CN103490684A - Braking control method of permanent-magnet synchronous motor powered by battery - Google Patents
Braking control method of permanent-magnet synchronous motor powered by battery Download PDFInfo
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- CN103490684A CN103490684A CN201210191116.9A CN201210191116A CN103490684A CN 103490684 A CN103490684 A CN 103490684A CN 201210191116 A CN201210191116 A CN 201210191116A CN 103490684 A CN103490684 A CN 103490684A
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Abstract
The invention relates to a braking control method of a permanent-magnet synchronous motor powered by a battery. The braking control method is used in a system composed of a battery, a frequency converter, a permanent-magnet synchronous motor and a load. The control method of the frequency converter comprises the following steps: (1) determining a voltage amplitude and a voltage angle during braking of the permanent-magnet synchronous motor under the condition of meeting the requirements of a braking speed curve and ensuing that the value of battery charging current does not exceed a maximum safety value of battery charging current; and (2) calculating voltage output to the permanent-magnet synchronous motor based on the determined voltage amplitude and the determined voltage angle and outputting the voltage to the permanent-magnet synchronous motor to realize braking performance of the permanent-magnet synchronous motor. The requirements of the braking speed curve are met, the braking performance is achieved, that the value of battery charging current does not exceed the maximum safety value of battery charging current is effectively guaranteed during braking of the permanent-magnet synchronous motor, and the service life of the battery is ensured.
Description
Technical field
The present invention relates to a kind of brake control method for permanent magnet synchronous motor, particularly a kind of battery powered brake control method for permanent magnet synchronous motor, be applied to the system that battery, frequency converter, permagnetic synchronous motor and load form.
Background technology
So-called battery powered brake control method for permanent magnet synchronous motor generally is applied in electric automobiles.The brake method of conventional electric motor car permagnetic synchronous motor generally adopts mechanical brake, be that additional mechanical device locking permanent-magnetic synchronous motor rotor rotating shaft or its slave unit are realized brake, complex structure, cost are high, and because easily causing brake, the reasons such as wearing and tearing are skidded, damage lost efficacy, can't guarantee the braking quality of permagnetic synchronous motor, have larger potential safety hazard.Consider the shortcoming of the above mechanical brake, existing directly employing is realized the permagnetic synchronous motor brake of electric motor car by the electric brake method of Frequency Converter Control, and soon permagnetic synchronous motor mechanical energy first is converted into electric energy and is converted into heat energy again.Although but existing electric brake method has realized the requirement of brake speed curve, but can't guarantee when permagnetic synchronous motor brakes, battery charge is no more than the maximum safety value of battery charge, and therefore battery probably is damaged, and causes to be guaranteed its useful life.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of battery powered brake control method for permanent magnet synchronous motor, both realized the requirement of brake speed curve, meet braking quality, also effectively guarantee when permagnetic synchronous motor brakes simultaneously, battery charge is no more than the maximum safety value of battery charge, guarantees the useful life of battery.
Technical scheme of the present invention is:
A kind of battery powered brake control method for permanent magnet synchronous motor, be applied to the system that battery, frequency converter, permagnetic synchronous motor and load form, and wherein: the control method of described frequency converter comprises the following steps:
(1), during permagnetic synchronous motor brake, meeting the requirement of brake speed curve and guaranteeing that battery charge is no more than under the condition of the maximum safety value of battery charge, determines voltage magnitude and level angle;
(2), the voltage magnitude based on definite and level angle are calculated the output voltage to permagnetic synchronous motor, and, to permagnetic synchronous motor output, are realized the braking quality of permagnetic synchronous motor.
Preferably, the step of described definite voltage magnitude adopts the speed closed loop control model; Further preferably, preferably, described speed closed loop control model refers to according to the permagnetic synchronous motor target velocity of brake speed curve requirement output and the error between its actual speed, and output after the PI controller is regulated completes determining of voltage magnitude.Speed closed loop control model of the present invention is the conventional term of the art, meaning frequency converter, to take the actual speed of controlling motor be purpose, by PI(Proportional Integral) the controller realization, the actual speed of permagnetic synchronous motor detects by encoder (or other detection mode).Brake speed curve of the present invention is arranged by the system applies requirement.The proportional adjusting of PI controling appliance of the present invention and integral adjustment function.
Preferably, the step of described definite level angle is: during the permagnetic synchronous motor brake, detect permagnetic synchronous motor rotating speed and rotor-position, determine the rotor-position of each rotating speed point and the angle between level angle based on the permagnetic synchronous motor rotating speed, and in conjunction with rotor-position, calculate level angle, complete determining of level angle.
