CN116938053A - Method for controlling synchronous motor, electronic device and vehicle - Google Patents

Method for controlling synchronous motor, electronic device and vehicle Download PDF

Info

Publication number
CN116938053A
CN116938053A CN202210319050.0A CN202210319050A CN116938053A CN 116938053 A CN116938053 A CN 116938053A CN 202210319050 A CN202210319050 A CN 202210319050A CN 116938053 A CN116938053 A CN 116938053A
Authority
CN
China
Prior art keywords
value
quadrature
direct
current
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210319050.0A
Other languages
Chinese (zh)
Inventor
刘迪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jusheng Technology Co Ltd
Original Assignee
Shanghai Jusheng Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Jusheng Technology Co Ltd filed Critical Shanghai Jusheng Technology Co Ltd
Priority to CN202210319050.0A priority Critical patent/CN116938053A/en
Publication of CN116938053A publication Critical patent/CN116938053A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

Embodiments of the present disclosure provide a method of controlling a synchronous motor, an electronic device, and a vehicle. The method comprises the steps of determining a coefficient factor changing along with the current rotating speed of the motor according to the current rotating speed of the motor under the condition that the current rotating speed of the motor reaches or exceeds a threshold rotating speed; determining a proportional-integral parameter according to the coefficient factor; determining a direct current offset value and an quadrature current offset value; and determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor according to the determined direct axis current deviation value, quadrature axis current deviation value, and the proportional-integral parameter. By adopting the method for adjusting the bandwidth of the current loop according to the current rotating speed, the method can reduce disturbance interference on cross decoupling items containing counter electromotive force by adopting a segmentation limiting coefficient factor matching strategy while the current implementation feedback value is satisfied for tracking a given current value, thereby reducing the influence of high rotating speed on a control system and ensuring the stability and robustness of the control system.

