CN104734582A - Magnetic field control device and method for alternating current permanent magnet synchronous motor - Google Patents
Magnetic field control device and method for alternating current permanent magnet synchronous motor Download PDFInfo
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- CN104734582A CN104734582A CN201510167043.3A CN201510167043A CN104734582A CN 104734582 A CN104734582 A CN 104734582A CN 201510167043 A CN201510167043 A CN 201510167043A CN 104734582 A CN104734582 A CN 104734582A
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- modular converter
- phase
- controller
- synchronous motor
- magnetic field
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to a magnetic field control device and method, in particular to the magnetic field control device and method for an alternating current synchronous motor. The magnetic field control device and method aim at solving the problem that the magnetic field control effect of a motor is poor in the prior art. The magnetic field control device comprises a three-phase bridge, the permanent magnet synchronous motor, an encoder, a modulator, a first conversion module, a second conversion module, a third conversion module, a first PI controller, a second PI controller, a first summator, a second summator and a third summator. The encoder is installed at the output end of the permanent magnet synchronous motor, the output end of the first summator is connected with the second summator through the first PI controller, the second summator is connected with the first conversion module through the second PI controller, and the output end of the third summator is connected with the first conversion module through the third PI controller. The magnetic field of the permanent magnet synchronous motor is more accurately controlled, the control effect is better, and popularization is facilitated.
Description
Technical field
The present invention relates to a kind of magnetic field control device and control method thereof, be specifically related to a kind of magnetic field control device for ac synchronous motor and control method thereof, belong to motor control technology field.
Background technology
Due to the appearance of rare-earth Nd-Fe-B permanent magnetic material, magneto is made to become the representative of high power density and high efficiency electric.Permanent magnet motor structure is simple, and control flexibly, various being easy to of rotor configurations realizes optimized control.Due to its above-mentioned advantage, permagnetic synchronous motor is just widely used in every field such as Industry Control, Vehicle Engineering, building automatics.
Summary of the invention
The object of the invention is to solve the problem of prior art for the Magnetic control weak effect of motor.
Technical scheme of the present invention is: a kind of magnetic field control device for AC permanent magnet synchronous motor, comprise three phase bridge, permagnetic synchronous motor, encoder, modulator, first modular converter, second modular converter, 3rd modular converter, one PI controller, 2nd PI controller, first summer, second summer and the 3rd summer, encoder is arranged on the output of permagnetic synchronous motor, the output of the first summer is connected by a PI controller and the second summer, being connected by the 2nd PI controller and the first modular converter of second summer, the output of the 3rd summer is connected by the 3rd PI controller and the first modular converter, the output of the first modular converter and the input of modulator connect, the output of modulator and the input of three phase bridge are connected to, the output of three phase bridge connects permagnetic synchronous motor, encoder rotates with magneto, the output of encoder is connected with the first summer by QEI interface, 3rd modular converter input be connected between three phase bridge and permagnetic synchronous motor, the output of the 3rd modular converter connects the input of the second modular converter, the output of the second modular converter connects with the second summer and the 3rd summer respectively, two-way electric converting transmission is set up between described first modular converter and the second modular converter.
The IC chip of described encoder, the model adopting Ya De promise semiconductor technology Co., Ltd to produce is the chip of ADV7391BCPZ.
The TMS320F2812 that described controller adopts TI company to produce is as main control chip.
Three-phase phase current is transformed into two-phase stator virtual current by the 3rd modular converter, two-phase stator virtual current is transformed into two-phase rotor virtual current by the second modular converter, realize the modular converter of two-phase rotor virtual voltage to the virtual stator voltage of two-phase by the second modular converter to the 3rd modular converter transfer of data, the virtual stator voltage of two-phase is transformed into three-phase phase voltage by modulator.
The wherein reference voltage of q axle, is obtained through a PI controller and second controller by torque error.
The reference voltage of described wherein d axle, the demand according to weak magnetics detect sets.
Described by the coordinate transform of rotor to stator, add the rotor that the collects angle value relative to stator sensor.
