CN117424505B - Control method, equipment and medium of synchronous reluctance motor - Google Patents

Control method, equipment and medium of synchronous reluctance motor Download PDF

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Publication number
CN117424505B
CN117424505B CN202311747195.1A CN202311747195A CN117424505B CN 117424505 B CN117424505 B CN 117424505B CN 202311747195 A CN202311747195 A CN 202311747195A CN 117424505 B CN117424505 B CN 117424505B
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preset
axis
flux linkage
current
target
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CN117424505A (en
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潘健超
王一帆
周顺远
沈传文
阮冬华
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Shanghai Jingtai Technology Co ltd
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Shanghai Jingtai Technology Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • 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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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
    • 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
    • H02P25/08—Reluctance 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The application provides a control method, equipment and medium of a synchronous reluctance motor. Based on the nonlinear flux linkage current model considering the self-saturation and cross-saturation effects, a comprehensive nonlinear control strategy containing MTPA, weak magnetism, maximum current limit and MTPV is provided. Aiming at a nonlinear model of the motor, a nonlinear control strategy numerical analysis algorithm which is second-order or super-linear convergent and can be realized by a DSP is developed. The benefit of this application is: 1. the numerical analysis algorithm is simple and efficient, the solving of the nonlinear control strategy can be directly realized by the DSP, and then the self-setting of the nonlinear control strategy of the frequency converter can be realized, so that the labor cost is greatly reduced; 2. all control strategies consider the nonlinearity of the motor, and the motor has stronger overload capacity, wider speed regulation range and higher working efficiency.

Description

Control method, equipment and medium of synchronous reluctance motor
Technical Field
The application relates to the technical field of motor control, in particular to a control method, equipment and medium of a synchronous reluctance motor.
Background
The rotor structure of the synchronous reluctance motor is firm, no permanent magnet exists, no demagnetizing risk exists, and overload and weak magnetic energy are stronger than those of the permanent magnet synchronous motor. And the synchronous reluctance motor does not need rare earth materials, the manufacturing cost is low, the rotor has no winding, and the efficiency is higher than that of an asynchronous motor. With the continuous optimization of the rotor structure of the synchronous reluctance motor, the synchronous reluctance motor is becoming a new generation high-efficiency motor, and has a trend of gradually replacing the traditional low-efficiency asynchronous motor.
However, the synchronous reluctance motor has obvious saturation and cross saturation effects, and if the synchronous reluctance motor is controlled by adopting a linear constant inductance control strategy, the control error of the synchronous reluctance motor is larger, and the overload and weak magnetic performance of the synchronous reluctance motor cannot be fully exerted.
Disclosure of Invention
The application provides a control method, equipment and medium of a synchronous reluctance motor, which aim to reduce the control error of the synchronous reluctance motor and fully exert the overload and flux weakening performance of the synchronous reluctance motor.
In a first aspect, the present application provides a method for controlling a synchronous reluctance motor, the method for controlling a synchronous reluctance motor including: acquiring the current d-axis current and the current q-axis current of the synchronous reluctance motor; determining a current d-axis flux linkage and a current q-axis flux linkage associated with the current d-axis current and the current q-axis current according to a preset first association relation between the current and the flux linkage, wherein the preset first association relation comprises a preset d-axis current, a preset q-axis current, a preset d-axis flux linkage and a preset q-axis flux linkage which are in nonlinear association; acquiring a target d-axis magnetic linkage and a target q-axis magnetic linkage of the synchronous reluctance motor; and adjusting the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor according to the target d-axis flux linkage and the target q-axis flux linkage.
According to the method and the device for calculating the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor based on the nonlinear associated current and flux linkage relation, the d-axis flux linkage and the q-axis flux linkage are calculated more accurately, and therefore control errors of the synchronous reluctance motor are reduced.
In one possible implementation manner of the present application, before the step of obtaining the current d-axis current and the current q-axis current of the synchronous reluctance motor, the method further includes: acquiring a preset nonlinear calculation formula between current and flux linkage in the synchronous reluctance motor, wherein the preset nonlinear calculation formula comprises a self-saturation coefficient, a cross-saturation coefficient and an unaccounted saturation coefficient; acquiring the preset d-axis current and the preset q-axis current; solving the preset nonlinear calculation formula based on the preset d-axis current and the preset q-axis current to obtain the preset d-axis flux linkage and the preset q-axis flux linkage; and generating the preset first association relation based on the preset d-axis current, the preset q-axis current, the preset d-axis flux linkage and the preset q-axis flux linkage.
According to the embodiment of the application, the self-saturation, cross-saturation and non-saturation factors in the synchronous reluctance motor are comprehensively considered, and the preset first association relationship is generated, so that the preset first association relationship is more accurate.
In one possible implementation manner of the present application, the acquiring the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor includes: acquiring a target torque of the synchronous reluctance motor; determining a target common flux linkage associated with the target torque according to a preset second association relation between flux linkage and maximum torque, wherein the preset second association relation comprises a preset common flux linkage and a preset maximum torque which are in nonlinear association; and determining a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor based on the target co-flux linkage.
According to the method and the device, an MTPA control strategy is adopted, and the target d-axis magnetic linkage and the target q-axis magnetic linkage of the synchronous reluctance motor are calculated through a nonlinear preset second association relation between the magnetic linkage and the maximum torque, so that the control efficiency of the synchronous reluctance motor is improved.
In one possible implementation manner of the present application, before the step of obtaining the current d-axis current and the current q-axis current of the synchronous reluctance motor, the method further includes: acquiring a preset maximum torque of the synchronous reluctance motor under a preset working current, and d-axis current and q-axis current under the preset working current and the preset maximum torque; determining d-axis flux linkage and q-axis flux linkage under the preset working current and the preset maximum torque based on the preset first association relation, d-axis current and q-axis current under the preset working current and the preset maximum torque; determining a preset common flux linkage under the preset working current and the preset maximum torque based on a d-axis flux linkage and a q-axis flux linkage under the preset working current and the preset maximum torque; and generating the preset second association relation based on the preset maximum torque and the preset common magnetic linkage.