Description

Method for controlling synchronous motor, electronic device and vehicle
Technical Field
Embodiments of the present disclosure relate generally to the field of motor control, and more particularly, to a method for controlling a synchronous motor, an electronic device, and a motor-driven vehicle.
Background
An electric machine, also called a motor, refers to an electromagnetic device that converts or transmits electric energy according to the law of electromagnetic induction. The main function of the motor is to generate driving torque as a power source for electric appliances or various machines. Motors can be classified into direct current motors and alternating current motors according to structure and principle. Ac motors can be further classified into permanent magnet synchronous motors, asynchronous induction motors, and the like.
The motor control servo generally adopts a three-ring control system, and a current ring, a speed ring and a position ring are sequentially arranged from inside to outside. The current loop is used to control motor torque so that the operation of the driver is minimal and the dynamic response is fastest in the torque mode. The current loop is the root of the control, and the system is controlling the speed and position at the same time as the system is controlling the current/torque to achieve the corresponding control of speed and position.
For a permanent magnet synchronous motor, when the motor rotor is in a high-speed region, the current loop control is interfered by a cross decoupling term containing counter potential due to high speed, so that the current loop is easy to adjust and saturate, and the stability of the current loop regulator is further affected.
Disclosure of Invention
Embodiments of the present disclosure provide a method and electronic device for controlling a synchronous motor to at least partially solve the above-described problems, as well as other potential problems, presented in the prior art.
In one aspect of the present disclosure, a method for controlling a synchronous motor is provided. The method comprises the steps of determining a coefficient factor changing along with the current rotating speed of the motor according to the current rotating speed of the motor under the condition that the current rotating speed of the motor reaches or exceeds a threshold rotating speed; determining a proportional-integral parameter according to the coefficient factor; determining a direct current offset value and an quadrature current offset value; and determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor according to the determined direct axis current deviation value, quadrature axis current deviation value, and the proportional-integral parameter.
In some embodiments, determining the proportional-integral parameter comprises: determining a proportion parameter in the proportion integration parameters according to the proportion factors in the coefficient factors; and determining an integral parameter of the proportional-integral parameters according to an integral factor of the coefficient factors.
In some embodiments, determining the coefficient factor includes: determining a rotating speed interval in which the current rotating speed is positioned according to the current rotating speed; calculating a coefficient according to the determined rotation speed interval acquisition factor; and determining the coefficient factor according to the current rotating speed and the factor calculation coefficient.
In some embodiments, determining the direct axis current offset value and the quadrature axis current offset value comprises: acquiring a given direct axis current value and a given quadrature axis current value; acquiring a real-time direct axis current value and a real-time quadrature axis current value; and determining a direct-axis current offset value from the given direct-axis current value and the real-time direct-axis current value, and determining a quadrature-axis current offset value from the given quadrature-axis current value and the real-time quadrature-axis current value.
In some embodiments, obtaining the real-time direct current value and the real-time quadrature current value comprises: acquiring a direct axis current value and a quadrature axis current value from a sensor; the obtained direct-axis current values and the quadrature-axis current values are respectively filtered to determine filtered real-time direct-axis current values and real-time quadrature-axis current values.
In some embodiments, determining the direct axis voltage value and the quadrature axis voltage value for controlling the motor further comprises: determining a proportional component of the direct axis voltage value from the direct axis current bias value and the proportional parameter; and determining a proportional component of the quadrature axis voltage value from the quadrature axis current bias value and the proportional parameter.
In some embodiments, determining the direct axis voltage value and the quadrature axis voltage value for controlling the motor further comprises: determining an integral component of the direct-axis voltage value from the direct-axis current bias value, the integral parameter, and the proportional parameter; and determining an integral component of the quadrature axis voltage value from the quadrature axis current bias value, the integral parameter and the proportional parameter.
In some embodiments, determining the direct axis voltage value and the quadrature axis voltage value for controlling the motor further comprises: clipping the integral component of the determined direct axis voltage value and the integral component of the quadrature axis voltage value; determining a direct axis voltage value from the integral component of the limited direct axis voltage value and the proportional component of the direct axis voltage value; determining the quadrature voltage value from the integral component of the quadrature voltage value and the proportional component of the quadrature voltage value; and clipping the determined direct axis voltage value and the quadrature axis voltage value to determine a direct axis voltage value and a quadrature axis voltage value for controlling the motor.
In some embodiments, the method further comprises determining a phase voltage for application to a stator winding of the electric machine by Park inverse transformation and Clark inverse transformation for the determined direct voltage value and the quadrature axis voltage value.
In a second aspect of the present disclosure, an electronic device is provided. The electronic device comprises at least one processing unit, and at least one memory coupled to the at least one processing unit and adapted to store instructions that, when executed by the at least one processing unit, cause the at least one processing unit to: determining a coefficient factor which changes along with the current rotating speed of the motor according to the current rotating speed of the motor under the condition that the current rotating speed of the motor reaches or exceeds a threshold rotating speed; determining a proportional-integral parameter according to the coefficient factor; determining a direct current offset value and an quadrature current offset value; and determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor according to the determined direct axis current deviation value, quadrature axis current deviation value, and the proportional-integral parameter.