The present invention compared with prior art has following effect: the pulse width modulated wave of the particular switch pattern generation of six power switch component compositions of three-phase power inverter of the present invention, makes output current wave close to the sine wave of rationality.It is the whole structure from three-phase output voltage, wherein focuses on how to be the magnetic field exported obtain desirable loop circle flux track, and the Magnetic control for magneto is more accurate, and control effects is better, is beneficial to popularization.
Accompanying drawing explanation
Fig. 1, structured flowchart of the present invention.
Embodiment
Accompanying drawings the specific embodiment of the present invention, a kind of magnetic field control device for AC permanent magnet synchronous motor 8 of present embodiment, comprise three phase bridge 7, permagnetic synchronous motor 8, encoder 9, modulator 6, first modular converter 5, second modular converter 12, 3rd modular converter 11, one PI controller 2, 2nd PI controller 4, first summer 1, second summer 3 and the 3rd summer 14, encoder 9 is arranged on the output of permagnetic synchronous motor 8, the output of the first summer 1 is connected by a PI controller 2 and the second summer 3, being connected by the 2nd PI controller 4 and the first modular converter 5 of second summer 3, the output of the 3rd summer 14 is connected by the 3rd PI controller 134 and the first modular converter 5, the output of the first modular converter 5 all connects with the input of modulator 6, the output of modulator 6 and the input of three phase bridge 7 are connected to, the output of three phase bridge 7 connects permagnetic synchronous motor 8, encoder 9 rotates with magneto, the output of encoder 9 is connected with the first summer 1 by QEI interface 10, 3rd modular converter 11 input be connected between three phase bridge 7 and permagnetic synchronous motor 8, the output of the 3rd modular converter 11 connects the input of the second modular converter 12, the output of the second modular converter 12 connects with the second summer 3 and the 3rd summer 14 respectively.
The IC chip of described encoder 9, the model adopting Ya De promise semiconductor technology Co., Ltd to produce is the chip of ADV7391BCPZ.
The TMS320F2812 that a described PI controller 2, the 2nd PI controller 4 and the 3rd PI controller 13 adopt TI company to produce is as main control chip.
Three-phase phase current is transformed into two-phase stator virtual current by the 3rd modular converter, two-phase stator virtual current is transformed into two-phase rotor virtual current by the second modular converter, realize the modular converter of two-phase rotor virtual voltage to the virtual stator voltage of two-phase by the second modular converter to the 3rd modular converter transfer of data, the virtual stator voltage of two-phase is transformed into three-phase phase voltage by modulator 6.
The wherein reference voltage of q axle, is obtained through a PI controller and second controller by torque error.
The reference voltage of described wherein d axle, the demand according to weak magnetics detect sets.
Described by the coordinate transform of rotor to stator, add the rotor that the collects angle value relative to stator sensor.A kind of FOC control algolithm, comprise the modular converter of three-phase phase current to two-phase stator virtual current, two-phase stator virtual current is to the modular converter of two-phase rotor virtual current, two-phase rotor virtual voltage is to the modular converter of the virtual stator voltage of two-phase, and the virtual stator voltage of two-phase is to three-phase phase voltage modulation module.Simultaneously by rotor to rotor to the changes in coordinates of stator, add the angle value of rotor relative to stator sensor of collection.
The reference voltage of its q axle in this algorithm, is obtained through PI controller by torque error.The reference voltage of d axle, the demand according to weak magnetics detect sets.
What the transfer process of each different physical quantities was passed through is all that PI controller controls.Wherein three PI controllers, be respectively torque error to q axle reference current, q axle reference current error to q axle reference voltage, d axle reference current error to d axle reference voltage.
