CN107623472B - Permanent magnet synchronous motor electromagnetic torque control method and system based on current and power angle - Google Patents
Permanent magnet synchronous motor electromagnetic torque control method and system based on current and power angle Download PDFInfo
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Abstract
The invention is suitable for the technical field of motor control, and provides a permanent magnet synchronous motor electromagnetic torque control method and system based on current and power angle, wherein the method comprises the following steps: reading the current battery voltage and the motor rotor rotating speed based on the torque instruction; respectively searching corresponding stator current values and power angle values based on the electromagnetic torque value, the current battery voltage and the current motor rotor rotating speed; calculating a first stator voltage based on the stator current value, and calculating a second stator voltage based on the power angle value; respectively acquiring a current PWM duty ratio and a power angle PWM duty ratio based on the first stator voltage and the second stator voltage; calculating a voltage modulation coefficient M based on the first stator voltage; and controlling the current PWM duty ratio or the power angle PWM duty ratio to be output to the inverter based on the voltage modulation coefficient M. The stator voltage is controlled through the power angle, so that the problem that the electromagnetic torque control performance is poor or invalid under the high-speed operation condition of a current feedback control method is solved.
Description
Technical Field
The invention belongs to the technical field of motor control, and provides a permanent magnet synchronous electrode electromagnetic torque control method and system based on current and power angle.
Background
Because the energy density is large and the efficiency is high, the permanent magnet synchronous motor is widely applied in the field of new energy automobiles, the electromagnetic torque is an important external characteristic variable of the permanent magnet synchronous motor and needs to be controlled quickly and accurately to meet the performance requirements of people on the automobiles, because the consideration of the aspects of cost, precision, reliability, installation, signal processing, response bandwidth and the like, the direct feedback control of the electromagnetic torque based on a torque sensor is often difficult to realize, so the control of the electromagnetic torque in practical application is usually realized indirectly, the most common electromagnetic torque control method at present controls a stator voltage instruction based on stator current feedback, and finally executes the voltage instruction by an inverter, thereby achieving the purpose of controlling the torque, and in engineering application, the current feedback control method has the following problems: under high speed operating conditions, electromagnetic torque control performance is degraded or disabled.
Disclosure of Invention
The embodiment of the invention provides a permanent magnet synchronous electrode electromagnetic torque control method based on current and power angle, aiming at solving the problem that the electromagnetic torque control performance is poor or invalid under the high-speed operation condition of a current feedback control method.
The invention is realized in such a way that a permanent magnet synchronous motor electromagnetic torque control method based on current and power angle comprises the following steps:
s1, reading the current battery voltage and the motor rotor speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value;
s2, respectively searching corresponding stator current values and power angle values based on the electromagnetic torque value, the current battery voltage and the current motor rotor speed;
s3, respectively calculating stator voltages based on the stator current values and the power angle values, namely calculating a first stator voltage based on the stator current values and calculating a second stator voltage based on the power angle values;
s4, respectively obtaining a current PWM duty ratio and a power angle PWM duty ratio based on the first stator voltage and the second stator voltage;
s5, calculating a voltage modulation coefficient M based on the first stator voltage;
and S6, controlling the current PWM duty ratio or the power angle PWM duty ratio to be output to the inverter based on the voltage modulation coefficient M, so that the inverter controls the electromagnetic torque of the permanent magnet synchronous motor based on the current PWM duty ratio or the power angle PWM duty ratio.
Further, the method for calculating the second stator voltage based on the power angle value specifically includes:
based on the battery voltage VdcAnd calculating the second stator voltage by the power angle delta value, wherein the calculation formula is as follows:
wherein, V2dAnd V2qThe d-axis and q-axis components of the second stator voltage, respectively.
Further, the calculation formula of the voltage modulation coefficient M is specifically as follows:
wherein, V1dAnd V1qAre d-axis and q-axis components of the first stator voltage, VdcIs the battery voltage.
Further, when M is less than M1Or M is greater than M1And tends towards M2Then, outputting the current PWM duty ratio to an inverter; when M is less than M2Or M is less than M2And tends towards M1And then, outputting the power angle PWM duty ratio to the inverter.