In some embodiments, the processing unit is further configured to determine a scale parameter of the scale integration parameters from a scale factor of the coefficient factors; and determining an integral parameter of the proportional-integral parameters according to an integral factor of the coefficient factors.
In some embodiments, the processing unit is further configured to determine a speed interval in which the current speed is located from the current speed; calculating a coefficient according to the determined rotation speed interval acquisition factor; and determining the coefficient factor according to the current rotating speed and the factor calculation coefficient.
In some embodiments, the processing unit is further configured to obtain a given direct axis current value and a given quadrature axis current value; acquiring a real-time direct axis current value and a real-time quadrature axis current value; and determining a direct-axis current offset value from the given direct-axis current value and the real-time direct-axis current value, and determining a quadrature-axis current offset value from the given quadrature-axis current value and the real-time quadrature-axis current value.
In some embodiments, the processing unit is further configured to obtain a direct axis current value and an quadrature axis current value from the sensor; the obtained direct-axis current values and the quadrature-axis current values are respectively filtered to determine filtered real-time direct-axis current values and real-time quadrature-axis current values.
In some embodiments, the processing unit is further configured to determine a proportional component of the direct axis voltage value from the direct axis current bias value and the proportional parameter; and determining a proportional component of the quadrature axis voltage value from the quadrature axis current bias value and the proportional parameter.
In some embodiments, the processing unit is further configured to determine an integral component of the direct-axis voltage value from the direct-axis current bias value, the integral parameter, and the proportional parameter; and determining an integral component of the quadrature axis voltage value from the quadrature axis current bias value, the integral parameter and the proportional parameter.
In some embodiments, the processing unit is further configured to clip the determined integral component of the direct axis voltage value and the integral component of the quadrature axis voltage value; determining a direct axis voltage value from the integral component of the limited direct axis voltage value and the proportional component of the direct axis voltage value; determining the quadrature voltage value from the integral component of the quadrature voltage value and the proportional component of the quadrature voltage value; and clipping the determined direct axis voltage value and the quadrature axis voltage value to determine a direct axis voltage value and a quadrature axis voltage value for controlling the motor.
In some embodiments, the processing unit is further configured to determine phase voltages for application to stator windings of the electric machine by Park inverse transformation and Clark inverse transformation for the determined direct voltage values and quadrature axis voltage values.
According to a third aspect of the present disclosure, there is also provided a vehicle. The vehicle comprises an electric motor for driving the vehicle to move; and an electronic device according to the second aspect.
According to a fourth aspect of the present disclosure, a computer readable medium is provided. The computer readable medium has computer readable instructions stored thereon, which when executed by a processing unit cause the processing unit to perform the method of the first aspect above.
It should be understood that the summary is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings in which like reference numerals generally refer to like parts.
FIG. 1 schematically illustrates a schematic view of a vehicle according to an embodiment of the present disclosure;
FIG. 2 shows a direct axis current loop control block diagram;
FIG. 3 shows a simplified direct-axis current loop control block diagram with disturbance variables ignored;
FIG. 4 shows a current loop control block diagram obtained after examining the effect of the cross-decoupling term on the current loop;
FIG. 5 shows a simplified direct-axis current loop control block diagram after a given direct-axis current value is set to 0;
FIG. 6 shows a flow chart of a method according to an embodiment of the present disclosure;
FIG. 7 shows a program implementation schematic of a method according to an embodiment of the disclosure; and
fig. 8 shows a schematic block diagram of an electronic device that may be used to implement embodiments of the present disclosure.
Detailed Description
The principles of the present disclosure will now be described with reference to various exemplary embodiments shown in the drawings. It should be understood that these embodiments are merely provided to enable those skilled in the art to better understand and further practice the present disclosure and are not intended to limit the scope of the present disclosure in any way. It should be noted that similar or identical reference numerals may be used, where possible, in the figures and similar or identical reference numerals may designate similar or identical functions. Those skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles of the disclosure described herein.
A schematic bottom view of a vehicle 200, such as an electric vehicle, is shown in fig. 1, which shows that the electric vehicle comprises a motor 201, a processing unit 202, in addition to some necessary components, such as tires, etc. It should be understood that although the improvement of the control method of the motor 201 will be described hereinafter mainly by taking an electric automobile as an example, this is illustrative and is not intended to limit the scope of the present disclosure. Any other suitable apparatus or device is possible as long as the method according to the embodiments of the present disclosure can be applied. For example, in some alternative embodiments, the methods and electronics according to embodiments of the present disclosure are equally applicable to machine tools or the like driven by motor 201.
Hereinafter, the inventive concept according to the present disclosure will be mainly described by taking a permanent magnet synchronous motor as an example. For convenience of description, a model of the permanent magnet synchronous motor is first established. To simplify the analysis process, it is first assumed that the motor current is a three-phase symmetrical current before the model is established; neglecting motor core saturation, and disregarding eddy current and reluctance losses; the rotor is not provided with a damping winding; the main magnetic field generated by the permanent magnet and the armature reaction magnetic field generated by the stator winding are normally distributed in the air gap. Under the above conditions, the direct-axis voltage and the quadrature-axis voltage, which can be obtained for the permanent magnet synchronous motor, can be expressed as the following equations.
