WO2020063330A1 - 交流电机的控制装置和控制方法 - Google Patents

交流电机的控制装置和控制方法 Download PDF

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Publication number
WO2020063330A1
WO2020063330A1 PCT/CN2019/105157 CN2019105157W WO2020063330A1 WO 2020063330 A1 WO2020063330 A1 WO 2020063330A1 CN 2019105157 W CN2019105157 W CN 2019105157W WO 2020063330 A1 WO2020063330 A1 WO 2020063330A1
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Prior art keywords
result
multiplication
axis current
motor
calculation unit
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Ceased
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PCT/CN2019/105157
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English (en)
French (fr)
Inventor
郭贤捷
汪宇涛
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Omron Shanghai Co Ltd
Omron Corp
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Omron Shanghai Co Ltd
Omron Corp
Omron Tateisi Electronics Co
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Priority to JP2021506539A priority Critical patent/JP2021533721A/ja
Publication of WO2020063330A1 publication Critical patent/WO2020063330A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • 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
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors

Definitions

  • the present application relates to the technical field of motors, and in particular, to a control device and a control method for an AC motor.
  • the vector control may be a control in a torque mode or a control in a speed mode.
  • the control in the torque mode refers to making the AC motor output a desired amount of torque
  • the control in the speed mode refers to making the rotation speed of the AC motor reach a desired level.
  • the control device When performing speed sensorless vector control on an AC motor, the control device controls the voltage input to the stator of the motor according to the input command value and the observation value of the motor parameter by the observer, thereby performing vector control on the motor.
  • the observer may include, for example, a rotor flux observer, which may detect a phase angle ⁇ of a rotor flux of the AC motor and a size of the rotor flux, for example, the rotor flux
  • the observer may be a full-order spatial state observer.
  • the observer may also include a speed observer for detecting the rotation speed of the rotor of the AC motor.
  • the speed observer may be an observer based on Lyapunov stability.
  • the inventor of the present application has found that, in the prior art, the observation result of the observer may enter an unstable region.
  • the observation result When the observation result enters the unstable region, if vector control is performed based on the observation result, it may be input to the AC motor.
  • the stator voltage and the stator current become abnormal conditions of the direct current, thereby reducing the output accuracy of the AC motor in the torque mode.
  • the present application provides a control device and a control method for an AC motor, and calculates a d-axis current adjustment value i adjust according to the rotation speed ⁇ 1 of the motor obtained based on the phase angle ⁇ of the rotor flux linkage, and according to the d-axis current adjustment value i Adjust adjusts the d-axis current for driving and controlling the AC motor, thereby improving the stability of the observation results of the observer, thereby improving the stability of the control performed by the control device, and improving the output accuracy of the AC motor in the torque mode.
  • a control device for an AC motor for driving and controlling the AC motor.
  • the control device includes:
  • a rotor flux observation unit which is used to calculate a phase angle ⁇ of the rotor flux of the AC motor
  • a current adjustment amount calculation unit that calculates a d-axis current adjustment value i adjust based on the rotation speed ⁇ 1 of the AC motor obtained based on the phase angle ⁇ of the rotor flux linkage;
  • the drive unit (the unit composed of ACR, SVPWM, IGBT and other units in the figure) adjusts the d-axis current command value i d according to the d-axis current adjustment value i adjust to obtain the adjusted d-axis current command value i ' d , and
  • the AC motor is driven according to the adjusted d-axis current command value i ′ d and the q-axis current command value i q .
  • the current adjustment amount calculation unit includes:
  • a difference calculation unit for calculating a difference between the rotation speed ⁇ 1 and a predetermined rotation speed threshold
  • a current adjustment value calculation unit that multiplies the difference by a gain, and uses the multiplication result as the d-axis current adjustment value i adjust .
  • the current adjustment amount calculation unit further includes:
  • An adjustment unit that adjusts the result of the multiplication of the current adjustment value calculation unit, and uses the adjusted multiplication result as the d-axis current adjustment value i adjust , wherein the adjusted multiplied The result is within the preset adjustment interval of the d-axis current adjustment value.
  • the adjustment unit sets a result of the multiplication to have a first sign (for example, one of a positive sign or a negative sign),
  • the result of the multiplication with the first symbol is used as the d-axis current adjustment value i adjust .
  • the result of the multiplication of the first symbol exceeds the adjustment interval, the result of the multiplication is set to have a second symbol opposite to the first symbol, and the The result of the multiplication is used as the d-axis current adjustment value i adjust .
  • the adjustment unit compares a result of the previous multiplication with a result of the current multiplication, and if the result of the current multiplication is smaller than the result of the previous multiplication, The sign of the result of this multiplication is set to be the same as the sign of the result of the previous multiplication.
  • the sign of the result of the current multiplication is set to be opposite to the sign of the result of the previous multiplication.
  • an absolute value calculation unit calculates an absolute value of the rotation speed ⁇ 1 ; and a subtraction unit used to calculate a difference between the absolute value and the predetermined rotation speed threshold, As the difference.