According to the method and the device, the corresponding preset common magnetic linkage is calculated through calculating the preset maximum torque, the d-axis current and the q-axis current of the synchronous reluctance motor under the preset working current, and the nonlinear preset second association relation in the MTPA control strategy is generated.
In one possible implementation manner of the present application, the determining, based on the target co-flux linkage, a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor includes: acquiring the current bus voltage and the current rotor electric angular speed of the synchronous reluctance motor; determining a current flux-weakening maximum working flux linkage of the synchronous reluctance motor based on the current bus voltage and the current rotor electric angular speed; taking the smaller value of the current weak magnetic maximum working flux linkage and the target common flux linkage as a target working flux linkage; and determining a target d-axis magnetic linkage and a target q-axis magnetic linkage of the synchronous reluctance motor based on the target working magnetic linkage.
According to the method and the device for determining the target d-axis flux linkage and the target q-axis flux linkage, the current weak magnetic maximum working flux linkage of the synchronous reluctance motor is calculated, and the target common flux linkage is limited through the current weak magnetic maximum working flux linkage, so that the determined target d-axis flux linkage and the target q-axis flux linkage are more reasonable.
In one possible implementation manner of the present application, the determining, based on the target working flux linkage, a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor includes: determining a target maximum torque associated with the target working flux linkage according to a preset third association relation between the working flux linkage and the maximum torque, wherein the preset third association relation comprises a preset working flux linkage and a preset maximum torque which are in nonlinear association; determining the torque at the maximum working current of the target working flux linkage and the synchronous reluctance motor and taking the torque as the actual maximum torque; determining the smaller value of the actual maximum torque and the target maximum torque as the limit torque of the synchronous reluctance motor; and determining a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor based on the target working flux linkage and a smaller value of the limit torque and the target torque.
According to the method and the device for controlling the synchronous reluctance motor, the target maximum torque associated with the target working flux linkage is determined through the nonlinear preset third association relation in the MTPV control strategy, the actual maximum torque under the maximum working current is determined, and then the target torque of the synchronous reluctance motor is limited based on the target maximum torque and the actual maximum torque, so that the synchronous reluctance motor is controlled more reasonably.
In one possible implementation manner of the present application, before the step of obtaining the current d-axis current and the current q-axis current of the synchronous reluctance motor, the method further includes: acquiring a plurality of d-axis magnetic linkages and q-axis magnetic linkages of the synchronous reluctance motor under a preset working magnetic linkage; determining a plurality of d-axis currents and q-axis currents under the preset working flux linkage based on the preset first association relation, the plurality of d-axis flux linkages and q-axis flux linkages under the preset working flux linkage; determining a plurality of torques under the preset operating flux linkage based on a plurality of d-axis currents and q-axis currents under the preset operating flux linkage; and taking the maximum value of the torques under the preset working flux as the preset maximum torque which is in nonlinear association with the preset working flux, and obtaining the preset third association relation.
According to the method and the device, the maximum value of the torques of the synchronous reluctance motor under the preset working flux linkage is calculated and is related to the preset working flux linkage, so that the nonlinear preset third association relation in the MTPV control strategy is generated.
In one possible implementation manner of the present application, the determining the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor based on the target working flux linkage and the smaller value of the limit torque and the target torque includes: acquiring a preset fourth association relation among the torque, the working flux linkage and the d-axis flux linkage, wherein the preset fourth association relation comprises a preset torque, a preset working flux linkage and a preset d-axis flux linkage which are in nonlinear association; and determining a d-axis flux linkage associated with a smaller value in the limit torque and the target working flux linkage according to the preset fourth association relation, and taking the d-axis flux linkage as the target d-axis flux linkage, so as to obtain the target d-axis flux linkage and the target q-axis flux linkage.
According to the method and the device, the limit torque, the smaller value in the target torque and the target working flux are converted into the target d-axis flux and the target q-axis flux through the nonlinear associated preset torque, the nonlinear associated preset working flux and the nonlinear associated preset d-axis flux, and rapid calculation of the d-axis flux and the q-axis flux is achieved.
In a second aspect, the present application further provides an electronic device, including: one or more processors, a memory, and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the method of controlling a synchronous reluctance motor described above.
In a third aspect, the present application also provides a computer readable storage medium having stored thereon a computer program to be loaded by a processor for performing the steps in the above-described method of controlling a synchronous reluctance motor.
In a fourth aspect, the present application provides a computer program product comprising a computer program or instructions which, when executed by an electronic device, cause the electronic device to perform the method of controlling a synchronous reluctance motor in any of the possible implementations of the first aspect described above.