Operation principle of the present invention is below described in detail in detail:
The magnetic field superposition that stator field is produced by a phase, b phase and c line three stator winding coils forms.This magnetic field can be divided into again d-axis (d axle, along direction, rotor field) and quadrature axis (p axle, vertical rotor magnetic direction) relative to rotor field.Wherein p axle magnetic field is orthogonal with rotor field, and the torque of generation is optimum.And d axle magnetic field overlaps with rotor field, it can change the size of air-gap field, but can not produce effective torque, can only produce to be applied in rotating shaft capable, but can be used in and weak magnetics detect makes motor improve rotating speed.Here used three PI controllers, wherein inner ring has used two, and outer shroud has used one.For in the control situation not needing weak magnetic, i
drefcan zero setting, PI controller is also inoperative thereafter.In this case inner ring only has a PI controller, and this PI controller is according to reference current value i
drefwith feedback current i
dobtain a deviation and input to PI controller.Through the process of PI controller, obtain a quadrature-axis voltage V
d.In order to this value being transformed into the value that can carry out modulate relevant with reference stator system, just need an angle value θ collected.This angle value θ is the signal transacting that collected by Hall and orthogonal encoder and comes, relevant with the angle folded by the direction of stator field and direction, rotor field.This angle value θ and quadrature-axis voltage V
dsimultaneously as the input of Coordinate Conversion equation, then output stator quadrature-axis voltage V
α.Stator quadrature-axis voltage V
αthe control voltage of a phase, b phase and c phase just can be obtained through ovennodulation.Regulate six road pwm signals by these three control voltages, make motor carry out work by the current value of expection.Export three-phase current due to vector be zero, therefore only gather two-phase carry out decoupling zero, obtain a stator quadrature axis current i
∝.This stator quadrature axis current i
∝the inverse transformation that can convert through above-mentioned referential, obtains feedback current i
d.This feedback current i
dclosed loop is formed as feedback signal and input acting in conjunction.The control procedure of an inner ring describes complete at this point.
Inner ring is outer shroud service as the subsystem of outer shroud.The input of outer shroud is the various signals collected, and these signals comprise vehicle speed signal, engine rotational speed signal that bus obtains, the input torque signal that moment of torsion and angular transducer are measured and angle signal.Realizing the part of the connection of inner ring and outer shroud, is then the torque signal of outer shroud and the reference current value i of inner ring
drefbetween a PI controller.
Can be found out by above embodiment, the invention provides the more effective FOC control algolithm of one.
Above execution mode is only for illustrating technical conceive of the present invention and feature; its object is to allow person skilled in the art understand content of the present invention and to be implemented; can not limit the scope of the invention with this, all equivalences done according to Spirit Essence of the present invention change or modification is all encompassed in protection scope of the present invention.
Claims (7)
1. the magnetic field control device for AC permanent magnet synchronous motor, it is characterized in that: comprise three phase bridge, permagnetic synchronous motor, encoder, modulator, first modular converter, second modular converter, 3rd modular converter, one PI controller, 2nd PI controller, first summer, second summer and the 3rd summer, encoder is arranged on the output of permagnetic synchronous motor, the output of the first summer is connected by a PI controller and the second summer, being connected by the 2nd PI controller and the first modular converter of second summer, the output of the 3rd summer is with being connected by the 3rd PI controller and the first modular converter, the output of the first modular converter and the input of modulator connect, the output of modulator and the input of three phase bridge are connected to, the output of three phase bridge connects permagnetic synchronous motor, encoder rotates with magneto, the output of encoder is connected with the first summer by QEI interface, 3rd modular converter input be connected between three phase bridge and permagnetic synchronous motor, the output of the 3rd modular converter connects the input of the second modular converter, the output of the second modular converter connects with the second summer and the 3rd summer respectively, two-way electric converting transmission is set up between described first modular converter and the second modular converter.
2. a kind of magnetic field control device for AC permanent magnet synchronous motor according to claim 1, is characterized in that: the IC chip of described encoder, and the model adopting Ya De promise semiconductor technology Co., Ltd to produce is the chip of ADV7391BCPZ.
3. a kind of magnetic field control device for AC permanent magnet synchronous motor according to claim 2, is characterized in that: the TMS320F2812 that a described PI controller, the 2nd PI controller and the 3rd PI controller adopt TI company to produce is as main control chip.