Wherein u is d 、u q The direct and quadrature components of the stator voltage, respectively, will also be referred to hereinafter as direct and quadrature voltage values, i d 、i q A direct axis component and an quadrature axis component of the stator current, respectively, hereinafter also referred to as direct axis current value and quadrature axis current value; l (L) d 、L q The direct axis inductance and the quadrature axis inductance are respectively; psi f Is rotor flux linkage; r is R s The resistance of the phase windings of the stator; omega is the rotor electrical angular velocity; p is a differential operator.
The transfer function of the proportional-integral element can be expressed as the following equation according to the stator phase voltage equation.
Wherein k is p Is a proportional parameter and τ is an integral parameter.
Considering the sampling delay, consider the Pulse Width Modulation (PWM) inverter link as a first order inertia link, wherein the time constant is made to be 1.5T pwm The PWM transfer function can be expressed as the following equation.
Taking the straight-axis current loop design as an example, the motor straight-axis system transfer function can be expressed by the following equation. The transfer functions of the quadrature current system are also similar and will not be described in detail here.
Wherein L is d Is a straight axis inductance; r is R s Is the stator phase winding resistance.
In this way, the direct axis current loop control block diagram may be represented as shown in fig. 2. At the position ofIn FIG. 2, i d_Ref Representing a given direct axis current value; i.e d Indicating the output straight-axis current value of the current loop; ωL d i q Is a cross-decoupling term that is the amount of disturbance.
When the proportional integral link parameters are designed, the disturbance quantity omega L needs to be ignored d i q Whereby the direct current loop control block diagram can be simplified as shown in fig. 3.
Generally, for a control system, the system can be classified into a type 0, a type one, a type two, a type three, and the like according to the number of integration links included in the system. Generally, the type 0 system has a static difference in a steady state, which easily causes unstable systems, and the type three or more systems are not easily stable, so that the system is rarely used in practice. Thus, both type one and type two systems are commonly employed, as are the controls of the motor.
In order to determine the parameters of the proportional-integral link, the control system of the motor may be rewritten as the following equation according to a correction method of a typical type of system, taking a straight axis as an example.
Wherein T is d Is a time constant of the straight axis,
the direct current loop open loop transfer function can be determined by combining equations (2), (3) and (5) and can be expressed as the following equation.
Since the pulse width modulation time constant is much smaller than the direct axis time constant, i.e. T PWM ＜＜T d Therefore, the principle of pole cancellation between the zero point of the open loop transfer function and the link with larger inertia is adopted to makeThe direct current open loop transfer function can be reduced to the following equation.
Wherein the transmission coefficientTime constant t=1.5t PWM 。
According to the correction method of the typical type-one system, letThen the following equation is present.
Will beAnd->Substituting equation (8) the current loop adjustment parameter can be determined as the following equation.
Wherein omega PWM For pulse width modulation of switching angular frequency, f PWM For pulse width modulation switching frequency, T PWM For pulse width modulation period, k p The proportional parameter of the proportional integral link is tau, the integral parameter is L d Is a direct axis inductance, R s Is the stator phase winding resistance.
The current loop crossing frequency ω can thus be determined by the following equation c . The crossing frequency refers to the amplitude-frequency characteristic curve so that the amplitude of the amplitude-frequency characteristic function crosses for the first time0dB frequency point.
That is, the open loop crossover frequency of the current loop is about the switching angular frequency
If the control system of the motor is based on the correction method of the typical type two system, the influence of the stator phase winding resistance is ignored first, and taking the straight axis as an example, the transfer function of the straight axis system can be rewritten as the following equation.
Wherein L is d Is a direct axis inductance, R s Is the stator phase winding resistance.
The direct current open loop transfer function can be determined as the following equation in conjunction with equations (2), (3) and (11).
Wherein the transmission coefficientTime constant t=1.5t PWM 。
The amplitude-frequency characteristic of the open-loop transfer function of the direct current loop is examined, and s=jω is substituted into equation (12), so that the following equation can be obtained.
From this, the amplitude-frequency characteristic function can be determined as the following equation.
Let the turning frequencyTurning frequency->The crossover frequency of the open loop transfer function of the current loop is omega c The following equation can be obtained according to the amplitude-frequency characteristic.
20lgK-(40lgω 1 -40lg1)-(20lgω c -20lgω 1 )＝0 (15)
Sorting the above equations can determine the open loop gain K as follows.
According to the correction method of typical type II system, the open loop crossing frequency of the current loop is madeAnd let bandwidth->The correlation coefficient of the proportional-integral element can be determined as the following equation.
Will beτ＝10T＝15T PWM And->The proportional parameters of the proportional integral link obtained by simultaneous substitution into the above equation (17) are the following equations.
Wherein omega PWM For pulse width modulation of switching angular frequency, T PWM For pulse width modulation period, k p The proportional parameter of the proportional integral link is T is a time constant, L d Is a direct axis inductance.
The relevant parameter values of the proportional-integral link are thus obtained and are represented by the following equation.
Let t=1.5T PWM Andsubstituting the equation to obtain the crossing frequency omega of the open loop transfer function of the current loop c Expressed by the following equation.
In both the exemplary type one system correction method and the exemplary type two system correction method, the cross decoupling terms are regarded as disturbance amounts and ignored to design the regulator parameters, and the influence of the cross decoupling terms on the loop is examined, so that the circuit loop control block diagram is shown in fig. 4. If the direct axis current value i is to be given d_Ref Set to 0, the current loop control block diagram in fig. 4 may be simplified as shown in fig. 5. It can thus be determined that the loop open loop transfer function can be expressed as the following equation.
As can be seen by comparison, the current loop shown in fig. 5 has the same current loop bandwidth as the circuit loop shown in fig. 3, i.e. the current loop regulator parametersFor a given direct axis current value i d_Ref And cross-decoupling term ωL d i q The same gain feedback control effect.