The embodiment of the application provides a control method, equipment and medium of a synchronous reluctance motor. Based on the nonlinear flux linkage current model considering the self-saturation and cross-saturation effects, a comprehensive nonlinear control strategy containing MTPA, weak magnetism, maximum current limit and MTPV is provided. Aiming at a nonlinear model of the motor, a nonlinear control strategy numerical analysis algorithm which is second-order or super-linear convergent and can be realized by a DSP is developed. The benefit of this application is: 1. the numerical analysis algorithm is simple and efficient, the solving of the nonlinear control strategy can be directly realized by the DSP, and then the self-setting of the nonlinear control strategy of the frequency converter can be realized, so that the labor cost is greatly reduced; 2. all control strategies consider the nonlinearity of the motor, and the motor has stronger overload capacity, wider speed regulation range and higher working efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of one embodiment of a method for controlling a synchronous reluctance motor provided in an embodiment of the present application;
FIG. 2 is a flow chart of another embodiment of a method for controlling a synchronous reluctance motor provided in an embodiment of the present application;
FIG. 3 is a flow chart of a further embodiment of a method for controlling a synchronous reluctance motor provided in an embodiment of the present application;
FIG. 4 is a flow chart of a further embodiment of a method for controlling a synchronous reluctance motor provided in an embodiment of the present application;
FIG. 5 is an exemplary graph of MTPV versus torque curve at maximum operating current provided in an embodiment of the present application;
FIG. 6 is a flow chart of a further embodiment of a method for controlling a synchronous reluctance motor provided in an embodiment of the present application;
fig. 7 is an exemplary diagram of corresponding coordinate points in a planar rectangular coordinate system of the association relationship between the working flux linkage and the torque provided in the embodiment of the present application;
FIG. 8 is a schematic diagram of an embodiment of a control apparatus for a synchronous reluctance motor provided in an embodiment of the present application;
fig. 9 is a schematic structural diagram of an embodiment of an electronic device provided in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In the description of the present application, 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 a relative importance or an implicit indication of the number of technical features being 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 application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In this application, the terms "in embodiments of the application", "in some embodiments of the application" are used to mean "serving as an example, instance, or illustration". Any embodiment described herein as "in an embodiment of the application," "in some embodiments of the application," is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known principles and processes have not been described in detail to avoid unnecessarily obscuring the description of the present application. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
The embodiment of the application provides a control method, equipment and medium of a synchronous reluctance motor, and the control method, equipment and medium are respectively described in detail below.
Referring to fig. 1, fig. 1 is a flowchart illustrating an embodiment of a method for controlling a synchronous reluctance motor according to an embodiment of the present application. The control method of the synchronous reluctance motor specifically comprises the following steps:
101. the current d-axis current and the current q-axis current of the synchronous reluctance motor are obtained.
In the embodiment of the application, the rotor of the synchronous reluctance motor has a d-axis and a q-axis, and three-phase current or voltage of the motor can be converted into a direct current component and a rotating component through d-axis and q-axis transformation, so that the motor can be conveniently controlled. The d-axis and q-axis of the synchronous reluctance motor form a dq rotational coordinate system. The present d-axis current and present q-axis current of the synchronous reluctance motor can be obtained by direct measurement of the current.
102. According to a preset first association relation between the current and the flux linkage, determining a current d-axis flux linkage and a current q-axis flux linkage which are associated with a current d-axis current and a current q-axis current, wherein the preset first association relation comprises a preset d-axis current, a preset q-axis current, a preset d-axis flux linkage and a preset q-axis flux linkage which are associated in a nonlinear manner.
In this embodiment of the present application, a preset first association relationship between the current and the flux linkage is pre-stored, where the preset first association relationship is generally table data, and each row of data in the table data may include a preset d-axis current, a preset q-axis current, a preset d-axis flux linkage, and a preset q-axis flux linkage that are in a nonlinear association.
In some embodiments of the present application, the current d-axis flux linkage and the current q-axis flux linkage associated with the current d-axis current and the current q-axis current may be obtained by bilinear interpolation look-up in a preset first association relationship. When bilinear interpolation look-up table is used, the current d-axis flux linkageAnd the current q-axis flux linkage->The formula of (a) is exemplified as follows:
wherein,for the current of the current d-axis, +.>For the current of the q-axis +.>、/>Is to preset the first association relation +.>Left and right end point values of the current interval, < >>、/>Is to preset the first association relation +.>The left and right end points of the current interval.
The following describes a process of generating a preset first association relationship, which is specifically as follows:
the mathematical model of the synchronous reluctance motor taking flux linkage as a state variable under the dq rotating coordinate system is as follows:
wherein,for d-axis flux linkage->For q-axis flux linkage>For d-axis voltage, ">For q-axis voltage, ">For the resistance of the stator in a synchronous reluctance machine, < > >For d-axis current, ">For q-axis current, ">Is the electrical angular velocity of the rotor in a synchronous reluctance motor.
The electromagnetic torque equation is:
wherein,for torque->Is the pole pair number of the motor.
Because the synchronous reluctance motor has obvious saturation and cross saturation effects, the nonlinear relation between flux linkage and current can be obtained through finite element analysis, experiments and other methods, and in order to facilitate the solving of a control strategy, the nonlinear relation between flux linkage and current is fitted into a nonlinear flux linkage current model (namely a preset nonlinear calculation formula between current and flux linkage in the synchronous reluctance motor):
wherein the index term S, T, U, V is an empirical value, and can be obtained by early analysis、/>、、/>；/>、/>、/>、/>、/>For the coefficients to be fitted, +.>、/>Coefficient representing the unsatisfied +_>、Represents the d-axis self-saturation and q-axis self-saturation coefficients, respectively>Representing the cross saturation coefficient, and is determined by fitting a nonlinear relation between flux linkage and current.
In order to generate the preset first association relation, the corresponding preset d-axis flux linkage and the corresponding preset q-axis flux linkage can be obtained through offline inverse solution based on a nonlinear flux linkage current model in advance by the preset d-axis current and the preset q-axis current, so that the preset first association relation is obtained. The method comprises the following steps:
Due toAbout->Characteristic of odd function>About->Characteristic of an odd function, therefore, only +.>、/>Under the working condition +.>、/>At this time->、/>Is positive. Under other working conditions, if the current is negative, the corresponding flux linkage is inverted.
After the absolute value operation in the nonlinear flux linkage current model is removed, the problem is equivalent to the zero point problem of a binary nonlinear equation set, the problem can be solved iteratively by adopting a Newton method, the Newton method has second-order convergence, the solving efficiency is extremely high, and the algorithm is simple.
Shape of a pairThe iterative formula of Newton's method is:
wherein,is->At->Jacobian matrix at:
the calculation process for solving the nonlinear equation set by the Newton method iteration method is as follows:
(1) At the position ofNearby select +.>Given the allowable error->、/>And maximum number of iterations->；
(2) The following steps are executed in an iterative mode, and the maximum iteration number is K;
(i) Calculation of、/>；
(ii) Solving forLinear equation set->；
(iii) Order the；
(iv) If it isOr->Get +.>Stopping calculation; if->And outputting information that K iterations do not meet the precision requirement, and stopping the iteration.