  • the difference calculation unit further includes:
  • a filtering unit for filtering high-frequency signals in the signal of the rotation speed ⁇ 1 ,
  • the absolute value calculation unit calculates an absolute value of the rotation speed ⁇ 1 after filtering out high-frequency signals.
  • the current adjustment amount calculation unit further includes:
  • a rotation speed calculation unit that derives the phase angle of the magnetic flux with respect to time to obtain the rotation speed ⁇ 1 of the motor.
  • a method for controlling an AC motor including:
  • Adjust the d-axis current command value i d according to the d-axis current adjustment value i adjust to obtain the adjusted d-axis current command value i ' d , and according to the adjusted d-axis current command value i' d and the q-axis current command value i q drives the AC motor.
  • the beneficial effects of the present application are: improving the stability of the observation result of the observer, further improving the stability of the control performed by the control device, and improving the output accuracy of the AC motor in the torque mode.
  • FIG. 1 is a schematic diagram of a control device according to Embodiment 1 of the present application.
  • FIG. 2 is a schematic diagram of a current adjustment amount calculation unit 102 according to Embodiment 1 of the present application;
  • 3 is a schematic diagram of an interval of an adjusted d-axis current command value
  • FIG. 4 is a schematic diagram of a method for controlling an AC motor according to Embodiment 2 of the present application.
  • FIG. 1 is a schematic diagram of a control device of this embodiment.
  • the control device 10 may include a rotor flux observation unit 101, a current adjustment amount calculation unit 102, and a drive unit 103.
  • the control device 10 provides U, V, and W three-phase AC voltages to the stator of the AC motor M, thereby driving the AC motor M to operate.
  • the rotor flux observation unit 101 is used to calculate the phase angle ⁇ of the rotor flux of the AC motor M; the current adjustment amount calculation unit 102 obtains the AC motor ’s phase angle based on the phase angle ⁇ of the rotor flux.
  • the rotation speed ⁇ 1 calculates the d-axis current adjustment value i adjust ; the driving unit 103 adjusts the d-axis current command value i d according to the d-axis current adjustment value i adjust to obtain the adjusted d-axis current command value i ′ d , and according to The adjusted d-axis current command value i ′ d and the q-axis current command value i q drive the AC motor.
  • the d-axis current used to drive the AC motor can be adjusted according to the observation result of the rotor magnetic flux observation unit by the rotor magnetic flux observation unit, thereby preventing the observation result of the observer from falling into the unstable region, thereby improving
  • the control device controls the stability and improves the output accuracy of the AC motor in torque mode.
  • FIG. 2 is a schematic diagram of a current adjustment amount calculation unit 102 according to this embodiment.
  • the current adjustment amount calculation unit 102 may include a difference calculation unit 201 and a current adjustment value calculation unit 202.
  • the difference calculation unit 201 is configured to calculate a difference between the rotation speed ⁇ 1 and a predetermined rotation speed threshold ⁇ th .
  • the predetermined rotation speed threshold ⁇ th can be set according to a parameter of the AC motor M, where the AC motor
  • the operating parameters of M may be, for example, parameters such as a rated voltage and / or a rated power.
  • the current adjustment value calculation unit 202 multiplies the difference by a gain, and uses the multiplication result as the d-axis current adjustment value i adjust .
  • the current adjustment amount calculation unit 102 may further include an adjustment unit 203.
  • the adjustment unit 203 may adjust the multiplication result output by the current adjustment value calculation unit 202, and use the adjusted multiplication result as the d-axis current adjustment value i adjust .
  • the adjustment unit 203 may set the multiplication result output by the current adjustment value calculation unit 202 to a positive value or a negative value, so as to obtain the adjusted multiplication result.
  • the adjustment unit 203 adjusts the result of the multiplication to make the adjusted multiplication result within a preset adjustment interval of the d-axis current adjustment value. Therefore, the d-axis current adjustment value i adjust output by the current adjustment amount calculation unit 102 can make the adjusted d-axis current command value i ' d within a predetermined interval, so that the observation measurement of the observer is located in the observation measurement stability. Within the interval.
  • the preset adjustment interval of the d-axis current adjustment value is [-0.85A, 1.7A]. Therefore, when the d-axis current command value i d is 1.7A, the adjusted d-axis current command value i The interval of d is [0.85A, 3.4A].
  • the driving unit 103 uses the adjusted d-axis current command value i ' d for driving the AC motor, which can prevent the observation result of the rotor flux linkage observation unit 101 from being located in the observation measurement. Within the stable interval.
  • the numerical values in the above examples are all examples, and the embodiment is not limited thereto.
  • FIG. 3 is a schematic diagram of an interval of the adjusted d-axis current command value i ′ d .
  • each curve 301 represents the change curve of the slip frequency ⁇ s of the AC motor M with the d-axis current command value when the target torque is different.