However, in the high rotational speed region, the angular velocity ω of the rotor is large, and thus contains the cross-decoupling term ωl of the angular velocity amount d i q And also larger. The current loop is used as cross decoupling term omega L of disturbance quantity while adjusting and controlling a given direct axis current value d i q As well as being scaled up. Due to the cross decoupling term ωL of the high rotation speed region d i q The value of the ratio is larger, and the original parameters of the proportional integral link are adopted, so that the proportional integral link is easy to lose control effect, and the stability of the current loop regulator is further affected.
Therefore, in order to overcome the influence of the cross decoupling item of the high-rotation-speed region as disturbance quantity on the control loop, the bandwidth of the current loop needs to be reduced on the basis of the original proportional-integral link parameter design. The inventor provides a correction method of a multi-section linear function which adopts the rotating speed as an independent variable and takes the bandwidth coefficient as a dependent variable through research, namely, the correction method is respectively multiplied by coefficient factors on the basis of the original proportional-integral link parameters, so that a new proportional-integral parameter which is suitable for a high rotating speed area and changes according to the rotating speed is formed. For example, in some embodiments, the coefficient factor may include a scaling factor λ kp (n) and an integral factor lambda τi (n). Where n is represented by the following equation.
Taking a typical system design as an example, let the following equation hold.
Is set at a certain rotation speed n 0 Lower lambda kp (n 0 ) =1, the rotation speed n 0 The motor can be a high rotating speed point which starts to interfere after the motor is over-weak, namely the rotating speed point at which the related coefficient factor needs to be reduced. Along with itWith increasing rotation speed, when at rotation speed n 1 Let lambda get kp (n 1 )＝λ 1 。λ 1 At a rotation speed of n 1 The scaling factor of the time proportional integral element (i.e., the proportional gain factor), and lambda 1 <1。
Let the scale factor lambda kp (n)＝a 1 n+b 1 The parameters under the two conditions are substituted into the parameters to obtain the coefficient a according to the following equation 1 、b 1 。
Thus lambda is kp (n) can be expressed as the following equation.
Similarly, lambda can be designed in sections in different rotation speed intervals kp A linear function of (n) is represented by the following equation.
Similarly, the integral factor lambda τi (n) may be expressed as the following equation.
Substituting the above equations (26) and (27) into equation (23), the proportional integral parameter that can achieve the proportional integral link with the change in rotation speed is expressed by the following equation.
Wherein lambda is kp (n) and lambda τi (n) are respectivelyA scale factor and an integration factor, which are piecewise linear functions that vary with rotational speed. These scale factors and integration factors are stored in the memory of the processing unit 202 for invocation of the computer program upon execution.
Based on this concept, a method for controlling a synchronous motor is provided according to an embodiment of the present disclosure. The method may be performed by the processing unit 202 of the vehicle or by the processing unit 202 of the motor. For example, the method may be programmed as computer readable instructions and stored in memory. Furthermore, the method may also be performed as an interrupt service routine when the processing unit 202 executes interrupt instructions. When the instruction is executed by the processing unit 202, the steps of the method corresponding to the instruction are performed. Fig. 6 shows a flow chart of a method according to an embodiment of the present disclosure.
As shown in fig. 6, in accordance with the method of an embodiment of the present disclosure, at block 410, the processing unit 202 may determine a coefficient factor λ as a function of a current rotational speed of the motor based on the current rotational speed kp (n) and lambda τi (n). Lambda may be set if the current rotational speed of the motor has not reached or exceeded the threshold rotational speed kp (n) and lambda τi (n) are all equal to 1. The threshold rotation speed is the high rotation speed point where the motor starts to interfere after passing through the weak magnetic point, namely the rotation speed point where the coefficient factor needs to be reduced. In the event that the threshold rotational speed is reached or exceeded, in some embodiments, processing unit 202 may first determine a rotational speed interval in which the rotational speed is based on the current rotational speed. The processing unit 202 then calculates the coefficient a based on the determined rotational speed interval determination factor 1 、……、a k ，b 1 、……、b k ，α 1 、……、α k And beta 1 、……、β k . Subsequently, the processing unit 202 may calculate the coefficient and the current rotation speed from the determined factors to determine the scaling factor λ among the coefficient factors according to the above equations (26) and (27) kp (n) and an integral factor lambda τi (n)。
After determining the coefficient factor, at block 420, the processing unit 202 determines from the determined coefficient factorAnd (5) determining a proportional integral parameter. Specifically, in some embodiments, processing unit 202 may determine scaling factor λ according to equation (23) above kp (n) determining the proportional parameter k in the proportional-integral parameter p At the same time according to the determined integral factor lambda τi (n) determining an integral parameter τ.
To determine the direct and quadrature axis voltage values for controlling the motor, the processing unit 202 may also determine the direct and quadrature axis current bias values at block 430. Fig. 7 illustrates a program flow diagram of a current loop control algorithm in accordance with an embodiment of the present disclosure, with a straight axis. In some embodiments, as shown in fig. 7, determining the direct axis voltage value and the quadrature axis voltage value for controlling the motor may first determine the direct axis current offset value and the quadrature axis current offset value. Specifically, in some embodiments, the processing unit 202 may obtain a given direct axis current value i d_Ref And given the quadrature axis current value i q_Ref . The given direct axis current value and the given quadrature axis current value may be given current values of a current loop determined by a certain control unit, for example, according to parameters such as the input torque. At the same time, the processing unit 202 also determines the current real-time direct-axis current value and the real-time direct-axis current value of the motor from the sensor values obtained from the sensors. In the process of the real-time direct-axis current value and the real-time direct-axis current value, the data obtained from the sensor can be filtered to obtain a filtered real-time direct-axis current value i d_filt And real-time quadrature axis current value i q_filt . In this way, a direct axis current offset value and a quadrature axis current offset value can be determined. For example, the direct axis current bias value may be obtained using the following equation. The calculation of the quadrature current offset value is also similar and will not be described in detail in the following.
