CN116780968A - Permanent magnet synchronous motor control method and device, electronic equipment and storage medium - Google Patents

Abstract

The invention provides a permanent magnet synchronous motor control method, a device, an electronic device and a storage medium, wherein the method comprises the following steps: driving the permanent magnet synchronous motor to operate in a closed loop based on a magnetic field directional control mode according to the weak magnetic parameters; determining a voltage vector synthesized by the target d-axis voltage and the target q-axis voltage; and controlling the permanent magnet synchronous motor with a target d-axis voltage and a target q-axis voltage in response to the magnitude of the voltage vector being less than or equal to a predetermined voltage, and determining an adaptive q-axis voltage based on the predetermined voltage and the target d-axis voltage in response to the magnitude of the voltage vector being greater than the predetermined voltage, so that the magnitude of the voltage vector which is jointly synthesized by the target d-axis voltage and the adaptive q-axis voltage does not exceed the predetermined voltage, controlling the permanent magnet synchronous motor with the target d-axis voltage and the adaptive q-axis voltage, and performing field weakening control. So that when the magnitude of the voltage vector is greater than a predetermined voltage, deep field weakening can be achieved. Therefore, the problem that the existing motor is unstable in control is effectively solved.

Description

Permanent magnet synchronous motor control method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous motor control method and device and electronic equipment.

Background

Permanent Magnet Synchronous Motors (PMSM) have the advantages of simpler structure, high operation reliability, no need of exciting current, improvement of motor efficiency and power density and the like, and are widely applied to various electronic devices, such as motors for vehicles.

For example, in Field Oriented Control (FOC) technology, field weakening control is a method used in permanent magnet synchronous motor control to increase motor speed.

Some prior art, such as the advanced angle field weakening technology, needs a d-axis current loop and a q-axis current loop at the same time, and if a certain current loop is saturated, control errors are easily caused, so that instability exists in motor control, and the motor control still needs to be improved.

Disclosure of Invention

The invention provides a permanent magnet synchronous motor control method, a permanent magnet synchronous motor control device, electronic equipment and a storage medium, which are used for solving the problem of unstable control of the existing motor.

In order to solve the above problems, an aspect of the present invention provides a permanent magnet synchronous motor control method, including: driving a permanent magnet synchronous motor to operate in a closed loop based on a magnetic field directional control mode, and determining current q-axis current and current d-axis current; determining d-axis reference current and q-axis reference current according to the weak magnetic parameters and the current vector output by the rotating speed ring; determining a target d-axis voltage according to the d-axis reference current and the current d-axis current, and determining a target q-axis voltage according to the q-axis reference current and the current q-axis current; determining a voltage vector synthesized by the target d-axis voltage and the target q-axis voltage; controlling the permanent magnet synchronous motor with the target d-axis voltage and the target q-axis voltage in response to a magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being less than or equal to a predetermined voltage; and determining an adapted q-axis voltage based on the predetermined voltage and the target d-axis voltage in response to a magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being greater than the predetermined voltage, such that the magnitude of the voltage vector that is jointly synthesized by the target d-axis voltage and the adapted q-axis voltage does not exceed the predetermined voltage, controlling the permanent magnet synchronous motor with the target d-axis voltage and the adapted q-axis voltage, and performing field weakening control.

In one embodiment, the field weakening control further comprises: the weak magnetic parameter is adjusted in response to a magnitude of a voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being greater than the predetermined voltage and a desired rotational speed being greater than a current rotational speed, and the weak magnetic parameter is adjusted in response to a magnitude of a voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being less than or equal to the predetermined voltage or the desired rotational speed being less than or equal to the current rotational speed, wherein the weak magnetic parameter is an angle in a range from a lower angle limit to an upper angle limit.

In one embodiment, the weak magnetic parameter is gradually increased according to a step in response to the magnitude of the voltage vector synthesized by the target d-axis voltage and the target q-axis voltage being greater than a predetermined voltage and the desired rotational speed being greater than the current rotational speed; and the magnitude of the voltage vector which is responding to the common combination of the target d-axis voltage and the target q-axis voltage is smaller than or equal to the preset voltage or the expected rotating speed is smaller than or equal to the current rotating speed, and the weak magnetic parameter is gradually reduced according to the step.

In an embodiment, the step is an angle in the range from 0.05 degrees to 0.2 degrees.

In one embodiment, the weak magnetic parameter is a current vector i output by the rotating speed ring _s An included angle beta with the q axis, wherein the d axis reference current is i _s sin beta, the q-axis reference current is i _s cosβ。

In one embodiment, the predetermined voltage is u _m The target d-axis voltage is u _d The magnitude of the adapted q-axis voltage determined based on the predetermined voltage and a target d-axis voltage is

In one embodiment, the predetermined voltage is an inverter rated voltage.

