on the torque current loop, and compensating the given rotor electric angular speed and the pre-judging counter potential value of the torque current loop to the torque current loop in advance.
In the embodiment, the method for controlling the current loop of the surface-mounted permanent magnet synchronous motor does not need to know motor parameters in advance, components in the motor exciting current loop voltage and the torque current loop voltage are obtained in advance and compensated in advance, and the original PI controller is matched for auxiliary adjustment, so that the adjustment sensitivity of the parameters of the PI controller is reduced, current pulsation can be effectively restrained, the response speed and the implementation precision of the current loop are improved, and the following performance of the motor is further improved.
As an alternative embodiment, step S1 includes the specific steps shown in fig. 3:
step S11, the surface-mounted permanent magnet synchronous motor is operated in a current mode, wherein an exciting current loop and a torque current loop are regulated based on a single PI controller;
step S12, giving torque current of surface-mounted permanent magnet synchronous motor
Zero, giving excitation current of surface-mounted permanent magnet synchronous motor
Is rated current value
Observing the actual exciting current by a computer upper computer
And actual torque current
；
Step S13, under the adjustment of the PI controller, when the actual exciting current
And actual torque current
Respectively reach a given exciting current
And a given torque current
When the excitation current loop PI controller is in a steady state, the current excitation current loop PI controller is obtained through the upper computer to output given voltage
And the torque current loop PI controller outputs a given voltage value
；
Step S14, obtaining the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor
。
As an alternative embodiment, step S2 includes the specific steps as shown in fig. 4:
step S21, the surface-mounted permanent magnet synchronous motor is operated in a speed mode, wherein an exciting current loop and a torque current loop are regulated based on a single PI controller;
step S22, giving constant load working condition of the surface-mounted permanent magnet synchronous motor and giving electric angular velocity of rotor of the surface-mounted permanent magnet synchronous motor
For rated value, giving exciting current of surface-mounted permanent magnet synchronous motor
Zero, giving the torque current of the surface-mounted permanent magnet synchronous motor
The output of the speed loop PI controller is given, and the actual exciting current is observed by a computer upper computer
Actual torque current
Actual rotor electrical angular velocity
；
Step S23, under the adjustment of PI controller, when the actual exciting current
Actual torque current
Actual rotor electrical angular velocity
When the current excitation current reaches a given value and is in a steady state, the current excitation current loop PI controller is obtained through the computer upper computer to output a given voltage
And the torque current loop PI controller outputs a given voltage value
；
Step S24, obtaining components of stator winding inductance of surface-mounted permanent magnet synchronous motor under alternating-direct axis
The method comprises the steps of carrying out a first treatment on the surface of the Obtaining permanent magnet flux linkage of rotor of surface-mounted permanent magnet synchronous motor>
。
As an alternative embodiment, step S3 includes:
step S31, obtaining the pre-judgment resistance voltage drop of the stator winding on the exciting current loop of the surface-mounted permanent magnet synchronous motor as follows
；
Step S32, obtaining actual torque current on the exciting current loop of the surface-mounted permanent magnet synchronous motor
The actual coupling voltage induced is
。
As an alternative embodiment, step S4 includes:
step S41, obtaining the pre-judgment resistance voltage drop of the stator winding on the torque current loop of the surface-mounted permanent magnet synchronous motor as follows
；
Step S42, obtaining the actual exciting current on the torque current loop of the surface-mounted permanent magnet synchronous motor
The actual coupling voltage induced is
；
Step S43, obtaining the given rotor electric angular velocity on the surface-mounted permanent magnet synchronous motor torque current loop
And permanent magnet flux linkage->
The prejudgment counter potential value is +.>
。
As an alternative embodiment, step S5 includes: on the basis of a single PI controller, excitation is performedStator winding on current loop prejudging resistance voltage drop
And actual torque current
Actual coupling voltage induced
And is superimposed to the exciting current loop in advance. The output voltage of the PI controller on the exciting current loop is
The excitation current loop after superposition compensation outputs a given voltage as
。
As an alternative embodiment, step S6 includes: on the basis of a single PI controller, the stator winding on the torque current loop is subjected to pre-judging of the resistance voltage drop
And actual exciting current
Actual coupling voltage induced
And given rotor electrical angular velocity
And permanent magnet flux linkage
Prejudging counter potential value of constitution
Is superimposed in advance to the torque current loop. The output voltage of the PI controller on the torque current loop is
Torque after superimposed compensationThe current loop outputs a given voltage as
。
