CN105119480B - The control method and device of electric machine control system and motor side power factor - Google Patents
The control method and device of electric machine control system and motor side power factor Download PDFInfo
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- CN105119480B CN105119480B CN201510577984.4A CN201510577984A CN105119480B CN 105119480 B CN105119480 B CN 105119480B CN 201510577984 A CN201510577984 A CN 201510577984A CN 105119480 B CN105119480 B CN 105119480B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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Abstract
The invention discloses a kind of control method of motor side power factor, device and there is its system, the described method comprises the following steps：The control mode of Id '=0 is used to be controlled to motor to obtain the quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under the virtual coordinate system of current control period；First controlling value is calculated according to quadrature-axis voltage Uq ' and direct-axis voltage Ud '；Power factor controlling desired value is obtained, and calculates target control value；PI controls are carried out to the difference of target control value and the first controlling value to obtain coordinate offset angle, and by the motor angle of coordinate offset angular stack to current control period to establish the virtual coordinate system of next controlling cycle, to realize that motor side power factor is controllable.This method can realize the accurate control to motor side power factor in the case of without accurately obtaining motor operating parameter, improve service efficiency, drive efficiency and the motor working efficiency of frequency converter.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of control method, one kind of motor side power factor
The control device of motor side power factor and a kind of electric machine control system.
Background technology
With the popularization of the fast-developing and energy-efficient concept of frequency conversion control technique, permagnetic synchronous motor control technology is
Through obtaining compared with much progress, but the control for the power factor of permagnetic synchronous motor still suffers from certain deficiency：
For example, when the control using Id=0 or MTPA (Maximum Torque Per Ampere, torque capacity electric current ratio)
When mode processed is controlled to motor, power factor is not controlled, will if motor load is larger or weak magnetic is deeper
Power factor is caused to become very poor, so as to which actual requirement can not be met.In addition, work as to enter motor angle using position-sensor-free
During row estimation, because position estimation is completed in the case of being based on motor operating parameter more accurately, and if motor operation is joined
Number is inaccurate, then is changed into increasing magnetic by the control for causing Id=0 or weak magnetic controls, so that not reaching Actual Control Effect of Strong.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
One purpose is to propose a kind of controlling party for the motor side power factor that can accurately control motor side power factor
Method.
It is another object of the present invention to propose a kind of control device of motor side power factor.The present invention another
Purpose is to propose a kind of electric machine control system.
To achieve the above object, one aspect of the present invention embodiment proposes a kind of control method of motor side power factor,
Comprise the following steps：The control mode of Id '=0 is used to be controlled to motor to obtain the virtual coordinate system of current control period
Under quadrature-axis voltage Uq ' and direct-axis voltage Ud '；According to the quadrature-axis voltage Uq ' under the virtual coordinate system of the current control period
The first controlling value is calculated with direct-axis voltage Ud '；Power factor controlling desired value is obtained, and according to the power factor controlling target
Value calculates target control value；PI controls are carried out to the difference of the target control value and first controlling value to obtain coordinate offset
Angle, and by the coordinate offset angular stack to the motor angle of the current control period to establish next controlling cycle
Virtual coordinate system, to realize that the motor side power factor is controllable.
The control method of motor side power factor according to embodiments of the present invention, pass through the control mode of Id '=0 to motor
It is controlled to obtain the quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under the virtual coordinate system of current control period, according to quadrature axis electricity
Uq ' and direct-axis voltage Ud ' and power factor controlling desired value acquisition coordinate offset angle are pressed, and by coordinate offset angular stack
To the motor angle of current control period to establish the virtual coordinate system of next controlling cycle, to realize that motor side power factor can
Control.That is, establishing virtual coordinate system by being rotated to dq coordinate systems, and the control of Id '=0 is used under virtual coordinate system
Mode processed is controlled to motor, so that the angle between the voltage vector and current phasor of motor is Uq ' under virtual coordinate system
With Uq ' and Ud ' vector between angle, so as to without accurately obtain motor operating parameter in the case of i.e. can be achieved pair
The accurate control of motor side power factor, improve service efficiency, drive efficiency and the motor working efficiency of frequency converter.