103. And acquiring a target d-axis magnetic linkage and a target q-axis magnetic linkage of the synchronous reluctance motor.
In the embodiment of the application, the target d-axis flux linkage and the target q-axis flux linkage are expected values of the synchronous reluctance motor, namely control parameters of the synchronous reluctance motor. The target d-axis flux linkage and the target q-axis flux linkage may be input by the control device of the synchronous reluctance motor, or may be further calculated by other control parameters input by the control device of the synchronous reluctance motor (e.g., in the calculation manner of the embodiment shown in fig. 3).
104. And adjusting the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor according to the target d-axis flux linkage and the target q-axis flux linkage.
In the embodiment of the application, since the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor can be calculated, the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor can be adjusted so that the current d-axis flux linkage is equal to the target d-axis flux linkage and the current q-axis flux linkage is equal to the target q-axis flux linkage, and the control of the synchronous reluctance motor is realized.
In the technical scheme of the application, the current d-axis current and the current q-axis current are converted into corresponding current d-axis flux linkage and current q-axis flux linkage through a first preset association relation which is in nonlinear association, so that the control error of the synchronous reluctance motor is reduced, and the overload and flux weakening performance of the synchronous reluctance motor is fully exerted.
As shown in fig. 2, which is a flowchart of another embodiment of the control method of the synchronous reluctance motor provided in the embodiment of the present application, the obtaining the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor may include:
201. and obtaining the target torque of the synchronous reluctance motor.
In the embodiment of the application, the target torque may be input by the control device of the synchronous reluctance motor, for example, a rotation speed regulator in the control device of the synchronous reluctance motor may input an initial torque command, where the initial torque command includes the target torque. The control of the rotation speed of the synchronous reluctance motor can be realized through the control of the target torque.
202. And determining a target common flux linkage associated with the target torque according to a preset second association relation between the flux linkage and the maximum torque, wherein the preset second association relation comprises a preset common flux linkage and a preset maximum torque which are in nonlinear association.
In this embodiment of the present application, a preset second association relationship between the flux linkage and the maximum torque is pre-stored, where the preset second association relationship is generally table data, and each line of data in the table data may include a preset common flux linkage and a preset maximum torque that are in a nonlinear association.
In some embodiments of the present application, the target co-flux linkage associated with the target torque may be obtained by linear interpolation look-up table in a preset second association relationship. Target co-flux linkage during linear interpolation table lookupThe formula of (a) is exemplified as follows:
wherein,、/>is a target torque in a preset second association relation>Absolute value of +.>A preset maximum torque and a preset co-flux linkage at the left end point of the torque interval, and +.>、/>Is a target torque in a preset second association relation>Absolute value of +.>The preset maximum torque and the preset common flux linkage of the right end point of the torque interval are located.
The following describes a process of generating a preset second association relationship, which is specifically as follows:
The electromagnetic torque equation of the synchronous reluctance motor is:
from the flux linkage current model, it can be obtained:
further, there are:
therefore, only the consideration of the preset second association relationship can be taken into consideration in the generation of the second association relationship、/>、/>Is the case. If the torque is negative, for->And (5) taking the reverse.
Firstly, obtaining the maximum working current of the synchronous reluctance motorAnd aliquoting it, each current after aliquoting is +.>：
，/>
For each preset operating currentIf it will->As an argument, can be obtained:
thus, each preset operating currentThe lower parts are all provided with a plurality of->Each->Are all corresponding to one->。
For a single preset operating currentAny of the following->、/>The corresponding d-axis magnetic linkage can be obtained by Newton iteration method>Q-axis flux linkage->And then can obtain the corresponding torque：
In the case of synchronous reluctance motors that are not excessively saturated,at->The torque at the peak point is the preset maximum torque of the synchronous reluctance motor under the preset working current, namely the MTPA (maximum torque current ratio control) working point, so that the peak point needs to be determined.
This problem is equivalent to solvingThe analytical expression of (2) cannot be written directly, so the difference quotient +.>The zero point of (2) can be solved by iteration of a chord-cut method, the chord-cut method can be converged in a super-linear manner, the solving efficiency is high, the algorithm is simple, the solution can be performed by adopting a parabolic method and the like, and the method is not limited. The chord-cutting method is specifically as follows:
For the shape likeThe iteration formula of the chord cut method is as follows:
obtaining d-axis current of peak pointAnd after the maximum torque is preset, the q-axis current at that time can be obtained>D-axis current passing through peak point +.>Q-axis current->Based on a preset first association relation, corresponding d-axis flux linkage is determinedQ-axis flux linkage->. At this time, a preset co-flux linkage at a preset operating current and a preset maximum torque +.>Calculated by the following formula:
and correlating the preset common flux linkage and the preset maximum torque under the same preset working current, so as to obtain the preset common flux linkage and the preset maximum torque which are in nonlinear correlation in the preset second correlation.
203. Based on the target co-flux linkage, a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor are determined.
In the embodiment of the present application, the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor may be further calculated based on the target co-flux linkage, and the calculation mode is detailed in the steps in the embodiment shown in fig. 3.
As shown in fig. 3, which is a flowchart of another embodiment of the control method of the synchronous reluctance motor provided in the embodiment of the present application, determining, based on the target co-flux linkage, a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor may include:
301. And acquiring the current bus voltage and the current rotor electric angular speed of the synchronous reluctance motor.
In the embodiment of the application, the current bus voltage of the synchronous reluctance motorAnd the current rotor electrical angular velocity->Can be obtained by direct measurement of voltage and electrical angular velocity.