As an alternative implementation manner, in the process of acquiring parameters of the surface-mounted permanent magnet synchronous motor in steps S1 and S2, parameter setting of a single PI controller in an exciting current loop and a torque current loop does not need to consider current quick response, and the set parameters can enable actual exciting current
And actual torque current
Finally stable at a given exciting current
And a given torque current
And (3) obtaining the product. The parameter adjustment method for the PI controller in the excitation current loop and the PI controller in the torque current loop after compensation in steps S5 and S6 comprises the following specific steps as shown in fig. 5:
step A11, operating the surface-mounted permanent magnet synchronous motor in a current mode, and giving a PI controller in an excitation current loop and a smaller initial value of the PI controller in a torque current loop;
step A12, giving torque current of surface-mounted permanent magnet synchronous motor
Zero;
step A13, giving excitation current of surface-mounted permanent magnet synchronous motor
Rated for motor current
Step of (2), observing the actual exciting current by a computer upper computer
Is a response waveform of (a);
step A14, gradually increasing the parameter set value of the PI controller in the exciting current loop until the actual exciting current
The waveform can quickly follow the given exciting current without overshoot
The waveform, the parameter set value of the PI controller in the torque current loop and the parameter set value of the PI controller in the exciting current loop are kept consistent. Thus, the PI controller in the exciting current loop and the PI controller in the torque current loop are adjusted after compensation.
In this embodiment, the parameter adjustment method of the PI controller in the exciting current loop and the PI controller in the torque current loop after compensation eliminates the conventional given exciting current
Zero, given torque current
The regulating thought for rated value is converted into a given torque current
At zero, given exciting current
Is the adjusting thought of the rated value. Starting from the aspect of exciting current regulation, the motor has no torque force in the debugging process, the motor can not run, the motor galloping phenomenon in the parameter regulation process can be effectively prevented, the influence of counter electromotive force on the parameter regulation of the current loop PI controller after the motor runs can be effectively avoided, and the accuracy of the parameter regulation of the PI controller in the exciting current loop and the PI controller in the torque current loop is greatly enhanced. Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the inventionBoth variations and modifications are intended to be within the scope defined by the appended claims.
Claims (8)
1. The quick response control method for the current loop of the surface-mounted permanent magnet synchronous motor is characterized by comprising the following steps of:
indirectly acquiring a plurality of parameters of a stator winding of the surface-mounted permanent magnet synchronous motor through a current loop control algorithm; the parameters comprise the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor, a first component and a second component of the stator winding of the surface-mounted permanent magnet synchronous motor under an alternating-direct axis and a rotor permanent magnet flux linkage of the surface-mounted permanent magnet synchronous motor;
acquiring a stator winding pre-judging resistance voltage drop on an exciting current loop and a torque current loop, a first actual coupling voltage of the exciting current loop, a second actual coupling voltage of the torque current loop and a pre-judging counter potential value of the torque current loop according to a plurality of parameters;
pre-judging the resistance voltage drop of a stator winding on the exciting current loop and the second actual coupling voltage to be compensated to the exciting current loop in advance;
and pre-judging the resistance voltage drop and the first actual coupling voltage of the stator winding on the torque current loop, and compensating the given rotor electric angular speed and the pre-judging counter potential value of the torque current loop to the torque current loop in advance.
2. The method for controlling the fast response of a current loop of a surface-mounted permanent magnet synchronous motor according to claim 1, wherein indirectly obtaining a plurality of parameters of a stator winding of the surface-mounted permanent magnet synchronous motor through a current loop control algorithm comprises:
enabling the surface-mounted permanent magnet synchronous motor to operate in a current mode; wherein the excitation current loop is regulated based on a first PI controller; the torque current loop is regulated based on a second PI controller;
setting a first given torque current of the surface-mounted permanent magnet synchronous motor; the value of the first given torque current is set to zero;
setting a first given exciting current of the surface-mounted permanent magnet synchronous motor; the value of the first given exciting current is set to a first rated current value;
acquiring a first actual exciting current and a first actual torque current;
when the first actual exciting current and the first actual torque current reach the first given exciting current and the second given torque current respectively and are in a steady state, acquiring a first output voltage value of the first PI controller and a second output voltage value of the second PI controller;
and obtaining the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor according to the first output voltage value and/or the second output voltage value and the first actual exciting current.