According to one embodiment of present invention, by the electricity of the coordinate offset angular stack to the current control period
Before machine angle, angle limitation processing also is carried out to the coordinate offset angle.
According to one embodiment of present invention, first controlling value calculates according to below equation：
A=(Uq')2/(Uq')2+(Ud')2
Wherein, A is first controlling value, and Uq ' is the quadrature-axis voltage under the virtual coordinate system, and Ud ' is described virtual
Direct-axis voltage under coordinate system.
According to one embodiment of present invention, the motor angle is obtained by carrying out position estimation to the motor.
To achieve the above object, another aspect of the present invention embodiment proposes a kind of control dress of motor side power factor
Put, including deviation angle computing module and control module, wherein, the control module is using the control mode of Id '=0 to motor
It is controlled to obtain the quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under the virtual coordinate system of current control period；The deviation angle
Computing module is spent according to the quadrature-axis voltage Uq ' under the virtual coordinate system of the current control period and direct-axis voltage Ud ' calculating the
One controlling value, and power factor controlling desired value is obtained, and target control is calculated according to the power factor controlling desired value
Value, and PI controls are carried out to the difference of the target control value and first controlling value to obtain coordinate offset angle；The control
Molding block is by the coordinate offset angular stack to the motor angle of the current control period to establish next controlling cycle
Virtual coordinate system, to realize that the motor side power factor is controllable.
The control device of motor side power factor according to embodiments of the present invention, control module pass through the controlling party of Id '=0
Formula is controlled to motor to obtain the quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under the virtual coordinate system of current control period, and
Coordinate offset angle is obtained according to quadrature-axis voltage Uq ' and direct-axis voltage Ud ' and power factor controlling desired value, and by coordinate
Deviation angle be added to current control period motor angle to establish the virtual coordinate system of next controlling cycle, to realize motor
Side power factor is controllable.That is, by rotating dq coordinate systems to establish virtual coordinate system, and adopted under virtual coordinate system
Motor is controlled with the control mode of Id '=0, so that the angle between the voltage vector and current phasor of motor is virtual
Angle under coordinate system between Uq ' and Uq ' and Ud ' vector, so as in the situation without accurately obtaining motor operating parameter
The lower accurate control that can be achieved to motor side power factor, improve service efficiency, drive efficiency and the motor of frequency converter
Operating efficiency.
According to one embodiment of present invention, the control module by the coordinate offset angular stack to described current
Before the motor angle of controlling cycle, angle limitation processing is also carried out to the coordinate offset angle by angle limiter.
According to one embodiment of present invention, the deviation angle computing module calculates first control according to below equation
Value processed：
A=(Uq')2/(Uq')2+(Ud')2
Wherein, A is first controlling value, and Uq ' is the quadrature-axis voltage under the virtual coordinate system, and Ud ' is described virtual
Direct-axis voltage under coordinate system.
According to one embodiment of present invention, position estimation is carried out to obtain to the motor by position estimation
State motor angle.
In addition, embodiments of the invention also proposed a kind of electric machine control system, it include above-mentioned motor side power because
Several control devices.
The electric machine control system of the embodiment of the present invention, can be in nothing by the control device of above-mentioned motor side power factor
The accurate control to motor side power factor can be achieved in the case of motor operating parameter need to accurately be obtained, improve motor control
The service efficiency of frequency converter, drive efficiency and motor working efficiency in system processed.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of motor side power factor according to embodiments of the present invention.
Fig. 2 be conventional Id=0 control mode under motor voltage x current polar plot.
Fig. 3 be Id '=0 according to an embodiment of the invention control mode under motor voltage x current polar plot.
Fig. 4 is the control system figure of motor according to an embodiment of the invention.