302. And determining the current weak magnetic maximum working flux linkage of the synchronous reluctance motor based on the current bus voltage and the current rotor electric angular speed.
In the embodiment of the application, the control device of the synchronous reluctance motor adopts a feedforward flux weakening method to directly flux weakening the flux linkage of the stator in the synchronous reluctance motor so as to control the synchronous reluctance motor, so that the target flux linkage of the synchronous reluctance motor is limited based on the current flux weakening maximum working flux linkage.
In some embodiments of the present application, the current flux weakening maximum operating flux linkage of a synchronous reluctance motorThe formula of (a) is exemplified as follows:
wherein,is a weak magnetic margin coefficient so as to ensure the resistance voltage drop of the stator and the dynamic regulation voltage of the inner ring.
303. And taking the smaller value of the current weak magnetic maximum working flux linkage and the target co-flux linkage as the target working flux linkage.
In the embodiment of the application, the smaller value in the current weak magnetic maximum working flux linkage and the target co-flux linkage is used as the target working flux linkage, so that the limitation on the target co-flux linkage is realized.
304. Based on the target operating flux linkage, a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor are determined.
In the embodiment of the present application, the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor may be further calculated based on the target working flux linkage, and the calculation mode is detailed in the steps in the embodiment shown in fig. 4.
As shown in fig. 4, which is a flowchart of another embodiment of the control method of the synchronous reluctance motor provided in the embodiment of the present application, determining the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor based on the target working flux linkage may include:
401. and determining a target maximum torque associated with the target working flux linkage according to a preset third association relation between the working flux linkage and the maximum torque, wherein the preset third association relation comprises a nonlinear association preset working flux linkage and a nonlinear association preset maximum torque.
In this embodiment of the present application, a preset third association relationship between the working flux linkage and the maximum torque is pre-stored, where the preset third association relationship is generally table data, and each line of data in the table data may include a preset working flux linkage and a preset maximum torque that are in a nonlinear association.
In some embodiments of the present application, it is true The target maximum torque associated with the target working flux linkage is determined and can be obtained through linear interpolation lookup in a preset third association relation. Target maximum torque during linear interpolation look-up tableThe formula of (a) is exemplified as follows:
wherein,、/>for presetting target working magnetic linkage in third association relation>A preset maximum torque and a preset working flux linkage at the left end point of the flux linkage interval are located, and +.>、/>For presetting target working magnetic linkage in third association relation>The preset maximum torque of the right end point of the flux linkage interval is linked with the preset working flux.
The following describes a generation process of a preset third association relationship, which is specifically as follows:
first, the maximum working current of the synchronous reluctance motor is setAs a preset working current, determining a preset maximum torque under the preset working current, and determining a preset common magnetic linkage associated with the preset maximum torque in a preset third association relationAnd is used as the maximum working flux linkage allowed by the synchronous reluctance motor, and the maximum working flux linkage is equally divided into parts, wherein each part of flux linkage after the equal division is +.>：
，/>
For each preset working flux linkageIf it will->As an argument, can be obtained:
thus, each preset working flux linkageThe lower parts are provided with a plurality of d-axis magnetic links +.>Every d-axis flux linkage->Are all correspondingly provided with a q-axis magnetic linkage +. >。
For a single preset operating currentAny of the following->、/>The corresponding d-axis current can be obtained by adopting the preset first association relation>Corresponding q-axis current->Further, it is possible to obtain:
/>
in the case of synchronous reluctance motors that are not excessively saturated,at->The upper part is in a unimodal form, and the torque at the peak point is the preset maximum torque of the synchronous reluctance motor under the preset working flux, namely the MTPV (maximum torque voltage ratio control) working point, so that the peak point needs to be determined.
This problem is equivalent to solvingThe analytic expression of the zero point of the (b) can not be directly written out, and can be iteratively solved by using a chord-cut method, and the related formula of the chord-cut method can refer to the steps in the embodiment shown in fig. 2. Of course, the solution may be performed by parabolic method, etc., and is not limited thereto.
And correlating the preset working flux with the preset maximum torque under the preset working flux, so as to obtain the preset working flux and the preset maximum torque which are in nonlinear correlation in the preset third correlation.
In some embodiments of the present application, the preset working flux linkage and the preset maximum torque in the preset third association relationship in a nonlinear association are shown in a curve 2 in fig. 5, and the abscissa in fig. 5 is the flux linkage and the ordinate is the torque.
402. The torque at the target operating flux linkage and the maximum operating current of the synchronous reluctance motor is determined and taken as the actual maximum torque.
In the embodiment of the present application, since the torque of the synchronous reluctance motor is also limited by the maximum operating current of the synchronous reluctance motor, it is also necessary to determine the torque at the target operating flux linkage and the maximum operating current of the synchronous reluctance motor as the actual maximum torque.
In some embodiments of the present application, the actual maximum torque may be calculated by the following formula:
in the above formula, the known quantity is the target work flux linkageMaximum operating current->. Eliminate->The above formula is then equivalent to solving for +.>The zero point of the unitary nonlinear equation of (2), this equation can be solved by newton's iteration method:
shape of a pairThe iterative formula of Newton's method is:
obtainingAfter that, based on->Determine->Based on->、/>Determining corresponding +.>、/>. The corresponding torque is calculated by the following formula>Namely the actual maximum torque：
In some embodiments of the present application, the target operating flux and torque at the maximum operating current of the synchronous reluctance motor is shown as curve 1 in fig. 5, the flux on the abscissa in fig. 5, and the torque on the ordinate.
403. The smaller value of the actual maximum torque and the target maximum torque is determined as the limit torque of the synchronous reluctance motor.
404. And determining a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor based on the smaller value of the limit torque and the target working flux linkage.
