WO2022037003A1 - 一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法 - Google Patents
一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法 Download PDFInfo
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- WO2022037003A1 WO2022037003A1 PCT/CN2021/071268 CN2021071268W WO2022037003A1 WO 2022037003 A1 WO2022037003 A1 WO 2022037003A1 CN 2021071268 W CN2021071268 W CN 2021071268W WO 2022037003 A1 WO2022037003 A1 WO 2022037003A1
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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
- H02P21/0085—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
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- 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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- 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
Definitions
- the invention belongs to the field of ultra-high-speed permanent magnet synchronous motor control, and in particular relates to a transient current planning method for an ultra-high-speed permanent magnet synchronous motor which improves the speed regulation response capability.
- Ultra-high-speed permanent magnet synchronous motors are used in scenarios such as ultra-high-speed motorized spindles and high-power fuel cell-specific air compressors, and are important core components.
- ultra-high-speed permanent magnet synchronous motors have been able to meet the limit speed requirements in ultra-high-speed application scenarios, however, their speed regulation response capabilities are still unsatisfactory.
- the current planning of the ultra-high-speed permanent magnet synchronous motor is based on the steady-state voltage model to derive the current trajectory, the current operating point deduced during the motor speed regulation process is not the output at this speed. The highest electromagnetic torque makes the motor speed control response limited.
- Chinese patent (CN107425769A) discloses an active disturbance rejection control method and system for a permanent magnet synchronous motor speed control system, which adopts a fuzzy adaptive sliding mode speed control method to reduce the overshoot phenomenon in the speed control process and speed up the system response speed;
- the feedback compensation of the extended state observer is adopted to enhance the anti-disturbance capability of the system, and the internal model current control strategy is used to speed up the response speed of the d and q axis currents.
- the problem with this patent is: essentially, the method of disturbance compensation is used to improve the anti-disturbance ability, thereby improving the speed regulation response, but the maximum torque that the motor can output during the speed regulation process cannot be improved, so the speed regulation response capability is limited. .
- Cico patent discloses a permanent magnet synchronous motor control system and control method for electric vehicles.
- a pre-established disturbance-adapted active disturbance rejection model is used to process the rotor and current signals to obtain the control output signal, and the expansion state observation is used.
- the controller observes the load torque, which improves the adjustment accuracy of the control gain, thereby improving the anti-interference ability of the permanent magnet synchronous motor speed control system, thereby improving the speed control response.
- This patent improves the anti-interference ability by improving the adjustment accuracy of the control gain, but still does not improve the maximum electromagnetic torque output ability of the motor at a certain speed, and there is still a lot of room for improvement in the speed regulation response ability.
- the present invention provides a transient current planning method for an ultra-high-speed permanent magnet synchronous motor that improves the speed regulation response capability, so that the motor can output the highest electromagnetic torque when running at any rotational speed, and improves the motor's performance. Speed responsiveness.
- the present invention achieves the above technical purpose through the following technical means.
- a transient current planning method for an ultra-high-speed permanent magnet synchronous motor that improves speed regulation response capability includes a transient current planning module, and the transient current planning module includes MTPA control subsystem, common field weakening control subsystem, MTPV control subsystem and mode switching condition judgment subsystem; the MTPA control subsystem calculates the d and q-axis current command values under MTPA control, and the common field weakening control subsystem The system calculates the d and q-axis current command values of the common field weakening control stage, the MTPV control subsystem calculates the d and q-axis current command values of the MTPV control stage, and the mode switching condition judgment subsystem judges that the control mode is MTPA control or Ordinary field weakening control or MTPV control, send the d and q axis current command values in the corresponding control mode to the voltage decoupling control module, and the voltage decoupling control module calculates the d and
- the transient current planning method includes the steps of:
- Step (1) the mode switching condition judgment subsystem judges whether to switch to common field weakening control or MTPV control, if yes, then enter step (2), otherwise enter step (5);
- the switching point is determined by judging whether the d and q axis voltage values reach the limit value, and the judgment formula is:
- Step (2) the mode switching condition judgment subsystem judges whether the electrical angular velocity sampling value ⁇ r is greater than the MTPV control starting point rotational speed ⁇ Vs , if not, then enter step (3), if so, enter step (4);
- Step (3) the common field weakening control subsystem receives the d and q axis current command values of the MTPA control stage and Sampling value of electrical angular velocity, calculate the current command value of d and q axis in ordinary field weakening control stage
- I max is the maximum stator current
- ⁇ PM is the permanent magnet flux linkage
- L d is the d-axis inductance
- L q is the q-axis Inductance
- I q is the initial value of the q-axis current command
- I d is the initial value of the d-axis current command
- Step (4) the MTPV control subsystem receives the electrical angular velocity sampling value ⁇ r and the d and q axis current sampling values id and i q , and calculates the d and q axis current command values of the MTPV control stage
- step (5) the voltage decoupling control module receives the d and q axis current command values sent by the transient current planning module, calculates the d and q axis voltage commands, and realizes the control of the ultra-high-speed permanent magnet synchronous motor.
