TWI552506B - Control system of motor drive - Google Patents
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Description
本發明係有關於一種馬達驅動器之控制系統及其控制方法，尤指一種結合弱磁控制模組與每安培電流最大轉矩控制器而運算出d軸電流命令與q軸電流命令之馬達驅動器之控制系統。 The present invention relates to a control system for a motor driver and a control method thereof, and more particularly to a motor driver that combines a field weakening control module and a maximum torque controller per ampere to calculate a d-axis current command and a q-axis current command. Control System.
一般而言，現有之馬達驅動器係依據q軸座標之定子電流所產生的磁通與d軸座標上之轉子磁通交互作用，藉以對馬達之向量進行控制，其中，馬達在運轉時所產生之反電動勢與轉速成正比，當轉速上升而電壓不足以克服三相交流馬達所產生的反電動勢時，會造成馬達在高速運轉的範圍上有所限制，因而現有之馬達驅動器會透過弱磁控制的方式來調整d軸電流，以降低轉子磁通而克服高速下所產生的反電動勢，藉以提升運轉速度之範圍。 In general, the existing motor driver controls the vector of the motor by interacting with the magnetic flux generated by the stator current of the q-axis coordinate and the rotor flux on the d-axis coordinate, wherein the motor is generated during operation. The back electromotive force is proportional to the rotational speed. When the rotational speed rises and the voltage is insufficient to overcome the back electromotive force generated by the three-phase AC motor, the motor will have a limitation in the range of high-speed operation, and thus the existing motor drive will pass the field weakening control. The way to adjust the d-axis current to reduce the rotor flux and overcome the counter electromotive force generated at high speed, thereby increasing the range of operating speed.
請參閱第一圖，第一圖係顯示本發明先前技術之並轉矩區與定功率區之波形示意圖，如第一圖所示，除了上述弱磁控制方式外，現有技術還會採用每安培電流最大轉矩(Maximum Torque Per Ampere；MTPA)的控制方式，而以現有之馬達驅動器之控制方式來說，主要分為定轉矩區與定功率區之控制，其中定 轉矩區係採用上述之每安培電流最大轉矩的控制方式，定功率區則是採用弱磁控制的方式，然而，現有技術受限於電路架構之設計，因此一般僅能採用其中一種控制方式，但在電動車的馬達控制中，馬達必須操作在定轉矩區與定功率區兩個區域，但以現有技術來說，兩個控制方式如何平穩的轉換，尚未進行探討，因此現有技術仍具備改善之空間 Referring to the first figure, the first figure shows a waveform diagram of the torque region and the constant power region of the prior art of the present invention. As shown in the first figure, in addition to the above-described field weakening control mode, the prior art also uses per ampere. The maximum torque (Maximum Torque Per Ampere; MTPA) control mode, and the existing motor drive control method, mainly divided into constant torque zone and constant power zone control, which The torque zone adopts the above-mentioned control method of the maximum torque per ampere current, and the constant power zone adopts the weak magnetic control mode. However, the prior art is limited by the design of the circuit architecture, so generally only one of the control modes can be adopted. However, in the motor control of the electric vehicle, the motor must be operated in two regions of the constant torque zone and the constant power zone. However, in the prior art, how to smoothly convert the two control modes has not been discussed yet, so the prior art still Have room for improvement
有鑒於現有技術之馬達驅動控制器採用每安培電流最大轉矩控制與弱磁控制，因而普遍具有在電動車領域無法確實使用之問題。緣此，本發明係提供一種馬達驅動器之控制系統，主要係設有每安培電流最大轉矩(Maximum Torque Per Ampere；MTPA)控制模組與弱磁控制模組，以達到可採用兩種控制方式而解決上述之問題。 In view of the prior art motor drive controller adopting maximum torque control and field weakening control per ampere current, it is generally problematic that it cannot be used in the field of electric vehicles. Accordingly, the present invention provides a control system for a motor driver, which is mainly provided with a Maximum Torque Per Ampere (MTPA) control module and a weak magnetic control module for achieving two control modes. And solve the above problems.