The invention also provides an electromagnetic torque control system of the permanent magnet synchronous motor based on current and power angle, which comprises:
the device comprises a stator current reading unit, a first stator voltage calculating unit, a current PWM obtaining unit, a voltage modulation coefficient calculating unit, a power angle reading unit, a second stator voltage calculating unit, a power angle PWM obtaining unit and a mode switching unit;
the stator current reading unit, the first stator voltage calculating unit, the current PWM obtaining unit, the voltage modulation coefficient calculating unit and the mode switching unit are sequentially connected, the power angle reading unit, the second stator voltage calculating unit and the power angle PWM obtaining unit are sequentially connected, the current PWM obtaining unit and the power angle PWM obtaining unit are connected with the inverter through a single-pole double-throw switch, wherein,
the stator current reading unit is used for reading the current battery voltage and the motor rotor rotating speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value, and the stator current is read from a torque-ammeter based on the electromagnetic torque value, the current battery voltage and the current motor rotor rotating speed;
a first stator voltage calculation unit that calculates a first stator voltage based on the stator current;
a current PWM obtaining unit which obtains a current PWM duty ratio based on the first stator voltage;
a voltage modulation factor calculation unit that calculates a voltage modulation factor based on the first stator voltage;
the power angle value reading unit is used for reading the current battery voltage and the motor rotor rotating speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value, and the power angle value is read from a torque-power angle table based on the electromagnetic torque value, the current battery voltage and the current motor rotor rotating speed;
a second stator voltage calculation unit that calculates a second stator voltage based on the power angle value;
a power angle PWM obtaining unit for obtaining a power angle PWM duty ratio based on the second stator voltage;
and the mode switching unit is used for controlling the single-pole double-throw switch to throw the current PWM acquisition unit or the power angle PWM acquisition unit based on the voltage modulation coefficient, namely controlling the current PWM acquisition unit or the power angle PWM acquisition unit to be connected with the inverter so that the inverter controls the electromagnetic torque of the permanent magnet synchronous motor based on the current PWM duty ratio output by the current PWM acquisition unit or the power angle PWM duty ratio output by the power angle PWM acquisition unit.
Further, the calculation unit based on the second stator voltage is based on the battery voltage VdcAnd calculating the second stator voltage by the power angle delta value, wherein the calculation formula is as follows:
wherein, V2dAnd V2qThe d-axis and q-axis components of the second stator voltage, respectively.
Further, the calculation formula of the voltage modulation coefficient M is specifically as follows:
wherein, V1dAnd V1qAre d-axis and q-axis components of the first stator voltage, VdcIs the battery voltage.
Further, when M is less than M1Or M is greater than M1And tends towards M2When the inverter is started, the mode switching unit controls the single-pole double-throw switch to throw to the current PWM obtaining unit, and the current PWM obtaining unit outputs the current PWM duty ratio to the inverter; when M is less than M2Or M is less than M2And tends towards M1And when the power angle PWM is detected, the mode switching unit controls the single-pole double-throw switch to throw the power angle PWM acquisition unit, and the power angle PWM acquisition unit outputs the duty ratio of the power angle PWM to the inverter.
When the permanent magnet synchronous motor runs at a low speed, the stator voltage is controlled based on the stator current, and when the permanent magnet synchronous motor runs at a high speed, the stator voltage is controlled based on the power angle, so that the problem that the electromagnetic torque control performance of a current feedback control method is poor or invalid under the high-speed running condition is solved.
Drawings
Fig. 1 is a flowchart of a method for controlling electromagnetic torque of a permanent magnet synchronous motor based on current and power angle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of power angle definition provided in an embodiment of the invention;
fig. 3 is a schematic diagram of a hysteresis control method in a current control mode and a power angle control mode according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electromagnetic torque control system of a permanent magnet synchronous motor based on current and power angle according to an embodiment of the present invention;
11. the device comprises a stator current reading unit, 12 a first stator voltage calculating unit, 13 a current PWM obtaining unit, 14 a voltage modulation coefficient calculating unit, 15 a power angle reading unit, 16 a second stator voltage calculating unit, 17 a power angle PWM obtaining unit, 18 a mode switching unit and 19 an inverter.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When the permanent magnet synchronous motor runs at a low speed, the stator voltage is controlled based on the stator current, and when the permanent magnet synchronous motor runs at a high speed, the stator voltage is controlled based on the power angle, so that the problem that the electromagnetic torque control performance of a current feedback control method is poor or invalid under the high-speed running condition is solved.
Fig. 1 is a flowchart of a method for controlling electromagnetic torque of a permanent magnet synchronous motor based on current and power angle according to an embodiment of the present invention, and for convenience of description, only the portions related to the embodiment of the present invention are shown.