In the embodiment of the present application, since the torque of the synchronous reluctance motor is limited by the actual maximum torque and the target maximum torque, it is necessary to take the smaller value of the actual maximum torque and the target maximum torque as the limit torque of the synchronous reluctance motor, and then limit the target torque by using the limit torque. And then, based on the smaller value of the limit torque and the target working flux linkage, further calculating the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor, wherein the calculation mode is shown in the steps in the embodiment shown in fig. 6.
It should be noted that, since the limit torque is a smaller value between the actual maximum torque and the target maximum torque, and the target maximum torque is obtained by the preset third association relationship, the preset maximum torque in the preset third association relationship is often a positive value, but the target torque may be a positive value or a negative value, so when determining the smaller value between the limit torque and the target torque, if the target torque is a negative value, the limit torque needs to be converted into a negative value (the opposite number of the limit torque) first, and then compared with the target torque.
As shown in fig. 6, which is a flowchart of another embodiment of the control method of the synchronous reluctance motor provided in the embodiment of the present application, determining the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor based on the target working flux linkage and the smaller value of the limit torque and the target torque may include:
601. and acquiring a preset fourth association relation among the torque, the working flux linkage and the d-axis flux linkage, wherein the preset fourth association relation comprises a preset torque, a preset working flux linkage and a preset d-axis flux linkage which are in nonlinear association.
In this embodiment of the present application, a preset fourth association relationship between the torque, the working flux linkage and the d-axis flux linkage is pre-stored, where the preset fourth association relationship is generally table data, and each row of data in the table data may include a preset torque, a preset working flux linkage and a preset d-axis flux linkage that are in a nonlinear association.
The following describes a generation process of a preset fourth association relationship, which is specifically as follows:
since the preset torque and the preset working flux linkage are known, the corresponding preset d-axis flux linkage needs to be determined based on the preset torque and the preset working flux linkage. For example, it can be calculated by the following formula:
Wherein,for presetting d-axis magnetic linkage, +.>For presetting the q-axis flux linkage, +.>For presetting the working magnetic linkage->Is a preset torque. Eliminate->The above system of equations is then equivalent to solving for +.>Zero point of the unitary nonlinear equation of (a):
this equation can be solved iteratively by newton's method.
On solving to obtain、/>After that, the preset torque is +.>Preset working flux linkage->Preset d-axis flux linkage +.>And (5) associating to obtain a preset fourth association relation.
602. And determining a d-axis flux linkage of the limit torque and the target torque, which is related to a smaller value and a target working flux linkage, according to a preset fourth association relation, and taking the d-axis flux linkage as a target d-axis flux linkage, so as to obtain a target d-axis flux linkage and a target q-axis flux linkage.
In the embodiment of the application, the d-axis flux linkage of the limit torque and the target torque, which is related to the smaller value and the target working flux linkage, is determined, and can be obtained through bilinear interpolation table lookup in a preset fourth association relation.
In some embodiments of the present application, the preset torque in the fourth association is presetPreset working flux linkageAs shown by discrete points in FIG. 7, the ordinate of each discrete point is a preset torque +.>The abscissa is a preset working flux linkage +.>. The boundary of the discrete point in fig. 7 is bordered by curve 2 in fig. 5.
When bilinear interpolation table lookup is performed, the Pythagorean theorem is used to solve the corresponding interpolation points、、/>、/>Then interpolate to get the target q-axis flux linkage +.>And target d-axis flux linkage->The method is characterized by comprising the following steps:
for some special cases, for example, at the boundaries of discrete points in fig. 7, there may be only three interpolation points, which can be linearly interpolated along the abscissa and ordinate directions, respectively, as follows:
in the two formulas above, the water-soluble polymer,、/>target working flux linkage>Flux linkage of left and right end points of flux linkage interval in preset fourth association relation, < ->、/>The smaller value +.f of the limit torque and the target torque, respectively>At the preset fourthThe torque of the lower endpoint and the upper endpoint of the torque section in the association relation.
In order to better implement the control method of the synchronous reluctance motor in the embodiment of the present application, the embodiment of the present application further provides a control device 800 of the synchronous reluctance motor based on the control method of the synchronous reluctance motor. As shown in fig. 8, a control device 800 of the synchronous reluctance motor includes:
an obtaining unit 801, configured to obtain a current d-axis current and a current q-axis current of the synchronous reluctance motor;
a determining unit 802, configured to determine a current d-axis flux linkage and a current q-axis flux linkage associated with a current d-axis current and a current q-axis current according to a preset first association relationship between the current and the flux linkage, where the preset first association relationship includes a preset d-axis current, a preset q-axis current, a preset d-axis flux linkage, and a preset q-axis flux linkage that are in a nonlinear association, and acquire a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor;
And an adjusting unit 803 for adjusting the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor according to the target d-axis flux linkage and the target q-axis flux linkage.
The control device 800 for a synchronous reluctance motor provided in the embodiment of the present application provides a comprehensive nonlinear control strategy including MTPA, field weakening, maximum current limitation, and MTPV on the basis of considering the nonlinear flux linkage current model of self-saturation and cross-saturation effects. Aiming at a nonlinear model of the motor, a nonlinear control strategy numerical analysis algorithm which is second-order or super-linear convergent and can be realized by a DSP is developed. The benefit of this application is: 1. the numerical analysis algorithm is simple and efficient, the solving of the nonlinear control strategy can be directly realized by the DSP, and then the self-setting of the nonlinear control strategy of the frequency converter can be realized, so that the labor cost is greatly reduced; 2. all control strategies consider the nonlinearity of the motor, and the motor has stronger overload capacity, wider speed regulation range and higher working efficiency.
In addition to the above-described method and apparatus for controlling a synchronous reluctance motor, an embodiment of the present application further provides an electronic device, which integrates the apparatus 800 for controlling a synchronous reluctance motor provided in the embodiment of the present application, where the electronic device includes: one or more processors, memory, and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor in any of the embodiments of the method of controlling a synchronous reluctance motor described above.