基於上述目的，本發明所採用之主要技術手段係提供一種馬達驅動器之控制系統，包含一交流電源供應模組、一馬達、一驅動運算器、一弱磁控制模組、一每安培電流最大轉矩(Maximum Torque Per Ampere；MTPA)控制器以及一電流運算模組。交流電源供應模組係用以產生一三相輸入電源，馬達係電性連接於交流電源供應模組，並接收三相輸入電源處於一運作狀態，且馬達在運作狀態時具有一運轉速度。驅動運算器係電性連接於馬達，用以依據運轉速度與一速度命令運算出一限制電流，弱磁控制模組用以提供一d軸弱磁電流值，每安培電流最大轉矩控制器係電性連接於驅動運算器，用以依據限制電流運算出一d軸電流額定值。電流運算模組係電性連接於弱磁控制模組與每安 培電流最大轉矩控制器，用以依據d軸電流額定值與d軸弱磁電流值運算出一d軸電流命令，並將d軸電流命令傳送至每安培電流最大轉矩控制器。其中，在每安培電流最大轉矩控制器接收到d軸電流命令後，係依據d軸電流命令與限制電流運算出一q軸電流命令。 Based on the above object, the main technical means adopted by the present invention provides a control system for a motor driver, comprising an AC power supply module, a motor, a drive operator, a weak magnetic control module, and a maximum current per ampere. Moment (Maximum Torque Per Ampere; MTPA) controller and a current calculation module. The AC power supply module is configured to generate a three-phase input power, the motor is electrically connected to the AC power supply module, and receives the three-phase input power in an operating state, and the motor has an operating speed when in operation. The driving operator is electrically connected to the motor for calculating a limiting current according to the operating speed and a speed command, and the weak magnetic control module is configured to provide a d-axis weak magnetic current value, and the maximum torque controller per ampere current Electrically connected to the drive operator for calculating a d-axis current rating based on the limiting current. The current calculation module is electrically connected to the weak magnetic control module and each safety The current maximum torque controller is configured to calculate a d-axis current command according to the d-axis current rating and the d-axis weak magnetic current value, and transmit the d-axis current command to the maximum torque controller per ampere current. Wherein, after receiving the d-axis current command per amp current maximum torque controller, a q-axis current command is calculated according to the d-axis current command and the limiting current.
其中，上述馬達驅動器之控制系統之附屬技術手段之較佳實施例中，電流命令運算模組係為一第一加法器，第一加法器係電性連接於每安培電流最大轉矩控制器，用以加總d軸電流額定值與d軸弱磁電流值而運算出d軸電流命令。此外，更包含一相量控制模組，係電性連接於電流命令運算模組與每安培電流最大轉矩控制器，藉以依據d軸電流命令運算出一d軸電壓命令，並依據q軸電流命令運算出一q軸電壓命令。另外，更包含一空間向量調變模組，係電性連接於相量控制模組與交流電源供應模組，藉以依據d軸電壓命令與q軸電壓命令控制交流電源供應模組。 In a preferred embodiment of the control system of the motor driver, the current command computing module is a first adder, and the first adder is electrically connected to the current maximum torque controller per ampere. The d-axis current command is calculated by summing the d-axis current rating and the d-axis field weakening current value. In addition, a phasor control module is electrically connected to the current command computing module and the maximum torque controller per ampere current, thereby calculating a d-axis voltage command according to the d-axis current command, and according to the q-axis current The command operates a q-axis voltage command. In addition, a space vector modulation module is electrically connected to the phasor control module and the AC power supply module, thereby controlling the AC power supply module according to the d-axis voltage command and the q-axis voltage command.