In order to solve the above-described problems, a further aspect of the present invention provides a storage medium storing computer software instructions for configuring to be executed by a controller for the permanent magnet synchronous motor control method as described above.

In order to solve the above-described problems, another aspect of the present invention provides a permanent magnet synchronous motor control device including a controller and a memory storing one or more programs configured to execute the permanent magnet synchronous motor control method described above by the controller.

In order to solve the above-mentioned problems, a further aspect of the present invention provides an electronic apparatus including a permanent magnet synchronous motor, an inverter, and a permanent magnet synchronous motor control device as described above.

In one embodiment, the permanent magnet synchronous motor control device outputs a modulation PWM signal to the inverter to cause the inverter to output three-phase currents to the stator windings of the permanent magnet synchronous motor.

According to the control method, the device, the electronic device and the storage medium of the permanent magnet synchronous motor, the permanent magnet synchronous motor is driven to operate in a closed loop based on a magnetic field directional control mode, and the current q-axis current and the current d-axis current are determined; determining a d-axis reference current and a q-axis reference current according to the flux weakening parameter and a current vector output by a rotating speed ring, determining a target d-axis voltage according to the d-axis reference current and the current d-axis current, and determining a target q-axis voltage according to the q-axis reference current and the current q-axis current; determining a voltage vector synthesized by the target d-axis voltage and the target q-axis voltage; controlling the permanent magnet synchronous motor with the target d-axis voltage and the target q-axis voltage in response to a magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being less than or equal to a predetermined voltage; and determining an adapted q-axis voltage based on the predetermined voltage and the target d-axis voltage in response to a magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being greater than the predetermined voltage, such that the magnitude of the voltage vector that is jointly synthesized by the target d-axis voltage and the adapted q-axis voltage does not exceed the predetermined voltage, controlling the permanent magnet synchronous motor with the target d-axis voltage and the adapted q-axis voltage, and performing field weakening control. When the magnitude of the voltage vector is larger than the preset voltage, the q-axis current loop bypass is realized by adjusting the q-axis voltage to replace the target q-axis voltage to control the motor, and the d-axis current is adjusted to perform the field weakening control to adjust the rotating speed, namely, the rotating speed loop can still work, the deep field weakening can be achieved, the saturation caused by the mutual influence of the two current loops is avoided, meanwhile, the rotating speed loop can still work after entering the field weakening working mode, the control error easily caused by the saturation of the current loops in the prior art (such as the requirement of the two current loops at the same time) can be improved, and the technical level and quality of motor control are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic block diagram of a permanent magnet synchronous motor control device according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of current vectors when the permanent magnet synchronous motor control device according to the embodiment of the invention enters field weakening control.

Fig. 3 is a flow chart of a control method of a permanent magnet synchronous motor according to an embodiment of the invention.

Detailed Description

The technical solutions in 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. It will be apparent that the described embodiments are only some, but not all, embodiments of the 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.

In the description herein, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Many different embodiments or examples are provided herein to implement different structures of the present invention. In order to simplify the present disclosure, specific exemplary components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

The embodiment of the invention provides a permanent magnet synchronous motor control method, a permanent magnet synchronous motor control device and a storage medium. The following are examples, respectively, of the disclosure for the purpose of enabling those skilled in the art to understand the present invention, and are not intended to limit the same.

In one aspect, embodiments of the present invention provide a permanent magnet synchronous motor control apparatus that may be adapted to perform a permanent magnet synchronous motor control method for providing a field weakening controlled permanent magnet synchronous motor control scheme, such as a software and hardware cooperative solution.

For example, in one embodiment, as shown in fig. 1, the permanent magnet synchronous motor control device may include a controller U and a memory Y, where the memory Y may be, for example, a nonvolatile memory, but not limited to, but may also be other storage function hardware or derivatives thereof, for storing programs, parameters or data, etc.; the controller U may be a Micro Control Unit (MCU) or an Application Specific Integrated Circuit (ASIC) having its function, but not limited to, and may also be other signal processing function hardware or derivatives thereof, for controlling and driving a Permanent Magnet Synchronous Motor (PMSM) M, for example, the controller U is electrically connected to the memory Y, the controller U and the memory Y may be separately or integrally disposed, and the memory Y stores one or more programs configured to execute the above-mentioned permanent magnet synchronous motor control method by the controller U.

For example, as shown in fig. 1, the controller U may be configured as a part of a software module, a hardware module, a software-hardware cooperation module, or other corresponding modules having functions thereof, for driving the permanent magnet synchronous motor M. The permanent magnet synchronous motor is started, for example, based on vector control (FOC), which may be a field oriented control (field oriented control), by controlling the three-phase voltage u output by the inverter _a 、u _b 、u _c Is used to control a three-phase ac motor, such as a permanent magnet synchronous motor.

