CN105515479B - A kind of durface mounted permanent magnet synchronous generator field weakening control method - Google Patents
A kind of durface mounted permanent magnet synchronous generator field weakening control method Download PDFInfo
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- CN105515479B CN105515479B CN201610004364.6A CN201610004364A CN105515479B CN 105515479 B CN105515479 B CN 105515479B CN 201610004364 A CN201610004364 A CN 201610004364A CN 105515479 B CN105515479 B CN 105515479B
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- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
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Classifications
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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
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The invention discloses a kind of durface mounted permanent magnet synchronous generator field weakening control method, belongs to the technical field that permagnetic synchronous motor controls.The present invention gives direct-axis voltage when motor speed is higher than base speed using a current regulator, motor is realized to run along voltage limit circle and permanent torque intersections of complex curve, this method makes current locus and can while torque curve is met meet the limitation of voltage and current, output DC voltage can recover stable rapidly after brief fluctuations, have good dynamic response.
Description
Technical field
The invention discloses a kind of durface mounted permanent magnet synchronous generator field weakening control method, belong to permagnetic synchronous motor control
Technical field.
Background technology
Durface mounted permanent magnet synchronous generator rotor uses permanent-magnet material excitation, due to its small volume, power density height, dynamic
The features such as strong adaptability, easy control, have been widely used for the every field of production and living.But in magneto alternator
Connect and traditional i is used in the voltage-stabilizing system of PWM rectifierdDuring=0 vector controlled, with the rise of rotating speed, its output voltage
It can not stablize, limit the range of speeds of generator, be not suitable for actual engineer applied.It is steady in magneto alternator
Control field is pressed, double-current adjuster intercouples the problem of dynamic response being brought to be deteriorated in traditional field weakening control method, electricity
Throttle regulator is easily saturated and influences motor performance, in addition cause it is unstable, this be double-current adjuster weak magnetic control it is intrinsic
Shortcoming.With the development of permasyn morot weak magnetic control technology, there is the weak magnetic method of single electric current adjuster control, can be with
Double-current adjuster is avoided to intercouple the dynamic response that brings the problem of being deteriorated.Traditional single electric current adjuster control methods are fixed
Quadrature-axis voltage instructs, and only controls direct-axis current, motor can not make full use of DC voltage, and efficiency and load capacity are low, rotating speed model
Enclose narrow.Also have and quadrature-axis voltage instruction is given by look-up table, but it is portable poor.
The content of the invention
The technical problems to be solved by the invention are the deficiencies for above-mentioned background technology, in order to be obtained in wide rotating speed
Stable output voltage and to make durface mounted permanent magnet synchronous generator output voltage not unstable because of rotating speed rise, there is provided one
Kind durface mounted permanent magnet synchronous generator field weakening control method, is obtained under real-time rotating speed by exporting DC voltage outer shroud pi regulator
Required quadrature axis current set-point, and then direct-axis voltage set-point is determined by quadrature-axis voltage set-point again, ensureing electric current fortune
Row ensures that current work point is operated on required torque curve while on voltage limit circle, solves traditional single electric current regulation
The low technical problem of device control methods control efficiency.
The present invention adopts the following technical scheme that for achieving the above object：
A kind of durface mounted permanent magnet synchronous generator field weakening control method,
PWM rectifier bridge arm midpoint is connected with the threephase stator winding of durface mounted permanent magnet synchronous generator and gathers PWM
The output DC voltage U of rectifier DC sidedc, Voltage loop regulation is carried out to output DC voltage and electric current loop adjusts to obtain quadrature axis
Voltage set-pointDirect-axis voltage is determined according to target of the current locus along voltage limit circle and the operation of permanent torque intersections of complex curve
Set-pointFor：To quadrature-axis voltage set-point and d-axis
Voltage set-point carries out park transforms successively and space vector modulation obtains the drive signal of PWM rectifier, durface mounted permanent magnet
Synchronous generator works under prime mover drive and exports alternating current to PWM rectifier,
Wherein, usmaxThe maximum voltage that can bear for durface mounted permanent magnet synchronous motor and PWM rectifier,For output
DC voltage set-point, iqFor quadrature axis current actual value, Kvp、KviRespectively Voltage loop proportionality coefficient and integral coefficient, Kip、Kii
Respectively electric current loop proportionality coefficient and integral coefficient, s are integral operator.