上述馬達驅動器之控制系統之附屬技術手段之較佳實施例中，相量控制模組係電性連接於馬達與交流電源供應模組，並包含包含一第一減法器、一d軸電流控制器、一第二減法器、一q軸電流控制器、一電壓解耦補償器、一第二加法器以及一第三加法器，第一減法器係電性連接於電流命令運算模組，用以依據d軸電流命令與交流電源供應模組所回授之一d軸回授電流運算出一d軸運算電流，d軸電流控制器係電性連接於第一減法器，用以依據d軸運算電流運算出一d軸運算電壓，第二減法器係電性連接於每安培電流最大轉矩控制器，用以依據q軸電流命令與交流電源供應模組所回授之一q軸回授電流運算出一q軸 運算電流，q軸電流控制器係電性連接於第二減法器，用以依據q軸運算電流運算出一q軸運算電壓。電壓解耦補償器係提供一電壓補償值，第二加法器係電性連接於d軸電流控制器與電壓解耦補償器，用以依據d軸運算電壓與電壓補償值運算出d軸電壓命令，第三加法器係電性連接於q軸電流控制器與電壓解耦補償器，用以依據q軸運算電壓與電壓補償值運算出q軸電壓命令。 In a preferred embodiment of the control system of the motor driver, the phasor control module is electrically connected to the motor and the AC power supply module, and includes a first subtractor and a d-axis current controller. a second subtractor, a q-axis current controller, a voltage decoupling compensator, a second adder, and a third adder, the first subtractor is electrically connected to the current command computing module, Calculating a d-axis operation current according to the d-axis current command and one of the d-axis feedback currents fed back by the AC power supply module, and the d-axis current controller is electrically connected to the first subtractor for calculating according to the d-axis The current is calculated as a d-axis operation voltage, and the second subtractor is electrically connected to the maximum torque controller per ampere current, and is used to feedback one of the q-axis feedback currents according to the q-axis current command and the AC power supply module. Calculate a q axis The operation current, the q-axis current controller is electrically connected to the second subtractor for calculating a q-axis operation voltage according to the q-axis operation current. The voltage decoupling compensator provides a voltage compensation value, and the second adder is electrically connected to the d-axis current controller and the voltage decoupling compensator for calculating the d-axis voltage command according to the d-axis operating voltage and the voltage compensation value. The third adder is electrically connected to the q-axis current controller and the voltage decoupling compensator for calculating the q-axis voltage command according to the q-axis operating voltage and the voltage compensation value.
藉由本發明所採用之馬達驅動器之控制系統及其控制方法之主要技術手段後，由於在系統中設有每安培電流最大轉矩(Maximum Torque Per Ampere；MTPA)控制模組與弱磁控制模組，因此在電動車領域可確實對馬達在定功率區與定轉矩區進行控制，因而可有效地應用電動車領域而解決現有之問題。 With the main technical means of the control system of the motor driver and the control method thereof used in the present invention, the maximum torque per ampere current (MTPA) control module and the weak magnetic control module are provided in the system. Therefore, in the field of electric vehicles, it is possible to control the motor in the constant power zone and the constant torque zone, so that the field of electric vehicles can be effectively applied to solve the existing problems.
本發明所採用的具體實施例，將藉由以下之實施例及圖式作進一步之說明。 The specific embodiments of the present invention will be further described by the following examples and drawings.
1‧‧‧馬達驅動器之控制系統 1‧‧‧Motor drive control system
11‧‧‧交流電源供應模組 11‧‧‧AC power supply module
12‧‧‧馬達 12‧‧‧ motor
121‧‧‧編碼器 121‧‧‧Encoder
13‧‧‧驅動運算器 13‧‧‧Drive Operator
14‧‧‧弱磁控制模組 14‧‧‧Weak magnetic control module
15‧‧‧每安培電流最大轉矩控制器 15‧‧‧Maximum torque controller per ampere current
16‧‧‧電流命令運算模組 16‧‧‧current command computing module
17‧‧‧相量控制模組 17‧‧‧Phase Control Module
171‧‧‧第二減法器 171‧‧‧second subtractor
172‧‧‧d軸電流控制器 172‧‧‧d shaft current controller
173‧‧‧第三減法器 173‧‧‧ third subtractor
174‧‧‧q軸電流控制器 174‧‧‧q axis current controller
175‧‧‧電壓解耦補償器 175‧‧‧Voltage decoupling compensator
176‧‧‧第二加法器 176‧‧‧second adder
177‧‧‧第三加法器 177‧‧‧ third adder
178‧‧‧座標轉換器 178‧‧‧Coordinate converter
18‧‧‧空間向量調變模組 18‧‧‧ Space Vector Modulation Module
ωm *‧‧‧速度命令 ω m * ‧‧‧ speed command
ωm‧‧‧運轉速度 ω m ‧‧‧ operating speed
‧‧‧限制電流 ‧‧‧Limit current
‧‧‧d軸電流額定值 ‧‧‧d axis current rating
idfw‧‧‧d軸弱磁電流值 i dfw ‧‧‧d axis weak magnetic current value
‧‧‧d軸電流命令 ‧‧‧d axis current command
‧‧‧d軸回授電流 ‧‧‧d-axis feedback current
‧‧‧d軸電壓命令 ‧‧‧d axis voltage command
‧‧‧q軸電流命令 ‧‧‧q axis current command
‧‧‧q軸回授電流 ‧‧‧q-axis feedback current
‧‧‧q軸電壓命令 ‧‧‧q axis voltage command
ias‧‧‧第一相電流 i as ‧‧‧first phase current
ibs‧‧‧第二相電流 i bs ‧‧‧second phase current
第一圖係顯示本發明先前技術之並轉矩區與定功率區之波形示意圖；以及第二圖係顯示本發明較佳實施例之馬達驅動器之控制系統之方塊示意圖。 The first figure shows a schematic diagram of the waveforms of the torque region and the constant power zone of the prior art of the present invention; and the second figure shows a block diagram of the control system of the motor driver of the preferred embodiment of the present invention.