As shown in fig. 9, a schematic structural diagram of an electronic device according to an embodiment of the present application is shown, specifically:
the electronic device may include one or more processors 901, and further, the electronic device may also include components such as memory 902 of one or more computer-readable storage media. Optionally, the electronic device may further comprise a power supply 903 and an input unit 904. It will be appreciated by those skilled in the art that the electronic device structure shown in fig. 9 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. Wherein:
the processor 901 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 902 and calling data stored in the memory 902, thereby performing overall monitoring of the electronic device. Optionally, processor 901 may include one or more processing cores; preferably, the processor 901 may integrate an application processor, wherein the application processor primarily processes operating systems, user interfaces, application programs, and the like.
The memory 902 may be used to store software programs and modules, and the processor 901 performs various functional applications and data processing by executing the software programs and modules stored in the memory 902. The memory 902 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function, and the like; the storage data area may store data created according to the use of the electronic device, etc. In addition, the memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 902 may also include a memory controller to provide access to the memory 902 by the processor 901.
The electronic device further comprises a power supply 903 for powering the various components, preferably the power supply 903 is logically connected to the processor 901 via a power management system, whereby the functions of managing charging, discharging, and power consumption are performed by the power management system. The power supply 903 may also include one or more of any components, such as a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.
The electronic device may further comprise an input unit 904, which input unit 904 may be used for receiving input digital or character information and generating signal inputs related to user settings and function control.
Although not shown, the electronic device may further include a display unit or the like, which is not described herein. In particular, in the embodiment of the present application, the processor 901 in the electronic device loads executable files corresponding to the processes of one or more application programs into the memory 902 according to the following instructions, and the processor 901 executes the application programs stored in the memory 902, so as to implement various functions, for example:
the current d-axis current and the current q-axis current of the synchronous reluctance motor are obtained. According to a preset first association relation between the current and the flux linkage, determining a current d-axis flux linkage and a current q-axis flux linkage which are associated with a current d-axis current and a current q-axis current, wherein the preset first association relation comprises a preset d-axis current, a preset q-axis current, a preset d-axis flux linkage and a preset q-axis flux linkage which are associated in a nonlinear manner. And acquiring a target d-axis magnetic linkage and a target q-axis magnetic linkage of the synchronous reluctance motor. And adjusting the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor according to the target d-axis flux linkage and the target q-axis flux linkage.
To this end, embodiments of the present application provide a computer-readable storage medium, which may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like. The computer readable storage medium stores a computer program that can be loaded by a processor to perform the steps in any of the methods for controlling a synchronous reluctance motor provided in the embodiments of the present application. For example, the instructions may perform the steps of:
the current d-axis current and the current q-axis current of the synchronous reluctance motor are obtained. According to a preset first association relation between the current and the flux linkage, determining a current d-axis flux linkage and a current q-axis flux linkage which are associated with a current d-axis current and a current q-axis current, wherein the preset first association relation comprises a preset d-axis current, a preset q-axis current, a preset d-axis flux linkage and a preset q-axis flux linkage which are associated in a nonlinear manner. And acquiring a target d-axis magnetic linkage and a target q-axis magnetic linkage of the synchronous reluctance motor. And adjusting the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor according to the target d-axis flux linkage and the target q-axis flux linkage.
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 above describes in detail a control method, apparatus and medium for a synchronous reluctance motor provided in the embodiments of the present application, and specific examples are applied herein to illustrate the principles and embodiments of the present application, where the descriptions of the above examples are only used to help understand the method and core ideas of the present application; also, as will occur to those of skill in the art upon reading the teachings of the present application, the present disclosure should not be construed as limited to the embodiments and applications described herein.

Claims (10)

1. A control method of a synchronous reluctance motor, characterized in that the control method of the synchronous reluctance motor comprises:
acquiring the current d-axis current and the current q-axis current of the synchronous reluctance motor;
determining a current d-axis flux linkage and a current q-axis flux linkage associated with the current d-axis current and the current q-axis current according to a preset first association relation between the current and the flux linkage, wherein the preset first association relation comprises a preset d-axis current, a preset q-axis current, a preset d-axis flux linkage and a preset q-axis flux linkage which are in nonlinear association, the preset first association relation is generated based on a preset nonlinear calculation formula between the current and the flux linkage in the synchronous reluctance motor, and the preset nonlinear calculation formula comprises a self-saturation coefficient, a cross-saturation coefficient and an unsaturated coefficient;
Acquiring a target d-axis magnetic linkage and a target q-axis magnetic linkage of the synchronous reluctance motor;
according to the target d-axis flux linkage and the target q-axis flux linkage, adjusting the current d-axis flux linkage and the current q-axis flux linkage of the synchronous reluctance motor;
the preset nonlinear calculation formula comprises the following steps:
wherein, the exponential term S, T, U, V is an empirical value,、/>coefficient representing the unsatisfied +_>、/>Represents the d-axis self-saturation and q-axis self-saturation coefficients, respectively>Represents the cross saturation coefficient, +.>For d-axis flux linkage->For the q-axis flux linkage to be present,for d-axis current, ">Is q-axis current.
2. The method for controlling a synchronous reluctance motor according to claim 1, further comprising, before the acquiring the current d-axis current and the current q-axis current of the synchronous reluctance motor:
acquiring the preset nonlinear calculation formula;
acquiring the preset d-axis current and the preset q-axis current;
solving the preset nonlinear calculation formula based on the preset d-axis current and the preset q-axis current to obtain the preset d-axis flux linkage and the preset q-axis flux linkage;
and generating the preset first association relation based on the preset d-axis current, the preset q-axis current, the preset d-axis flux linkage and the preset q-axis flux linkage.
3. The method of controlling a synchronous reluctance machine according to claim 1, wherein the acquiring the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance machine comprises:
acquiring a target torque of the synchronous reluctance motor;
determining a target common flux linkage associated with the target torque according to a preset second association relation between flux linkage and maximum torque, wherein the preset second association relation comprises a preset common flux linkage and a preset maximum torque which are in nonlinear association;
and determining a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor based on the target co-flux linkage.