- the process of obtaining the d and q-axis current command values in the MTPA control stage is: judging whether I q is greater than the q-axis current maximum value I qmax1 , and if so, the calculation formula of the d and q-axis current command values is: If not, the calculation formula of d and q axis current command value is: where sign(n * ) is the sign function.
- I d max1 is the maximum value of d-axis current under MTPA control.
- the initial value of the q-axis current command is determined by and Obtained, where Te is the electromagnetic torque, ⁇ ref is the target rotational speed, ⁇ t is the sampling interval, J is the moment of inertia of the shaft system, and n p is the number of pole pairs.
- the rotational speed at the starting point of the MTPV control is obtained simultaneously from the d and q current command values of the MTPV control stage and the current limit circle equation, specifically:
- I dr and I qr are the current sampling values of the d and q axes respectively;
- I d1 and I q1 are the command values of the d and q axes of the ordinary field weakening control stage respectively, and are specifically:
- I d2 and I q2 are the d and q-axis current command values of the MTPV control stage respectively, and are specifically:
- the present invention establishes a transient current planning module, uses a voltage model that considers current transient changes, calculates the current command value of the ultra-high-speed permanent magnet synchronous motor in the ordinary field weakening control stage and the MTPV control stage, and obtains the current
- the mode switching condition judgment subsystem judges whether the ultra-high-speed permanent magnet synchronous motor should adopt MTPA control, ordinary field weakening control or MTPV control, and outputs the d and q-axis current commands in this control stage to the voltage decoupling control module, and the voltage
- the decoupling control module calculates the d and q axis voltage command values, so as to realize the control of the ultra-high-speed permanent magnet synchronous motor.
- the invention can effectively improve the dynamic characteristics of the speed regulation process of the ultra-high-speed permanent magnet synchronous motor, make the torque output capability of the motor more accurate, enable the motor to output the highest electromagnetic torque that the motor can exert when running at any speed, and improve the speed regulation response ability.
- FIG. 1 is a control architecture diagram of the ultra-high-speed permanent magnet synchronous motor according to the present invention
- Fig. 3 is a current trajectory change trend diagram before and after considering transient current changes.
- an ultra-high-speed permanent magnet synchronous motor transient current planning system that improves the speed regulation response capability, establishes a transient current planning module, which receives the target rotational speed ⁇ ref , the electrical angular velocity sampled values ⁇ r , d, The q-axis current sampling values id and i q are used to calculate the current command value of the ultra-high-speed permanent magnet synchronous motor under MTPA control, ordinary field weakening control and MTPV control by using the voltage model considering the current transient change, and obtain the current trajectory; , the transient current planning module uses the given switching rules to determine the control mode (MTPA control or ordinary field weakening control or MTPV control) that the ultra-high-speed permanent magnet synchronous motor should take, and outputs the control mode to the voltage decoupling control module d and q-axis current commands under The d and q axis voltage command values are calculated by the voltage decoupling control module So as to realize the control of ultra-high-speed permanent magnet
- the transient current planning module includes an MTPA control subsystem, a common field weakening control subsystem, an MTPV control subsystem, and a mode switching condition judgment subsystem.
- a transient current planning method for an ultra-high-speed permanent magnet synchronous motor that improves the speed regulation response capability specifically includes the following steps:
- Step (1) the speed command input.
- the transient current planning module receives the target rotational speed ⁇ ref , the electrical angular velocity sampled value ⁇ r and the d and q-axis current sampled values id and i q .