由於本發明所提供之馬達驅動器之控制系統中，其組合實施方式不勝枚舉，故在此不再一一贅述，僅列舉一較佳實施例加以具體說明。 Since the combined embodiment of the control system of the motor driver provided by the present invention is numerous, it will not be repeated here, and only a preferred embodiment will be specifically described.
請參閱第二圖，第二圖係顯示本發明較佳實施例之馬達驅動器之控制系統之方塊示意圖。如圖所示，本發明較佳實施例之馬達驅動器之控制系統1係包含一交流電源供應模組11、一馬達12、一驅動運算器13、一弱磁控制模組14、一每安培電流最大轉矩(Maximum Torque Per Ampere；MTPA)控制器15、一電流運算模組16、一相量控制模組17以及一空間向量調變模組18。交流電源供應模組11係用以產生一三相輸入電源，其中，交流電源供應模組11係可為交流電源、整流模組、直流鏈電容與變頻模組之組合，但其他實施例中不限於此，三相輸入電源即是經上述電路處理過之電源(例如第三圖中所示之第一相電流ias與第二相電流ibs，其中第三相電流並未示出)。 Please refer to the second drawing, which is a block diagram showing the control system of the motor driver of the preferred embodiment of the present invention. As shown in the figure, the control system 1 of the motor driver of the preferred embodiment of the present invention comprises an AC power supply module 11, a motor 12, a drive operator 13, a weak magnetic control module 14, and a current per ampere. The Maximum Torque Per Ampere (MTPA) controller 15, a current computing module 16, a phasor control module 17, and a space vector modulation module 18. The AC power supply module 11 is configured to generate a three-phase input power supply, wherein the AC power supply module 11 can be a combination of an AC power supply, a rectifier module, a DC link capacitor, and a variable frequency module, but in other embodiments, In this connection, the three-phase input power source is the power source processed by the above circuit (for example, the first phase current i as and the second phase current i bs shown in the third figure, wherein the third phase current is not shown).
馬達12係為現有之馬達，電性連接於交流電源供應模組11，並接收三相輸入電源而處於一運作狀態，且馬達12在運作狀態時具有一運轉速度，在此需要一提的是，此運作狀態可為停止運轉或是實際運轉之狀態，以實際運轉狀態來說，運作狀態可為第一圖所示之定轉矩區之運作狀態與定功率區之運作狀態。另外，馬達12還可設置有編碼器121，其係用於傳送出馬達12內之轉子之速度資訊。 The motor 12 is an existing motor, electrically connected to the AC power supply module 11, and receives a three-phase input power supply in an operational state, and the motor 12 has an operating speed when in operation, and it is necessary to mention The operating state may be a state of being stopped or in actual operation. In actual operating state, the operating state may be an operating state of a constant torque zone and an operating state of a constant power zone as shown in the first figure. Additionally, the motor 12 may be provided with an encoder 121 for transmitting speed information of the rotor within the motor 12.
驅動運算器13係電性連接於馬達12，其係可為減法器、速度控制器與電流限制器依序組合而成，但其為現有技術，因此不再贅述。弱磁控制模組14例如可由加法器、低通濾波器與減法器所組合而成，但不限於此。每安培電流最大轉矩控制器15係電性連接於驅動運算器13，其例如可由電流運算器所組成，而前述之電流運算器一般係依據運算式來進行運算，以下將對此進行詳述。電流運算模組16係電性連接於弱磁控制模組14與每安 培電流最大轉矩控制器15，並為一第一加法器。 The driving operator 13 is electrically connected to the motor 12, which may be a combination of a subtractor, a speed controller and a current limiter. However, it is a prior art and therefore will not be described again. The field weakening control module 14 can be combined, for example, by an adder, a low pass filter, and a subtractor, but is not limited thereto. Each ampere current maximum torque controller 15 is electrically connected to the drive operator 13, which may be composed, for example, of a current calculator, and the current operator is generally operated according to an arithmetic expression, which will be described in detail below. . The current calculation module 16 is electrically connected to the field weakening control module 14 and each safety The current maximum torque controller 15 is trained and is a first adder.
