CN105450121A - Motor flux-weakening control method - Google Patents
Motor flux-weakening control method Download PDFInfo
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- CN105450121A CN105450121A CN201511026014.1A CN201511026014A CN105450121A CN 105450121 A CN105450121 A CN 105450121A CN 201511026014 A CN201511026014 A CN 201511026014A CN 105450121 A CN105450121 A CN 105450121A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Fuzzy Systems (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a motor flux-weakening control method and relates to a feedforward control-based voltage feedback compensation method. The motor flux-weakening control method comprises the following steps: determining a flux-weakening limiting voltage Usmax according to the DC bus voltage of a permanent magnet synchronous motor, and calculating through d and q shaft voltages to obtain a terminal voltage Us; designing a PI regulator according to the flux-weakening limiting voltage Usmax and the terminal voltage Us so as to obtain a flux-weakening regulation current Odr1; considering the parameter perturbation of inductance and permanent magnet flux linkage, and calculating on the basis of a theoretical formula to obtain a flux-weakening feedforward current Idr2; and finally superposing the flux-weakening regulation current Idr1 and the flux-weakening feedforward current Idr2 to obtain a straight shaft compensation current IdrFW of a flux-weakening algorithm. According to the motor flux-weakening control method, the flux-weakening control performance of the permanent magnet synchronous motor can be effectively enhanced and the problems that the parameters are difficult to regulate and the dynamic property is not ideal in the prior art are effectively solved.
Description
Technical field
The invention belongs to technical field of automatic control, for a kind of based on the Voltage Feedback penalty method of feedfoward control, be specially a kind of motor field weakening control method.
Background technology
Permagnetic synchronous motor (permanentmagnetsynchronousmachine, PMSM) due to its high power density, high reliability and high efficiency advantage, require to be widely used in higher governing system at machining equipment, robot, electric automobile etc.Owing to adopting permanent magnet excitation, cannot regulate excitation field by excitation winding, permagnetic synchronous motor must adopt weak magnetic technology to meet the speed governing demand of wide speed regulating range.Adopt high performance weak magnetic technology constantly can expand the range of speeds of motor output-constant operation, keep higher operating efficiency.
At present, existing weak magnetics detect technology mainly contains look-up table, computing method of formula, gradient descent method and Voltage Feedback penalty method in the art.Look-up table needs to measure by experiment the direct-axis current that motor needs under different rotating speeds, therefore needs a large amount of experimental datas, implements comparatively complicated.Computing method of formula is very large to the dependence of the parameter of electric machine, only has certain theory significance, but directly can not meet engineer applied.The amount of calculation of gradient descent method is comparatively large, realizes comparatively complicated.Voltage Feedback penalty method compensates by building a voltage close loop, and voltage compensation method has the advantages such as robustness is good, amount of calculation is little, reliable, is applicable to engineer applied.
Patent application 1, CN200910041656.7 " a kind of weak magnetics detect system based on permagnetic synchronous motor and control method thereof " employs Voltage Feedback method, adopts the reference voltage of vector control to realize weak magnetic as feedback based on voltage close loop.The method robustness is better, but there is the not good problem of dynamic property, haves much room for improvement.
Patent application 2, CN201410108255.X " a kind of field weakening control method of enhanced permanent-magnetic synchronous machine " first carries out PI adjustment according to voltage error, obtain excitation current component, then weak magnetic feedforward arithmetic is devised, specifically voltage error is multiplied by a coefficient as feedforward directional angle, coefficient is gathered by examination and obtains.The method improves dynamic response to a certain extent by feedforward, but the coefficient in feedforward term tries to gather to lack clear and definite criterion, has certain blindness.In addition, along with in motor operation course, the parameter such as inductance, magnetic linkage perturbs, and the precision of the method can be affected.
Summary of the invention
The problem to be solved in the present invention is: the problem that the difficult parameters that permagnetic synchronous motor existing weak magnetics detect technology exists adjusts, dynamic property is undesirable, propose a kind of Voltage Feedback penalty method based on feedfoward control, improve the dynamic response performance of permagnetic synchronous motor weak magnetics detect.
Technical scheme of the present invention is: a kind of motor field weakening control method, for a kind of based on the Voltage Feedback penalty method of feedfoward control, specifically comprises the following steps:
Step one: determine weak magnetic pole voltage limit U according to the DC bus-bar voltage of permagnetic synchronous motor
smax;
Step 2: calculate terminal voltage U by d, q shaft voltage
s;
Step 3: according to weak magnetic pole voltage limit U
smaxwith terminal voltage U
sdesign pi regulator, obtains weak magnetic and regulates electric current I
dr1;
Step 4: the Parameter Perturbation considering inductance and permanent magnet flux linkage, obtains weak magnetic feedforward current I based on theoretical formula method
dr2;
Step 5: weak magnetic is regulated electric current I
dr1with weak magnetic feedforward current I
dr2superposition, obtains the d-axis offset current I of weak magnetic algorithm
drFW.