Fig. 5 is the acquisition process figure of coordinate offset angle according to an embodiment of the invention.
Fig. 6 is the block diagram of the control device of motor side power factor according to embodiments of the present invention.
Reference：Deviation angle computing module 10, control module 20 and position estimation module 30.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
With reference to the accompanying drawings come the control method of the motor side power factor that describes to propose according to embodiments of the present invention, motor
The control device and electric machine control system of side power factor.
Fig. 1 is the flow chart of the control method of motor side power factor according to embodiments of the present invention.As shown in figure 1, should
The control method of motor side power factor comprises the following steps：
S1, the control mode of Id '=0 is used to be controlled to motor to obtain under the virtual coordinate system of current control period
Quadrature-axis voltage Uq ' and direct-axis voltage Ud '.Wherein, motor can be permagnetic synchronous motor (PMSM, Permanent Magnet
Synchronous Motor)。
S2, the first control is calculated according to the quadrature-axis voltage Uq ' under the virtual coordinate system of current control period and direct-axis voltage Ud '
Value processed.
Specifically, motor side power factor refers to the cosine value of angle between the voltage vector of motor and current phasor.When
D shaft currents are used as zero, i.e., when Id=0 control mode is controlled to motor, as shown in Fig. 2 motor side power-factor cos
θ1=Uq/Us, wherein, θ1For the angle between the voltage vector and current phasor of motor, Uq is q shaft voltages, and Us is the electricity of motor
Pressure amplitude value.Now motor side power-factor cos θ1It is uncontrollable, it is arbitrary value to controlled motor side power factor, then needs to control
D shaft currents Id ≠ 0 processed, d shaft current Id ＞ 0 or control d shaft current Id ＜ 0 are such as controlled, and if now still using above-mentioned Id=0
When motor side power factor calculate method, then can not realize any control to motor side power factor.Therefore, in the present invention
Embodiment in, any control of motor side power factor is realized by the d ' q ' virtual coordinate systems of setting.
Specifically, as shown in Figure 3, it is assumed that Id ＜ 0, then the angle between current phasor and q axles is β, now can be with
A coordinate system, i.e. d ' q ' virtual coordinate systems are re-established on the basis of current phasor, wherein d-axis (d ' axles) differs β angles with d axles
Degree.During motor control, fasten in d ' q ' virtual coordinates, motor is controlled using the control mode of Id '=0, this
When motor side power-factor cos θ2=Uq'/Us, wherein, θ2For motor under virtual coordinate system voltage vector and current phasor it
Between angle, Uq ' be virtual coordinate system under quadrature axis (q ' axles) voltage.That is, when controlled motor side power factor is to appoint
During meaning value, motor is controlled using the control mode of Id '=0 by being fastened in d ' q ' virtual coordinates, and in motor control
During, the quadrature-axis voltage Uq ' under virtual coordinate system and direct-axis voltage Ud ' by obtaining current control period are current to calculate
The motor side power factor of controlling cycle, and calculate the first controlling value.According to one embodiment of present invention, the first controlling value root
Calculated according to following formula (1)：
A=(Uq')2/(Uq')2+(Ud')2 (1)
Wherein, A is the first controlling value, and Uq ' is the quadrature-axis voltage under virtual coordinate system, and Ud ' is straight under virtual coordinate system
Shaft voltage.
It is understood that the absolute value of the first controlling value A extraction of square root is currently to be controlled under the control mode of Id '=0
The motor side power factor in cycle processed.
S3, power factor controlling desired value is obtained, and target control value is calculated according to power factor controlling desired value.
S4, PI controls are carried out to the difference of target control value and the first controlling value to obtain coordinate offset angle, and by coordinate
Deviation angle be added to current control period motor angle to establish the virtual coordinate system of next controlling cycle, to realize motor
Side power factor is controllable.