  • the horizontal axis is the d-axis current command value
  • the vertical axis is Slip frequency.
  • the adjusted d-axis current command value is in the effective current range [0.85A, 3.4A]
  • the observation result of the rotor flux linkage observation unit 101 of the control device 100 is located in a stable area.
  • each icon of the area 302 represents 10% to 200% of the torque target torque corresponding to each curve 301.
  • the manner in which the adjustment unit 203 adjusts the multiplication result of the current adjustment value calculation unit 202 may be, for example:
  • the adjusting unit 203 sets the result of the multiplication to have a first sign, and the first sign may be any of a positive sign or a negative sign; then, the adjusting unit 203 may determine whether the phase having the first sign The result of the multiplication is within the preset adjustment interval of the d-axis current adjustment value, and the result of the multiplication with the first symbol is output as the d-axis current adjustment value i adjust ; if the multiplication has the first symbol The result of is outside the adjustment interval, the result of the multiplication is set to have a second sign opposite to the first sign, and the result of the multiplication with the second sign is used as the d-axis current adjustment value i adjust For output.
  • the manner in which the adjustment unit 203 adjusts the multiplication result of the current adjustment value calculation unit 202 may be, for example ,:
  • the adjusting unit 203 compares the result of the previous multiplication with the result of the current multiplication. If the result of the current multiplication is smaller than the result of the previous multiplication, the sign (positive or negative) of the result of the current multiplication is compared. Value) is set to the same sign as the result of the previous multiplication. If the result of the current multiplication is greater than the result of the previous multiplication, the sign of the result of the current multiplication (positive or negative value) ) Is set to the opposite sign of the result of the previous multiplication; for example, the sign of the result of the previous multiplication is set to a positive sign. If the result of the current multiplication is less than the result of the previous multiplication, Then the sign of the result of this multiplication is also set to a positive sign. If the result of this multiplication is greater than the result of the previous multiplication, then the sign of the result of this multiplication is set to a negative sign.
  • the manner in which the adjustment unit 203 adjusts the multiplication result is just an example. This embodiment may not be limited to this.
  • the adjustment unit 203 may also adjust the multiplication result in other ways, so that the adjusted phase The result of the multiplication is within a preset adjustment interval of the d-axis current adjustment value.
  • the difference calculation unit 201 includes an absolute value calculation unit 2011 and a subtraction unit 2012.
  • the absolute value calculation unit 2011 is used to calculate the absolute value
  • the subtraction unit 2012 is used to calculate the difference between the absolute value and the predetermined rotation speed threshold ⁇ th as the difference output by the difference calculation unit 201 Value, that is, the difference value
  • the difference calculation unit 201 may further include a filtering unit 2013.
  • the filtering unit 2013 may be configured to filter high-frequency signals from the signal of the rotation speed ⁇ 1.
  • the filtering unit 2013 may be a low-pass filter (LPF).
  • the absolute value calculation unit 2011 may calculate an absolute value of the rotation speed ⁇ 1 after filtering out high-frequency signals, and the subtraction unit 2012 calculates the absolute value and a predetermined rotation speed threshold ⁇ th difference.
  • the current adjustment amount calculation unit 102 may further include a rotation speed calculation unit 204.
  • the rotation speed calculation unit 204 derives the phase angle ⁇ of the magnetic flux with respect to time t to obtain the rotation speed ⁇ 1 of the motor, that is, In addition, this embodiment may not be limited to this, and the rotation speed calculation unit 204 may also calculate the rotation speed ⁇ 1 of the motor based on the flux phase angle ⁇ in other ways.
  • the driving unit 103 includes the following units 1031-1036;
  • the current detection unit detects the phase currents i A , i B , and i C flowing into the AC motor M, and the conversion unit 1031 performs Clarke transformation on the phase currents to obtain the currents i ⁇ , i ⁇ in the ⁇ - ⁇ coordinate system;
  • the rotor flux observation unit 101 calculates the rotor flux of the AC motor M based on the currents i ⁇ , i ⁇ , the rotor rotation speed ⁇ r detected by the speed observer 104, and the voltage components U ⁇ , U ⁇ input to the SVPWM unit 1035. Phase angle ⁇ and size ⁇ of the rotor flux linkage;
  • the speed observer 104 calculates the rotor speed ⁇ r according to the currents i ⁇ , i ⁇ and the size of the rotor flux linkage ⁇ ;
  • the speed regulator (ASR) 1032 calculates the torque parameter T ecmd according to the rotor speed ⁇ r and the input speed command Speed cmd ;
  • the control signal generator (CCR) 1033 calculates the d-axis current command value i d and the q-axis current command value i q according to the torque parameter T ecmd and the speed command Speed cmd , where the d-axis current command value i d and the d-axis current
  • the adjustment value i adjust is superimposed to form an adjusted d-axis current command value i ' d ;
  • ACR 1034 based on the d-axis current command adjustment value i 'd, q-axis current command value i q, and a current i ⁇ , i ⁇ , calculated voltage component U ⁇ , U ⁇ ;
  • the space voltage PWM (SVPWM) unit 1035 generates signals for controlling the on or off of the IGBT inverter 1036.