In the magnetic field directional control architecture, control over the torque, the rotation speed and the position of the motor is mainly achieved through control over the working current of the motor, and generally includes an inner ring (such as a current ring) for current control, an intermediate ring (such as a rotation speed ring) for speed control and an outer ring (such as a position ring) for angular position control, but not limited thereto, for example, only the current ring and the rotation speed ring may be included, or for example, only the current ring may be included.

For example, in fig. 1, the controller U may be configured to control functions such as torque current generation, signal switching, difference calculation, proportional Integral (PI) or Proportional Integral Derivative (PID) control, park inverse transformation, clarke transformation, park transformation, position and speed estimation, speed integration, and position generation to operate cooperatively, for controlling the permanent magnet synchronous motor M to start in an open loop manner and then drive the permanent magnet synchronous motor M in a closed loop manner.

It should be understood that the functional modules in the controller U perform different functions, such as proportional, integral, differential, arithmetic, transform, estimation, etc., and the parameters required by the functional modules may be output results from other modules or output results from different observers (such as tachometers, amperometric and voltmeter sensors), and specific features (such as architecture or algorithm) thereof will be understood by those skilled in the art and will not be repeated herein.

In this embodiment, as shown in fig. 1, the controller U drives the permanent magnet synchronous motor M to enter a closed-loop operation after being started based on a magnetic field directional control manner, and first determines the current q-axis current i _q And current i of d-axis _d So as to be used as a basis for subsequent control.

For example, as shown in fig. 1, a ammeter and a tachometer may be utilized to measure the three-phase current i of the permanent magnet synchronous motor M _a ，i _b ，i _c And the current rotation speed omega, then according to the three-phase current i _a ，i _b ，i _c Further determining the current i of the q-axis _q And current i of d-axis _d . The present invention is not limited thereto and other ways of determining the present q-axis current i may be employed _q And current i of d-axis _d 。

Then, as shown in FIG. 1, the controller U can reference current according to d-axis(Weak magnetic parameter β=0 when no flux weakening control is performed, therefore +.>) And the current of the current d-axis i _d Determining a target d-axis voltage u _d According to q-axis reference current->(Weak magnetic parameter β=0 when no flux weakening control is performed, therefore +.>The current vector i output for the rotation speed ring _s ) And current i of q-axis _q Determining a target q-axis voltage u _q . For example the d-axis reference current +.>And the current i of the current d axis output from the Park conversion module U6 _d Performing differential operation and Proportional Integral (PI) operation to generate target d-axis voltage u _d The device is used for representing d-axis voltage in a (d, q) coordinate system so as to drive the permanent magnet synchronous motor M to operate in a closed loop in a driving motor magnetic field directional control mode; the q-axis reference current->And the current i of the q axis output from the Park conversion module U6 _q Performing differential operation and Proportional Integral (PI) operation to generate target q-axis voltage u _q The subsequent control of the permanent magnet synchronous motor M is used for representing q-axis voltage in a (d, q) coordinate system, so that the permanent magnet synchronous motor M is driven to operate in a closed loop in a driving motor magnetic field directional control mode.

In this embodiment, as shown in FIG. 1, the target q-axis voltage u _q Target d-axis voltage u _d The voltage vectors (with magnitude and direction) can be synthesized together, the target q-axis voltage u _q The target d-axis voltage u _d An adaptation module U1 can be input for generating an adapted q-axis voltage U _q’ Adapting d-axis voltage u _d’ . For example, if the target d-axis voltage u _d And a target q-axis voltage u _q The magnitude of the commonly synthesized voltage vector is less than or equal to a predetermined voltage (e.g., inverter voltage rating v _inv I.e. the maximum operating voltage of the inverter), the adapting module U1 may cause the adapting d-axis voltage U to be _d’ May be equal to the target d-axis voltage u _d And let the adaptation q-axis voltage u _q’ Equal to the target q-axis voltage u _q I.e. directly at the target d-axis voltage u _d And a target q-axis voltage u _q And controlling the permanent magnet synchronous motor M to operate in a closed loop. If the adaptive d-axis voltage u is guaranteed _d’ Less than or equal to a predetermined voltage (e.g., inverter rated voltage v _inv I.e. the maximum operating voltage of the inverter), the adapted d-axis voltage u _d’ Can also be suitably adjusted to be smaller than the target d-axis voltage u _d The method comprises the steps of carrying out a first treatment on the surface of the In addition, the adaptation q-axis voltage u _q’ Less than or equal to the current q-axis voltage u _q For example in response to the magnitude of the present voltage vector and the inverter nominal voltage v _inv For example, the target d-axis voltage u _d And the target q-axis voltage u _q The magnitude of the commonly synthesized voltage vector is larger than the predetermined voltage, according to the current q-axis voltage u _q Generating an adapted q-axis voltage u _q’ For example based on the predetermined voltage and the target d-axis voltage u _d Determining an adapted q-axis voltage u _q’ So that the target d-axis voltage u _d And said adapting q-axis voltage u _q’ The magnitude of the jointly synthesized adapted voltage vector does not exceed the predetermined voltage (e.g., inverter nominal voltage v _inv ) For example, the adaptation q-axis voltage u _q’ Is smaller than the rated voltage v of the inverter _inv To avoid motor workload exceeding nominal values.