Assuming that power factor controlling desired value is cos (θ) _ set, then target control value is (cos (θ) _ set)2.Work as needs
When controlled motor side power factor is cos (θ) _ set, by the difference of target control value and the first controlling value (cos (θ) _ set
)2-(Uq')2/(Uq')2+(Ud')2PI controls are carried out to obtain coordinate offset angle beta, are such as controlled (cos (θ) _ set) by PI2-
(Uq')2/(Uq')2+(Ud')2=0 carrys out coordinates computed offset angle, and coordinate offset angle beta is added to current control period
Motor angle to establish the d ' q ' virtual coordinate systems of next controlling cycle, by continuous loop control to realize motor side power
The control of factor.
That is, in an embodiment of the present invention, by rotating dq coordinate systems to generate d ' q ' virtual coordinate systems, and
Fasten in d ' q ' virtual coordinates and motor be controlled using the control mode of Id '=0 so that the voltage vector of motor with
Angle between current phasor is the angle between Uq ' and Us, and then realizes the control to motor side power factor.
According to one embodiment of present invention, motor angle is obtained by carrying out position estimation to motor.For example, it can lead to
Cross position-sensor-free and position estimation is carried out to motor to obtain the motor angle of current control period, the motor angle is relative
For dq coordinate systems.
According to one embodiment of present invention, by the motor angle of coordinate offset angular stack to current control period it
Before, angle limitation processing also is carried out to coordinate offset angle, to prevent from causing motor because motor side power factor controlling is abnormal
Control step-out.
Further, as shown in figure 4, during using the control mode of Id '=0 to motor control, electricity can be passed through
Current transformer obtains the electric current of the motor of current control period, then carries out Clark conversion to the electric current of motor and Park is converted
To obtain the direct-axis current Id ' and quadrature axis current Iq ' under the virtual coordinate system of current control period, then respectively to the void of acquisition
Direct-axis current Id ' and quadrature axis current Iq ' under quasi-coordinate system carry out PI controls, to obtain the direct-axis voltage of current control period
Ud ' and quadrature-axis voltage Uq '.
Deviation angle computing module is straight according to the power factor controlling desired value of setting and the current control period obtained
Shaft voltage Ud ' and quadrature-axis voltage Uq ' obtains coordinate offset angle, and specific acquisition process is as shown in figure 5, by target control
The difference (cos (θ) _ set) of value and the first controlling value2-(Uq')2/(Uq')2+(Ud')2It is inclined to export the first coordinate to carry out PI controls
Angle is moved, then controls PI the first coordinate offset angle of output to carry out limitation processing with output coordinate by angle limiter
Offset angle, wherein, the upper limit of angle limiter can be 30 degree, and lower limit can be -30 degree.
Meanwhile position estimation obtains motor angle θ _ fdk of current control period, and coordinate offset angle beta is superimposed
To motor angle θ _ fdk of current control period, converted with participating in the Park inverse transformations of next controlling cycle and Park, by not
Loop control break to realize the control of motor side power factor.
In summary, the control method of motor side power factor according to embodiments of the present invention, passes through the control of Id '=0
Mode is controlled to motor to obtain the quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under the virtual coordinate system of current control period,
Coordinate offset angle is obtained according to quadrature-axis voltage Uq ' and direct-axis voltage Ud ' and power factor controlling desired value, and coordinate is inclined
Angular stack is moved to the motor angle of current control period to establish the virtual coordinate system of next controlling cycle, to realize motor side
Power factor is controllable.That is, by rotating dq coordinate systems to establish virtual coordinate system, and used under virtual coordinate system
The control mode of Id '=0 is controlled to motor, so that the angle between the voltage vector and current phasor of motor is virtually to sit
Angle between the lower Uq ' and Uq ' and Ud ' of mark system vector, so as in the case of without accurately obtaining motor operating parameter
The accurate control to motor side power factor can be achieved, improve service efficiency, drive efficiency and the motor work of frequency converter
Make efficiency.
