WO2023093341A1 - 基于功率环的高速永磁同步电机控制方法 - Google Patents

基于功率环的高速永磁同步电机控制方法 Download PDF

Info

Publication number
WO2023093341A1
WO2023093341A1 PCT/CN2022/124909 CN2022124909W WO2023093341A1 WO 2023093341 A1 WO2023093341 A1 WO 2023093341A1 CN 2022124909 W CN2022124909 W CN 2022124909W WO 2023093341 A1 WO2023093341 A1 WO 2023093341A1
Authority
WO
WIPO (PCT)
Prior art keywords
loop
speed
current
power
permanent magnet
Prior art date
Application number
PCT/CN2022/124909
Other languages
English (en)
French (fr)
Inventor
李可礼
胡奇号
魏海峰
李垣江
张懿
王伟然
Original Assignee
江苏科技大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏科技大学 filed Critical 江苏科技大学
Publication of WO2023093341A1 publication Critical patent/WO2023093341A1/zh

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/34—Arrangements for starting
    • 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
    • H02P21/22—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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P27/06—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 using dc to ac converters or inverters
    • H02P27/08—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 using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H02P6/21—Open loop start
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • 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

Definitions

  • the invention relates to the field of permanent magnet synchronous motor control, in particular to a power loop-based high-speed permanent magnet synchronous motor control method.
  • the permanent magnet synchronous motor has the advantages of high efficiency, fast response and low noise. Therefore, permanent magnet synchronous motors have been widely used in more and more industries.
  • the traditional permanent magnet synchronous motor controls the switching elements of the inverter to advance the phase of the stator current and weaken the permanent magnet excitation field, so as to achieve the purpose of increasing the speed by weakening the field.
  • the essence is to use the magnetic field of the stator armature to offset part of the permanent magnet magnetic field, so that the back electromotive force of the motor is reduced, and the voltage limit will not be exceeded.
  • this scheme does not make full use of the bus voltage during the control process, the current increases, the efficiency deteriorates, and it is sensitive to the inductance parameters of the motor. If the parameters are not accurate, the performance of the motor will decrease.
  • the present invention provides a high-speed permanent magnet synchronous motor control method based on the power loop, which utilizes open-loop current injection into the current loop , speed loop, and power loop, so as to achieve the purpose of maintaining constant power, motor performance and efficiency in the high-speed operation of the permanent magnet synchronous motor.
  • a high-speed permanent magnet synchronous motor control method based on a power loop including the following steps:
  • the initial given open-loop current is i q .
  • the initial given open-loop current iq is current-limited and gradually increased, and the open-loop current value for climbing is:
  • i q max is the maximum allowable starting current
  • t is the preset expected starting time
  • the step 3 is:
  • the method for sampling the bus current is:
  • i d is the d-axis current sampled in real time
  • i q is the q-axis current sampled in real time
  • the current loop period is equal to the PWM period; the speed loop period is 10 to 20 times the current loop period; the power loop period is 5 to 10 times the speed loop period.
  • the current loop needs to perform calculations every FOC calculation period; the speed loop and power loop do not need to perform calculations every FOC calculation period.
  • PI limiting is performed on the speed increase of the motor.
  • the present invention has the following significant advantages:
  • the present invention utilizes the control method based on the power loop to realize the high-speed operation of the permanent magnet synchronous motor; compared with the traditional control method, it can not only make full use of the bus voltage, but also ensure the performance of the motor.
  • the open-loop current is first used to start, and the climbing and current limiting of the open-loop circuit are done well, so as to achieve the desired speed value in a short time.
  • the present invention adds a new power loop to ensure the dynamic stability of the power in the high-speed operation of the permanent magnet synchronous motor.
  • the present invention considers the bus current sampling separately according to the SVPWM sector, which improves the accuracy of the power compensation.
  • Fig. 1 is the flow chart of the high-speed permanent magnet synchronous motor control method based on power loop
  • Figure 2 is a block diagram of vector control of high-speed permanent magnet synchronous motor based on power loop.
  • the high-speed permanent magnet synchronous motor control method based on the power loop includes the following steps:
  • the open-loop current reaches near the maximum allowable starting current, it switches to the current loop-speed loop-power loop to operate simultaneously; when the power loop is running, the difference between the given power and the product of the bus voltage and bus current sampled in real time is used for power compensation.
  • the bus voltage is the bus voltage sampled in real time, and the bus current is estimated by is when the sector vector of SVPWM is 000, 111; in other sectors, the bus current sampled in real time is directly used for calculation.
  • the current loop period is equal to the PWM period; the speed loop period is 10 to 20 times the current loop period; the power loop period is 5 to 10 times the speed loop period.