For example, as shown in FIG. 1, the voltage is based on the predetermined voltage and the target d-axis voltage u _d Determining an adapted q-axis voltage u _q’ So that the target d-axis voltage u _d And said adapting q-axis voltage u _q’ The magnitude of the commonly synthesized voltage vector does not exceed the predetermined voltage, comprising: maintaining the target d-axis voltage u _d Unchanged; and subtractingSmall said target q-axis voltage u _q To obtain the adapted q-axis voltage u _q’ 。

For example, as shown in FIG. 1, the predetermined voltage magnitude may be set to u _m The target d-axis voltage is u _d Based on the predetermined voltage u _m And a target d-axis voltage u _d The adapted q-axis voltage u can be determined using the following formula _q′ ：

Illustratively, as shown in FIG. 1, the adapting the q-axis voltage u _q’ Said adapting d-axis voltage u _d’ Can be input to a Park inverse transformation module U2 for generating a voltage U according to Park inverse transformation _α 、u _β Representing the voltages on the alpha and beta axes in the (alpha, beta) coordinate system; the voltage u _α 、u _β The Clarke inverse transformation and Space Vector PWM (SVPWM) module U3 is used for generating three Pulse Width Modulation (PWM) voltages according to Clarke inverse transformation, and the inverter bridge module U4 is used for generating three-phase terminal voltage U after increasing driving capability _a 、u _b 、u _c As drive power input to a Permanent Magnet Synchronous Motor (PMSM).

In this embodiment, as shown in FIG. 1, the three-phase terminal voltage u can be acquired (e.g., by ADC) in real time _a 、u _b 、u _c Corresponding three-phase current i _a 、i _b 、i _c Then the current i is generated according to Clarke transformation by a Clarke transformation module U5 _α 、i _β Representing the alpha, beta axis currents in the (alpha, beta) coordinate system, said currents i _α 、i _β Can be used for generating current i by Park conversion module U6 _q 、i _d Representing the current q, d-axis currents in the (q, d) coordinate system.

In this embodiment, as shown in FIG. 1, the voltage u _α 、u _β And current i _α 、i _β The position and speed estimator U7 may be used to estimate the position θ and the rotational speed ω, for example, but not by a sliding mode observer (Sliding Mode Observer, SMO) algorithmFor example, other algorithms suitable for sensorless motor control, such as Long Bage (LUENBURGER) algorithm, may be used to generate the estimated position θ representing the actual position of the motor rotor and the current rotational speed ω of the motor rotor, and the calculation process will be understood by those skilled in the art and will not be repeated herein. In some embodiments, the position θ and the current rotational speed ω of the motor rotor may be obtained by sensors, such as encoders or hall sensors. The current rotation speed omega and the reference rotation speed omega _ref The difference (also referred to herein as the desired speed) may be proportional-integral (PI) controlled to generate a current vector i that is output as a speed loop _s (also called reference current, i _ref ). Further, the current vector i and the weak magnetic parameter beta can be used for the magnetic resonance imaging _s Can determine d-axis reference currentQ-axis reference current->In an embodiment, the estimated position θ can be used as input parameters for the Park inverse transform module U2 and Park transform module U6; also, the reference rotational speed ω _ref May be the estimated position theta and the reference position theta _ref An output value of Proportional Integral (PI) (output of a position ring as an outer ring); it is noted that fig. 1 is an embodiment comprising a position ring, in which, in an example without a position ring, the reference rotational speed ω _ref Or may be given directly from the outside.

Permanent magnet synchronous motor M is saturated before reaching voltage saturation (e.g., target d-axis voltage u _d And a target q-axis voltage u _q The magnitude of the commonly synthesized voltage vector is less than or equal to the predetermined voltage u _m When) may employ various control methods, such as d-axis reference currentConstant 0 control (i.e., no field weakening control), maximum torque to current ratio control, maximum output power control, etc. When the voltage saturation (e.g. target d-axisVoltage u _d And a target q-axis voltage u _q The magnitude of the commonly synthesized voltage vector is greater than the predetermined voltage u _m ) After that, the desired rotational speed ω _ref Still greater than the current rotation speed omega, the current rotation speed omega needs to be further improved, and then the field weakening control can be performed (wherein the current of the d axis is greater than 0 and is excitation control, and the current of the d axis is less than 0 and is field weakening control). Fig. 2 is a schematic diagram of current vectors after the permanent magnet synchronous motor control device of the embodiment of the invention enters the field weakening control, for example, the rotation direction is D1, the included angle beta increases from 0 ° and can be repeatedly adjusted, but the maximum value is not more than 90 °, and the included angle beta leads to the current vector i _s Is assigned to the q/d axis as q/d axis reference current, wherein the q axis reference current +.>d-axis reference current->The included angle beta is equal to 0 DEG, and the current vector i _s Are all assigned to the q-axis; beta is equal to 90 deg., and the current is distributed to the d-axis. From this, the current vector i output by the rotating speed ring can be known _s The angle beta with the q-axis represents the depth into the field weakening control, and may be used as a field weakening parameter (but the invention is not limited thereto), the field weakening parameter is an angle ranging from a lower angle limit (e.g., 0 degrees) to an upper angle limit (e.g., 90 degrees), for example, the initial value of the field weakening parameter may be set to 0 degrees. Summarizing, the field weakening parameter β increases from 0 after field weakening control, and is calculated according to the field weakening parameter β (β after field weakening>0) And the current vector i output by the rotating speed ring _s Can determine d-axis reference current +.>Q-axis reference current->