Fig. 6 is the block diagram of the control device of motor side power factor according to embodiments of the present invention.Such as Fig. 6 institutes
Show, the control device of the motor side power factor includes deviation angle computing module 10 and control module 20.
Wherein, control module 20 uses the control mode of Id '=0 to be controlled to motor to obtain current control period
Quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under virtual coordinate system, deviation angle computing module 10 is according to the void of current control period
Quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under quasi-coordinate system calculate the first controlling value, and obtain power factor controlling desired value,
And target control value is calculated according to power factor controlling desired value, and PI is carried out to the difference of target control value and the first controlling value
Control to obtain coordinate offset angle.Control module 20 by the motor angle of coordinate offset angular stack to current control period with
The virtual coordinate system of next controlling cycle is established, to realize that motor side power factor is controllable.
Specifically, motor side power factor refers to the cosine value of angle between the voltage vector of motor and current phasor.When
D shaft currents are used as zero, i.e., when Id=0 control mode is controlled to motor, as shown in Fig. 2 motor side power-factor cos
θ1=Uq/Us, wherein, θ1For the angle between the voltage vector and current phasor of motor, Uq is q shaft voltages, and Us is the electricity of motor
Pressure amplitude value.Now motor side power-factor cos θ1It is uncontrollable, it is arbitrary value to controlled motor side power factor, then needs to control
D shaft currents Id ≠ 0 processed, d shaft current Id ＞ 0 or control d shaft current Id ＜ 0 are such as controlled, and if now still using above-mentioned Id=0
When motor side power factor calculate method, then can not realize any control to motor side power factor.Therefore, in the present invention
Embodiment in, any control of motor side power factor is realized by the d ' q ' virtual coordinate systems of setting.
Specifically, as shown in Figure 3, it is assumed that Id ＜ 0, then the angle between current phasor and q axles is β, now can be with
A coordinate system, i.e. d ' q ' virtual coordinate systems are re-established on the basis of current phasor, wherein d-axis (d ' axles) differs β angles with d axles
Degree.During motor control, fastened in d ' q ' virtual coordinates, control module 20 is entered using the control mode of Id '=0 to motor
Row controls, now motor side power-factor cos θ2=Uq'/Us, wherein, θ2For the voltage vector and electricity of motor under virtual coordinate system
Angle between flow vector, Uq ' are quadrature axis (q ' axles) voltage under virtual coordinate system.That is, when control module 20 controls
When motor side power factor is arbitrary value, motor is carried out using the control mode of Id '=0 by being fastened in d ' q ' virtual coordinates
Control, and during motor control, the quadrature-axis voltage Uq ' and d-axis under virtual coordinate system by obtaining current control period
Voltage Ud ' calculates the motor side power factor of current control period, and calculates the first controlling value.
According to one embodiment of present invention, deviation angle computing module 10 calculates the first control according to above-mentioned formula (1)
Value.It is understood that the absolute value of the first controlling value A extraction of square root be Id '=0 control mode under current control period
Motor side power factor.
Assuming that power factor controlling desired value is cos (θ) _ set, then target control value is (cos (θ) _ set)2.Work as needs
When controlled motor side power factor is cos (θ) _ set, by the difference of target control value and the first controlling value (cos (θ) _ set
)2-(Uq')2/(Uq')2+(Ud')2PI controls are carried out to obtain coordinate offset angle beta, are such as controlled (cos (θ) _ set) by PI2-
(Uq')2/(Uq')2+(Ud')2=0 carrys out coordinates computed offset angle, and coordinate offset angle beta is added to current control period
Motor angle to establish the d ' q ' virtual coordinate systems of next controlling cycle, by continuous loop control to realize motor side power
The control of factor.
That is, in an embodiment of the present invention, by rotating dq coordinate systems to generate d ' q ' virtual coordinate systems, and
Fasten in d ' q ' virtual coordinates and motor be controlled using the control mode of Id '=0 so that the voltage vector of motor with
Angle between current phasor is the angle between Uq ' and Us, and then realizes the control to motor side power factor.