Further, in a kind of durface mounted permanent magnet synchronous generator field weakening control method, output direct current is pressed into
Row Voltage loop is adjusted and electric current loop adjusts to obtain quadrature-axis voltage set-pointMethod be：
Output DC voltage set-point and the difference progress PI for exporting DC voltage are adjusted to obtain quadrature axis current set-point
For：
To quadrature axis current set-pointPI is carried out with the difference of quadrature axis current actual value to adjust to obtain quadrature-axis voltage set-point
For：
Further, in a kind of durface mounted permanent magnet synchronous generator field weakening control method, quadrature axis current actual value
By carrying out carat to the phase current under the three-phase static coordinate system of durface mounted permanent magnet synchronous generator according to rotor-position signal
Gram conversion obtains.
The weak magnetic voltage stabilizing control method of durface mounted permanent magnet synchronous motor in a kind of wide speed range,
When durface mounted permanent magnet synchronous generator rotating speed is less than base speed, using id=0 vector control method is with minimum
Current control motor produces maximum electromagnetic torque；
When durface mounted permanent magnet synchronous motor rotating speed is higher than base speed, using the field weakening control method controlled motor along electricity
The operation of the intersection point of pressure horicycle and permanent torque curve is until reach stable state.
Further, in the wide speed range durface mounted permanent magnet synchronous motor weak magnetic voltage stabilizing control method, in motor
Operate in during the continued deceleration after stable state, when quadrature-axis voltage and direct-axis voltage meet that voltage limit justifies restrictive condition, by
The field weakening control method switches to id=0 vector control method.
The present invention uses above-mentioned technical proposal, has the advantages that：
(1) field weakening control method of the present invention is given using a current regulator when motor speed is higher than base speed
Direct-axis voltage, realize motor and run along voltage limit circle and permanent torque intersections of complex curve, this method is meeting current locus
And can meets the limitation of voltage and current while torque curve, and output DC voltage can recover steady rapidly after brief fluctuations
It is fixed, there is good dynamic response；
(2) i when being less than base speed with reference to rotating speedd=0 vector control method and field weakening control method of the present invention, energy
Stable operation of the durface mounted permanent magnet synchronous motor in wide speed range is enough realized, i.e., width can be achieved using single electric current adjuster method
The purpose and can lifting control efficiency of rotating speed voltage stabilizing, while whole control method is good independent of the parameter of electric machine, the robustness of parameter.
Brief description of the drawings
Fig. 1 is the circuit topological structure of the present invention；
Fig. 2 is the i of durface mounted permanent magnet synchronous generator voltage-stabilizing systemd=0 vector controlled block diagram；
Fig. 3 is the voltage limit circle and current limitation circle of generator；
Fig. 4 is the weak magnetic control block diagram of durface mounted permanent magnet synchronous generator voltage-stabilizing system proposed by the present invention；
Fig. 5 is the current locus figure of the generator under the weak magnetic method proposed using this patent；
Fig. 6 is the output voltage and rotating speed simulation waveform under the weak magnetic method proposed using this patent；
Fig. 7 is the id-iq current locus under the weak magnetic method proposed using this patent；
Fig. 8 is the output voltage waveforms when sudden unloading process under the weak magnetic method proposed using this patent is loaded.
Label declaration in figure：Q1To Q6For switching tube, C is filter capacitor, RLIt is outside output DC voltage for ohmic load, 1
Ring, 2 be electric current loop, and 3 be park transforms module, and 4 be space vector modulation module, and 5 be Clarke transform module, and 6 turn for motor
Sub- position feedback module, 7 be PWM rectifier.
Embodiment
The technical scheme of invention is described in detail below in conjunction with the accompanying drawings.