- Step (3) obtain the initial value I q of the q-axis current command through the speed regulator and the PI regulator, and input I q into the MTPA control subsystem
- the initial value I q of the q-axis current command is obtained by the following methods:
- ⁇ t is the sampling interval
- J is the moment of inertia of the shaft system
- n p is the number of pole pairs
- ⁇ PM is the permanent magnet flux linkage
- L d is the d-axis inductance
- L q is the q-axis inductance
- Step (4) the MTPA control subsystem calculates the d and q-axis current command values of the MTPA control stage
- I d max1 is the maximum value of the d-axis current under MTPA control
- I max is the maximum value of the stator current
- sign(n * ) is the sign function
- Step (5) the mode switching condition judgment subsystem judges whether to switch to common field weakening control or MTPV control, if so, then enter step (6), otherwise enter step (9);
- Judging whether to switch to ordinary field weakening control or MTPV control is to judge whether the d and q axis voltage values reach the limit value as the switching point.
- the judgment formula is:
- U max is the limit value of the terminal voltage
- Step (6) the mode switching condition judgment subsystem judges whether the electrical angular velocity sampling value is greater than the MTPV control starting point rotational speed, i.e. ⁇ r 3 ⁇ Vs ; if not, then enter step (7), if yes, then enter step (8);
- step (7) the common field weakening control subsystem receives the d and q-axis current command values and the electrical angular velocity sampling values calculated in step (4), calculates the d and q-axis current command values in the common field weakening control stage, and enters the step (9);
- R is the stator resistance
- I d is the initial value of the d-axis current command
- the control system proposed by the present invention considers the transient current voltage drop term.
- formulas (8) and (9) are written as m files, which is convenient for calculating the d and q-axis current command values of any electrical angular velocity sampling value in the ordinary field weakening control stage.
- the MTPV control subsystem receives the electrical angular velocity sampled value ⁇ r and the d and q-axis current sampled values id and i q , and calculates the d and q-axis current command values of the MTPV control stage.
- the current transient changes are considered to improve the accurate response of the torque in the MTPV control stage, expand the torque output range of the motor, and achieve the purpose of improving the speed regulation response capability;
- the calculation formula of the d-axis current command value in the MTPV control stage is:
- formulas (10) and (11) are written as m files, which can easily calculate the d and q-axis current command values of any electrical angular velocity sampling value in the MTPV control stage.
- E is a variable
- the difference between I d2 and I q2 and the d and q-axis current sampling values I dr and I qr , respectively, can be calculated by the PID regulator to calculate the values of MTPV control stages A and B.
- the calculation formula is:
- Step (9) the voltage decoupling control module receives the d and q-axis current command values sent by the transient current planning module Calculate d and q axis voltage commands
- Step (10) the coordinate transformation module converts the d and q axis voltage commands into Converted to U a and U b , and the SVPWM module outputs the six-pulse IGBT control signal; at the same time, the angular velocity calculation module and the position detection module detect the rotor position and the sampling value of the electrical angular velocity in real time, which are used for the calculation of the above steps to complete the motor. control.
- the current trajectory used in the current ultra-high-speed permanent magnet synchronous motor is obtained from the steady-state-based voltage and current model, and its trajectory is OA ⁇ AB 1 ⁇ B 1 C 1 , where the OA segment is MTPA (maximum torque to current ratio) control stage, AB 1 stage is the common field weakening control stage, B 1 C 1 stage is the MTPV (maximum torque to voltage ratio) control stage, since the influence of transient current is not considered in the calculation of this trajectory , so higher torque output capability cannot be achieved.
- MTPA maximum torque to current ratio
- AB 1 stage is the common field weakening control stage
- B 1 C 1 stage is the MTPV (maximum torque to voltage ratio) control stage
- the voltage limit ellipse will move upward to the right (the shifted voltage limit ellipse is represented by a dotted line), at this time, the AB 1 segment becomes the shorter AB 2 , and the B 1 C 1 segment will also move toward the upper right. Moving to the upper right becomes B 2 C 2 . At this time, the torque of the B 2 C 2 segment will be larger than that of the B 1 C 1 segment, so that a higher torque output range can be obtained in the MTPV control stage.