Landscapes

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

Abstract

本发明公开了一种基于功率环的高速永磁同步电机控制方法，其特征在于，包括：当永磁同步电机起动时，初始给定开环电流，功率环和速度环不运作；当电机转速从提升到正常空载转速的80％～90％时，切入到功率环运行。本发明利用基于功率环的控制方法来实现永磁同步电机的高速运行；与传统的控制方法相比，不仅能够充分利用母线电压，还保证了电机性能，提高了功率补偿的准确性。

Description

基于功率环的高速永磁同步电机控制方法 技术领域
本发明涉及永磁同步电机控制领域，尤其涉及基于功率环的高速永磁同步电机控制方法。
背景技术
永磁同步电机具有效率高，响应快，噪音小等优点。因此，永磁同步电机已经在越来越多的行业广泛应用。
传统的永磁同步电机通过控制逆变器开关元件，使定子电流相位提前，削弱永磁励磁磁场，从而达到弱磁升速的目的。本质是利用定子电枢的磁场去抵消掉一部分永磁磁场，让电机的反电动势降低，不至于超过电压极限。但是，这种方案在控制过程中母线电压没有充分利用，电流变大，效率变差，并且对电机的电感参数比较敏感，参数不准，电机性能会下降。
发明内容
发明目的：为了解决目前传统高速永磁同步电机控制方法效率差、电机性能欠佳、功率不稳定的问题，本发明提供基于功率环的高速永磁同步电机控制方法，利用开环电流注入电流环、速度环、功率环，从而达到永磁同步电机高速运行中保持功率恒定、电机性能和效率的目的。
技术方案：基于功率环的高速永磁同步电机控制方法，包括以下步骤：
(1)永磁同步电机起动时，初始给定开环电流；
(2)开环电流爬坡且功率环和速度环不运作；
(3)当电机转速提升到正常空载转速的80％～90％时，切入到功率环运行。
所述初始给定开环电流为i q。
所述初始给定开环电流i q限流且逐步增大，爬坡的开环电流值为：
Figure PCTCN2022124909-appb-000001
其中，i qmax为最大允许起动电流，t为预设期望的起动时间。
所述步骤3为：
(3.1)设定切入功率环地电机转速为正常空载转速的80％～90％；
(3.2)在转速达到功率设定转速的80％～90％之前，功率环和速度环不运作，当初始给定地开环电流逐步增大且转速达到功率设定转速的80％～90％时，切断开环注入电流，电流环、速度环、功率环同时运行；
(3.3)实时采样母线电压与母线电流，两项乘积与给定功率作差进行功率补偿；
(3.4)对电流环、速度环、功率环周期进行设定。
所述采样母线电流的方法为：
在SVPWM的扇区矢量为000，111时采用i s计算；其他扇区情况直接使用实时采样的母线电流进行计算，i s的具体计算公式为：
Figure PCTCN2022124909-appb-000002
其中，i d为实时采样的d轴电流，i q为实时采样的q轴电流。
所述步骤(3.4)中三个环路设置的方法如下：
电流环周期等于PWM周期；速度环周期10到20倍的电流环周期；功率环周期5到10倍速度环周期。
所述电流环需要每个FOC运算周期进行运算；所述速度环和功率环不需要每个FOC运算周期都进行运算。
对所述电机转速提升进行PI限幅。
有益效果：与现有技术相比，本发明具有如下显著优点：
1、本发明利用基于功率环的控制方法来实现永磁同步电机的高速运行；与传统的控制方法相比，不仅能够充分利用母线电压，还保证了电机性能。
2、本发明首先利用开环电流起动，并做好开环电路的爬坡和限流，做到短时间内达到期望的转速值。
3、本发明在电流环和速度环的基础上，新增功率环，保证永磁同步电机高速运行中功率的动态稳定。
4、本发明在功率环功率补偿中，将母线电流采样按SVPWM扇区进行分开考虑，提高了功率补偿的准确性。
附图说明
图1为基于功率环的高速永磁同步电机控制方法的流程图；
图2为基于功率环的高速永磁同步电机矢量控制框图。
具体实施方式
下面结合附图对本发明的技术方案作进一步说明。
如图1所示，基于功率环的高速永磁同步电机控制方法，包括如下步骤：
(1)永磁同步电机起动时，初始给定开环电流。短时间内达到期望的转速；
(2)判断因开环电流逐步增大而导致的转速增加是否提高到功率设定转速的80％～90％，如果已经达到，那么切断开环电流注入，进入下一流程；反之，继续给定开 环电流爬坡；
(3)当初始给定地开环电流逐步增大且转速达到功率设定转速的80％～90％时，切断开环注入电流，电流环、速度环、功率环同时运行；
(4)功率环运作的同时，实时采样母线电流和母线电压进行功率补偿。
如图2所示，本发明提供了一种基于功率环的高速永磁同步电机矢量控制框图，包括：开环电流注入电流环、速度环、功率环；电机起动时，首先注入开环电流控制，此时速度环和功率环不运作，同时采用i d＝0的控制解耦策略实现d-q轴的电流静态解耦。当开环电流达到最大允许起动电流电流附近时，切入到电流环-速度环-功率环同时运作；功率环运行时，给定功率与实时采样的母线电压与母线电流乘积作差进行功率补偿，其中，母线电压即为实时采样的母线电压，母线电流在SVPWM的扇区矢量为000，111时采用i s估算；其他扇区情况直接使用实时采样的母线电流进行计算。为保证采样周期准确性，电流环周期等于PWM周期；速度环周期10到20倍的电流环周期；功率环周期5到10倍速度环周期。