The present invention realizes the weak magnetic control of durface mounted permanent magnet synchronous generator using circuit topology shown in Fig. 1, and surface-mount type is forever
Magnetic-synchro generator is dragged by prime mover, bridge arm midpoint (the switching tube Q of PWM rectifier1With switching tube Q4Form the midpoint of bridge arm
U, switching tube Q2With switching tube Q5Form midpoint V, the switching tube Q of bridge arm3With switching tube Q6Form the midpoint W of bridge arm) connect respectively forever
The threephase stator winding of magnetic-synchro generator, PWM rectifier direct current side joint filter capacitor C and ohmic load RL。
When generator speed is higher than base speed, only with a quadrature axis current adjuster and by calculating directly given d-axis
Voltage, you can realize a kind of durface mounted permanent magnet synchronous generator field weakening control method of the present invention.
If ignoring generator unit stator internal resistance pressure drop, using Generator convention, following voltage equation can be obtained：
uq=ωe·(ψaf-Ldid) (1)
ud=ωe·Lq·iq (2)
In formula (1) and formula (2)：ωeFor generator angular rate；ψafFor rotor flux；Ld、LqRespectively d, q axle inductance；
id、iqRespectively d, q shaft current；ud、uqRespectively d, q shaft voltage.
Assuming that the maximum voltage that generator and PWM rectifier can bear is usmax, generator and PWM rectifier can be held
The maximum current received is ismaxIf output DC voltage is Udc, orderElectricity is inputted for PWM rectifier maximum linear
Pressure amplitude value.
It is as follows that voltage and current limitation equation can be obtained：
Formula (1) and formula (2) are substituted into formula (3) can develop an accepted way of doing sth (5)：
(ψaf-Ld·id)2+(Lq·iq)2≤(usmax/ωe)2 (5)
State 1, generator speed are less than base speed state：
For durface mounted permanent magnet synchronous generator, when rotating speed is less than base speed, using id=0 vector controlled, control block diagram
As shown in Fig. 2 the control method can be minimum electric current produce maximum torque, improve control efficiency to greatest extent.
Voltage limit circle and current limitation circle as shown in Figure 3 can be obtained by formula (4) and formula (5), wherein, Te1And Te2
For generator permanent torque curve, for durface mounted permanent magnet synchronous motor, motor torque is and iqIt is directly proportional and parallel to d axles
Straight line；MTPA curves be torque capacity electric current than curve, be exactly straight line i for durface mounted permanent magnet synchronous motord=0；
MTPV curves are torque capacity voltage ratio curve, are exactly straight line i for durface mounted permanent magnet synchronous motord=ψaf/Ld.By scheming
3 can be seen that：The maximum demagnetizing current of motor is idmax=ψaf/Ld；And as rotating speed raises, the constantly contracting of voltage limit circle
It is small, illustrate its can range of operation be also gradually reduced.When rotating speed is by ω1It is increased to base speed ωbaseWhen, phase voltage amplitude us=
usmax.If rotating speed further raises, us>usmax, into weak magnetic region.So by id=0 vector controlled is switched to weak magnetic control
Foundation be：
State 2, generator speed are higher than base speed state：
If assuming system power conservation, ignore loss, then can obtain formula (7) and formula (8)：
Te=1.5P ψaf·iq (8)
In formula (7) and formula (8)：TeFor the electromagnetic torque of generator；P is rotor number of pole-pairs；RLFor ohmic load.Then when turn
During speed rise, quadrature axis current iqInversely reduce compared to rotating speed, as shown in formula (9)：
After rotating speed is higher than base speed, in order that current locus can meet torque curve, and can meets voltage and current
Limitation, it is necessary to control electric current, run intersection point of the motor along voltage limit circle and permanent torque curve.Then can be by output voltage
Outer shroud obtains quadrature axis current set-point through pi regulatorAs shown in formula (10)：
In formula (10)：To export DC voltage set-point, KvpFor Voltage loop proportionality coefficient, KviFor Voltage loop integration system
Number, s is integral operator.Because for durface mounted permanent magnet synchronous motor, electromagnetic torque is directly proportional to quadrature axis current, so formula
(10) quadrature axis current obtained is to give quadrature axis current under real-time rotating speed corresponding to required torque.Itself and actual iqPassed through after making the difference
PI obtains quadrature-axis voltage set-pointQuadrature-axis voltage set-pointExpression formula such as formula (11) shown in：
In formula (11)：KipFor electric current loop proportionality coefficient, KiiFor electric current loop integral coefficient, now, quadrature-axis voltage set-point
As meet the quadrature-axis voltage of torque curve.