Level angle of the present invention refers to the stator voltage phase angle of permagnetic synchronous motor.
Preferably, the step of described definite level angle also comprises that battery current assists controlling unit, the auxiliary controlling unit output of described battery current is for adjusting the rotor-position of each rotating speed point and the correction angle of the angle between level angle, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero; When charging current is greater than the maximum safety value of battery charge, correction angle is revised the rotor-position of each rotating speed point and the angle between level angle, to reduce the operating efficiency of permagnetic synchronous motor, reduce battery charge, thereby battery charge is controlled in its safety value scope, guarantees the useful life of battery.
Preferably, describedly based on the permagnetic synchronous motor rotating speed, determine that it is to control target in its optimum working efficiency that the rotor-position of each rotating speed point and the angle between level angle be take permagnetic synchronous motor, make and meeting the requirement of brake speed curve and guaranteeing that battery charge is no more than under the condition of the maximum safety value of battery charge, make battery farthest realize charging, effectively extended the running time of battery, as load is the electric motor car class, the distance travelled that has effectively extended electric motor car.
Preferably, the auxiliary controlling unit of described battery current specifically comprises that battery charge detects, unidirectional amplitude limit is controlled and proportional controller, the maximum safety value output of the battery charge that described proportional controller detects and sets in advance according to battery charge is for the rotor-position of adjusting each rotating speed point and the correction angle of the angle between level angle, unidirectional amplitude limit control make the auxiliary controlling unit of battery current only when battery charge is greater than or approaches the maximum safety value of battery charge device work, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero, when charging current is greater than the maximum safety value of battery charge, calculate and definite correction angle, to reduce the operating efficiency of permagnetic synchronous motor, reduce battery charge, thereby battery charge is controlled in its safety value scope, guarantees the useful life of battery.
Proportional controller of the present invention also can be described as the KP controller, has the ratio regulatory function, possesses the proportional function in the conventional PI control device.
Preferably, the Negotiation speed detection module detects and obtains permagnetic synchronous motor rotating speed and rotor-position.Described speed detection module comprises transducer, and further preferably, described transducer can be Hall element or the transducer that is positioned at other positions.
Preferably, detect and obtain the rotor-position of each rotating speed point and the angle between level angle by the angle tachometer.
Preferably, the optimum working efficiency of described permagnetic synchronous motor is tested and is obtained by dynamometer machine.
Permagnetic synchronous motor of the present invention is known, and core component comprises stator and permanent magnetism magnetic pole rotor, and stator comprises winding etc.Further, with the explanatory content do not related to for the present invention or other technologies content, believe it is those skilled in the art's common practise or customary means, this no longer one by one word repeat.
Load of the present invention can be electric bicycle, electric motor car or hybrid vehicle, can be also other types.
Certainly, apparently, the brake control method for permanent magnet synchronous motor of the present invention system that application and AC power, frequency converter, permagnetic synchronous motor and load form according to the actual requirements.
Operation principle of the present invention and advantage:
1, the present invention had both met when according to brake speed curve demand, realizing the brake to permagnetic synchronous motor, the present invention also assists controlling unit output for adjusting the rotor-position of each rotating speed point and the correction angle of the angle between level angle by battery current, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero; When charging current is greater than the maximum safety value of battery charge, correction angle is revised the rotor-position of each rotating speed point and the angle between level angle, to reduce the operating efficiency of permagnetic synchronous motor, reduce battery charge, thereby battery charge is controlled in its safety value scope, has effectively guaranteed the useful life of battery.
2. the present invention be take permagnetic synchronous motor and be to be controlled target in its optimum working efficiency, determining based on the permagnetic synchronous motor rotating speed that the rotor-position of each rotating speed point and the angle between level angle make requires and guarantees that battery charge is no more than under the condition of the maximum safety value of battery charge meeting the brake speed curve, make battery farthest realize charging, effectively extended the running time of battery, as load is the electric motor car class, the distance travelled that has effectively extended electric motor car.
3. control algolithm provided by the invention is simple, controls accurately, easily realizes.