4. The method for controlling a synchronous reluctance machine according to claim 3, further comprising, before the step of obtaining the current d-axis current and the current q-axis current of the synchronous reluctance machine:
acquiring a preset maximum torque of the synchronous reluctance motor under a preset working current, and d-axis current and q-axis current under the preset working current and the preset maximum torque;
determining d-axis flux linkage and q-axis flux linkage under the preset working current and the preset maximum torque based on the preset first association relation, d-axis current and q-axis current under the preset working current and the preset maximum torque;
Determining a preset common flux linkage under the preset working current and the preset maximum torque based on a d-axis flux linkage and a q-axis flux linkage under the preset working current and the preset maximum torque;
and generating the preset second association relation based on the preset maximum torque and the preset common magnetic linkage.
5. A control method of a synchronous reluctance machine according to claim 3, wherein the determining a target d-axis flux and a target q-axis flux of the synchronous reluctance machine based on the target co-flux comprises:
acquiring the current bus voltage and the current rotor electric angular speed of the synchronous reluctance motor;
determining a current flux-weakening maximum working flux linkage of the synchronous reluctance motor based on the current bus voltage and the current rotor electric angular speed;
taking the smaller value of the current weak magnetic maximum working flux linkage and the target common flux linkage as a target working flux linkage;
and determining a target d-axis magnetic linkage and a target q-axis magnetic linkage of the synchronous reluctance motor based on the target working magnetic linkage.
6. The method of controlling a synchronous reluctance machine according to claim 5, wherein the determining a target d-axis flux and a target q-axis flux of the synchronous reluctance machine based on the target operating flux comprises:
Determining a target maximum torque associated with the target working flux linkage according to a preset third association relation between the working flux linkage and the maximum torque, wherein the preset third association relation comprises a preset working flux linkage and a preset maximum torque which are in nonlinear association;
determining the torque at the maximum working current of the target working flux linkage and the synchronous reluctance motor and taking the torque as the actual maximum torque;
determining the smaller value of the actual maximum torque and the target maximum torque as the limit torque of the synchronous reluctance motor;
and determining a target d-axis flux linkage and a target q-axis flux linkage of the synchronous reluctance motor based on the target working flux linkage and a smaller value of the limit torque and the target torque.
7. The method for controlling a synchronous reluctance machine according to claim 6, further comprising, before the acquiring the current d-axis current and the current q-axis current of the synchronous reluctance machine:
acquiring a plurality of d-axis magnetic linkages and q-axis magnetic linkages of the synchronous reluctance motor under a preset working magnetic linkage;
determining a plurality of d-axis currents and q-axis currents under the preset working flux linkage based on the preset first association relation, the plurality of d-axis flux linkages and q-axis flux linkages under the preset working flux linkage;
Determining a plurality of torques under the preset operating flux linkage based on a plurality of d-axis currents and q-axis currents under the preset operating flux linkage;
and taking the maximum value of the torques under the preset working flux as the preset maximum torque which is in nonlinear association with the preset working flux, and obtaining the preset third association relation.
8. The method of controlling the synchronous reluctance motor according to claim 6, wherein the determining the target d-axis flux linkage and the target q-axis flux linkage of the synchronous reluctance motor based on the target operating flux linkage and the smaller value of the limit torque and the target torque comprises:
acquiring a preset fourth association relation among the torque, the working flux linkage and the d-axis flux linkage, wherein the preset fourth association relation comprises a preset torque, a preset working flux linkage and a preset d-axis flux linkage which are in nonlinear association;
and determining a d-axis flux linkage associated with a smaller value in the limit torque and the target working flux linkage according to the preset fourth association relation, and taking the d-axis flux linkage as the target d-axis flux linkage, so as to obtain the target d-axis flux linkage and the target q-axis flux linkage.
9. An electronic device, comprising:
One or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the method of controlling a synchronous reluctance motor of any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program is loaded by a processor to perform the steps in the method of controlling a synchronous reluctance motor according to any one of claims 1 to 8.
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Publication number Priority date Publication date Assignee Title
CN101702614A (en) * 2009-11-03 2010-05-05 深圳市雷赛机电技术开发有限公司 Device and method for inhibiting rotor rotation and oscillation of hybrid stepping motor
CN102055208A (en) * 2010-12-31 2011-05-11 清华大学 Low-voltage traversing control method for double-fed wind power generation system
CN112740537A (en) * 2020-12-24 2021-04-30 深圳市英威腾电气股份有限公司 MTPA control method, device, system and equipment of permanent magnet synchronous motor
CN115566951A (en) * 2022-08-22 2023-01-03 哈尔滨工业大学 Self-learning method for flux linkage of synchronous reluctance motor with resistance error compensation
CN115833673A (en) * 2022-12-19 2023-03-21 哈尔滨工业大学 Current injection-based flux linkage offline self-learning method for synchronous reluctance motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101702614A (en) * 2009-11-03 2010-05-05 深圳市雷赛机电技术开发有限公司 Device and method for inhibiting rotor rotation and oscillation of hybrid stepping motor
CN102055208A (en) * 2010-12-31 2011-05-11 清华大学 Low-voltage traversing control method for double-fed wind power generation system
CN112740537A (en) * 2020-12-24 2021-04-30 深圳市英威腾电气股份有限公司 MTPA control method, device, system and equipment of permanent magnet synchronous motor
CN115566951A (en) * 2022-08-22 2023-01-03 哈尔滨工业大学 Self-learning method for flux linkage of synchronous reluctance motor with resistance error compensation
CN115833673A (en) * 2022-12-19 2023-03-21 哈尔滨工业大学 Current injection-based flux linkage offline self-learning method for synchronous reluctance motor

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