  • the voltage signal generated by the IGBT inverter 1036 is input to the stator of the AC motor M and is used to drive the AC motor M to operate.
  • the d-axis current used to drive the AC motor can be adjusted according to the observation result of the rotor magnetic flux observation unit by the rotor magnetic flux observation unit, thereby preventing the observation result of the observer from falling into the unstable region, thereby improving
  • the control device controls the stability and improves the output accuracy of the AC motor in torque mode.
  • Embodiment 2 of the present application provides a method for controlling an AC motor, and the control method corresponds to the control device 100 of Embodiment 1.
  • FIG. 4 is a schematic diagram of a method for controlling an AC motor according to this embodiment. As shown in FIG. 4, the method includes:
  • Step 401 Calculate a phase angle ⁇ of a rotor flux linkage of the AC motor
  • Step 402 Calculate a d-axis current adjustment value i adjust according to the rotation speed ⁇ 1 of the AC motor obtained based on the phase angle ⁇ of the rotor flux linkage;
  • Step 403 Adjust the d-axis current command value i d according to the d-axis current adjustment value i adjust to obtain an adjusted d-axis current command value i ' d , and according to the adjusted d-axis current command value i' d and the q-axis.
  • the current command value i q drives the AC motor.
  • control method For the description of each step of the control method, reference may be made to the description of the corresponding unit in Embodiment 1.
  • control method may further include steps other than those described in FIG. 4, and reference may also be made to the description of each unit of the control device 100 in Embodiment 1.
  • the d-axis current used to drive the AC motor can be adjusted according to the observation result of the rotor magnetic flux observation unit by the rotor magnetic flux observation unit, thereby preventing the observation result of the observer from falling into the unstable region, thereby improving
  • the control device controls the stability and improves the output accuracy of the AC motor in torque mode.
  • control device described in combination with the embodiments of the present application may be directly embodied as hardware, a software module executed by a processor, or a combination of the two.
  • These hardware modules can be implemented by using a field programmable gate array (FPGA) to cure these software modules.