Notable feature of the present invention is weak magnetic feedforward part, and the pi regulator being applied to weak magnetic module can be traditional PI adjuster, also can be PI type Fuzzy adjuster, or the pi regulator of other form.For multi-form pi regulator, identical in principle is that to input be all deviation e, and exporting is all that weak magnetic regulates electric current I
dr1, difference is that the specific algorithm of PI is different.Traditional PI adjuster is prior art, no longer describes in detail, and the present invention describes the setting of PI type Fuzzy adjuster in detail further.
The something in common of two parts of patent documentations of the present invention and background technology all employ Voltage Feedback method.
The difference of present invention and patent application 1 is: patent of invention one does not have weak magnetic to feedover, and invention increases the feedforward of weak magnetic.
The difference of present invention and patent application 2 is: the make of feedforward is different, patent application 2 uses voltage error to be multiplied by a coefficient as feedforward, the present invention calculates weak magnetic feedforward current based on motor model, and considers the Parameter Perturbation of inductance and permanent magnet flux linkage during feedback before use.
Present invention uses the feedforward of weak magnetic, in prior art, what use this technical characteristic has following two parts of documents:
Document one " built-in permanent-magnet synchronous motor weak magnetics detect experimental study " (Wang Ying, Tang Renyuan, Cao Xianqing, Zhu Jianguang, " electrical micro-machine " o. 11th in 2008), take built-in permanent-magnet synchronous motor as research object, torque when running according to motor and stator flux linkage set value, draw the cross, straight shaft current reference value of motor by tabling look-up; Simultaneously in order to solve parameter drift problem during high speed operation of motor, the basis of feedfoward control superposing the Closed-loop Control Strategy based on output voltage, has effectively improve the robustness of system.
Document two " FeedforwardFlux-WeakeningControlofSurface-MountedPermane nt-MagnetSynchronousMotorsAccountingforResistiveVoltageD rop " (MarcoTursini, EnzoChiricozzi, andRobertoPetrella, IEEETransactionsonIndustrialElectronics (ImpactFactor:6.5) .02/2010; 57 (1): 440-448.) with surface-mount type permagnetic synchronous motor for research object, respectively for shallow weak magnetic area and dark weak magnetic area, stator current based on feedback rotating speed and previous moment devises the feedforward of weak magnetic, makes motor reliably can be operated in territory, weak magnetic area on a large scale.
The present invention with the difference of document one is: the obtain manner of feedforward is different, and document one uses the method for tabling look-up to obtain weak magnetic feedforward value, and the present invention is based on motor model, adopts the weak magnetic feedforward current of theoretical formula method.The method adopted due to document one is look-up table, and have the shortcoming that arithmetic accuracy is lower, test job amount is large, algorithm of the present invention, based on model itself, has the advantage that precision is higher, easy to use.
The difference of the present invention and document two is two, document methods of feedforward, has the shortcoming of poor robustness; And the present invention combines Voltage Feedback method on the basis of feedforward, improve the robustness of weak magnetics detect.
The present invention effectively can promote the weak magnetics detect performance of permagnetic synchronous motor, effectively improves the problem that difficult parameters adjusts, dynamic property is undesirable that prior art exists, is embodied in:
1) prior art uses voltage error to be multiplied by a coefficient and to feedover as weak magnetic, and the coefficient trial and error procedure in feedforward term is determined.The present invention is based on motor model and calculate weak magnetic feedforward current, in computing formula, all parameters are all known, not needing the method by trying to gather to obtain, avoiding the blindness in adjustment process.And the weak magnetic feedforward current computing formula in the present invention also contemplates the Parameter Perturbation of inductance and permanent magnet flux linkage, avoid the change of motor operating state and cause the impact of parameter drift, improve the control precision of system.
2) experimental result of Fig. 5 ~ 7 has absolutely proved advantage of the present invention.Wherein as can be seen from the result of rotating-speed tracking shown in Fig. 5: given rotating speed 4000rpm, the overshoot of prior art is 60rpm, and overshoot of the present invention is 20rpm.As can be seen from the waveform that the direct-axis current of prior art shown in Fig. 6 is followed the tracks of: prior art exists the feature of direct-axis current local overshoot, and the waveform of dynamic process is more precipitous.As can be seen from the waveform that direct-axis current of the present invention shown in Fig. 7 is followed the tracks of: the present invention does not exist the problem of direct-axis current local overshoot, and the waveform of dynamic process is relatively mild.In sum, compared to existing technology, it is little that the present invention has speed overshoot, and direct-axis current is without local overshoot, and current tracking transient process is mild, and dynamic property is superior.