i d_err ＝i d_Ref -i d_filt (29)
Wherein i is d_err Is a direct current offset value; i.e d_Ref For a given direct current value; i.e d_filt Is the filtered real-time direct current value.
After the direct current offset value and the quadrature current offset value are determined, processing unit 202 determines a direct current value and a quadrature current value for controlling the motor based on the determined direct current offset value, quadrature current offset value, and proportional-integral parameter, at block 440. According to the steps, as mentioned above, by adopting the method of adjusting the bandwidth of the current loop according to the current rotating speed, the method can track the given current value by the feedback value of current implementation, and meanwhile, the disturbance interference on the cross decoupling items containing counter electromotive force is weakened by adopting the sectional limiting coefficient factor matching strategy, so that the influence of high rotating speed on a control system is reduced, and the stability and the robustness of the control system are ensured.
In some embodiments, after the direct current offset value and the quadrature current offset value are determined, the scaling parameter k, which is previously determined based on rotational speed, may be further based on p To determine the proportional component of the direct axis voltage value and the proportional component of the quadrature axis voltage value. Specifically, for the straight axis, the proportional component of the straight axis voltage value output by the proportional-integral link can be calculated by the following equation. The case of the quadrature axis is also similar and will not be described in detail hereinafter.
u dP_out ＝k p ×i d_err (30)
Wherein u is dP_out Is a proportional component of the direct current value, which is an intermediate quantity in the direct voltage calculation; k (k) p A proportional parameter that is a proportional-integral element, which can be determined by equation (23); i.e d_err Is the value of the direct current offset.
Next, the direct current bias value, the integral parameter τ, and the proportional parameter k can be calculated from the following equations p And the integral component of the direct-axis current value output by the determined proportional-integral link.
Wherein u is dI_out An integral component of the direct current value, which is an intermediate quantity in the direct voltage calculation; τ is an integral parameter of the proportional-integral link, which can be determined by equation (23); i.e d_err Is a direct current offset value; t (T) PWM Is pulse width modulationThe cycle time is a time constant.
The integral component of the direct current value may then be limited to obtain an integral component u of the limited direct current value dI_out Which is the intermediate quantity for calculating the direct axis voltage.
Next, the value of the direct axis voltage output by the proportional-integral link can be determined by the following equation. The quadrature voltage value calculation is also similar and will not be described in detail below.
u dPI_out ＝u dP_out +u dI_out (32)
Wherein u is dP_out Is a proportional component of the direct axis voltage; u (u) dI_out Is a limited proportional component; u (u) dPI_out And the direct axis voltage value is output by the proportional-integral link. In some embodiments, the output direct-axis voltage value may also be limited to obtain a direct-axis voltage value for controlling the motor. The quadrature voltage values for controlling the motor are similarly operated, and will not be described in detail herein.
After both the direct-axis voltage value and the quadrature-axis voltage value are determined, the Park inverse transformation and the Clark inverse transformation may be performed on the determined direct-axis voltage value and quadrature-axis voltage value to determine a phase voltage for the windings applied to the stator of the motor 201. The resulting phase voltages ultimately control the inverter to apply the phase voltages to the windings of the stator in accordance with, for example, space Vector Pulse Width Modulation (SVPWM) ripple control.
The main idea of SVPWM is to use ideal flux linkage circles of a three-phase symmetrical motor stator as a reference standard when three-phase symmetrical sine wave voltage is used for supplying power, and to properly switch different switching modes of a three-phase inverter, so that PWM waves are formed, and the accurate flux linkage circles are tracked by the formed actual flux linkage vectors. The traditional SPWM method is from the angle of the power to generate a sine wave power with adjustable frequency and voltage, and the SVPWM method considers the inverter system and the motor 201 as a whole, so that the model is simpler, and the microprocessor is convenient to control in real time.
By the method, the problem that the current loop is easily interfered by cross decoupling items including counter potential in a high-rotation-speed operation area, so that the current loop regulator is easily saturated and the stability of the current loop regulator is affected is solved. The method reduces the interference to cross decoupling items containing counter potential by adopting a piecewise linear coefficient factor matching strategy while the tracking of a real-time current value to a given current value is satisfied, thereby reducing the influence of high-rotation-speed interference on a control system and ensuring the stability and the robustness of the control system.
Fig. 8 illustrates a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. The apparatus 800 may be used to implement the method shown in fig. 6. As shown, the device 800 includes a central processing unit 202 (CPU) 801. The central processing unit 202801 may be at least one of the processing units 202 mentioned in the foregoing, which may perform various suitable actions and processes according to computer program instructions stored in a Read Only Memory (ROM) 802 or loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The CPU 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processing unit performs the various methods and processes described above, such as processes 600 and 700. For example, in some embodiments, processes 600 and 700 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 800 via ROM 602 and/or communication unit 809. When a computer program is loaded into RAM 803 and executed by CPU 801, one or more of the steps of processes 600 and 700 described above may be performed. Alternatively, in other embodiments, CPU 801 may be configured to perform processes 600 and 700 by any other suitable means (e.g., by way of firmware).
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), etc.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a computer-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Moreover, although operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
It is to be understood that the above detailed embodiments of the present disclosure are merely illustrative or explanatory of the principles of the disclosure and are not restrictive thereof. Therefore, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention. Meanwhile, the appended claims of the present disclosure are intended to cover all changes and modifications that fall within the scope and boundary of the claims or the equivalents of the scope and boundary.