The accompanying drawing explanation
Accompanying drawing 1 is application system block diagram of the present invention;
Accompanying drawing 2 is frequency converters of the present invention and the block diagram that is connected of battery, permagnetic synchronous motor;
Accompanying drawing 3 is brake software control algorithm schematic diagrames of the embodiment of the present invention 11;
Embodiment
As shown in Figure 1, application system of the present invention is by battery, frequency converter, permagnetic synchronous motor and load connect to form successively, as shown in Figure 2, frequency converter comprises driving control chip and peripheral circuit module thereof, the speed detection module, IGBT or IPM power model, battery access power module, IGBT or IPM power model are by driving control chip and peripheral circuit thereof to control, by driving control chip and peripheral circuit module thereof, to IGBT or IPM power model, export No. PWM, IGBT or IPM power model convert pwm signal to analog voltage and export to permagnetic synchronous motor, the speed detection module is arranged on permagnetic synchronous motor and drives between control chip and peripheral circuit module thereof, for detection of the actual speed (rotating speed) of permagnetic synchronous motor and rotor-position and to driving control chip and the output of peripheral circuit module thereof.
The basic functional principle of frequency converter of the present invention is: contain the operating software of controlling frequency converter voltage output in described driving control chip and peripheral circuit module thereof, in order to drive control chip and peripheral circuit module thereof to realize meeting the requirement of brake speed curve and guaranteeing that battery charge is no more than under the condition of the maximum safety value of battery charge by software control algorithm according to the permagnetic synchronous motor rotating speed, determine voltage magnitude and level angle, after driving control chip and peripheral circuit module thereof the voltage magnitude and level angle calculating output voltage based on definite, output voltage is exported to IGBT or IPM power model with the form of pwm signal, IGBT or IPM power model convert pwm signal to analog voltage and export to permagnetic synchronous motor, finally realize battery powered permagnetic synchronous motor brake control.
Embodiment 1, a kind of battery powered brake control method for permanent magnet synchronous motor, be applied to the system that battery, frequency converter, permagnetic synchronous motor and load as depicted in figs. 1 and 2 form, and wherein: the control method of described frequency converter comprises the following steps:
(1), during permagnetic synchronous motor brake, meeting the requirement of brake speed curve and guaranteeing that battery charge is no more than under the condition of the maximum safety value of battery charge, determines voltage magnitude and level angle;
(2), the voltage magnitude based on definite and level angle are calculated the output voltage to permagnetic synchronous motor, and, to permagnetic synchronous motor output, are realized the braking quality of permagnetic synchronous motor.
Embodiment 2, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: the step of described definite voltage magnitude adopts the speed closed loop control model, and all the other are with embodiment 1.
Embodiment 3, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: the step of described definite level angle is: during the permagnetic synchronous motor brake, detect permagnetic synchronous motor rotating speed and rotor-position, determine the rotor-position of each rotating speed point and the angle between level angle based on the permagnetic synchronous motor rotating speed, and in conjunction with rotor-position, calculate level angle, complete determining of level angle, all the other are with embodiment 1 or embodiment 2.
Embodiment 4, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: the step of described definite level angle also comprises that battery current assists controlling unit, the auxiliary controlling unit output of described battery current is for adjusting the rotor-position of each rotating speed point and the correction angle of the angle between level angle, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero; When charging current is greater than the maximum safety value of battery charge, correction angle is revised the rotor-position of each rotating speed point and the angle between level angle, to reduce the operating efficiency of permagnetic synchronous motor, thereby battery charge is controlled in its safety value scope, guarantee the useful life of battery, all the other are with embodiment 3.
Embodiment 5, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: describedly based on the permagnetic synchronous motor rotating speed, determine that it is to control target in its optimum working efficiency that the rotor-position of each rotating speed point and the angle between level angle be take permagnetic synchronous motor, all the other are with embodiment 3 or embodiment 4.
Embodiment 6, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: the auxiliary controlling unit of described battery current specifically comprises that battery charge detects, unidirectional amplitude limit is controlled and proportional controller, the maximum safety value output of the battery charge that described proportional controller detects and sets in advance according to battery charge is for the rotor-position of adjusting each rotating speed point and the correction angle of the angle between level angle, unidirectional amplitude limit control make the auxiliary controlling unit of battery current only when battery charge is greater than or approaches the maximum safety value of battery charge device work, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero, when charging current is greater than the maximum safety value of battery charge, calculate and definite correction angle, to reduce the operating efficiency of permagnetic synchronous motor, thereby battery charge is controlled in its safety value scope, guarantee the useful life of battery, all the other are with embodiment 4 or embodiment 5.