相量控制模組17係電性連接於馬達11、交流電源供應模組12、電流命令運算模組16與每安培電流最大轉矩控制器15，具體來說，相量控制模組17包含一第一減法器171、一d軸電流控制器172、一第二減法器173、一q軸電流控制器174、一電壓解耦補償器175、一第二加法器176以及一第三加法器177，第一減法器171係電性連接於電流運算模組16，d軸電流控制器172係電性連接於第一減法器171，第二減法器173係電性連接於每安培電流最大轉矩控制器15，q軸電流控制器174係電性連接於第二減法器173，電壓解耦補償器175係電性連接於d軸電流控制器172與q軸電流控制器174，第二加法器176係電性連接於d軸電流控制器172與電壓解耦補償器175，第三加法器177係電性連接於q軸電流控制器174與電壓解耦補償器175。另外，一般來說，相量控制模組17係還可再包含一座標轉換器178，座標轉換器178係電性連接於交流電源供應模組11與第二減法器173，而此座標轉換器178可為三轉二之轉換器，以將三相輸入電源之三相電流轉換為d軸回授電流與q軸回授電流。 The phasor control module 17 is electrically connected to the motor 11, the AC power supply module 12, the current command computing module 16, and the ampere current maximum torque controller 15. Specifically, the phasor control module 17 includes a The first subtractor 171, a d-axis current controller 172, a second subtractor 173, a q-axis current controller 174, a voltage decoupling compensator 175, a second adder 176, and a third adder 177 The first subtractor 171 is electrically connected to the current calculation module 16, the d-axis current controller 172 is electrically connected to the first subtractor 171, and the second subtractor 173 is electrically connected to the maximum torque per ampere current. The controller 15, the q-axis current controller 174 is electrically connected to the second subtractor 173, and the voltage decoupling compensator 175 is electrically connected to the d-axis current controller 172 and the q-axis current controller 174, and the second adder The 176 series is electrically connected to the d-axis current controller 172 and the voltage decoupling compensator 175, and the third adder 177 is electrically connected to the q-axis current controller 174 and the voltage decoupling compensator 175. In addition, in general, the phasor control module 17 can further include a standard converter 178 electrically connected to the AC power supply module 11 and the second subtractor 173, and the coordinate converter The 178 can be a three-to-two converter to convert the three-phase current of the three-phase input power into a d-axis feedback current and a q-axis feedback current.
空間向量調變模組18係電性連接於相量控制模組17與交流電源供應模組12，而空間向量調變模組18例如為一支持向量機(Support Vector Machine；SVM)，另外，其他實施例中，空間向量調變模組18係還電性連接於弱磁控制模組14。 The space vector modulation module 18 is electrically connected to the phasor control module 17 and the AC power supply module 12, and the space vector modulation module 18 is, for example, a support vector machine (SVM). In other embodiments, the space vector modulation module 18 is also electrically connected to the field weakening control module 14 .
其中，實務上在運作時，馬達12所設有之編碼器121係將運轉速度(以下定義為ωm)傳送至驅動運算器13，驅動運算器13係依據運轉速度ωm以及一速度命令(以下定義為ωm *)運算出一限制電流(以下定義為)，上述運算的方法例如是依序 透過減法器、控制器與電流限制器運算而得，其中，上述控制器之運算式可為kp1+(ki1/s)，並運算出電流後經電流限制器的限制運算(為現有技術，不再贅述)而產生上述之限制電流。 Wherein, in operation, the encoder 121 provided in the motor 12 transmits the operating speed (hereinafter defined as ω m ) to the drive computing unit 13 , and the driving computing unit 13 is based on the operating speed ω m and a speed command ( The following definition is ω m * ) to calculate a limiting current (defined below as The method of the above operation is, for example, sequentially calculated by a subtractor, a controller, and a current limiter. The calculation formula of the controller may be k p1 +(k i1 /s), and the current is calculated. Limiting operation of the current limiter (for the prior art, no further description), the above-mentioned limiting current is generated .