Claims (20)

1. A method for controlling a synchronous motor, comprising:
determining a coefficient factor which changes along with the current rotating speed of the motor according to the current rotating speed of the motor under the condition that the current rotating speed of the motor reaches or exceeds a threshold rotating speed;
determining a proportional-integral parameter according to the coefficient factor;
determining a direct current offset value and an quadrature current offset value; and
and determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor according to the determined direct axis current deviation value, the quadrature axis current deviation value and the proportional-integral parameter.
2. The method of claim 1, wherein determining the proportional-integral parameter comprises:
determining a proportion parameter in the proportion integration parameters according to the proportion factors in the coefficient factors; and
and determining an integral parameter in the proportional integral parameters according to the integral factors in the coefficient factors.
3. The method of claim 1 or 2, wherein determining a coefficient factor comprises:
determining a rotating speed interval in which the current rotating speed is positioned according to the current rotating speed;
calculating a coefficient according to the determined rotation speed interval acquisition factor; and
and determining the coefficient factor according to the current rotating speed and the factor calculation coefficient.
4. The method of claim 1 or 2, wherein determining the direct current offset value and the quadrature current offset value comprises:
acquiring a given direct axis current value and a given quadrature axis current value;
acquiring a real-time direct axis current value and a real-time quadrature axis current value; and
a direct axis current offset value is determined from the given direct axis current value and the real-time direct axis current value, and a quadrature axis current offset value is determined from the given quadrature axis current value and the real-time quadrature axis current value.
5. The method of claim 4, wherein obtaining real-time direct current values and real-time quadrature current values comprises:
acquiring a direct axis current value and a quadrature axis current value from a sensor;
the obtained direct-axis current values and the quadrature-axis current values are respectively filtered to determine filtered real-time direct-axis current values and real-time quadrature-axis current values.
6. The method of any of claims 1, 2, and 5, wherein determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor further comprises:
determining a proportional component of the direct axis voltage value from the direct axis current bias value and the proportional parameter; and
and determining the proportion component of the quadrature axis voltage value according to the quadrature axis current deviation value and the proportion parameter.
7. The method of claim 6, wherein determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor further comprises:
determining an integral component of the direct-axis voltage value from the direct-axis current bias value, the integral parameter, and the proportional parameter; and
and determining an integral component of the quadrature voltage value according to the quadrature current deviation value, the integral parameter and the proportion parameter.
8. The method of claim 7, wherein determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor further comprises:
clipping the integral component of the determined direct axis voltage value and the integral component of the quadrature axis voltage value;
determining the direct axis voltage value from the integral component of the limited direct axis voltage value and the proportional component of the direct axis voltage value;
determining the quadrature voltage value from the integral component of the quadrature voltage value and the proportional component of the quadrature voltage value; and
clipping the determined direct axis voltage value and the quadrature axis voltage value to determine a direct axis voltage value and a quadrature axis voltage value for controlling the motor.
9. The method of any one of claims 1, 2, 5, 7, and 8, further comprising:
phase voltages for application to stator windings of the motor are determined by Park inverse transformation and Clark inverse transformation for the determined direct voltage values and quadrature axis voltage values.
10. An electronic device, comprising:
at least one processing unit, and
at least one memory coupled to the at least one processing unit and adapted to store instructions that, when executed by the at least one processing unit, cause the at least one processing unit to:
determining a coefficient factor which changes along with the current rotating speed of the motor according to the current rotating speed of the motor under the condition that the current rotating speed of the motor reaches or exceeds a threshold rotating speed;
determining a proportional-integral parameter according to the coefficient factor;
determining a direct current offset value and an quadrature current offset value; and
and determining a direct axis voltage value and a quadrature axis voltage value for controlling the motor according to the determined direct axis current deviation value, the quadrature axis current deviation value and the proportional-integral parameter.
11. The electronic device of claim 10, wherein the processing unit is further configured to:
determining a proportion parameter in the proportion integration parameters according to the proportion factors in the coefficient factors; and
and determining an integral parameter in the proportional integral parameters according to the integral factors in the coefficient factors.
12. The electronic device of claim 10 or 11, wherein the processing unit is further configured to:
determining a rotating speed interval in which the current rotating speed is positioned according to the current rotating speed;
calculating a coefficient according to the determined rotation speed interval acquisition factor; and
and determining the coefficient factor according to the current rotating speed and the factor calculation coefficient.
13. The electronic device of claim 10 or 11, wherein the processing unit is further configured to:
acquiring a given direct axis current value and a given quadrature axis current value;
acquiring a real-time direct axis current value and a real-time quadrature axis current value; and
a direct axis current offset value is determined from the given direct axis current value and the real-time direct axis current value, and a quadrature axis current offset value is determined from the given quadrature axis current value and the real-time quadrature axis current value.
14. The electronic device of claim 13, wherein the processing unit is further configured to:
acquiring a direct axis current value and a quadrature axis current value from a sensor;
the obtained direct-axis current values and the quadrature-axis current values are respectively filtered to determine filtered real-time direct-axis current values and real-time quadrature-axis current values.
15. The electronic device of any of claims 10, 11, and 14, wherein the processing unit is further configured to:
determining a proportional component of the direct axis voltage value from the direct axis current bias value and the proportional parameter; and
and determining the proportion component of the quadrature axis voltage value according to the quadrature axis current deviation value and the proportion parameter.
16. The electronic device of claim 15, wherein the control unit is further configured to:
determining an integral component of the direct-axis voltage value from the direct-axis current bias value, the integral parameter, and the proportional parameter; and
and determining an integral component of the quadrature voltage value according to the quadrature current deviation value, the integral parameter and the proportion parameter.
17. The electronic device of claim 16, wherein the processing unit is further configured to:
clipping the integral component of the determined direct axis voltage value and the integral component of the quadrature axis voltage value;
determining a direct axis voltage value from the integral component of the limited direct axis voltage value and the proportional component of the direct axis voltage value;
determining the quadrature voltage value from the integral component of the quadrature voltage value and the proportional component of the quadrature voltage value; and
clipping the determined direct axis voltage value and the quadrature axis voltage value to determine a direct axis voltage value and a quadrature axis voltage value for controlling the motor.
18. The electronic device of any of claims 10, 11, 14, and 17, wherein the processing unit is further configured to:
phase voltages for application to stator windings of the motor are determined by Park inverse transformation and Clark inverse transformation for the determined direct voltage values and quadrature axis voltage values.
19. A vehicle, comprising:
a motor for driving the vehicle to move; and
the electronic device of any of claims 10-18.
20. A computer readable medium having computer readable instructions stored thereon, which when executed by a processing unit, cause the processing unit to perform the method according to any of claims 1-9.
CN202210319050.0A 2022-03-29 2022-03-29 Method for controlling synchronous motor, electronic device and vehicle Pending CN116938053A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210319050.0A CN116938053A (en) 2022-03-29 2022-03-29 Method for controlling synchronous motor, electronic device and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210319050.0A CN116938053A (en) 2022-03-29 2022-03-29 Method for controlling synchronous motor, electronic device and vehicle