Referring back to FIG. 1, after the flux weakening control is started, the reference current still depends on the d-axisAnd current i of d-axis _d Determining a target d-axis voltage u _d (via d-axis current loop) according to q-axis reference current +.>And current i of q-axis _q Determining a target q-axis voltage u _q (through the q-axis current loop).

As described above, the adaptation module U1 of the present invention generates the adaptation q-axis voltage U _q’ Adapting d-axis voltage u _d’ . Responsive to a target d-axis voltage u _d And a target q-axis voltage u _q The magnitude of the commonly synthesized voltage vector is less than or equal to the predetermined voltage u _m (e.g.) Then with the target d-axis voltage u _d And a target q-axis voltage u _q Controlling the permanent-magnet synchronous motor, i.e. the adapting module U1 adapts the d-axis voltage U _d’ Equal to the target d-axis voltage u _d And let the q-axis voltage u be adapted _q’ Is also equal to the target q-axis voltage u _q The method comprises the steps of carrying out a first treatment on the surface of the In addition, in response to the target d-axis voltage u _d And a target q-axis voltage u _q The magnitude of the commonly synthesized voltage vector is greater than the predetermined voltage u _m (e.g.)>) The adaptation module U1 is based on a predetermined voltage U _m And a target d-axis voltage u _d Determining an adapted q-axis voltage u _q’ So that the target d-axis voltage u _d And adapting the q-axis voltage u _q’ The magnitude of the jointly synthesized adapted voltage vector does not exceed the predetermined voltage u _m For example let->That is, if->The adaptation module U1 still adapts the d-axis voltage U _d’ Equal to the target d-axis voltage u _d But let->At a target d-axis voltage u _d And adapting the q-axis voltage u _q’ Controlling permanent-magnet synchronous motors, i.e. when the voltage vector reaches saturation, the adaptation module U1 outputs the q-axis current loop (as the target q-axis voltage U _q ) Bypassing it to be considered as a failure for providing motor rotational energy, u _q′ Instead of u _q Control permanent magnet synchronous motor M, but d-axis current loop (output as target d-axis voltage u _d ) The d-axis reference current can be adjusted by starting the field weakening control (adjusting the field weakening parameter beta)>To adjust the rotation speed ω so as to further increase it.

As shown in FIG. 1, if at the target d-axis voltage u _d And the target q-axis voltage u _q If the magnitude of the combined voltage vector is greater than the predetermined voltage, a field weakening mode of operation, such as the target d-axis voltage u, is performed if the current rotational speed ω is also to be increased _d And the target q-axis voltage u _q The magnitude of the jointly synthesized voltage vector is greater than the predetermined voltage and the expected rotation speed is greater than the current rotation speed omega, the weak magnetic parameter beta can be adjusted to be increased, for example, the weak magnetic parameter beta can be gradually increased according to a step delta beta to increase the depth of weak magnetic control, and further the current rotation speed omega can be increased, wherein the step delta beta can be an angle in a range from 0.05 degrees to 0.2 degrees, such as 0.05 degrees, 0.1 degrees, 0.15 degrees, 0.2 degrees, and the like, but not limited to, the value of the step delta beta can be optionally increased or decreased to be finely adjusted; in other cases, e.g. "the target d-axis voltage u _d And the target q-axis voltage u _q The magnitude of the jointly synthesized voltage vector is smaller than or equal to the predetermined voltage or the expected rotation speed is smaller than or equal to the current rotation speed omega, the weak magnetic parameter beta can be reduced, for example, the weak magnetic parameter beta is gradually reduced according to the step delta beta, so that the depth of weak magnetic control is reduced, and the current rotation speed omega is further reduced so as to gradually exit weak magnetic control.