Claims (8)

  1. 基于功率环的高速永磁同步电机控制方法，其特征在于，包括以下步骤：
    (1)永磁同步电机起动时，初始给定开环电流；
    (2)开环电流爬坡且功率环和速度环不运作；
    (3)当电机转速提升到正常空载转速的80％～90％时，切入到功率环运行。
  2. 根据权利要求1所述的基于功率环的高速永磁同步电机控制方法，其特征在于，所述初始给定开环电流为i q。
  3. 根据权利要求2所述的基于功率环的高速永磁同步电机控制方法，其特征在于，所述初始给定开环电流i q限流且逐步增大，爬坡的开环电流值为：
    Figure PCTCN2022124909-appb-100001
    其中，i qmax为最大允许起动电流，t为预设期望的起动时间。
  4. 根据权利要求1所述的基于功率环的高速永磁同步电机控制方法，其特征在于，所述步骤3为：
    (3.1)设定切入功率环地电机转速为正常空载转速的80％～90％；
    (3.2)在转速达到功率设定转速的80％～90％之前，功率环和速度环不运作，当初始给定地开环电流逐步增大且转速达到功率设定转速的80％～90％时，切断开环注入电流，电流环、速度环、功率环同时运行；
    (3.3)实时采样母线电压与母线电流，两项乘积与给定功率作差进行功率补偿；
    (3.4)对电流环、速度环、功率环周期进行设定。
  5. 根据权利要求4所述的基于功率环的高速永磁同步电机控制方法，其特征在于，所述采样母线电流的方法为：
    在SVPWM的扇区矢量为000，111时采用i s计算；其他扇区情况直接使用实时采样的母线电流进行计算，i s的具体计算公式为：
    Figure PCTCN2022124909-appb-100002
    其中，i d为实时采样的d轴电流，i q为实时采样的q轴电流。
  6. 根据权利要求4所述的基于功率环的高速永磁同步电机控制方法，其特征在于，所述步骤(3.4)中三个环路设置的方法如下：
    电流环周期等于PWM周期；速度环周期10到20倍的电流环周期；功率环周期5到10倍速度环周期。
  7. 根据权利要求4所述的基于功率环的高速永磁同步电机控制方法，其特征在于，所述电流环需要每个FOC运算周期进行运算；所述速度环和功率环不需要每个FOC运算 周期都进行运算。
  8. 根据权利要求1所述的基于功率环的高速永磁同步电机控制方法，其特征在于，对所述电机转速提升进行PI限幅。
PCT/CN2022/124909 2021-11-26 2022-10-12 基于功率环的高速永磁同步电机控制方法 WO2023093341A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111421352.0 2021-11-26
CN202111421352.0A CN114079413A (zh) 2021-11-26 2021-11-26 基于功率环的高速永磁同步电机控制方法

Publications (1)

Publication Number Publication Date
WO2023093341A1 true WO2023093341A1 (zh) 2023-06-01

Family

ID=80284294

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/124909 WO2023093341A1 (zh) 2021-11-26 2022-10-12 基于功率环的高速永磁同步电机控制方法

Country Status (2)