According to one embodiment of present invention, coordinate offset angular stack is arrived current control period by control module 20
Before motor angle, angle limitation processing is also carried out to coordinate offset angle by angle limiter, to prevent because of motor side work(
The control of rate factor is abnormal and causes motor control step-out.
According to one embodiment of present invention, position estimation is carried out to obtain motor to motor by position estimation 30
Angle.For example, position estimation can be carried out to obtain the motor angle of current control period to motor by position-sensor-free,
The motor angle is for dq coordinate systems.
Further, as shown in figure 4, control module 20 is during using the control mode of Id '=0 to motor control,
The electric current of the motor of current control period can be obtained by current transformer, Clark conversion then is carried out to the electric current of motor
Convert with Park to obtain the direct-axis current Id ' and quadrature axis current Iq ' under the virtual coordinate system of current control period, then distinguish
PI controls are carried out to the direct-axis current Id ' under the virtual coordinate system of acquisition and quadrature axis current Iq ', to obtain current control period
Direct-axis voltage Ud ' and quadrature-axis voltage Uq '.
Deviation angle computing module 10 is according to the power factor controlling desired value of setting and the current control period obtained
Direct-axis voltage Ud ' and quadrature-axis voltage Uq ' obtains coordinate offset angle, and specific acquisition process is as shown in figure 5, by target control
The difference of value processed and the first controlling value (cos (θ) _ set)2-(Uq')2/(Uq')2+(Ud')2PI controls are carried out to export the first coordinate
Deviation angle, then control PI the first coordinate offset angle of output to carry out limitation processing by angle limiter and sat with exporting
Offset angle is marked, wherein, the upper limit of angle limiter can be 30 degree, and lower limit can be -30 degree.
Meanwhile position estimation 30 obtains motor angle θ _ fdk of current control period, and coordinate offset angle beta is folded
Motor angle θ _ fdk of current control period is added to, is converted, passed through with participating in the Park inverse transformations of next controlling cycle and Park
Continuous loop control is to realize the control of motor side power factor.
The control device of motor side power factor according to embodiments of the present invention, control module pass through the controlling party of Id '=0
Formula is controlled to motor to obtain the quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under the virtual coordinate system of current control period, and
Coordinate offset angle is obtained according to quadrature-axis voltage Uq ' and direct-axis voltage Ud ' and power factor controlling desired value, and by coordinate
Deviation angle be added to current control period motor angle to establish the virtual coordinate system of next controlling cycle, to realize motor
Side power factor is controllable.That is, by rotating dq coordinate systems to establish virtual coordinate system, and adopted under virtual coordinate system
Motor is controlled with the control mode of Id '=0, so that the angle between the voltage vector and current phasor of motor is virtual
Angle under coordinate system between Uq ' and Uq ' and Ud ' vector, so as in the situation without accurately obtaining motor operating parameter
The lower accurate control that can be achieved to motor side power factor, improve service efficiency, drive efficiency and the motor of frequency converter
Operating efficiency.
In addition, embodiments of the invention also proposed a kind of electric machine control system, it include above-mentioned motor side power because
Several control devices.