Illustratively, as shown in FIG. 1, in the flux weakening control mode, the d-axis reference currentAnd the q-axis reference currentThe reference current is controlled for field weakening. Such as the target d-axis voltage u _d Target q-axis voltage u _q Is sent to a flux weakening control module Ua, and the functions that can be implemented by the flux weakening control module Ua include: target d-axis voltage u according to iteration (k-1) _d Target q-axis voltage u _q To generate the field weakening parameter β (k) for the kth iteration, β (k) =f (u) _q (k-1),u _d (k-1)), k being a positive integer, such as the voltage u at the target d-axis _d And the target q-axis voltage u _q In the case where the magnitude of the commonly synthesized voltage vector is larger than the predetermined voltage, and the desired rotational speed ω is determined _ref The weak magnetic parameter beta can be gradually increased or decreased according to the step delta beta (such as 0.1 degree) when the current rotating speed omega is larger than the current rotating speed omega, and is used as a source basis for generating q-axis and d-axis reference currents, for example, a sine operation module Ub is used for outputting the weak magnetic parameter beta and a current vector i output by a speed ring according to the weak magnetic control module Ua _s Generating d-axis reference current->The cosine operation module Uc outputs a current vector i according to the flux weakening parameter beta and the speed ring output by the flux weakening control module Ua _s Generating q-axis reference current->Voltage u as the subsequent q-axis _q 、u _q’ Voltage u of d-axis _d 、u _d’ The driving motor is rotated based on the field weakening control mode.

It should be noted that after entering the field weakening control mode, if the field weakening parameter beta is gradually increased as the current rotation speed omega increases, the field weakening parameter beta is inputThe output current vector is shifted toward the negative half-axis of the d-axis when the current loop reaches saturation (e.g., the magnitude of the aforementioned voltage vector is greater than a predetermined voltage u _m When) the present invention adjusts q-axis voltage u by the target q-axis voltage _q’ (e.g.) Instead, the q-axis current loop can be considered as a bypass, while the current vector i of the output of the speed loop _s The current rotating speed omega can still be adjusted by adjusting the d-axis current when the magnitude of the voltage vector is larger than the preset voltage, and the rotating speed ring can still work, so that the saturation caused by the mutual influence of the two current rings can be avoided, and meanwhile, the current rotating speed can be adjusted by adjusting the d-axis current, so that the deep field weakening can be achieved.

In another aspect, an embodiment of the present invention provides an electronic device, including a permanent magnet synchronous motor, an inverter, and an embodiment of a permanent magnet synchronous motor control device as described above, where the electronic device may be configured into different electric device configurations according to requirements, such as an electric washing machine or an electric carrier (e.g. an electric vehicle), but not limited thereto.

Optionally, in an embodiment, the permanent magnet synchronous motor control device outputs a modulated PWM signal to the inverter to cause the inverter to output three-phase currents to the stator windings of the permanent magnet synchronous motor. Therefore, the control mode of the permanent magnet synchronous motor can be utilized to enable the inverter to output three-phase current to the stator winding of the permanent magnet synchronous motor, and the rotor of the permanent magnet synchronous motor is driven to rotate so as to provide power.

In another aspect, embodiments of the present invention provide a permanent magnet synchronous motor control method that may be applied to a Permanent Magnet Synchronous Motor (PMSM) control device as described above, such as by executing the permanent magnet synchronous motor control method embodiments.

Correspondingly, as shown in fig. 3, the embodiment of the permanent magnet synchronous motor control method includes a current determining step T1, a reference current determining step T2, a target voltage determining step T3, a voltage vector determining step T4, a first motor regulating step T5, and a second motor regulating step T6.

Illustratively, as shown in fig. 3, in the current determining step T1, the permanent magnet synchronous motor may be driven to operate in a closed loop based on the magnetic field directional control manner, so as to determine the current q-axis current and the current d-axis current; the reference current determining step T2 can be based on the weak magnetic parameter and the current vector i output by the rotating speed ring _s Determining a d-axis reference current and a q-axis reference current; the target voltage determining step T3 may determine a target d-axis voltage according to the d-axis reference current and the current d-axis current, and determine a target q-axis voltage according to the q-axis reference current and the current q-axis current; the voltage vector determining step T4 may determine a voltage vector in which the target d-axis voltage and the target q-axis voltage are combined together; the first motor regulating step T5 may control the permanent magnet synchronous motor with the target d-axis voltage and the target q-axis voltage in response to a magnitude of a voltage vector synthesized by the target d-axis voltage and the target q-axis voltage being less than or equal to a predetermined voltage; the second motor regulating step T6 may determine an adapted q-axis voltage based on the predetermined voltage and the target d-axis voltage in response to the magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being greater than the predetermined voltage, so that the magnitude of the voltage vector that is jointly synthesized by the target d-axis voltage and the adapted q-axis voltage does not exceed the predetermined voltage, control the permanent magnet synchronous motor with the target d-axis voltage and the adapted q-axis voltage, and perform field weakening control.