Country Link
CN (1) CN114079413A (zh)
WO (1) WO2023093341A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114079413A (zh) * 2021-11-26 2022-02-22 江苏科技大学 基于功率环的高速永磁同步电机控制方法
CN115189608B (zh) * 2022-05-19 2024-04-09 广东逸动科技有限公司 电机控制方法、控制装置、计算机设备及可读存储介质
CN117767831B (zh) * 2023-12-26 2024-07-12 湖南进芯电子科技有限公司 一种基于功率控制的高速永磁同步电机控制方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101984554A (zh) * 2010-12-01 2011-03-09 东元总合科技（杭州）有限公司 基于无传感器的电机启动方法
CN104811095A (zh) * 2015-04-28 2015-07-29 广东美的暖通设备有限公司 电动机的启动控制方法、装置和空调器
US20160056740A1 (en) * 2014-08-22 2016-02-25 Rockwell Automation Technologies, Inc. Transition scheme for position sensorless control of ac motor drives
CN110829935A (zh) * 2019-11-25 2020-02-21 贵阳航空电机有限公司 一种基于输入功率的伺服系统速度控制装置
CN111022364A (zh) * 2019-11-07 2020-04-17 广东尚研电子科技有限公司 一种烟机恒风量控制方法及装置
CN112865636A (zh) * 2021-01-15 2021-05-28 珠海格力电器股份有限公司 一种最大转矩电流比控制方法及装置
CN114079413A (zh) * 2021-11-26 2022-02-22 江苏科技大学 基于功率环的高速永磁同步电机控制方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101984554A (zh) * 2010-12-01 2011-03-09 东元总合科技（杭州）有限公司 基于无传感器的电机启动方法
US20160056740A1 (en) * 2014-08-22 2016-02-25 Rockwell Automation Technologies, Inc. Transition scheme for position sensorless control of ac motor drives
CN104811095A (zh) * 2015-04-28 2015-07-29 广东美的暖通设备有限公司 电动机的启动控制方法、装置和空调器
CN111022364A (zh) * 2019-11-07 2020-04-17 广东尚研电子科技有限公司 一种烟机恒风量控制方法及装置
CN110829935A (zh) * 2019-11-25 2020-02-21 贵阳航空电机有限公司 一种基于输入功率的伺服系统速度控制装置
CN112865636A (zh) * 2021-01-15 2021-05-28 珠海格力电器股份有限公司 一种最大转矩电流比控制方法及装置
CN114079413A (zh) * 2021-11-26 2022-02-22 江苏科技大学 基于功率环的高速永磁同步电机控制方法

Also Published As

Publication number Publication date
CN114079413A (zh) 2022-02-22

Similar Documents

Publication Publication Date Title
WO2023093341A1 (zh) 基于功率环的高速永磁同步电机控制方法
WO2021093397A1 (zh) 一种内嵌永磁同步电机的矢量控制及弱磁方法和系统
CN101478281B (zh) 基于电流反馈的无位置传感器无刷直流电机起动方法
US6979967B2 (en) Efficiency optimization control for permanent magnet motor drive
JP3843391B2 (ja) 同期電動機駆動装置
US7116073B1 (en) Methods and apparatus for controlling a motor/generator
US10411629B2 (en) Synchronous motor control circuit and control method
WO2018227769A1 (zh) 一种无位置传感器的bldc电机的启动方法
Singh et al. Minimization of torque ripples in SRM drive using DITC for electrical vehicle application
US7135829B1 (en) Methods and apparatus for controlling a motor/generator
TWI811849B (zh) 用於直流無刷電機的控制方法和控制裝置
KR100289496B1 (ko) 고속모터의 센서리스 속도제어방법
CN110995062B (zh) 电机启动控制方法、控制装置、电机及压缩机
CN116743017A (zh) 一种大惯量负载永磁电机无位置传感器控制的可靠启动系统
CN116722781A (zh) 无感永磁同步电机的控制方法
CN109546909B (zh) 一种交流永磁同步电机转速追踪启动方法
CN112701969B (zh) 一种同步磁阻电机最大转矩电流比在线寻优方法
Kim et al. DSP-based high-speed sensorless control for a brushless DC motor using a DC link voltage control
Zhou et al. Online adaptive maximum torque per ampere control for doubly salient electromagnetic machine
CN109256988B (zh) 一种三相bldc电机六步控制的开环切换闭环的控制方法
Lin et al. Voltage control of interior permanent magnet synchronous motor drives to extend DC-link voltage utilization for flux weakening operation
CN103840718B (zh) 感应电机快速直流制动的方法
Liu et al. MTPA Control and Flux-Weakening Control for IPMSM Drives Based on High-frequency Signal Injection
CN111969920B (zh) 永磁同步电机启动方法及其装置
WO2024051227A1 (zh) 一种控制方法、装置及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22897425

Country of ref document: EP

Kind code of ref document: A1