Accompanying drawing explanation
Fig. 1 is the overall plan control principle drawing of the present invention when being applied to motor, and in figure, Iqr is the given electric current of d-axis, and Iqr is the given electric current of quadrature axis.
Fig. 2 is weak magnetics detect schematic diagram of the present invention.
Fig. 3 is the control principle drawing of PI type Fuzzy in the present invention.
Fig. 4 is the membership function oscillogram of fuzzy PI hybrid control in the present invention.
When Fig. 5 is permagnetic synchronous motor given step rotating speed 4000rpm, prior art and rotating speed experimental result comparison diagram of the present invention.
Fig. 6 is the d shaft current tracking test result of prior art, and in figure, Id is defined as d-axis feedback current.
Fig. 7 is d shaft current tracking test result of the present invention.
Embodiment
The present invention is a kind of Voltage Feedback penalty method based on feedfoward control, Fig. 1 be the present invention for the control principle drawing in motor, the weak magnetic module in Fig. 2 corresponding diagram 1 is weak magnetics detect schematic diagram of the present invention, Fig. 3 corresponds to the PI type Fuzzy part in Fig. 2, is concrete fuzzy PI hybrid control schematic diagram.
Below in conjunction with accompanying drawing, the explanation of detailed design step is done to embodiments of the invention.
Step one: determine weak magnetic pole voltage limit U according to DC bus-bar voltage
smax.
Weak magnetic pole voltage limit U
smaxtheoretical value be the maximum voltage amplitude that the control main circuit inverter of permagnetic synchronous motor can export, this amplitude and DC bus-bar voltage size U
dcrelevant, relational expression is
Step 2: calculate terminal voltage U by d, q shaft voltage
s.
Terminal voltage is defined as permagnetic synchronous motor d shaft voltage U
dwith q shaft voltage U
qthe extraction of square root value of quadratic sum, namely
Step 3: according to U
smaxand U
sdesign PI type Fuzzy adjuster, obtains weak magnetic and regulates electric current I
dr1.
According to the U that step one obtains
smaxwith the U that step 2 obtains
s, try to achieve error amount e=U
smax-U
s.PI type Fuzzy adjuster is designed to e, obtains weak magnetic and regulate electric current I
dr1.The construction method of PI type Fuzzy is as follows:
1) calculation deviation e=U
smax-U
s, the differential e of deviation
c=de/dt;
2) fuzzy subset of input and output variable is expressed as 7 fuzzy sets set NB, NM, NS, ZE, PS, PM, PB}, domain is all set as {-3 ,-2 ,-1,0,1,2,3}; Fuzzy subset can be described by 7 linguistic variable values, is respectively: negative large NB, NM in negative, negative little NS, zero ZE, just little PS, center PM and honest PB, corresponding 7 fuzzy sets;
3) determine to quantize factor K
e, K
ecand scale factor K
kP, K
kI.K
e=1/e
m, K
ec=3/e
cm, K
kP=P
m/ 3, K
kI=I
m/ 3, wherein e
mfor the amplitude of e, e
cmfor e
camplitude, P
mfor output variable Δ K
pmaximum, I
mfor output variable Δ K
imaximum;
4) Triangleshape grade of membership function shown in Fig. 4 is adopted, by accurate input variable obfuscation, to determine the degree of membership of x point in fuzzy subset;
5) continuous quantity of change between [-3,3] is divided into 7 grades, every grade of correspondence fuzzy set, realizes fuzzification process.As shown in table 1;
Table 1 Fuzzy processing
| X scope | (-∞,-2.5) | [-2.5,-1.5) | [-1.5,-0.3] | (-0.3,0.3) | [0.3,1.5] | (1.5,2.5] | (2.5,∞) |
| Fuzzy set | NB | NM | NS | ZE | PS | PM | PB |
6) ambiguity solution, obtains last fuzzy control as shown in table 2 and table 3.
Table 2 Δ K
pfuzzy control
Table 3 Δ K
ifuzzy control
Step 4: the Parameter Perturbation considering inductance and permanent magnet flux linkage, calculates weak magnetic feedforward current I
dr2.