The electric machine control system of the embodiment of the present invention, can be in nothing by the control device of above-mentioned motor side power factor
The accurate control to motor side power factor can be achieved in the case of motor operating parameter need to accurately be obtained, improve motor control
The service efficiency of frequency converter, drive efficiency and motor working efficiency in system processed.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (7)
1. a kind of control method of motor side power factor, it is characterised in that comprise the following steps：
The control mode of Id '=0 is used to be controlled to motor to obtain the quadrature axis under the virtual coordinate system of current control period
Voltage Uq ' and direct-axis voltage Ud ', wherein, a coordinate system, i.e. d ' q ' virtual coordinates are re-established on the basis of current phasor
System, wherein d-axis (d ' axles) differs β angles with d axles；
First control is calculated according to the quadrature-axis voltage Uq ' under the virtual coordinate system of the current control period and direct-axis voltage Ud '
Value, first controlling value calculate according to below equation：
A=(Uq')2/[(Uq')2+(Ud')2]
Wherein, A is first controlling value, and Uq ' is the quadrature-axis voltage under the virtual coordinate system, and Ud ' is the virtual coordinates
Direct-axis voltage under system；
Power factor controlling desired value is obtained, and target control value is calculated according to the power factor controlling desired value；
PI controls are carried out to the difference of the target control value and first controlling value to obtain coordinate offset angle, and by described in
Coordinate offset angular stack to the motor angle of the current control period to establish the virtual coordinate system of next controlling cycle, with
Realize the control to the motor side power factor.
2. the control method of motor side power factor according to claim 1, it is characterised in that by the coordinate offset
Angular stack is also carried out at angle limitation to before the motor angle of the current control period to the coordinate offset angle
Reason.
3. the control method of motor side power factor according to claim 1, it is characterised in that the motor angle passes through
Position estimation is carried out to the motor to obtain.
A kind of 4. control device of motor side power factor, it is characterised in that including deviation angle computing module and control module,
Wherein,
The control module uses the control mode of Id '=0 to be controlled motor to obtain the virtual seat of current control period
Quadrature-axis voltage Uq ' and direct-axis voltage Ud ' under mark system, wherein, a coordinate system, i.e. d ' are re-established on the basis of current phasor
Q ' virtual coordinate systems, wherein d-axis (d ' axles) differ β angles with d axles；
The deviation angle computing module is according to the quadrature-axis voltage Uq ' and d-axis under the virtual coordinate system of the current control period
Voltage Ud ' calculates the first controlling value, and obtains power factor controlling desired value, and according to the power factor controlling desired value
Target control value is calculated, and PI controls are carried out to the difference of the target control value and first controlling value to obtain coordinate offset
Angle, the deviation angle computing module calculate first controlling value according to below equation：
A=(Uq')2/[(Uq')2+(Ud')2]
Wherein, A is first controlling value, and Uq ' is the quadrature-axis voltage under the virtual coordinate system, and Ud ' is the virtual coordinates
Direct-axis voltage under system；
The control module is next to establish to the motor angle of the current control period by the coordinate offset angular stack
The virtual coordinate system of controlling cycle, to realize the control to the motor side power factor.
5. the control device of motor side power factor according to claim 4, it is characterised in that the control module is being incited somebody to action
The coordinate offset angular stack is to before the motor angle of the current control period, also by angle limiter to the seat
Mark deviation angle and carry out angle limitation processing.
6. the control device of motor side power factor according to claim 4, it is characterised in that pass through position estimation
Position estimation is carried out to the motor to obtain the motor angle.
7. a kind of electric machine control system, it is characterised in that including the motor side power according to any one of claim 4-6
The control device of factor.
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| CN103560735A (en) * | 2013-09-27 | 2014-02-05 | 南车株洲电力机车研究所有限公司 | Control method for electro-magnetic synchronous motor |
| CN104682806A (en) * | 2015-02-02 | 2015-06-03 | 东南大学 | Constant flux linkage control method for hybrid excitation synchronous motor |
| CN104702168A (en) * | 2015-03-26 | 2015-06-10 | 北京经纬恒润科技有限公司 | Flux-weakening control method and device |
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| CN103560735A (en) * | 2013-09-27 | 2014-02-05 | 南车株洲电力机车研究所有限公司 | Control method for electro-magnetic synchronous motor |
| CN104682806A (en) * | 2015-02-02 | 2015-06-03 | 东南大学 | Constant flux linkage control method for hybrid excitation synchronous motor |
| CN104702168A (en) * | 2015-03-26 | 2015-06-10 | 北京经纬恒润科技有限公司 | Flux-weakening control method and device |
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