  • FPGA field programmable gate array
  • a software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.
  • a storage medium may be coupled to the processor so that the processor can read information from and write information to the storage medium; or the storage medium may be a component of the processor.
  • the processor and the storage medium may reside in an ASIC.
  • This software module can be stored in the memory of the mobile terminal or in a memory card that can be inserted into the mobile terminal. For example, if the electronic device uses a large-capacity MEGA-SIM card or a large-capacity flash memory device, the software module may be stored in the MEGA-SIM card or a large-capacity flash memory device.
  • the parameter calculation device described in this embodiment may be implemented as a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA) for performing the functions described in this application. Or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof. It may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array

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Abstract

一种交流电机的控制装置（10）和控制方法，提供一种交流电机的控制装置（10），用于对交流电机进行驱动控制，该控制装置包括：转子磁链观测单元（101），其用于计算所述交流电机的转子磁链的相位角θ；电流调整量计算单元（102），其根据基于所述转子磁链的相位角θ而获得的该交流电机的转速ω1，计算d轴电流调整值iadjust；以及驱动单元（103），其根据d轴电流调整值iadjust对d轴电流指令值id进行调整得到调整后的d轴电流指令值i'd，并根据调整后的d轴电流指令值i'd和q轴电流指令值iq对所述交流电机进行驱动。上述方法能够使控制系统运行在不稳定区外，提高控制装置进行控制的稳定性。

Description

交流电机的控制装置和控制方法 技术领域
本申请涉及电机技术领域，尤其涉及一种交流电机的控制装置和控制方法。
背景技术
在对交流电机进行矢量控制时，有时难以在电机中设置用于检测转子速度的传感器，或者为了降低成本而不设置传感器，从而对电机进行无速度传感器的矢量控制。
矢量控制可以是转矩模式的控制或速度模式的控制。其中，转矩模式的控制是指使交流电机输出期望大小的转矩，速度模式的控制是指使交流电机的转速达到期望大小。
在对交流电机进行无速度传感器的矢量控制时，控制装置根据输入的指令值以及观测器对电机参数的观测值，控制输入到电机的定子的电压，从而对电机进行矢量控制。
在对交流电机进行矢量控制的控制装置中，观测器例如可以包括转子磁链观测器，其可以检测交流电机的转子磁链的相位角θ和该转子磁链的大小，例如，该转子磁链观测器可以是基于全阶的空间状态观测器。此外，观测器也可以包括速度观测器，其用于检测交流电机的转子的转速，例如，该速度观测器可以是基于李雅普诺夫稳定性的观测器。
应该注意，上面对技术背景的介绍只是为了方便对本发明的技术方案进行清楚、完整的说明，并方便本领域技术人员的理解而阐述的。不能仅仅因为这些方案在本发明的背景技术部分进行了阐述而认为上述技术方案为本领域技术人员所公知。
发明内容
本申请的发明人发现，在现有技术中，观测器的观测结果可能进入不稳定区域，当该观测结果进入不稳定区域时，如果基于该观测结果进行矢量控制，有可能出现输入给交流电机的定子电压和定子电流成为直流电的异常情况，从而降低转矩模式下交 流电机的输出精度。
本申请提供一种交流电机的控制装置和控制方法，根据基于转子磁链的相位角θ而获得的电机的转速ω 1，计算d轴电流调整值i adjust，并根据该d轴电流调整值i adjust调整用于对交流电机进行驱动控制的d轴电流，由此，提高观测器的观测结果的稳定性，进而提高控制装置进行控制的稳定性，提高转矩模式下交流电机的输出精度。
根据本申请实施例的一个方面，提供一种交流电机的控制装置，用于对交流电机进行驱动控制，该控制装置包括：
转子磁链观测单元，其用于计算所述交流电机的转子磁链的相位角θ；
电流调整量计算单元，其根据基于所述转子磁链的相位角θ而获得的该交流电机的转速ω 1，计算d轴电流调整值i adjust；以及
驱动单元(图中ACR，SVPWM，IGBT等单元构成的整体)，其根据d轴电流调整值i adjust对d轴电流指令值i d进行调整得到调整后的d轴电流指令值i' d，并根据调整后的d轴电流指令值i' d和q轴电流指令值i q对所述交流电机进行驱动。
根据本申请实施例的另一个方面，其中，所述电流调整量计算单元包括：