In order to ensure track on voltage limit circle, the given formula of direct-axis voltage instruction is：
Formula (10) and (11) are substituted into formula (12) to obtain：
Understand that it is timely according to rotating speed and the situation of load by the linear characteristic of PI input and output and combination above formula
The given quadrature-axis voltage of debugging, enables current locus to be run along voltage limit circle and permanent torque intersections of complex curve.Such as when on rotating speed
Rise, output DC voltage UdcRise, if given VD is constant, the outer shroud output of output DC voltage reduces, i.e.,
Reducing, then the quadrature-axis voltage of electric current loop output reduces, and quadrature axis current reduces, and correspondingly direct-axis voltage increases, direct-axis current increase,
Finally reach stable state.
Weak magnetic control block diagram is as shown in Figure 4, output DC voltage outer shroud 1, electric current loop 2, park transforms module 3, space arrow
Measure modulation module 4, Clarke transform module 5, motor rotor position feedback module 6, PWM rectifier 7.Motor rotor position feeds back
Module 6 detects rotor-position signal θ；Phase current i under three-phase static coordinate systemA、iB、iCAnd rotor-position signal θ is through Clarke
Conversion module 5 obtains quadrature axis current actual value iq；DC voltage outer shroud 1 is exported to exporting DC voltage set-pointAnd output
DC voltage UdcDifference carry out PI adjust to obtain quadrature axis current set-pointElectric current loop 2 is to quadrature axis current set-pointWith quadrature axis electricity
Flow actual value iqDifference carry out PI adjust to obtain quadrature-axis voltage set-pointJustified by voltage limit and determine direct-axis voltage set-pointPark transforms module 3 is according to rotor-position signal θ to direct-axis voltage set-pointWith quadrature-axis voltage set-pointCarry out Parker
Conversion obtains the component of voltage u under two-phase rest frameα、uβ, space vector modulation module 4 is according under two-phase rest frame
Component of voltage uα、uβObtain the drive signal of PWM rectifier 7；PWM rectifier 7 is under drive signal effect by durface mounted permanent magnet
The alternating current of synchronous generator output is converted to direct current electricity output, that is, obtains exporting DC voltage Udc。
It can be realized using field weakening control method of the present invention round and permanent along voltage limit in weak magnetic region motor
Torque curve intersection point is run, and had both been met that voltage limited, and had been met torque request again.Current locus as shown in Fig. 5 black runic curves,
Wherein, AB sections curve is using idThe current locus of=0 vector controlled, maximum torque can be produced with minimum current；BC sections
Curve is into the current locus that weak magnetic method proposed by the invention is used after weak magnetic.By Fig. 5 it can be found that MTPA curves will
id-iqCoordinate system is divided into two, and weak magnetic operating point is located at right side.During motor continued deceleration, motor operating point enters left side plan,
Motor exits weak magnetic region.So i is switched to by weak magnetic controldThe foundation of=0 vector controlled is：
id<0 (14)
This patent is emulated using matlab/simulink instruments.Simulation parameter is rotor flux ψaf=
0.04Vs, ac-dc axis inductance Ld=Lq=2mH, number of pole-pairs np=4, output DC voltage Udc=42V, the generating range of speeds are
1200~6000rpm.Fig. 6 is using the output voltage and rotating speed simulation waveform under the weak magnetic method of this patent proposition, Ke Yifa
Output voltage can keep stable in existing wide speed range.Fig. 7 is the ac-dc axis current locus of emulation, it can be found that current of electric
Track and theory are basically identical.Fig. 8 is output voltage waveforms when sudden unloading process loads, in 2000rpm, the impact at 0.1s
Load, loads and rises to 8.4A by 4.2A, go out to dash forward in 0.15s and unload load, load and drop to 0.76A by 8.4A, by simulation waveform
It can be seen that the weak magnetic method proposed has good dynamic response, output voltage can recover steady rapidly after of short duration fluctuation
It is fixed.