In addition, as shown in fig. 3, the embodiment of the method for controlling a permanent magnet synchronous motor may further include a field weakening parameter changing step T7, for performing field weakening control parameter adjustment, for example: the weak magnetic parameter exchanging step T7 may include adjusting the weak magnetic parameter in response to the magnitude of a voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being greater than the predetermined voltage and the desired rotational speed being greater than the current rotational speed, and adjusting the weak magnetic parameter in response to the magnitude of a voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being less than or equal to the predetermined voltage or the desired rotational speed being less than or equal to the current rotational speed, wherein the weak magnetic parameter is an angle in a range from a lower angle limit to an upper angle limit.

The permanent magnet synchronous motor control method embodiment can be executed by the permanent magnet synchronous motor control device embodiment.

Accordingly, some embodiments of the method for controlling a permanent magnet synchronous motor according to the present invention may be described below, but are not limited thereto.

Optionally, in an embodiment, the weak magnetic control further includes: the weak magnetic parameter is adjusted in response to a magnitude of a voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being greater than the predetermined voltage and a desired rotational speed being greater than a current rotational speed, and the weak magnetic parameter is adjusted in response to a magnitude of a voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being less than or equal to the predetermined voltage or the desired rotational speed being less than or equal to the current rotational speed, wherein the weak magnetic parameter is an angle in a range from a lower angle limit to an upper angle limit. Therefore, the weak magnetic depth can be finely adjusted by using the adjusting and rising or decreasing mechanism of the weak magnetic parameters so as to adjust the rotating speed by using the weak magnetic depth.

Optionally, in an embodiment, the magnitude of the voltage vector synthesized by the target d-axis voltage and the target q-axis voltage is greater than a predetermined voltage and the desired rotation speed is greater than the current rotation speed, and the weak magnetic parameter is gradually increased according to a step; and the magnitude of the voltage vector which is responding to the common combination of the target d-axis voltage and the target q-axis voltage is smaller than or equal to the preset voltage or the expected rotating speed is smaller than or equal to the current rotating speed, and the weak magnetic parameter is gradually reduced according to the step. Therefore, after entering the weak magnetic working mode, the reference current can be adjusted through the weak magnetic parameters, and the rotating speed is adjusted by using the reference current.

Optionally, in an embodiment, the step is an angle in a range from 0.05 degrees to 0.2 degrees. Therefore, the weak magnetic parameters are gradually changed by the step being the angle (such as 0.1 degree, but not limited to the angle) in the range, so that the rotating speed of the motor gradually rises or falls gradually under the condition that the motor is reasonably born, and the damage to an electrical control element of the motor caused by too fast rotating speed adjustment is avoided.

Optionally, in an embodiment, the weak magnetic parameter is a current vector i output by the rotating speed ring _s An included angle beta with the q axis, wherein the d axis reference current is i _s sin beta, the q-axis reference current is i _s cos beta. Therefore, the d-axis reference current and the q-axis reference current can be adjusted through the field weakening parameter and used as the basis for controlling the rotation of the motor.

Optionally, in an embodiment, the predetermined voltage is u _m The target d-axis voltage is u _d The magnitude of the adapted q-axis voltage determined based on the predetermined voltage and a target d-axis voltage isThus, the q-axis voltage can be adaptively set by simple operation to ensure that energy is preferentially reserved for the d-axis voltage.

Optionally, in an embodiment, the predetermined voltage is an inverter rated voltage. Thus, it can be ensured that the motor operating voltage does not exceed a loadable voltage limit, such as the inverter rated voltage.

In another aspect, embodiments of the present invention provide a storage medium storing computer software instructions, such as implemented by C or other programming language (programming language), which are adapted to be configured to perform a permanent magnet synchronous motor control method as described above by a controller.

In summary, the method, the device, the electronic device and the storage medium for controlling the permanent magnet synchronous motor in the embodiment of the invention drive the permanent magnet synchronous motor to operate in a closed loop based on the magnetic field directional control mode, and determine the current q-axis current and the current d-axis current; determining d-axis reference current and q-axis reference current according to the weak magnetic parameters and the current vector output by the rotating speed ring; determining a target d-axis voltage according to the d-axis reference current and the current d-axis current, and determining a target q-axis voltage according to the q-axis reference current and the current q-axis current; determining a voltage vector synthesized by the target d-axis voltage and the target q-axis voltage; controlling the permanent magnet synchronous motor with the target d-axis voltage and the target q-axis voltage in response to a magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being less than or equal to a predetermined voltage; and determining an adapted q-axis voltage based on the predetermined voltage and the target d-axis voltage in response to a magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being greater than the predetermined voltage, such that the magnitude of the voltage vector that is jointly synthesized by the target d-axis voltage and the adapted q-axis voltage does not exceed the predetermined voltage, controlling the permanent magnet synchronous motor with the target d-axis voltage and the adapted q-axis voltage, and performing field weakening control.