3. The method for controlling the fast response of a current loop of a surface-mounted permanent magnet synchronous motor according to claim 2, wherein indirectly obtaining the plurality of parameters of the stator winding of the surface-mounted permanent magnet synchronous motor through a current loop control algorithm further comprises:
enabling the surface-mounted permanent magnet synchronous motor to operate in a speed mode; wherein the excitation current loop is regulated based on the first PI controller; the torque current loop is regulated based on the second PI controller;
setting a given constant load working condition, a first given rotor electric angular speed, a second given exciting current and a second given torque current of the surface-mounted permanent magnet synchronous motor; the first given rotor electrical angular velocity is a nominal value; the second given excitation current is zero; the second given torque current is set according to the output of the second PI controller;
acquiring a second actual exciting current, a second actual torque current and an actual rotor electric angular speed;
when the second actual exciting current, the second actual torque current and the actual rotor electric angular speed all reach given values and are in a steady state, acquiring a third output voltage value of the second PI controller and a fourth output voltage value of the second PI controller at present;
and acquiring the permanent magnet flux linkage of the rotor of the surface-mounted permanent magnet synchronous motor according to the fourth output voltage value, the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor, the second actual torque current and the actual rotor electric angular velocity.
4. The method for controlling the fast response of a current loop of a surface-mounted permanent magnet synchronous motor according to claim 3, wherein obtaining the pre-determined resistance voltage drop of the stator winding on the exciting current loop and the torque current loop, the first actual coupling voltage of the exciting current loop, the second actual coupling voltage of the torque current loop and the pre-determined counter potential value of the torque current loop according to a plurality of parameters comprises:
acquiring a stator winding pre-judgment resistance voltage drop on the exciting current loop according to a third given exciting current and the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor;
acquiring a first actual coupling voltage on the exciting current loop according to the actual rotor electric angular speed, the second component and a third actual torque current;
acquiring a stator winding pre-judgment resistance voltage drop on the torque current loop according to a third given torque current and the resistance of the stator winding of the surface-mounted permanent magnet synchronous motor;
acquiring a second actual coupling voltage on the torque current loop according to the actual rotor electric angular speed, the first component and a third actual exciting current;
and acquiring a prejudged counter potential value of the torque current loop according to the second given rotor electric angular speed on the torque current loop and the permanent magnet flux linkage.
5. The method of claim 4, wherein compensating the stator winding pre-determined resistive voltage drop and the second actual coupling voltage on the excitation current loop to the excitation current loop in advance comprises:
applying the second coupling voltage to the excitation current loop in advance;
and outputting the excitation current loop subjected to superposition compensation as the sum of the output voltage of the first PI controller, the second coupling voltage and the pre-judging resistance voltage drop of the stator winding on the excitation current loop.
6. The method of claim 4, wherein pre-determining a resistive voltage drop and the first actual coupling voltage for a stator winding on the torque-current loop, and pre-determining a counter-potential value for a given rotor electrical angular velocity and the torque-current loop, are pre-compensated for the torque-current loop, comprising:
and outputting the torque current loop subjected to superposition compensation as the sum of the output voltage of the second PI controller, the first actual coupling voltage, the pre-determined resistance voltage drop of the stator winding on the torque current loop and the pre-determined counter potential of the torque current loop.
7. The method for controlling the fast response of a current loop of a surface-mounted permanent magnet synchronous motor according to claim 3, wherein the conditions of the first PI controller and the second PI controller when parameters are set are as follows: the actual exciting current and the actual torque current can be stabilized at the given exciting current and the given torque current without considering the influence of the current quick response.
8. The method of claim 3, further comprising, after compensating for a stator winding pre-determined resistive voltage drop and the first actual coupling voltage on the torque current loop, and for a given rotor electrical angular velocity and a pre-determined back emf value of the torque current loop to the torque current loop in advance:
operating the surface-mounted permanent magnet synchronous motor in a current mode, and giving initial values of the first PI controller in the exciting current loop and the second PI controller in the torque current loop; setting the torque current of the surface-mounted permanent magnet synchronous motor to be zero; giving the exciting current of the surface-mounted permanent magnet synchronous motor as a step of rated current of the motor;
acquiring a response waveform of an actual exciting current;
gradually increasing the parameter set value of the first PI controller until the response waveform of the actual exciting current can quickly follow the given exciting current waveform without overshoot; and the parameter set value of the second PI controller is consistent with the parameter set value of the first PI controller.
Priority Applications (1)
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| CN113949321A (en) * | 2020-07-16 | 2022-01-18 | 威马智慧出行科技（上海）有限公司 | Permanent magnet synchronous motor control method and device, motor controller and intelligent automobile |
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