Publications (1)

Publication Number Publication Date
CN116938053A true CN116938053A (en) 2023-10-24

Family

ID=88374036

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210319050.0A Pending CN116938053A (en) 2022-03-29 2022-03-29 Method for controlling synchronous motor, electronic device and vehicle

Country Status (1)

Country Link
CN (1) CN116938053A (en)

Similar Documents

Publication Publication Date Title
Furuhashi et al. A position-and-velocity sensorless control for brushless DC motors using an adaptive sliding mode observer
JP4685509B2 (en) AC motor drive control device and drive control method
JP3467961B2 (en) Control device for rotating electric machine
JP5952332B2 (en) Sensorless vector control device for induction motor
JP4221307B2 (en) Synchronous motor control device, electrical equipment and module
EP1492224A1 (en) Sensorless controller of ac motor and control method
EP3014760B1 (en) System and method of rotor time constant online identification in an ac induction machine
WO2010116815A1 (en) Ac motor control device and ac motor driving system
JP2014515244A (en) Method and system for controlling an electric motor with temperature compensation
JP2000270600A (en) Drive of induction motor, and estimating method of its parameters
JP2003513594A (en) Minimization of motor torque ripple due to imbalance
JPH07177782A (en) Self-tuning type follow-up control for permanent magnet synchronizing motor
US6509711B1 (en) Digital rotor flux observer
CN103338002A (en) Method for identifying permanent magnet flux and quadrature axis inductance of permanent magnet synchronous motor
CN110176892B (en) Method, system and apparatus for controlling current supplied to control a motor
JP2000032799A (en) Controller and control method for electric rotating machine
US8618756B2 (en) Systems and method for controlling electric motors
GB2374162A (en) A method of controlling an induction generator
Uddin et al. Performance of a loss model based nonlinear controller for IPMSM drive incorporating parameter uncertainties
Chatterjee A simple leakage inductance identification technique for three-phase induction machines under variable flux condition
JPH11150996A (en) Motor controller
Badini et al. MRAS-based speed and parameter estimation for a vector-controlled PMSM drive
Won et al. Improved FOC of IPMSM using finite-state model predictive current control for EV
CN116938053A (en) Method for controlling synchronous motor, electronic device and vehicle
JPH09238492A (en) Control equipment of ac motor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination