CN116526915B - Voltage amplitude limiting method and device for permanent magnet synchronous motor - Google Patents
Voltage amplitude limiting method and device for permanent magnet synchronous motor Download PDFInfo
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
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Abstract
The invention provides a voltage amplitude limiting method and device of a permanent magnet synchronous motor, comprising the following steps: acquiring a first voltage value of a D axis and a first voltage value of a Q axis; if the sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold, finding out a proper voltage limiting coefficient through a fixed-step iteration method or a variable-step iteration method; and carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to a proper voltage amplitude limiting coefficient, and taking the obtained amplitude-limited D axis voltage value and Q axis voltage value as the second voltage value of the D axis and the second voltage value of the Q axis respectively. The voltage amplitude limiting method provided by the invention has good universality, is suitable for various microcontroller platforms, and has low requirement on system cost.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a voltage amplitude limiting method and device of a permanent magnet synchronous motor.
Background
A typical permanent magnet synchronous motor double closed loop control block diagram is shown in fig. 3. The dual closed loop control includes an outer loop control and an inner loop control. The inner ring generally refers to a current ring, and the outer ring refers to a speed ring, a power ring, a torque ring, a position ring, or the like, and the speed ring is taken as an example in the figure.
A typical permanent magnet synchronous motor control algorithm is the FOC control algorithm, FOC (Field Oriented Control), i.e., magnetic field directional control.
The main steps of the FOC control algorithm include:
clarke transform (Clarke transform) for transforming three-phase ac stator currents of an electric machine into two-phase ac stator currents.
Park conversion (Park conversion) for converting a two-phase alternating-current stator current into a two-phase quadrature-direct-current stator current (D-axis current Id and Q-axis current Iq, the D-axis current also being called excitation current, the Q-axis current also being called quadrature-axis current).
And the angle and speed detector (observer) is used for acquiring the position (angle) and the speed of the motor rotor in real time.
The rotating speed controller is used for calculating the errors of the rotating speed of the given motor and the rotating speed of the motor acquired in real time, performing PI (proportional integral) adjustment on the rotating speed errors and outputting a D-axis current given value and a Q-axis current given value required by the current loop.
And the current controller is used for detecting the current errors of the D-axis current given value, the Q-axis current given value and the actual value, and performing PID (proportion integration differentiation) adjustment on the current errors to obtain the first voltage values of the D-axis and the Q-axis.
And the voltage limiting is used for carrying out voltage limiting on the first voltage values of the D axis and the Q axis to obtain the second voltage values of the D axis and the Q axis.
An Ipark conversion (inverse park conversion) for converting the D-axis second voltage and the Q-axis second voltage in the orthogonal rotation coordinate system into an α -axis voltage and a β -axis voltage in the orthogonal stationary coordinate system.
And SVPWM generation (space vector pulse width modulation wave generation) for calculating voltage pulses according to the alpha-axis voltage and the beta-axis voltage and controlling power switching tubes in the three-phase full-bridge inverter so as to realize tracking of the rotating stator flux of the rotor flux.
The voltage limiting link is very important for the stability of the motor in the control process, and the possibility that the motor is out of control, the system current is too large, the controller is damaged and even the personal safety is endangered is caused when the voltage limiting process is not carried out or the voltage limiting process is not carried out improperly. The voltage amplitude limiting module has the main function of ensuring that the motor can output the highest rotational speed or power in operation and avoiding the motor from being out of control.
The existing voltage clipping method comprises the following steps:
1) Floating point voltage clipping
The D-axis voltage and the Q-axis voltage after clipping can be directly calculated by the following formula, so that the amplitude of a voltage vector formed by the D-axis voltage and the Q-axis voltage after clipping is smaller than a voltage threshold V:
，/>；.
wherein, the liquid crystal display device comprises a liquid crystal display device,for a first voltage value of the D-axis, +.>For a first voltage value of the Q axis, +.>Is the second voltage value of the D-axis after clipping, also called D-axis, +.>The second voltage value, also called the Q-axis, is the Q-axis voltage after clipping.
This method is typically used for microcontrollers supporting floating point operations. In practice, many scenarios consider the cost factor-users do not use microcontrollers that support floating point operations, but rather use fixed point microcontrollers. For a fixed point microcontroller platform, both the division and open square operations in the above formulas are time consuming. The frequency of motor control is usually very high, and the control refresh of the power switch tube is usually carried out between 32KHz and 5KHz, namely every 31.25uS to 200 uS. The fixed point microcontroller platform directly operates according to the above formula, which is difficult to meet the real-time requirement, so some manufacturers propose a table look-up voltage limiting method.
2) Table look-up voltage limiting
The principle is approximately as follows: the table look-up table corresponding to different voltage limiting coefficients is stored in the program in advance, and the program detects a certain momentAnd->If the amplitude of (2) is larger than the set limiting value, calculating the index value of the corresponding table according to the amplitude at the moment if the amplitude is larger than the set limiting value, obtaining the equal-scale reduction coefficient from the index value, and then respectively adding ++>And->And scaling down according to the coefficient.
The method has higher requirement on the storage space of the microcontroller; and the wider the voltage clipping, the larger the required table body.
3) Adding hardware accelerators
Still other manufacturers build hardware accelerators, such as hardware dividers and hardware squarers, on fixed-point microcontroller platforms to increase the speed of operation of voltage clipping, but this increases system costs.
Disclosure of Invention
The invention aims to provide a voltage limiting method and device for a permanent magnet synchronous motor, which are used for solving at least part of problems existing in the existing voltage limiting scheme so as to reduce the system cost and improve the universality.
The technical scheme provided by the invention is as follows:
a voltage amplitude limiting method of a permanent magnet synchronous motor comprises the following steps:
acquiring a first voltage value of a D axis and a first voltage value of a Q axis;
if the sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold, finding a proper voltage limiting coefficient through a fixed-step iterative method or a variable-step iterative method, so that the sum of squares of the limited D axis voltage value and the Q axis voltage value obtained by carrying out equal-proportion limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage limiting coefficient does not exceed the square of the voltage threshold, and the difference value of the sum of squares of the limited D axis voltage value and the Q axis voltage value and the square of the voltage threshold is within a preset range;
and carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage amplitude limiting coefficient, and taking the obtained amplitude-limited voltage value of the D axis and the obtained amplitude-limited voltage value of the Q axis as a second voltage value of the D axis and a second voltage value of the Q axis respectively.
In some embodiments, the finding the appropriate voltage clipping coefficients by a fixed-step iterative method includes: initializing a voltage limiting coefficient and adjusting a step length;
respectively carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the voltage amplitude limiting coefficient to obtain an amplitude-limited D axis voltage value and an amplitude-limited Q axis voltage value;
if the sum of squares of the D-axis voltage value and the Q-axis voltage value after amplitude limiting exceeds the square of a voltage threshold value, reducing the voltage amplitude limiting coefficient according to the adjusting step length, and carrying out equal proportion amplitude limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the reduced voltage amplitude limiting coefficient to obtain an amplitude-limited D-axis voltage value and Q-axis voltage value; and repeating the above processes until a proper voltage limiting coefficient is obtained, so that the sum of squares of the limited D-axis voltage value and the Q-axis voltage value obtained by carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the proper voltage limiting coefficient does not exceed the square of a voltage threshold.
In some embodiments, the finding the appropriate voltage clipping coefficients by a variable step iteration method includes: the appropriate voltage clipping coefficients are found by a dichotomy.
In some embodiments, the acquiring the first voltage value of the D-axis and the first voltage value of the Q-axis comprises: calculating the error between the rotating speed of a given motor and the rotating speed of the motor acquired in real time, performing PID (proportion integration differentiation) adjustment on the rotating speed error, and calculating to obtain a D-axis current given value and a Q-axis current given value;
and detecting the current errors of the D-axis current given value, the Q-axis current given value and the actual value, and performing PID (proportion integration differentiation) adjustment on the current errors to obtain a first voltage value of the D-axis and a first voltage value of the Q-axis.
The invention also provides a voltage amplitude limiting device of the permanent magnet synchronous motor, which comprises:
the acquisition module is used for acquiring a first voltage value of a D axis and a first voltage value of a Q axis;
the searching module is used for finding out a proper voltage limiting coefficient through a fixed-step iteration method or a variable-step iteration method if the square sum of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold value, so that the square sum of the limited D axis voltage value and the Q axis voltage value obtained after the equal-proportion limiting is carried out on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage limiting coefficient does not exceed the square of the voltage threshold value, and the difference value between the square sum of the limited D axis voltage value and the Q axis voltage value and the square of the voltage threshold value is within a preset range;
and the amplitude limiting module is used for carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage amplitude limiting coefficient, and respectively taking the obtained amplitude-limited voltage value of the D axis and the obtained amplitude-limited voltage value of the Q axis as the second voltage value of the D axis and the second voltage value of the Q axis.
In some embodiments, the search module comprises:
the initialization unit is used for initializing the voltage limiting coefficient and adjusting the step length;
the amplitude limiting unit is used for respectively carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the voltage amplitude limiting coefficient to obtain an amplitude-limited D axis voltage value and an amplitude-limited Q axis voltage value;
the searching unit is used for reducing the voltage limiting coefficient according to the adjusting step length if the square sum of the D-axis voltage value and the Q-axis voltage value after the limiting exceeds the square of the voltage threshold value, and carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the reduced voltage limiting coefficient to obtain the D-axis voltage value and the Q-axis voltage value after the limiting; and repeating the above processes until a proper voltage limiting coefficient is obtained, so that the sum of squares of the limited D-axis voltage value and the Q-axis voltage value obtained by carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the proper voltage limiting coefficient does not exceed the square of a voltage threshold.
In some embodiments, the search module is further configured to find a suitable voltage clipping coefficient by a dichotomy.
In some embodiments, the obtaining module is further configured to calculate an error between the given motor rotation speed and the motor rotation speed acquired in real time, perform PID adjustment on the rotation speed error, and calculate a D-axis current given value and a Q-axis current given value; and detecting the current errors of the D-axis current given value, the Q-axis current given value and the actual value, and performing PID (proportion integration differentiation) adjustment on the current errors to obtain a first voltage value of the D-axis and a first voltage value of the Q-axis.
Compared with the prior art, the voltage limiting method and the device for the permanent magnet synchronous motor provided by the invention have the following beneficial effects:
the invention can provide the voltage limiting method of the permanent magnet synchronous motor with wide application scene and low cost, occupies small code storage space of the microcontroller under the premise of ensuring that the output voltage vector has minimum distortion, has high operation speed, does not need to use a hardware divider, and skillfully avoids the open mathematical operation with long time consumption of software.
Drawings
The above characteristics, technical features, advantages and implementation manners of a method and apparatus for limiting voltage of a permanent magnet synchronous motor will be further described with reference to the accompanying drawings in a clearly understood manner.
FIG. 1 is a flow chart of one embodiment of a method of voltage clipping for a permanent magnet synchronous motor of the present invention;
FIG. 2 is a schematic diagram of one embodiment of a voltage limiting device of a permanent magnet synchronous motor of the present invention;
fig. 3 is a block diagram of a typical control system for a permanent magnet synchronous motor.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
In one embodiment of the present invention, as shown in fig. 1, a voltage clipping method of a permanent magnet synchronous motor includes:
step S100, acquiring a first voltage value of a D axis and a first voltage value of a Q axis;
step 200, judging whether the square sum of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold value;
step S300, if the sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold, finding a proper voltage limiting coefficient through a fixed-step iterative method or a variable-step iterative method, so that the sum of squares of the limited D axis voltage value and the limited Q axis voltage value obtained by carrying out equal-proportion limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage limiting coefficient does not exceed the square of the voltage threshold, and the difference value of the sum of squares of the limited D axis voltage value and the limited Q axis voltage value and the square of the voltage threshold is within a preset range;
step S400, carrying out equal proportion amplitude limiting on a first voltage value of a D axis and a first voltage value of a Q axis according to a proper voltage amplitude limiting coefficient, and taking the obtained amplitude-limited D axis voltage value and Q axis voltage value as a second voltage value of the D axis and a second voltage value of the Q axis respectively;
in step S500, if the sum of the squares of the first voltage value of the D axis and the first voltage value of the Q axis does not exceed the square of the voltage threshold, the second voltage value of the D axis is equal to the first voltage value of the D axis, and the second voltage value of the Q axis is equal to the first voltage value of the Q axis.
Specifically, when the first voltage value of the D axis is judgedAnd a first voltage value of the Q-axis +.>Constituted voltage vector>Whether or not the amplitude of (a) exceeds the voltage thresholdAt the value V, the voltage vector is usually calculated first>Amplitude +.>And then compareIs associated with the amplitude and voltage threshold V. By employing "sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis" for comparison with the square of the voltage threshold V, the squaring operation is avoided.
If the voltage vectorThe square of the amplitude of (a) exceeds the square of the voltage threshold, voltage clipping is required. By equally proportionally clipping the first voltage value of the Q axis and the first voltage value of the D axis, the voltage vector can be made +.>Only the amplitude changes after voltage limiting, and the direction of the amplitude does not generate distortion. Equal-scale clipping is used, i.e. in order not to introduce directional distortion. The relative magnitude distortion, the direction distortion has a greater impact on the system.
In order to make the voltage vector outputted after clipping have as little distortion as possible, it is necessary to obtain a suitable voltage clipping coefficient.
For a fixed-point microcontroller platform, a proper voltage limiting coefficient can be obtained rapidly through a fixed-step iteration method or a variable-step iteration method. The floating point voltage limiter is relatively limited, so that division and open square operation can be avoided, and a proper voltage limiter coefficient can be obtained.
In actual operation, the voltage clipping coefficient may be 2 of the actual value M And M is an integer, and is selected according to the accuracy required to be controlled. Actual value is less than 1 by amplifying 2 M The voltage limiting coefficient can be amplified to an integer, and the multiplication operation with the decimal can be converted when the first voltage values of the D axis and the Q axis are limited according to the voltage limiting coefficientThe integer multiplication is replaced, and the operation of the microcontroller is facilitated.
And (3) a fixed-step iterative method, for example, the voltage limiting coefficient is searched for in an iterative decreasing mode according to a certain step from the maximum value until the voltage limiting coefficient which enables the sum of squares of the D-axis voltage value and the Q-axis voltage value obtained after limiting to not exceed the square of the voltage threshold value appears, the voltage limiting coefficient is a proper value, and the amplitude of the voltage vector output after voltage limiting can be limited within the voltage threshold value. The reverse search is also possible, and the voltage limiting coefficient is searched by iterative increment according to a certain step length from the minimum value. In general, the search is decremented and the appropriate value is found more quickly.
The step-and-repeat method is used to find the proper voltage limiting coefficient, for example, by a dichotomy. Specifically, between the minimum value a and the maximum value b of the voltage limiting coefficient, an appropriate value c is found by a dichotomy, and the appropriate value c needs to satisfy:，/>，/>is a preset tolerance range.
The implementation steps are as follows:
1) Taking the midpoint value d between a and b, calculating f (d) =I.e. the difference between the square of the amplitude of the clipped voltage vector corresponding to the midpoint value and the square of the voltage threshold is calculated.
2) If f (d) >0, updating [ a, b ] to [ a, d ], and continuing to search for a proper value c in the [ a, d ] interval;
if f (d)<=0, and |f (d) |C=d;
if f (d)<0, and |f (d) |Will [ a, b ]]Updated to [ d, b ]]In [ d, b]The interval continues to search for the appropriate value c.
The voltage limiting method provided by the embodiment is high in universality, can be suitable for various microcontroller platforms, does not need to support a floating point microcontroller, occupies a small code storage space of the microcontroller on the premise of ensuring that an output voltage vector has minimum distortion, does not need to use a hardware divider, and skillfully avoids the mathematical operation of the evolution with long time consumption of software.
In one embodiment, finding the appropriate voltage clipping coefficients by the fixed-step iterative method in step S300 includes:
step S301, initializing a voltage limiting coefficient and adjusting step length;
step S302, respectively carrying out equal proportion amplitude limiting on a first voltage value of a D axis and a first voltage value of a Q axis according to a voltage amplitude limiting coefficient to obtain an amplitude-limited D axis voltage value and an amplitude-limited Q axis voltage value;
step S303, if the sum of squares of the D-axis voltage value and the Q-axis voltage value after amplitude limiting exceeds the square of the voltage threshold, reducing the voltage amplitude limiting coefficient according to the adjustment step length, and jumping to step S302;
in step S304, if the sum of squares of the D-axis voltage value and the Q-axis voltage value after clipping does not exceed the square of the voltage threshold, the obtained voltage clipping coefficient is a suitable voltage clipping coefficient.
In one embodiment, finding the appropriate voltage clipping coefficients by the variable step iteration method in step S300 includes:
step S305 finds the appropriate voltage clipping coefficients by a dichotomy.
In one embodiment, step S100 includes:
step S110, calculating the error between the rotating speed of a given motor and the rotating speed of the motor acquired in real time, performing PID (proportion integration differentiation) adjustment on the rotating speed error, and calculating to obtain a D-axis current given value and a Q-axis current given value;
step S120 detects the current errors of the D-axis current given value, the Q-axis current given value and the actual value, and carries out PID adjustment on the current errors to obtain a first voltage value of the D-axis and a first voltage value of the Q-axis.
In one embodiment of the present invention, as shown in fig. 2, a voltage limiting device of a permanent magnet synchronous motor includes:
an acquisition module 100, configured to acquire a first voltage value of a D axis and a first voltage value of a Q axis;
a judging module 200, configured to judge whether the sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold;
the searching module 300 is configured to find a suitable voltage limiting coefficient by a fixed-step iteration method or a variable-step iteration method if the sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold, so that the sum of squares of the limited D axis voltage value and the limited Q axis voltage value obtained by equally proportionally limiting the first voltage value of the D axis and the first voltage value of the Q axis according to the suitable voltage limiting coefficient does not exceed the square of the voltage threshold, and the difference between the sum of squares of the limited D axis voltage value and the limited Q axis voltage value and the square of the voltage threshold is within a preset range;
the amplitude limiting module 400 is configured to perform equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to a suitable voltage amplitude limiting coefficient, and respectively use the obtained amplitude-limited D axis voltage value and Q axis voltage value as the second voltage value of the D axis and the second voltage value of the Q axis; if the sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis does not exceed the square of the voltage threshold, the second voltage value of the D axis is equal to the first voltage value of the D axis, and the second voltage value of the Q axis is equal to the first voltage value of the Q axis.
In one embodiment, the search module 300 includes:
the initialization unit is used for initializing the voltage limiting coefficient and adjusting the step length;
the amplitude limiting unit is used for respectively carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the voltage amplitude limiting coefficient to obtain an amplitude-limited D axis voltage value and an amplitude-limited Q axis voltage value;
the searching unit is used for reducing the voltage limiting coefficient according to the adjusting step length if the square sum of the D-axis voltage value and the Q-axis voltage value after the limiting exceeds the square of the voltage threshold value, and carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the reduced voltage limiting coefficient to obtain the D-axis voltage value and the Q-axis voltage value after the limiting; and repeating the above processes until a proper voltage limiting coefficient is obtained, so that the sum of squares of the limited D-axis voltage value and the Q-axis voltage value obtained by carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the proper voltage limiting coefficient does not exceed the square of the voltage threshold.
In one embodiment, the search module 300 is further configured to find the appropriate voltage clipping coefficients by a dichotomy.
In one embodiment, the obtaining module 100 is configured to calculate an error between a given motor speed and a motor speed acquired in real time, perform PID adjustment on the rotational speed error, and calculate a D-axis current given value and a Q-axis current given value; and detecting the current errors of the D-axis current given value, the Q-axis current given value and the actual value, and performing PID (proportion integration differentiation) adjustment on the current errors to obtain a first voltage value of the D-axis and a first voltage value of the Q-axis.
It should be noted that, the embodiment of the voltage limiting device of the permanent magnet synchronous motor provided by the invention and the embodiment of the voltage limiting method of the permanent magnet synchronous motor provided by the invention are both based on the same inventive concept, and can achieve the same technical effects. Thus, for further details of embodiments of the voltage clipping device of the permanent magnet synchronous motor, reference may be made to the description of the embodiments of the voltage clipping method described above.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. A voltage limiting method for a permanent magnet synchronous motor, comprising:
acquiring a first voltage value of a D axis and a first voltage value of a Q axis;
if the sum of squares of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold, finding a proper voltage limiting coefficient through a fixed-step iterative method or a variable-step iterative method, so that the sum of squares of the limited D axis voltage value and the Q axis voltage value obtained by carrying out equal-proportion limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage limiting coefficient does not exceed the square of the voltage threshold, and the difference value of the sum of squares of the limited D axis voltage value and the Q axis voltage value and the square of the voltage threshold is within a preset range;
and carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage amplitude limiting coefficient, and taking the obtained amplitude-limited voltage value of the D axis and the obtained amplitude-limited voltage value of the Q axis as a second voltage value of the D axis and a second voltage value of the Q axis respectively.
2. The method for limiting voltage of a permanent magnet synchronous motor according to claim 1, wherein the finding a suitable voltage limiting coefficient by a fixed-step iterative method comprises:
initializing a voltage limiting coefficient and adjusting a step length;
respectively carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the voltage amplitude limiting coefficient to obtain an amplitude-limited D axis voltage value and an amplitude-limited Q axis voltage value;
if the sum of squares of the D-axis voltage value and the Q-axis voltage value after amplitude limiting exceeds the square of a voltage threshold value, reducing the voltage amplitude limiting coefficient according to the adjusting step length, and carrying out equal proportion amplitude limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the reduced voltage amplitude limiting coefficient to obtain an amplitude-limited D-axis voltage value and Q-axis voltage value; and repeating the above processes until a proper voltage limiting coefficient is obtained, so that the sum of squares of the limited D-axis voltage value and the Q-axis voltage value obtained by carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the proper voltage limiting coefficient does not exceed the square of a voltage threshold.
3. The method for limiting voltage of a permanent magnet synchronous motor according to claim 1, wherein the finding a suitable voltage limiting coefficient by a variable step iteration method comprises:
the appropriate voltage clipping coefficients are found by a dichotomy.
4. The method of claim 1, wherein the obtaining the first voltage value of the D axis and the first voltage value of the Q axis comprises:
calculating the error between the rotating speed of a given motor and the rotating speed of the motor acquired in real time, performing PID (proportion integration differentiation) adjustment on the rotating speed error, and calculating to obtain a D-axis current given value and a Q-axis current given value;
and detecting the current errors of the D-axis current given value, the Q-axis current given value and the actual value, and performing PID (proportion integration differentiation) adjustment on the current errors to obtain a first voltage value of the D-axis and a first voltage value of the Q-axis.
5. A voltage limiting device for a permanent magnet synchronous motor, comprising:
the acquisition module is used for acquiring a first voltage value of a D axis and a first voltage value of a Q axis;
the searching module is used for finding out a proper voltage limiting coefficient through a fixed-step iteration method or a variable-step iteration method if the square sum of the first voltage value of the D axis and the first voltage value of the Q axis exceeds the square of the voltage threshold value, so that the square sum of the limited D axis voltage value and the Q axis voltage value obtained after the equal-proportion limiting is carried out on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage limiting coefficient does not exceed the square of the voltage threshold value, and the difference value between the square sum of the limited D axis voltage value and the Q axis voltage value and the square of the voltage threshold value is within a preset range;
and the amplitude limiting module is used for carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the proper voltage amplitude limiting coefficient, and respectively taking the obtained amplitude-limited voltage value of the D axis and the obtained amplitude-limited voltage value of the Q axis as the second voltage value of the D axis and the second voltage value of the Q axis.
6. The voltage limiting apparatus of a permanent magnet synchronous motor according to claim 5, wherein the search module comprises:
the initialization unit is used for initializing the voltage limiting coefficient and adjusting the step length;
the amplitude limiting unit is used for respectively carrying out equal proportion amplitude limiting on the first voltage value of the D axis and the first voltage value of the Q axis according to the voltage amplitude limiting coefficient to obtain an amplitude-limited D axis voltage value and an amplitude-limited Q axis voltage value;
the searching unit is used for reducing the voltage limiting coefficient according to the adjusting step length if the square sum of the D-axis voltage value and the Q-axis voltage value after the limiting exceeds the square of the voltage threshold value, and carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the reduced voltage limiting coefficient to obtain the D-axis voltage value and the Q-axis voltage value after the limiting; and repeating the above processes until a proper voltage limiting coefficient is obtained, so that the sum of squares of the limited D-axis voltage value and the Q-axis voltage value obtained by carrying out equal proportion limiting on the first voltage value of the D-axis and the first voltage value of the Q-axis according to the proper voltage limiting coefficient does not exceed the square of a voltage threshold.
7. The voltage limiting apparatus of a permanent magnet synchronous motor according to claim 5, wherein the search module is further configured to find a suitable voltage limiting coefficient by a dichotomy.
8. The voltage limiting apparatus of a permanent magnet synchronous motor according to claim 5, wherein,
the acquisition module is also used for calculating the error between the rotating speed of the given motor and the rotating speed of the motor acquired in real time, performing PID (proportion integration differentiation) adjustment on the rotating speed error, and calculating to obtain a D-axis current given value and a Q-axis current given value; and detecting the current errors of the D-axis current given value, the Q-axis current given value and the actual value, and performing PID (proportion integration differentiation) adjustment on the current errors to obtain a first voltage value of the D-axis and a first voltage value of the Q-axis.
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