差值计算单元，其用于计算所述转速ω 1和预定的转速阈值的差值；以及
电流调整值计算单元，其将所述差值乘以增益，将相乘的结果作为所述d轴电流调整值i adjust。
根据本申请实施例的另一个方面，其中，所述电流调整量计算单元还包括：
调整单元，其对所述电流调整值计算单元的所述相乘的结果进行调整，将调整后的相乘的结果作为所述d轴电流调整值i adjust，其中，调整后的该相乘的结果位于预设的d轴电流调整值的调整区间内。
根据本申请实施例的另一个方面，其中，所述调整单元将所述相乘的结果设定为具有第一符号(例如，正号或负号中的一者)，
如果具有所述第一符号的所述相乘的结果位于所述调整区间内，则将具有所述第一符号的所述相乘的结果作为所述d轴电流调整值i adjust，如果具有所述第一符号的所述相乘的结果超出所述调整区间内，则将所述相乘的结果设定为具有与所述第一符号相反的第二符号，将具有所述第二符号的所述相乘的结果作为所述d轴电流调整值i adjust。
根据本申请实施例的另一个方面，其中，所述调整单元将前一次相乘的结果与本 次相乘的结果进行比较，如果本次相乘的结果小于前一次相乘的结果，则将本次相乘的结果的符号设定为与前一次相乘的结果被设定的符号相同，
如果本次相乘的结果大于前一次相乘的结果，则将本次相乘的结果的符号设定为与前一次相乘的结果被设定的符号相反。
根据本申请实施例的另一个方面，其中，绝对值计算单元，其计算所述转速ω 1的绝对值；以及减法单元，其用于计算所述绝对值和所述预定的转速阈值的差，作为所述差值。
根据本申请实施例的另一个方面，其中，所述差值计算单元还包括：
滤波单元，其用于滤除所述转速ω 1的信号中的高频信号，
其中，所述绝对值计算单元计算滤除了高频信号后的所述转速ω 1的绝对值。
根据本申请实施例的另一个方面，其中，所述电流调整量计算单元还包括：
转速计算单元，其将所述磁链相位角相对于时间求导，得到所述电机的所述转速ω 1。
根据本申请实施例的另一个方面，提供一种交流电机的控制方法，包括：
计算所述交流电机的转子磁链的相位角θ；
根据基于所述转子磁链的相位角θ而获得的该交流电机的转速ω 1，计算d轴电流调整值i adjust；以及
根据d轴电流调整值i adjust对d轴电流指令值i d进行调整得到调整后的d轴电流指令值i' d，并根据调整后的d轴电流指令值i' d和q轴电流指令值i q对所述交流电机进行驱动。
本申请的有益效果在于：提高观测器的观测结果的稳定性，进而提高控制装置进行控制的稳定性，提高转矩模式下交流电机的输出精度。
参照后文的说明和附图，详细公开了本申请的特定实施方式，指明了本申请的原理可以被采用的方式。应该理解，本申请的实施方式在范围上并不因而受到限制。在所附权利要求的精神和条款的范围内，本申请的实施方式包括许多改变、修改和等同。
附图说明
所包括的附图用来提供对本申请实施例的进一步的理解，其构成了说明书的一部分，用于例示本申请的实施方式，并与文字描述一起来阐释本申请的原理。显而易见 地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1是本申请实施例1的控制装置的一个示意图
图2是本申请实施例1的电流调整量计算单元102的一个示意图；
图3是调整后的d轴电流指令值的区间的一个示意图；
图4是本申请实施例2的交流电机的控制方法的一个示意图。
具体实施方式
参照附图，通过下面的说明书，本申请的前述以及其它特征将变得明显。在说明书和附图中，具体公开了本申请的特定实施方式，其表明了其中可以采用本申请的原则的部分实施方式，应了解的是，本申请不限于所描述的实施方式，相反，本申请包括落入所附权利要求的范围内的全部修改、变型以及等同物。
实施例1
本申请实施例提供了一种交流电机的控制装置。图1是本实施例的控制装置的一个示意图。
如图1所示，该控制装置10可以包括：转子磁链观测单元101，电流调整量计算单元102，以及驱动单元103。该控制装置10向交流电机M的定子提供U，V，W三相交流电压，从而驱动该交流电机M运转。
在本实施例中，转子磁链观测单元101用于计算交流电机M的转子磁链的相位角θ；电流调整量计算单元102根据基于该转子磁链的相位角θ而获得的该交流电机的转速ω 1，计算d轴电流调整值i adjust；驱动单元103根据d轴电流调整值i adjust对d轴电流指令值i d进行调整以得到调整后的d轴电流指令值i' d，并根据调整后的d轴电流指令值i' d和q轴电流指令值i q对该交流电机进行驱动。
根据本实施例，能够根据转子磁链观测单元对转子磁链的观测结果，对用于驱动交流电机的d轴电流进行调整，由此，避免观测器的观测结果落入不稳定区，从而提高控制装置进行控制的稳定性，提高转矩模式下交流电机的输出精度。
图2是本实施例的电流调整量计算单元102的一个示意图，如图2所示，该电流调整量计算单元102可以包括：差值计算单元201和电流调整值计算单元202。
在本实施例中，差值计算单元201用于计算转速ω 1和预定的转速阈值ω th的差值，该预定的转速阈值ω th可以根据交流电机M的参数而设定，其中，交流电机M的运转参数例如可以是额定电压和/或额定功率等参数。
在本实施例中，电流调整值计算单元202将该差值乘以增益(gain)，并将相乘的结果作为d轴电流调整值i adjust。
在本实施例中，如图2所示，该电流调整量计算单元102还可以具有：调整单元203。
调整单元203可以对电流调整值计算单元202输出的相乘的结果进行调整，将调整后的相乘的结果作为d轴电流调整值i adjust。
在本实施例中，调整单元203可以将电流调整值计算单元202输出的相乘的结果设定为正值或负值，从而得到调整后的相乘的结果。
在本实施例中，调整单元203对相乘的结果进行调整的目标是：使得调整后的相乘的结果位于预设的d轴电流调整值的调整区间内。由此，电流调整量计算单元102所输出的d轴电流调整值i adjust可以使调整后的d轴电流指令值i' d位于预定的区间内，从而使观测器的观测量位于观测量的稳定区间内。