Embodiment 7, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: described speed closed loop control model refers to according to the permagnetic synchronous motor target velocity of brake speed curve requirement output and the error between its actual speed, output after the PI controller is regulated, complete determining of voltage magnitude, all the other are with any one embodiment in embodiment 2-6.
Embodiment 8, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: the Negotiation speed detection module detects and obtains permagnetic synchronous motor rotating speed and rotor-position, and all the other are with any one embodiment in embodiment 3-7.
Embodiment 9, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: detect and obtain the rotor-position of each rotating speed point and the angle between level angle by the angle tachometer, all the other are with any one embodiment in embodiment 3-8.
Embodiment 10, a kind of battery powered brake control method for permanent magnet synchronous motor, wherein: the optimum working efficiency of described permagnetic synchronous motor is tested and is obtained by dynamometer machine, and all the other are with any one embodiment in embodiment 5-9.
Embodiment 11, as shown in Figure 3, a kind of battery powered brake control method for permanent magnet synchronous motor, be applied to the system that battery, frequency converter, permagnetic synchronous motor and load form, and wherein: the control method of described frequency converter comprises the following steps:
(1), during permagnetic synchronous motor brake, meeting the requirement of brake speed curve and guaranteeing that battery charge is no more than under the condition of the maximum safety value of battery charge, determines voltage magnitude and level angle;
The step of described definite voltage magnitude adopts the speed closed loop control model, described speed closed loop control model refers to according to the permagnetic synchronous motor target velocity of brake speed curve requirement output and the error between its actual speed, output after the PI controller is regulated, complete determining of voltage magnitude;
The step of described definite level angle is: during the permagnetic synchronous motor brake, the Negotiation speed detection module detects permagnetic synchronous motor rotating speed and rotor-position, determine the rotor-position of each rotating speed point and the angle between level angle based on the permagnetic synchronous motor rotating speed, and detect the rotor-position of this each rotating speed point of determining of output and the angle between level angle by the angle tachometer, also comprise that battery current assists controlling unit, the auxiliary controlling unit of described battery current specifically comprises that battery charge detects, unidirectional amplitude limit is controlled and proportional controller, the maximum safety value output of the battery charge that described proportional controller detects and sets in advance according to battery charge is for the rotor-position of adjusting each rotating speed point and the correction angle of the angle between level angle, unidirectional amplitude limit control make the auxiliary controlling unit of battery current only when battery charge is greater than or approaches the maximum safety value of battery charge device work, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero, when charging current is greater than the maximum safety value of battery charge, calculate and definite correction angle, to reduce the operating efficiency of permagnetic synchronous motor, thereby battery charge is controlled in its safety value scope, guarantee the useful life of battery, according to rotor-position and the angle between level angle of each rotating speed point of determining, detect the rotor-position that obtains and the correction angle of the auxiliary controlling unit output of battery current calculates level angle, complete the definite of level angle,
(2), after control chip and peripheral circuit module thereof the voltage magnitude and level angle calculating output voltage based on definite, output voltage is exported to IGBT or IPM power model with the form of pwm signal by the SVPMW module in control chip and peripheral circuit module thereof, IGBT or IPM power model convert pwm signal to analog voltage and export to permagnetic synchronous motor, finally realize battery powered permagnetic synchronous motor brake control, all the other are with embodiment 8 or embodiment 9 or embodiment 10.
The oeprator that the present embodiment 11 accompanying drawings 3 described "+" and "-" are control algolithm, conventional operator for those skilled in the art, and technology contents that do not carry out explanatory note no longer disclosed to accompanying drawing 3 at this repeats no longer one by one, believes that those skilled in the art can realize fully.
The above is only the preferred embodiment of the present invention; should be understood that; for the person of ordinary skill of the art; under the premise without departing from the principles of the invention; as some improvements and modifications are made in the replacement that is equal to of the concrete methods of realizing to speed closed loop control method, the auxiliary controlling unit of battery current; simultaneously the present invention not only limits to and is applied to permagnetic synchronous motor, can also be applied to the other types motor, and these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a battery powered brake control method for permanent magnet synchronous motor, be applied to the system that battery, frequency converter, permagnetic synchronous motor and load form, and it is characterized in that: the control method of described frequency converter comprises the following steps:
(1), during permagnetic synchronous motor brake, meeting the requirement of brake speed curve and guaranteeing that battery charge is no more than under the condition of the maximum safety value of battery charge, determines voltage magnitude and level angle;
(2), the voltage magnitude based on definite and level angle are calculated the output voltage to permagnetic synchronous motor, and, to permagnetic synchronous motor output, are realized the braking quality of permagnetic synchronous motor.
2. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 1, is characterized in that: the step employing speed closed loop control model of described definite voltage magnitude.
3. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 1, it is characterized in that: the step of described definite level angle is: during the permagnetic synchronous motor brake, detect permagnetic synchronous motor rotating speed and rotor-position, determine the rotor-position of each rotating speed point and the angle between level angle based on the permagnetic synchronous motor rotating speed, and in conjunction with rotor-position, calculate level angle, complete determining of level angle.
4. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 3, it is characterized in that: the step of described definite level angle also comprises that battery current assists controlling unit, the auxiliary controlling unit output of described battery current is for adjusting the rotor-position of each rotating speed point and the correction angle of the angle between level angle, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero; When charging current is greater than the maximum safety value of battery charge, correction angle is revised the rotor-position of each rotating speed point and the angle between level angle, to reduce the operating efficiency of permagnetic synchronous motor, thereby battery charge is controlled in its safety value scope, guarantees the useful life of battery.
5. a kind of battery powered brake control method for permanent magnet synchronous motor as described as claim 3 or 4 is characterized in that: describedly based on the permagnetic synchronous motor rotating speed, determine that it is to control target in its optimum working efficiency that the rotor-position of each rotating speed point and the angle between level angle be take permagnetic synchronous motor.
6. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 4, it is characterized in that: the auxiliary controlling unit of described battery current specifically comprises that battery charge detects, unidirectional amplitude limit is controlled and proportional controller, the maximum safety value output of the battery charge that described proportional controller detects and sets in advance according to battery charge is for the rotor-position of adjusting each rotating speed point and the correction angle of the angle between level angle, unidirectional amplitude limit control make the auxiliary controlling unit of battery current only when battery charge is greater than or approaches the maximum safety value of battery charge device work, when the battery rechargeable battery is less than or equal to the maximum safety value of battery charge, correction angle is zero, when charging current is greater than the maximum safety value of battery charge, calculate and definite correction angle, to reduce the operating efficiency of permagnetic synchronous motor, thereby battery charge is controlled in its safety value scope, guarantee the useful life of battery.
7. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 2, it is characterized in that: described speed closed loop control model refers to according to the permagnetic synchronous motor target velocity of brake speed curve requirement output and the error between its actual speed, output after the PI controller is regulated, complete determining of voltage magnitude.
8. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 3 is characterized in that: the Negotiation speed detection module detects and obtains permagnetic synchronous motor rotating speed and rotor-position.
9. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 3, is characterized in that: by the angle tachometer, detect and obtain the rotor-position of each rotating speed point and the angle between level angle.
10. a kind of battery powered brake control method for permanent magnet synchronous motor as claimed in claim 5, it is characterized in that: the optimum working efficiency of described permagnetic synchronous motor is tested and is obtained by dynamometer machine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210191116.9A CN103490684A (en) | 2012-06-11 | 2012-06-11 | Braking control method of permanent-magnet synchronous motor powered by battery |
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| CN201210191116.9A CN103490684A (en) | 2012-06-11 | 2012-06-11 | Braking control method of permanent-magnet synchronous motor powered by battery |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809189A (en) * | 2018-06-11 | 2018-11-13 | 华北电力大学 | A kind of method for controlling number of revolution in grid-connected frequency modulation type flywheel energy storage system charging process |
| CN110011574A (en) * | 2019-04-12 | 2019-07-12 | 无锡同方聚能控制科技有限公司 | A kind of motor of dust collector retarding method |
| CN110138288A (en) * | 2019-05-15 | 2019-08-16 | 佛山市南海南洋电机电器有限公司 | A kind of emergency brake control method of permanent-magnet brushless DC electric machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809189A (en) * | 2018-06-11 | 2018-11-13 | 华北电力大学 | A kind of method for controlling number of revolution in grid-connected frequency modulation type flywheel energy storage system charging process |
| CN108809189B (en) * | 2018-06-11 | 2021-08-20 | 华北电力大学 | Rotating speed control method in charging process of grid-connected frequency modulation type flywheel energy storage system |
| CN110011574A (en) * | 2019-04-12 | 2019-07-12 | 无锡同方聚能控制科技有限公司 | A kind of motor of dust collector retarding method |
| CN110138288A (en) * | 2019-05-15 | 2019-08-16 | 佛山市南海南洋电机电器有限公司 | A kind of emergency brake control method of permanent-magnet brushless DC electric machine |
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