According to the embodiment of the invention, when the magnitude of the voltage vector is larger than the preset voltage, the q-axis current is adjusted to replace the target q-axis voltage to control the motor to realize bypass of the q-axis current loop, the d-axis current is adjusted to perform field weakening control so as to adjust the rotating speed, namely the rotating speed loop can still work, deep field weakening can be achieved, when the q-axis current loop fails, saturation caused by the mutual influence of the two current loops is avoided, and meanwhile, the rotating speed loop can still work after entering a field weakening working mode by adjusting the d-axis current to adjust the rotating speed.

Therefore, the embodiment of the invention can ensure that the rotating speed ring can still act after entering the weak magnetic working mode, so that the control error easily caused by the saturation of the current rings in the prior art (such as the requirement of two current rings) can be improved, and the motor control technical level and quality can be improved.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

The foregoing description of embodiments of the invention has been presented in detail, and the principles and embodiments of the invention have been described herein with reference to specific examples, but the description of the embodiments is only intended to facilitate the understanding of the technical solution of the invention and its core ideas; those of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (11)

1. A method of controlling a permanent magnet synchronous motor, comprising:

driving a permanent magnet synchronous motor to operate in a closed loop based on a magnetic field directional control mode, and determining current q-axis current and current d-axis current;

determining d-axis reference current and q-axis reference current according to the weak magnetic parameters and the current vector output by the rotating speed ring;

determining a target d-axis voltage according to the d-axis reference current and the current d-axis current, and determining a target q-axis voltage according to the q-axis reference current and the current q-axis current;

determining a voltage vector synthesized by the target d-axis voltage and the target q-axis voltage;

controlling the permanent magnet synchronous motor with the target d-axis voltage and the target q-axis voltage in response to a magnitude of a voltage vector that is jointly synthesized by the target d-axis voltage and the target q-axis voltage being less than or equal to a predetermined voltage; and

and in response to the magnitude of the voltage vector jointly synthesized by the target d-axis voltage and the target q-axis voltage being greater than the predetermined voltage, determining an adaptive q-axis voltage based on the predetermined voltage and the target d-axis voltage such that the magnitude of the voltage vector jointly synthesized by the target d-axis voltage and the adaptive q-axis voltage does not exceed the predetermined voltage, controlling the permanent magnet synchronous motor with the target d-axis voltage and the adaptive q-axis voltage, and performing field weakening control.

2. The method of controlling a permanent magnet synchronous motor according to claim 1, wherein the field weakening control further comprises:

in response to the magnitude of the voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being greater than the predetermined voltage and the desired rotational speed being greater than the current rotational speed, adjusting the flux weakening parameter, and

in response to the magnitude of the voltage vector, which is jointly synthesized by the target d-axis voltage and the target q-axis voltage, being less than or equal to the predetermined voltage or the desired rotational speed being less than or equal to the current rotational speed, decreasing the flux weakening parameter,

wherein the demagnetizing parameter is an angle in a range from a lower angle limit to an upper angle limit.

3. The permanent magnet synchronous motor control method according to claim 2, wherein the weak magnetic parameter is gradually adjusted according to a step in response to a magnitude of a voltage vector, which is synthesized by the target d-axis voltage and the target q-axis voltage, being greater than a predetermined voltage and a desired rotational speed being greater than the current rotational speed; and the magnitude of the voltage vector which is responding to the common combination of the target d-axis voltage and the target q-axis voltage is smaller than or equal to the preset voltage or the expected rotating speed is smaller than or equal to the current rotating speed, and the weak magnetic parameter is gradually reduced according to the step.

4. A method of controlling a permanent magnet synchronous motor according to claim 3, wherein the step is an angle in the range of from 0.05 degrees to 0.2 degrees.

5. The control method of permanent magnet synchronous motor according to any one of claims 1 to 4, wherein the weak magnetic parameter is a current vector i output from the rotating speed ring _s An included angle beta with the q axis, wherein the d axis reference current is i _s sin beta, the q-axis reference current is i _s cosβ。

6. The permanent magnet synchronous motor control method according to any one of claims 1 to 4, wherein the predetermined voltage is u _m The target d-axis voltage is u _d The magnitude of the adapted q-axis voltage determined based on the predetermined voltage and a target d-axis voltage is

7. The permanent magnet synchronous motor control method according to claim 1, wherein the predetermined voltage is an inverter rated voltage.

8. A storage medium storing computer software instructions configured to be executed by a controller for the permanent magnet synchronous motor control method according to any one of claims 1-7.

9. A permanent magnet synchronous motor control device, characterized by comprising a controller and a memory storing one or more programs configured to be executed by the controller for the permanent magnet synchronous motor control method according to any one of claims 1-7.

10. An electronic apparatus comprising a permanent magnet synchronous motor, an inverter, and the permanent magnet synchronous motor control device according to claim 9.

11. The electronic apparatus according to claim 10, wherein the permanent magnet synchronous motor control device outputs a modulated PWM signal to the inverter to cause the inverter to output three-phase currents to stator windings of the permanent magnet synchronous motor.