4. the control method based on the magnetic field control device of AC permanent magnet synchronous motor, it is characterized in that: three-phase phase current is transformed into two-phase stator virtual current by the 3rd modular converter, two-phase stator virtual current is transformed into two-phase rotor virtual current by the second modular converter, realize the modular converter of two-phase rotor virtual voltage to the virtual stator voltage of two-phase by the second modular converter to the 3rd modular converter transfer of data, the virtual stator voltage of two-phase is transformed into three-phase phase voltage by modulator.
5. the control method of described a kind of magnetic field control device based on AC permanent magnet synchronous motor according to claim 4, is characterized in that: the wherein reference voltage of q axle, is obtained through a PI controller and second controller by torque error.
6. the control method of described a kind of magnetic field control device based on AC permanent magnet synchronous motor according to claim 5, is characterized in that: the reference voltage of described wherein d axle, the demand according to weak magnetics detect sets.
7. the control method of described a kind of magnetic field control device based on AC permanent magnet synchronous motor according to claim 6, is characterized in that: described by the coordinate transform of rotor to stator, adds the rotor that the collects angle value relative to stator sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510167043.3A CN104734582A (en) | 2015-04-10 | 2015-04-10 | Magnetic field control device and method for alternating current permanent magnet synchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510167043.3A CN104734582A (en) | 2015-04-10 | 2015-04-10 | Magnetic field control device and method for alternating current permanent magnet synchronous motor |
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| CN104734582A true CN104734582A (en) | 2015-06-24 |
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| CN201510167043.3A Pending CN104734582A (en) | 2015-04-10 | 2015-04-10 | Magnetic field control device and method for alternating current permanent magnet synchronous motor |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002095300A (en) * | 2000-09-19 | 2002-03-29 | Meidensha Corp | Method of controlling permanent magnet synchronous motor |
| CN1956317A (en) * | 2005-10-19 | 2007-05-02 | 株式会社日立制作所 | Field weakening vector controller for permanent magnet synchronous motor and module |
| CN101355337A (en) * | 2008-08-19 | 2009-01-28 | 华南理工大学 | Control method for driving permanent magnet synchronous motor base on magnetic field orthotropic control |
| CN101741309A (en) * | 2008-11-21 | 2010-06-16 | 上海电机学院 | Directional control device and control method for magnetic field of permanent magnet synchronous motor |
| CN102684595A (en) * | 2012-05-31 | 2012-09-19 | 杭州万工科技有限公司 | Self-anti-interference starting method for permanent magnetic synchronous motor |
| CN204442218U (en) * | 2015-04-10 | 2015-07-01 | 哈尔滨力盛达机电科技有限公司 | A kind of magnetic field control device for AC permanent magnet synchronous motor |
-
2015
- 2015-04-10 CN CN201510167043.3A patent/CN104734582A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002095300A (en) * | 2000-09-19 | 2002-03-29 | Meidensha Corp | Method of controlling permanent magnet synchronous motor |
| CN1956317A (en) * | 2005-10-19 | 2007-05-02 | 株式会社日立制作所 | Field weakening vector controller for permanent magnet synchronous motor and module |
| CN101355337A (en) * | 2008-08-19 | 2009-01-28 | 华南理工大学 | Control method for driving permanent magnet synchronous motor base on magnetic field orthotropic control |
| CN101741309A (en) * | 2008-11-21 | 2010-06-16 | 上海电机学院 | Directional control device and control method for magnetic field of permanent magnet synchronous motor |
| CN102684595A (en) * | 2012-05-31 | 2012-09-19 | 杭州万工科技有限公司 | Self-anti-interference starting method for permanent magnetic synchronous motor |
| CN204442218U (en) * | 2015-04-10 | 2015-07-01 | 哈尔滨力盛达机电科技有限公司 | A kind of magnetic field control device for AC permanent magnet synchronous motor |
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Application publication date: 20150624 |