The voltage equation of permagnetic synchronous motor is:
Under steady state conditions, have:
When weak magnetics detect,
remain U
smaxconstant, have:
U
smax 2＝U
d 2+U
q 2＝(Ri
d-ω
rL
qi
q)
2+(Ri
q+ω
rL
di
d+ω
rψ
f)
2，(3)
The resistance R of motor is general very little, ignores Ri
dand Ri
q, have:
U
smax 2＝U
d 2+U
q 2＝(ω
rL
qi
q)
2+(ω
rL
di
d+ω
rψ
f)
2，(4)
By formula (4), obtain weak magnetic feedforward current I
dr2theoretical calculation formula be
In formula (1) ~ (5), U
smaxfor weak magnetic pole voltage limit; ω
rfor the angular rate of motor; L
dfor the d axle inductance of motor; L
qfor the q axle inductance of motor; i
dfor the d shaft current of motor, i
qfor the q shaft current of motor, U
dfor d shaft voltage, U
qfor q shaft voltage; ψ
ffor permanent magnet flux linkage.L in formula (5)
d, L
q, ψ
fcan change along with the running status of motor, need at use L
d, L
q, ψ
fcarry out off-line measurement before.
L
d, L
qchange with the change of rotating speed hardly, but reduce with the increase of current of electric, inductance corresponding under being in different current condition by testing of electric motors, obtains inductance-current curve.Method of testing is: run under making motor be in rated speed condition, given different i
dand i
q, measure and draw at each i
dand i
qunder L
d, L
q, carry out curve fitting to measuring the data drawn, thus obtain inductance-current curve, i.e. L
d=f1 (i
d, i
q) curve and L
q=f2 (i
d, i
q) curve.
ψ
fdiminish with the rising of temperature T, ψ corresponding under being in condition of different temperatures by testing of electric motors
fobtain permanent magnet flux linkage-temperature form.Method of testing is: run continuously under making motor be in rated speed, motor temperature raises along with the lengthening of running time, measures and draws the permanent magnet flux linkage ψ under each temperature T
f, thus obtain permanent magnet flux linkage-temperature form, i.e. ψ
f-T form, ψ
flook into this form two point interpolation methods to obtain.
The changing value L that test experiment is obtained
d, L
q, ψ
fand U
smax, ω
r, i
qbe updated in formula (5), obtain I
dr2.
Step 5: weak magnetic is regulated electric current I
dr1with weak magnetic feedforward current I
dr2superposition, obtains the d-axis offset current I of weak magnetic algorithm
drFW.The d-axis offset current of weak magnetic algorithm is I
drFW=I
dr1+ I
dr2.The I more than calculated
drFWas the given electric current I of d-axis
dr, i.e. I
dr=I
drFW.
Fig. 5-7 is result of implementation of the present invention, and under visible the inventive method, motor speed overshoot is little, and direct-axis current is without local overshoot, and current tracking transient process is mild, and dynamic property is superior.
The content be not described in detail in specification of the present invention belongs to the known prior art of professional and technical personnel in the field.Above-described embodiment does not limit the present invention in any way, and the technical scheme that the mode that every employing is equal to replacement or equivalent transformation obtains all drops in protection scope of the present invention.The present invention lays special stress on protecting weak magnetic feedforward part, and which kind of form no matter the pi regulator being applied to weak magnetic module use, and all drops in protection scope of the present invention.
Claims (5)
1. a motor field weakening control method, to is characterized in that for a kind of, based on the Voltage Feedback penalty method of feedfoward control, specifically comprising the following steps:
Step one: determine weak magnetic pole voltage limit U according to the DC bus-bar voltage of permagnetic synchronous motor
smax;
Step 2: calculate terminal voltage U by d, q shaft voltage
s;
Step 3: according to weak magnetic pole voltage limit U
smaxwith terminal voltage U
sdesign pi regulator, obtains weak magnetic and regulates electric current I
dr1;
Step 4: the Parameter Perturbation considering inductance and permanent magnet flux linkage, obtains weak magnetic feedforward current I based on theoretical formula method
dr2;
Step 5: weak magnetic is regulated electric current I
dr1with weak magnetic feedforward current I
dr2superposition, obtains the d-axis offset current I of weak magnetic algorithm
drFW.