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Abstract
提供了一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法,属于超高速永磁同步电机控制领域。瞬态电流规划模块利用考虑电流瞬态变化的电压模型,计算超高速永磁同步电机在MTPA控制、普通弱磁控制以及MTPV控制下的电流指令值,模式切换条件判断子系统判断控制模式为MTPA控制或普通弱磁控制或MTPV控制,将相应控制模式下的d、q轴电流指令值发送给电压解耦控制模块,电压解耦控制模块计算控制电机的d、q轴电压指令值,实现超高速永磁同步电机的控制。由此扩大了超高速永磁同步电机实际输出的最高电磁转矩,从根本上解决超高速永磁同步电机调速响应弱的问题。
Description
本发明属于超高速永磁同步电机控制领域,尤其涉及一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法。
超高速永磁同步电机应用于超高速电主轴、大功率燃料电池专用空压机等场景,是重要的核心部件。当前,超高速永磁同步电机已经能够满足超高速应用场景下的极限转速需求,然而,其调速响应能力仍然差强人意。实际上,由于超高速永磁同步电机在进行电流规划时,均是基于稳态的电压模型来推导电流轨迹,在电机调速过程中所推导出的电流工作点并不是该转速下所输出的最高电磁转矩,使得电机调速响应受到限制。
现有技术多在自抗扰控制方面提高超高速永磁同步电机调速响应能力。中国专利(CN107425769A)公开了一种永磁同步电机调速系统的自抗扰控制方法及系统,采用模糊自适应滑模速度控制方法来减弱速度控制过程中的超调现象,加快系统响应速度;采用了扩展状态观测器的反馈补偿,增强系统的抗扰动能力,使用内模电流控制策略,加快d、q轴电流响应速度。该专利存在的问题是:本质上是利用扰动补偿的方法提高抗扰动能力,以此改善调速响应,无法提高电机在调速过程中所能输出的最大转矩,因此调速响应能力提升有限。
中国专利(CN110289795A)公开了一种电动汽车用永磁同步电机控制系统及控制方法,采用预先建立的扰动适应的自抗扰模型对转子及电流信号处理,得到控制输出信号,使用了扩张状态观测器对负载转矩进行观测,提高了控制增益的调节精确度,从而提高永磁同步电机调速系统的抗干扰能力,以此提高调速响应。该专利通过提高控制增益的调节精确度来提高抗干扰能力,仍然没有改善电机在某一转速下的最大电磁转矩输出能力,调速响应能力还有很大提升空间。
发明内容
针对现有技术中存在不足,本发明提供了一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法,使电机运行在任意转速时都能输出最高电磁转矩,提高电机的调速响应能力。
本发明是通过以下技术手段实现上述技术目的的。
一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法,所述瞬态电流规划方法基于的瞬态电流规划系统,包括瞬态电流规划模块,所述瞬态电流规划模块包括MTPA控 制子系统、普通弱磁控制子系统、MTPV控制子系统以及模式切换条件判断子系统;所述MTPA控制子系统计算MTPA控制下的d、q轴电流指令值,所述普通弱磁控制子系统计算普通弱磁控制阶段的d、q轴电流指令值,所述MTPV控制子系统计算MTPV控制阶段的d、q轴电流指令值,所述模式切换条件判断子系统判断控制模式为MTPA控制或普通弱磁控制或MTPV控制,将相应控制模式下的d、q轴电流指令值发送给电压解耦控制模块,电压解耦控制模块计算控制电机的d、q轴电压指令值;
所述瞬态电流规划方法包括步骤:
步骤(1),模式切换条件判断子系统判断是否切换为普通弱磁控制或MTPV控制,若是,则进入步骤(2),否则进入步骤(5);
所述是否切换通过判断d、q轴电压值是否达到限幅值作为切换点,判断公式为:
若判断公式成立,则切换为MTPA控制,否则转入步骤(2);