例如，预设的d轴电流调整值的调整区间为[-0.85A，1.7A]，由此，在d轴电流指令值i d为1.7A的情况下，调整后的d轴电流指令值i' d的区间为[0.85A，3.4A]，驱动单元103使用调整后的d轴电流指令值i' d用于对交流电机进行驱动，能够避免转子磁链观测单元101的观测结果位于观测量的稳定区间内。上述举例中的数值都是举例，本实施例不限于此。
图3是调整后的d轴电流指令值i' d的区间的一个示意图。如图3所示，各曲线301代表目标转矩为不同值时，交流电机M的滑差频率ωs随d轴电流指令值的变化曲线，其中，横轴是d轴电流指令值，纵轴是滑差频率。在图3中，当调整后的d轴电流指令值位于有效电流范围[0.85A，3.4A]时，控制装置100的转子磁链观测单元101的观测结果位于安定区。此外，在图3中，区域302的各图标表示每个曲线301对应的转矩目标转矩的10％～200％。
在一个实施方式中，调整单元203对电流调整值计算单元202的相乘的结果进行调整的方式例如可以是：
调整单元203将相乘的结果设定为具有第一符号，该第一符号可以是正号或负号 中的任一者；然后，调整单元203可以进行判断：如果具有该第一符号的该相乘的结果位于该预设的d轴电流调整值的调整区间内，则将具有该第一符号的相乘的结果作为d轴电流调整值i adjust进行输出；如果具有该第一符号的相乘的结果位于该调整区间外，则将该相乘的结果设定为具有与该第一符号相反的第二符号，并将具有该第二符号的相乘的结果作为d轴电流调整值i adjust进行输出。
在另一个实施方式中，调整单元203对电流调整值计算单元202的相乘的结果进行调整的方式例如可以是：
调整单元203将前一次相乘的结果与本次相乘的结果进行比较，如果本次相乘的结果小于前一次相乘的结果，则将本次相乘的结果的符号(正值或负值)设定为与前一次相乘的结果被设定的符号相同，如果本次相乘的结果大于前一次相乘的结果，则将本次相乘的结果的符号(正值或负值)设定为与前一次相乘的结果被设定的符号相反；例如，前一次相乘的结果的符号被设定为正号，如果本次相乘的结果小于前一次相乘的结果，那么将本次相乘的结果的符号也设定为正号，如果本次相乘的结果大于于前一次相乘的结果，那么将本次相乘的结果的符号设定为负号。
此外，上述的调整单元203对相乘的结果进行调整的方式只是举例，本实施例可以不限于此，调整单元203也可以采用其它的方式对相乘的结果进行调整，从而使得调整后的相乘的结果位于预设的d轴电流调整值的调整区间内。
在本实施例中，如图2所示，差值计算单元201包括：绝对值计算单元2011和减法单元2012。其中，绝对值计算单元2011用于计算转速ω 1的绝对值|ω 1|；减法单元2012用于计算该绝对值和该预定的转速阈值ω th的差，作为差值计算单元201输出的差值，即，该差值为|ω 1|-ω th。
在本实施例中，如图2所示，差值计算单元201还可以包括：滤波单元2013。其中，该滤波单元2013可以用于滤除转速ω 1的信号中的高频信号，例如，该滤波单元2013可以是低通滤波器(LPF)。
在图2中，当具有滤波单元2013的情况下，绝对值计算单元2011可以计算滤除了高频信号后的转速ω 1的绝对值，并且，减法单元2012计算该绝对值和预定的转速阈值ω th的差。
在本实施例中，如图2所示，电流调整量计算单元102还可以包括：转速计算单元204。其中，该转速计算单元204将磁链相位角θ相对于时间t求导，得到电机的 转速ω 1，即，
Figure PCTCN2019105157-appb-000001
此外，本实施例可以不限于此，转速计算单元204也可以通过其它方式，基于磁链相位角θ来计算电机的转速ω 1。
在本实施例中，关于转子磁链观测单元101和驱动单元103的说明，可以参考现有技术中关于交流电机的矢量控制的说明。
例如，驱动单元103包括下述的单元1031-1036；
电流检测单检测流入到交流电机M的相电流i A，i B，i C，转换单元1031对该相电流进行Clarke变换，得到α-β坐标系下的电流i α，i β；
转子磁链观测单元101根据电流i α，i β，速度观测器104检测出的转子转速ω r，以及输入到SVPWM单元1035的电压分量U α，U β，计算交流电机M的转子磁链的相位角θ和转子磁链的大小ψ；
速度观测器104根据电流i α，i β，以及转子磁链的大小ψ，计算转子转速ω r；
转速调节器(ASR)1032根据转子转速ω r以及输入的速度指令Speed cmd，计算转矩参数T ecmd；
控制信号发生器(CCR)1033根据转矩参数T ecmd和速度指令Speed cmd，计算d轴电流指令值i d和q轴电流指令值i q，其中，d轴电流指令值i d与d轴电流调整值i adjust叠加，形成调整后的d轴电流指令值i' d；
电流调节器(ACR)1034根据调整后的d轴电流指令值i' d，q轴电流指令值i q，以及电流i α，i β，计算电压分量U α，U β；
空间电压PWM(SVPWM)单元1035生成用于控制IGBT逆变器1036导通或关闭的信号PWM dutyA，PWM dutyB，PWM dutyC；
IGBT逆变器1036产生的电压信号输入到交流电机M的定子，用于驱动交流电机M运转。
根据本实施例，能够根据转子磁链观测单元对转子磁链的观测结果，对用于驱动交流电机的d轴电流进行调整，由此，避免观测器的观测结果落入不稳定区，从而提高控制装置进行控制的稳定性，提高转矩模式下交流电机的输出精度。
实施例2
本申请实施例2提供一种交流电机的控制方法，该控制方法与实施例1的控制装置100对应。
图4是本实施例的交流电机的控制方法的一个示意图，如图4所示，该方法包括：
步骤401、计算所述交流电机的转子磁链的相位角θ；
步骤402、根据基于所述转子磁链的相位角θ而获得的该交流电机的转速ω 1，计算d轴电流调整值i adjust；以及