每安培電流最大轉矩控制器15係對限制電流運算出一d軸電流額定值(以下定義為，運算方法可採用多種方式，不再贅述)，另外，相量控制模組17之座標轉換器178在轉換出d軸回授電流(以下定義為)與q軸回授電流(以下定義為)後，第一減法器171會將d軸回授電流與d軸電流命令進行相減而得一d軸運算電流，並將此相減之d軸運算電流傳送至d軸電流控制器172(運算式可為kp3+(ki3/s))進行運算而得一d軸運算電壓，並將此d軸運算電壓傳送至第二加法器176，使得第二加法器176可依據此運算結果及電壓解耦補償器175所提供之電壓補償值而加總出一d軸電壓命令(以下定義為)。 Maximum current torque controller per ampere 15 pairs of limiting current Calculate a d-axis current rating (defined below as The operation method can be implemented in various ways, and will not be described again. In addition, the coordinate converter 178 of the phasor control module 17 converts the d-axis feedback current (hereinafter defined as ) and q axis feedback current (defined below as After the first subtractor 171 will return the d-axis current With d-axis current command Performing subtraction to obtain a d-axis operation current, and transmitting the subtracted d-axis operation current to the d-axis current controller 172 (the operation formula can be k p3 + (k i3 / s)) to obtain a d The axis calculates the voltage and transmits the d-axis operation voltage to the second adder 176, so that the second adder 176 can add a d-axis according to the operation result and the voltage compensation value provided by the voltage decoupling compensator 175. Voltage command (defined below as ).
同樣地，第二減法器173係依據q軸回授電流與一q軸電流命令進行相減而得一q軸運算電流，並將此相減之q軸運算電流傳送至q軸電流控制器174(運算式可為kp2+(ki2/s))進行運算而得一q軸運算電壓，並將此q軸運算電壓傳送至第三加法器177，使得第三加法器177可依據此運算結果及電壓解耦補償器175所提供之電壓補償值而加總出一q軸電壓命令(以下定義為)。而d軸電壓命令與q軸電壓命令會傳送至空間向量調變模組18，使得空間向量調變模組18依據d軸電壓命令與q軸電壓命令控制交流電源供應模組11，其控制方法為限有技術，不再贅述。 Similarly, the second subtractor 173 is based on the q-axis feedback current. With a q-axis current command Perform a subtraction to obtain a q-axis operation current, and transfer the subtracted q-axis operation current to the q-axis current controller 174 (the operation formula can be k p2 + (k i2 / s)) to obtain a q The axis calculates the voltage, and transmits the q-axis operation voltage to the third adder 177, so that the third adder 177 can add a q-axis according to the operation result and the voltage compensation value provided by the voltage decoupling compensator 175. Voltage command (defined below as ). D-axis voltage command With q axis voltage command Will be transmitted to the space vector modulation module 18, so that the space vector modulation module 18 is based on the d-axis voltage command With q axis voltage command The control AC power supply module 11 is controlled by a limited number of technologies and will not be described again.
弱磁控制模組14係提供一d軸弱磁電流值(以下定義為idfw，運算方式為現有技術，不再贅述)，d軸弱磁電流值idfw 係可由加法器、低通濾波器與減法器運算而得，且d軸弱磁電流值idfw是傳送至電流運算模組16，其中，電流運算模組16是依據每安培電流最大轉矩控制器15所提供的d軸電流額定值與弱磁控制模組14所提供的d軸弱磁電流值idfw運算出一d軸電流命令，並將d軸電流命令傳送至每安培電流最大轉矩控制器15，具體來說，電流運算模組16係加總d軸電流額定值與d軸弱磁電流值idfw而獲得d軸電流命令(亦即)，並在每安培電流最大轉矩控制器15接收到d軸電流命令後，依據d軸電流命令與限制電流運算出一q軸電流命令，而q軸電流命令係由每安培電流最大轉矩控制器15所提供之√之函數式獲得。 The field weakening control module 14 provides a d-axis weak magnetic current value (hereinafter defined as i dfw , which is a prior art and will not be described again), and the d-axis weak magnetic current value i dfw can be an adder or a low pass filter. Calculated with the subtractor, and the d-axis weak magnetic current value i dfw is transmitted to the current computing module 16, wherein the current computing module 16 is based on the d-axis current provided by the maximum torque controller 15 per ampere current. Value Calculating a d-axis current command with the d-axis weak magnetic current value i dfw provided by the field weakening control module 14 And d-axis current command Transmitted to the maximum torque controller 15 per ampere current, specifically, the current calculation module 16 sums the d-axis current rating D-axis current command with d-axis weak current value i dfw (that is ) and receive the d-axis current command at the maximum current torque controller 15 per ampere After the d-axis current command And limiting current Calculate a q-axis current command And q-axis current command Provided by the maximum torque controller 15 per ampere current √ The function is obtained.