2. a kind of motor field weakening control method according to claim 1, is characterized in that described step one is specially: weak magnetic pole voltage limit U
smaxtheoretical value be the maximum voltage amplitude that the control main circuit inverter of permagnetic synchronous motor can export, this amplitude and DC bus-bar voltage size U
dcrelevant, weak magnetic pole voltage limit U
smaxfor
3. a kind of motor field weakening control method according to claim 1, is characterized in that described step 2 is specially: terminal voltage U
sfor permagnetic synchronous motor d shaft voltage U
dwith q shaft voltage U
qthe extraction of square root value of quadratic sum, namely
4. a kind of motor field weakening control method according to claim 1, is characterized in that described step 3 is specially: the U obtained according to step one
smaxwith the U that step 2 obtains
s, try to achieve deviation e=U
smax-U
s, PI type Fuzzy adjuster is designed to e, obtains weak magnetic and regulate electric current I
dr1, the construction method of PI type Fuzzy adjuster is as follows:
1) calculation deviation e=U
smax-U
s, the differential e of deviation
c=de/dt;
2) fuzzy subset of input and output variable is expressed as 7 fuzzy sets set NB, NM, NS, ZE, PS, PM, PB}, domain is all set as {-3 ,-2 ,-1,0,1,2,3};
3) determine to quantize factor K
e, K
ecand scale factor K
kP, K
kI, K
e=1/e
m, K
ec=3/e
cm, K
kP=P
m/ 3, K
kI=I
m/ 3, wherein e
mfor the amplitude of e, e
cmfor e
camplitude, P
mfor output variable Δ K
pmaximum, I
mfor output variable Δ K
imaximum;
4) Triangleshape grade of membership function is adopted, by accurate input variable obfuscation, to determine the degree of membership of x point in fuzzy subset;
5) continuous quantity of change between [-3,3] is divided into 7 grades, every grade of correspondence fuzzy set, realizes fuzzification process;
6) ambiguity solution, obtains last Δ K
pwith Δ K
ifuzzy control.
5. a kind of motor field weakening control method according to claim 1, is characterized in that described step 4 is specially:
The voltage equation of permagnetic synchronous motor is:
Under steady state conditions, have:
When weak magnetics detect,
remain U
smaxconstant, have:
The resistance R of motor is very little, ignores Ri
dand Ri
q, have:
By formula (4), obtain weak magnetic feedforward current I
dr2computing formula be:
In formula (1) ~ (5), U
smaxfor weak magnetic pole voltage limit; ω
rfor the angular rate of motor; L
dfor the d axle inductance of motor; L
qfor the q axle inductance of motor; i
dfor the d shaft current of motor, i
qfor the q shaft current of motor, U
dfor d shaft voltage, U
qfor q shaft voltage; ψ
ffor permanent magnet flux linkage.
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|---|---|---|---|
| CN201511026014.1A CN105450121B (en) | 2015-12-30 | 2015-12-30 | A kind of motor field weakening control method |
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| CN105450121B CN105450121B (en) | 2018-06-15 |
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| CN106452265B (en) * | 2016-10-31 | 2018-09-18 | 东南大学 | A kind of field weakening control method adjusted based on observation compensation and coupling |
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| CN106712631A (en) * | 2016-12-26 | 2017-05-24 | 广东美的制冷设备有限公司 | Permanent magnet synchronous motor system, field weakening control method and device thereof |
| CN107040179A (en) * | 2017-04-06 | 2017-08-11 | 澳特卡新能源科技（上海）有限公司 | A kind of guard method out of control of weak magnetic based on motor compressor |
| CN107257219A (en) * | 2017-08-21 | 2017-10-17 | 合肥君信信息科技有限公司 | Single-current weak-magnetic torque closed-loop control method for permanent magnet synchronous motor |
| CN107979317A (en) * | 2017-12-22 | 2018-05-01 | 江苏理工学院 | Permanent magnet synchronization motor spindle weak magnetic speed regulating method |
| CN111262486A (en) * | 2018-11-30 | 2020-06-09 | 中车时代电动汽车股份有限公司 | Permanent magnet synchronous motor control method |
| CN111262486B (en) * | 2018-11-30 | 2021-11-16 | 中车时代电动汽车股份有限公司 | Permanent magnet synchronous motor control method |
| CN112311286A (en) * | 2019-07-31 | 2021-02-02 | 北京金风科创风电设备有限公司 | Power control device and method of wind generating set |
| CN112311286B (en) * | 2019-07-31 | 2023-06-30 | 北京金风科创风电设备有限公司 | Power control device and method for wind generating set |
| CN112104278A (en) * | 2020-08-21 | 2020-12-18 | 浙江零跑科技有限公司 | Permanent magnet synchronous anti-destabilization weak magnet method |
| CN112104278B (en) * | 2020-08-21 | 2022-07-29 | 浙江零跑科技股份有限公司 | Permanent magnet synchronous anti-destabilization weak magnet method |
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