步骤403、根据d轴电流调整值i adjust对d轴电流指令值i d进行调整得到调整后的d轴电流指令值i' d，并根据调整后的d轴电流指令值i' d和q轴电流指令值i q对所述交流电机进行驱动。
关于该控制方法的各步骤的说明，可以参考实施例1对相应单元的说明。此外，该控制方法还可以包括图4所述的步骤之外的步骤，也可以参考实施例1对控制装置100的各单元的说明。
根据本实施例，能够根据转子磁链观测单元对转子磁链的观测结果，对用于驱动交流电机的d轴电流进行调整，由此，避免观测器的观测结果落入不稳定区，从而提高控制装置进行控制的稳定性，提高转矩模式下交流电机的输出精度。
结合本申请实施例描述的控制装置可直接体现为硬件、由处理器执行的软件模块或二者组合。这些硬件模块例如可利用现场可编程门阵列(FPGA)将这些软件模块固化而实现。
软件模块可以位于RAM存储器、闪存、ROM存储器、EPROM存储器、EEPROM存储器、寄存器、硬盘、移动磁盘、CD-ROM或者本领域已知的任何其它形式的存储介质。可以将一种存储介质耦接至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息；或者该存储介质可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。该软件模块可以存储在移动终端的存储器中，也可以存储在可插入移动终端的存储卡中。例如，若电子设备采用的是较大容量的MEGA-SIM卡或者大容量的闪存装置，则该软件模块可存储在该MEGA-SIM卡或者大容量的闪存装置中。
针对本实施例所描述的参数计算装置，可以实现为用于执行本申请所描述功能的通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或其它可编程逻辑器件、分立门或晶体管逻辑器件、分立硬件组件、或者其任意适当组合。也可以实现为计算设备的组合，例如，DSP和微处理器的组合、多个微处理器、与DSP通信结合的一个或多个微处理器或者任何其它这种配置。
以上结合具体的实施方式对本申请进行了描述，但本领域技术人员应该清楚，这些描述都是示例性的，并不是对本申请保护范围的限制。本领域技术人员可以根据本申请的精神和原理对本申请做出各种变型和修改，这些变型和修改也在本申请的范围内。

Claims (9)

  1. 一种交流电机的控制装置，用于对交流电机进行驱动控制，该控制装置包括：
    转子磁链观测单元，其用于计算所述交流电机的转子磁链的相位角θ；
    电流调整量计算单元，其根据基于所述转子磁链的相位角θ而获得的该交流电机的转速ω 1，计算d轴电流调整值i adjust；以及
    驱动单元，其根据d轴电流调整值i adjust对d轴电流指令值i d进行调整得到调整后的d轴电流指令值i' d，并根据调整后的d轴电流指令值i' d和q轴电流指令值i q对所述交流电机进行驱动。
  2. 如权利要求1所述的控制装置，其中，所述电流调整量计算单元包括：
    差值计算单元，其用于计算所述转速ω 1和预定的转速阈值的差值；以及
    电流调整值计算单元，其将所述差值乘以增益，将相乘的结果作为所述d轴电流调整值i adjust。
  3. 如权利要求2所述的控制装置，其中，所述电流调整量计算单元还包括：
    调整单元，其对所述电流调整值计算单元的所述相乘的结果进行调整，将调整后的相乘的结果作为所述d轴电流调整值i adjust，
    其中，调整后的该相乘的结果位于预设的d轴电流调整值的调整区间内。
  4. 如权利要求3所述的控制装置，其中，
    所述调整单元将所述相乘的结果设定为具有第一符号，
    如果具有所述第一符号的所述相乘的结果位于所述调整区间内，则将具有所述第一符号的所述相乘的结果作为所述d轴电流调整值i adjust，
    如果具有所述第一符号的所述相乘的结果超出所述调整区间内，则将所述相乘的结果设定为具有与所述第一符号相反的第二符号，将具有所述第二符号的所述相乘的结果作为所述d轴电流调整值i adjust。
  5. 如权利要求3所述的控制装置，其中，
    所述调整单元将前一次相乘的结果与本次相乘的结果进行比较，
    如果本次相乘的结果小于前一次相乘的结果，则将本次相乘的结果的符号设定为与前一次相乘的结果被设定的符号相同，
    如果本次相乘的结果大于前一次相乘的结果，则将本次相乘的结果的符号设定为 与前一次相乘的结果被设定的符号相反。
  6. 如权利要求2所述的控制装置，其中，所述差值计算单元包括：
    绝对值计算单元，其计算所述转速ω 1的绝对值；以及
    减法单元，其用于计算所述绝对值和所述预定的转速阈值的差，作为所述差值。
  7. 如权利要求6所述的控制装置，其中，所述差值计算单元还包括：
    滤波单元，其用于滤除所述转速ω 1的信号中的高频信号，
    其中，所述绝对值计算单元计算滤除了高频信号后的所述转速ω 1的绝对值。
  8. 如权利要求2所述的控制装置，其中，所述电流调整量计算单元还包括：
    转速计算单元，其将所述磁链相位角相对于时间求导，得到所述电机的所述转速ω 1。
  9. 一种交流电机的控制方法，包括：
    计算所述交流电机的转子磁链的相位角θ；
    根据基于所述转子磁链的相位角θ而获得的该交流电机的转速ω 1，计算d轴电流调整值i adjust；以及
    根据d轴电流调整值i adjust对d轴电流指令值i d进行调整得到调整后的d轴电流指令值i' d，并根据调整后的d轴电流指令值i' d和q轴电流指令值i q对所述交流电机进行驱动。
PCT/CN2019/105157 2018-09-25 2019-09-10 交流电机的控制装置和控制方法 Ceased WO2020063330A1 (zh)

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