綜合以上所述，本發明之主要目的係在命令d軸電流命令等於d軸電流額定值加總d軸弱磁電流值idfw(亦即)，且q軸電流命令係由每安培電流最大轉矩控制器15所提供之√之函數式獲得。 In summary, the main purpose of the present invention is to command a d-axis current command. Equal to the d-axis current rating Add the d-axis weak current value i dfw (ie ), and q-axis current command Provided by the maximum torque controller 15 per ampere current √ The function is obtained.
因此，藉由本發明所採用之馬達驅動器之控制系統及其控制方法之主要技術手段，由於在系統中設有每安培電流最大轉矩(Maximum Torque Per Ampere；MTPA)控制模組與弱磁控制模組，因此在電動車領域可確實對馬達在定功率區與定轉矩區進行控制，因而可有效地應用電動車領域而解決現有之問題。 Therefore, with the main technical means of the control system of the motor driver and the control method thereof used in the present invention, the Maximum Torque Per Ampere (MTPA) control module and the weak magnetic control mode are provided in the system. Therefore, in the field of electric vehicles, it is possible to control the motor in the constant power zone and the constant torque zone, so that the field of electric vehicles can be effectively applied to solve the existing problems.
藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本發明之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。 The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.
1‧‧‧馬達驅動器之控制系統 1‧‧‧Motor drive control system
11‧‧‧交流電源供應模組 11‧‧‧AC power supply module
12‧‧‧馬達 12‧‧‧ motor
121‧‧‧編碼器 121‧‧‧Encoder
13‧‧‧驅動運算器 13‧‧‧Drive Operator
14‧‧‧弱磁控制模組 14‧‧‧Weak magnetic control module
15‧‧‧每安培電流最大轉矩控制器 15‧‧‧Maximum torque controller per ampere current
16‧‧‧電流運算模組 16‧‧‧current calculation module
17‧‧‧相量控制模組 17‧‧‧Phase Control Module
171‧‧‧第二減法器 171‧‧‧second subtractor
172‧‧‧d軸電流控制器 172‧‧‧d shaft current controller
173‧‧‧第三減法器 173‧‧‧ third subtractor
174‧‧‧q軸電流控制器 174‧‧‧q axis current controller
175‧‧‧電壓解耦補償器 175‧‧‧Voltage decoupling compensator
176‧‧‧第二加法器 176‧‧‧second adder
177‧‧‧第三加法器 177‧‧‧ third adder
178‧‧‧座標轉換器 178‧‧‧Coordinate converter
18‧‧‧空間向量調變模組 18‧‧‧ Space Vector Modulation Module
ωm *‧‧‧速度命令 ω m * ‧‧‧ speed command
ωm‧‧‧運轉速度 ω m ‧‧‧ operating speed
‧‧‧限制電流 ‧‧‧Limit current
‧‧‧d軸電流額定值 ‧‧‧d axis current rating
idfw‧‧‧d軸弱磁電流值 i dfw ‧‧‧d axis weak magnetic current value
‧‧‧d軸電流命令 ‧‧‧d axis current command
‧‧‧d軸回授電流 ‧‧‧d-axis feedback current
‧‧‧d軸電壓命令 ‧‧‧d axis voltage command
‧‧‧q軸電流命令 ‧‧‧q axis current command
‧‧‧q軸回授電流 ‧‧‧q-axis feedback current
‧‧‧q軸電壓命令 ‧‧‧q axis voltage command
ias‧‧‧第一相電流 i as ‧‧‧first phase current
ibs‧‧‧第二相電流 i bs ‧‧‧second phase current
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