步骤(2),模式切换条件判断子系统判断电角速度采样值ω
r是否大于MTPV控制开始点转速ω
Vs,若否,则进入步骤(3),若是,则进入步骤(4);
所述普通弱磁控制阶段的d轴电流指令值为:
式中,a
1、a
2、b
1、b
2、A、B均为变量,且a
1=ω
rL
d,a
2=ω
rλ
PM+L
qB,B=dI
q/dt,b
1=ω
rL
q,b
2=L
dA,A=dI
d/dt;I
max为定子电流最大值,λ
PM为永磁体磁链,L
d为d轴电感,L
q为q轴电感,I
q为q轴电流指令初始值,I
d为d轴电流指令初始值;
所述普通弱磁控制阶段的q轴电流指令值为:
步骤(4),MTPV控制子系统接收电角速度采样值ω
r以及d、q轴电流采样值i
d和i
q,计算MTPV控制阶段的d、q轴电流指令值
所述MTPV控制阶段的d轴电流指令值计算公式为:
所述MTPV控制阶段的q轴电流指令值计算公式为:
式中,ρ、C均为变量,ρ=L
d/L
q,C=ρω
r[λ
PM/L
q+(ρ-1)I
d
*][L
d I
d
*+λ
PM+BL
q/ω
r];
步骤(5),电压解耦控制模块接收瞬态电流规划模块发送的d、q轴电流指令值,计算d、q轴电压指令,实现超高速永磁同步电机的控制。
进一步的技术方案,所述MTPA控制阶段的d、q轴电流指令值获取过程为:判断I
q是否大于q轴电流最大值I
qmax1,若是,则d、q轴电流指令值计算公式为:
若否,则d、q轴电流指令值计算公式为:
其中sign(n
*)为符号函数。
进一步的技术方案,所述电流最大值I
qmax1的计算公式为:
进一步的技术方案,所述MTPV控制开始点转速由MTPV控制阶段的d、q电流指令值与电流极限圆方程联立求得,具体为:
进一步的技术方案,所述普通弱磁控制阶段A、B的值为:
其中I
dr、I
qr分别为d、q轴电流采样值;I
d1、I
q1分别为普通弱磁控制阶段d、q轴电流指令值,具体为:
进一步的技术方案,所述MTPV控制阶段A、B的值为:
其中I
d2、I
q2分别为MTPV控制阶段d、q轴电流指令值,具体为:
式中E为变量。
本发明的有益效果为:本发明建立瞬态电流规划模块,利用考虑电流瞬态变化的电压模型,计算超高速永磁同步电机在普通弱磁控制阶段及MTPV控制阶段的电流指令值,得到电流轨迹;同时模式切换条件判断子系统判断超高速永磁同步电机应当采取MTPA控制或普通 弱磁控制还是MTPV控制,并向电压解耦控制模块输出在该控制阶段的d、q轴电流指令,电压解耦控制模块计算d、q轴电压指令值,从而实现超高速永磁同步电机的控制。本发明能够有效提升超高速永磁同步电机调速过程的动态特性,使得电机的转矩输出能力更精确,使电机运行在任意转速时能输出电机可发挥的最高电磁转矩,提高调速响应能力。
图1为本发明所述超高速永磁同步电机控制架构图;
图2为本发明所述超高速永磁同步电机瞬态电流轨迹规划流程图;
图3为考虑瞬态电流变化前后的电流轨迹变化趋势图。
下面结合附图以及具体实施例对本发明作进一步的说明,但本发明的保护范围并不限于此。
如图1所示,一种提高调速响应能力的超高速永磁同步电机瞬态电流规划系统,建立瞬态电流规划模块,该模块接收目标转速ω
ref、电角速度采样值ω
r、d、q轴电流采样值i
d、i
q,利用考虑电流瞬态变化的电压模型,计算超高速永磁同步电机在MTPA控制、普通弱磁控制以及MTPV控制下的电流指令值,得到电流轨迹;同时,瞬态电流规划模块利用给出的切换规则,判断超高速永磁同步电机应当采取的控制模式(MTPA控制或普通弱磁控制或MTPV控制),并向电压解耦控制模块输出在该控制模式下的d、q轴电流指令
由电压解耦控制模块计算d、q轴电压指令值
从而实现超高速永磁同步电机的控制。
所述瞬态电流规划模块包含MTPA控制子系统、普通弱磁控制子系统、MTPV控制子系统以及模式切换条件判断子系统。
如图2所示,一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法,具体包括如下步骤:
步骤(1),转速命令输入。
步骤(2),瞬态电流规划模块接收目标转速ω
ref、电角速度采样值ω
r以及d、q轴电流采样值i
d和i
q。
步骤(3),通过转速调节器及PI调节器得到q轴电流指令初始值I
q,并将I
q输入MTPA控制子系统
q轴电流指令初始值I
q通过以下方法获取:
1)由转速调节器及PI调节器计算所需电磁转矩,计算公式为:
式中,Δt为采样间隔,J为轴系转动惯量;
2)根据电磁转矩方程及电流极限方程,计算得到转矩与q轴电流初始值I
q之间的关系式:
式中,n
p为极对数,λ
PM为永磁体磁链,L
d为d轴电感,L
q为q轴电感;
由公式(1)、(2),得到电流指令初始值I
q。
步骤(4),MTPA控制子系统计算MTPA控制阶段的d、q轴电流指令值
1)计算MTPA控制下q轴电流最大值I
qmax1,计算公式为:
式中,I
d max1为MTPA控制下d轴电流最大值,I
max为定子电流最大值;
2)判断I
q是否大于I
qmax1,若是,则d、q轴电流指令值计算公式为:
若否,则d、q轴电流指令值计算公式为:
式中:sign(n
*)为符号函数;
步骤(5),模式切换条件判断子系统判断是否切换为普通弱磁控制或MTPV控制,若是,则进入步骤(6),否则进入步骤(9);
判断是否切换为普通弱磁控制或MTPV控制是通过判断d、q轴电压值是否达到限幅值作为切换点,判断公式为:
式中,U
max为端电压限幅值;
若公式(6)成立,则切换为MTPA控制;若条件不成立,则转入步骤(6)进一步判断控制方式;
步骤(6),模式切换条件判断子系统判断电角速度采样值是否大于MTPV控制开始点转速,即ω
r
3ω
Vs;若否,则进入步骤(7),若是,则进入步骤(8);
步骤(7),普通弱磁控制子系统接收步骤(4)所计算的d、q轴电流指令值、电角速度采样值,计算普通弱磁控制阶段的d、q轴电流指令值,并进入步骤(9);
普通弱磁控制下的d、q轴电流指令值推导过程中考虑电流瞬态变化,以提高普通弱磁控制阶段转矩的精确响应,扩大电机的转矩输出范围,达到提高调速响应能力的目的;
考虑电流瞬态变化的电压模型为:
式中,R为定子电阻,I
d为d轴电流指令初始值;
在考虑电流瞬态变化后,普通弱磁控制阶段的d轴电流指令值计算公式为:
式中,a
1、a
2、b
1、b
2、A、B均为变量,a
1=ω
rL
d,a
2=ω
rλ
PM+L
qB,B=dI
q/dt,b
1=ω
rL
q,b
2=L
dA,A=dI
d/dt;
普通弱磁控制阶段的q轴电流指令值计算公式为:
在搭建Simulink控制模型时,将公式(8)、(9)写为m文件,方便计算普通弱磁控制阶段任意电角速度采样值时的d、q轴电流指令值。
步骤(8),MTPV控制子系统接收电角速度采样值ω
r以及d、q轴电流采样值i
d、i
q,计算MTPV控制阶段的d、q轴电流指令值
MTPV控制阶段的d、q轴电流指令值推导过程中考虑电流瞬态变化,以提高MTPV控制阶段转矩的精确响应,扩大电机的转矩输出范围,达到提高调速响应能力的目的;在考虑 电流瞬态变化后,MTPV控制阶段的d轴电流指令值计算公式为:
MTPV控制阶段的q轴电流指令值计算公式为:
式中,ρ、C均为变量,ρ=L
d/L
q,C=ρω
r[λ
PM/L
q+(ρ-1)I
d
*][L
d I
d
*+λ
PM+BL
q/ω
r];
在搭建Simulink控制模型时,将公式(10)、(11)写为m文件可方便计算MTPV控制阶段任意电角速度采样值时的d、q轴电流指令值。
此外,MTPV控制开始点转速由MTPV控制阶段的d、q电流指令值与电流极限圆方程联立求得;计算公式为:
上述过程中,考虑电流瞬态变化,需计算电流瞬态变化值,计算方法如下:
对于普通弱磁控制阶段,不考虑电流瞬态变化,联立电压极限椭圆方程及电流极限圆方程,可得d、q轴电流指令值如下:
将I
d1与I
q1分别与d、q轴电流采样值I
dr、I
qr做差,并由PID调节器即可计算出普通弱磁控制阶段A、B的值,计算公式为:
对于MTPV控制阶段,不考虑电流瞬态变化,联立电压极限椭圆方程及电磁转矩方程, 可得d、q轴电流指令值如下:
其中:E为变量;
将I
d2与I
q2分别与d、q轴电流采样值I
dr、I
qr做差,并由PID调节器即可计算出MTPV控制阶段A、B的值,计算公式为:
步骤(10),坐标变换模块将d、q轴电压指令
转换为U
a和U
b,并由SVPWM模块输出六脉IGBT控制信号;与此同时,角速度计算模块、位置检测模块实时检测转子位置及电角速度采样值,以用于上述步骤的计算,完成电机控制。
如图3所示,当前超高速永磁同步电机中使用的电流轨迹是从基于稳态的电压、电流模型中得到的,其轨迹为OA→AB
1→B
1C
1,其中OA段为MTPA(最大转矩电流比)控制阶段,AB
1段为普通弱磁控制阶段,B
1C
1段为MTPV(最大转矩电压比)控制阶段,由于该轨迹的得出未考虑瞬态电流的影响,因此无法取得更高的转矩输出能力。在考虑瞬态电流的影响后,电压极限椭圆将向右上方移动(移动后的电压极限椭圆以虚线表示),此时AB
1段变为更短的AB
2,B
1C
1段也将向右上移动成为B
2C
2,此时的B
2C
2段的转矩将比B
1C
1段更大,进而可在MTPV控制阶段获得更高的转矩输出范围。
所述实施例为本发明的优选的实施方式,但本发明并不限于上述实施方式,在不背离本发明的实质内容的情况下,本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。
Claims (7)
- 一种提高调速响应能力的超高速永磁同步电机瞬态电流规划方法,其特征在于,所述瞬态电流规划方法基于的瞬态电流规划系统,包括瞬态电流规划模块,所述瞬态电流规划模块包括MTPA控制子系统、普通弱磁控制子系统、MTPV控制子系统以及模式切换条件判断子系统;所述MTPA控制子系统计算MTPA控制下的d、q轴电流指令值,所述普通弱磁控制子系统计算普通弱磁控制阶段的d、q轴电流指令值,所述MTPV控制子系统计算MTPV控制阶段的d、q轴电流指令值,所述模式切换条件判断子系统判断控制模式为MTPA控制或普通弱磁控制或MTPV控制,将相应控制模式下的d、q轴电流指令值发送给电压解耦控制模块,电压解耦控制模块计算控制电机的d、q轴电压指令值;所述瞬态电流规划方法包括步骤:步骤(1),模式切换条件判断子系统判断是否切换为普通弱磁控制或MTPV控制,若是,则进入步骤(2),否则进入步骤(5);所述是否切换通过判断d、q轴电压值是否达到限幅值作为切换点,判断公式为:若判断公式成立,则切换为MTPA控制,否则转入步骤(2);步骤(2),模式切换条件判断子系统判断转速采样值ω r是否大于MTPV控制开始点转速ω Vs,若否,则进入步骤(3),若是,则进入步骤(4);所述普通弱磁控制阶段的d轴电流指令值为:式中,a 1、a 2、b 1、b 2、A、B均为变量,且a 1=ω rL d,a 2=ω rλ PM+L qB,B=dI q/dt,b 1=ω rL q,b 2=L dA,A=dI d/dt;I max为定子电流最大值,λ PM为永磁体磁链,L d为d轴电感,L q为q轴电感,I q为q轴电流指令初始值,I d为d轴电流指令初始值;所述普通弱磁控制阶段的q轴电流指令值为:步骤(4),MTPV控制子系统接收转速采样值ω r以及d、q轴电流采样值i d和i q,计算MTPV控制阶段的d、q轴电流指令值所述MTPV控制阶段的d轴电流指令值计算公式为:所述MTPV控制阶段的q轴电流指令值计算公式为:式中,ρ、C均为变量,ρ=L d/L q,C=ρω r[λ PM/L q+(ρ-1)I d *][L dI d *+λ PM+BL q/ω r];步骤(5),电压解耦控制模块接收瞬态电流规划模块发送的d、q轴电流指令值,计算d、q轴电压指令,实现超高速永磁同步电机的控制。
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