In summary, a kind of durface mounted permanent magnet synchronous generator field weakening control method proposed by the invention, works as generator
When rotating speed is higher than base speed, by the control to current locus, the purpose of wide rotating speed voltage stabilizing is realized.The control method avoids simultaneously
Double-current adjuster is mutually coupled the problem of dynamic response brought is deteriorated during because of high speed, there is a preferable dynamic response, improves
The problem of traditional single electric current adjuster control efficiency is low.It is good independent of the parameter of electric machine, parameter robustness.
Claims (5)
- A kind of 1. durface mounted permanent magnet synchronous generator field weakening control method, it is characterised in thatPWM rectifier bridge arm midpoint is connected with the threephase stator winding of durface mounted permanent magnet synchronous generator and gathers PWM rectifications The output DC voltage U of device DC sidedc, Voltage loop regulation is carried out to output DC voltage and electric current loop adjusts to obtain quadrature-axis voltage Set-pointAccording to current locus along voltage limit circle and permanent torque intersections of complex curve operation target determine direct-axis voltage to Definite valueFor：To quadrature-axis voltage set-point and d-axis electricity Pressure set-point carries out park transforms successively and space vector modulation obtains the drive signal of PWM rectifier, and durface mounted permanent magnet is same Step generator works under prime mover drive and exports alternating current to PWM rectifier,Wherein, usmaxThe maximum voltage that can bear for durface mounted permanent magnet synchronous motor and PWM rectifier,To export direct current Press set-point, iqFor quadrature axis current actual value, Kvp、KviRespectively Voltage loop proportionality coefficient and integral coefficient, Kip、KiiRespectively Electric current loop proportionality coefficient and integral coefficient, s are integral operator.
- 2. a kind of durface mounted permanent magnet synchronous generator field weakening control method according to claim 1, it is characterised in that described right Output DC voltage carries out Voltage loop regulation and electric current loop adjusts to obtain quadrature-axis voltage set-pointMethod be：Output DC voltage set-point and the difference progress PI for exporting DC voltage are adjusted to obtain quadrature axis current set-pointFor：To quadrature axis current set-pointPI is carried out with the difference of quadrature axis current actual value to adjust to obtain quadrature-axis voltage set-pointFor：
- A kind of 3. durface mounted permanent magnet synchronous generator field weakening control method according to claim 2, it is characterised in that the friendship Shaft current actual value is by foundation rotor-position signal to the phase under the three-phase static coordinate system of durface mounted permanent magnet synchronous generator Electric current carries out Clarke transform and obtained.
- A kind of 4. weak magnetic voltage stabilizing control method of durface mounted permanent magnet synchronous motor in wide speed range, it is characterised in that：When durface mounted permanent magnet synchronous generator rotating speed is less than base speed, using id=0 vector control method is with the electric current control of minimum Motor processed produces maximum electromagnetic torque；When durface mounted permanent magnet synchronous motor rotating speed is higher than base speed, using field weakening control method controlled motor described in claim 1 Along the intersection point operation of voltage limit circle and permanent torque curve until reaching stable state.
- 5. according to claim 4 in a kind of wide speed range durface mounted permanent magnet synchronous motor weak magnetic voltage stabilizing control method, It is characterized in that：During continued deceleration of the motor operation after stable state, when quadrature-axis voltage and direct-axis voltage meet voltage pole During limit circle restrictive condition, field weakening control method switches to i as described in claim 1d=0 vector control method.
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| CN109889112B (en) * | 2019-03-20 | 2020-08-04 | 河北工业大学 | Efficiency optimization method for flux weakening control single current regulator of permanent magnet synchronous motor |
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