S1, reading the current battery voltage and the motor rotor speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value;
the battery voltage is the power battery voltage, and the motor rotor speed is the rotor speed of the permanent magnet synchronous motor.
S2, respectively searching corresponding stator current values and power angle values based on the electromagnetic torque value, the current battery voltage and the current motor rotor speed;
in the embodiment of the present invention, the power angle of the permanent magnet synchronous motor is defined as deqeStator voltage vector in rotating coordinate system
And back electromotive force vector
The included angle therebetween, such as the delta angle shown in fig. 2, can be known from the following equation (1): under the condition that the battery voltage and the rotor rotating speed are kept unchanged, the electromagnetic torque is a monotonic function of the power angle, and the monotonic function forms the theoretical basis for controlling the electromagnetic torque of the permanent magnet synchronous motor based on the power angle.
Wherein, VdcIs the cell voltage, τeIs electromagnetic torque, ωeAs rotor speed, λmFor rotor flux linkage, LdIs d-axis inductance, LqIs q-axis inductance, P is the number of pole pairs of the rotor, and delta is the power angle.
In the embodiment of the invention, the torque-ammeter is a three-dimensional table taking battery voltage, motor rotor rotating speed and electromagnetic torque as input variables and current value as an output variable, and the corresponding current value is searched in the torque-ammeter based on the electromagnetic torque value, the current battery voltage and the current motor rotor rotating speed; the torque-power angle table is a three-dimensional table taking battery voltage, motor rotor rotating speed and electromagnetic torque as input variables, and power angle values as output variables, and corresponding power angle values are searched in the torque-power angle table based on the electromagnetic torque values, the current battery voltage and the current motor rotor rotating speed.
S3, respectively calculating stator voltages based on the stator current values and the power angle values, namely calculating a first stator voltage based on the stator current values and calculating a second stator voltage based on the power angle values;
in the embodiment of the invention, the first stator voltage and the second stator voltage both comprise d-axis voltage commands VdAnd q-voltage command VqThe calculation method for calculating the first stator voltage based on the stator voltage adopts the existing calculation method, and the calculation method for calculating the second stator voltage based on the power angle value specifically comprises the following steps:
the second stator voltage is derived from the battery voltage VdcAnd power angle δ results, as follows:
wherein, V2dAnd V2qIs the d-axis and q-axis components, V, of the second stator voltagedcIs the cell voltage, δ is the power angle value.
S4, respectively obtaining a current PWM duty ratio and a power angle PWM duty ratio based on the first stator voltage and the second stator voltage;
the stator harmonic current of the motor is controlled, the power angle PWM duty ratio in the embodiment of the invention can adopt a regular PWM algorithm, such as a three-pulse method and a five-pulse method, which can effectively eliminate or reduce 5, 7, 11 and 13 harmonic currents, and can select a more complex PWM algorithm to achieve the purpose of comprehensively eliminating the harmonic current.
S5, calculating a voltage modulation coefficient M based on the first stator voltage;
in the embodiment of the present invention, the voltage modulation coefficient M is calculated based on the first stator voltage, and the calculation formula is specifically as follows:
wherein, V1dAnd V1qAre d-axis and q-axis components of the first stator voltage, VdcIs the battery voltage.
And S6, controlling the current PWM duty ratio or the power angle PWM duty ratio to be output to the inverter based on the voltage modulation coefficient M, so that the inverter controls the electromagnetic torque of the permanent magnet synchronous motor based on the current PWM duty ratio or the power angle PWM duty ratio.
The current control mode and the power angle control mode are realized based on a voltage modulation coefficient M, and when M is smaller than a set value, the current control mode is adopted, namely the current control mode is about to be usedOutputting the current PWM duty ratio to the inverter, otherwise, outputting the power angle PWM duty ratio to the inverter by using a power angle control mode, and in order to prevent the frequent switching between the two modes, controlling the switching of the control mode by using a hysteresis loop method, as shown in fig. 3, that is, when M is less than M1(M1＜M2) Or M is greater than M1And tends towards M2When (means that M is located at M1And M2And increasing trend) to output the current PWM duty cycle to the inverter when M is less than M2Or M is less than M2And tends towards M1When (means that M is located at M1And M2And in a decreasing trend), the power angle PWM duty cycle is output to the inverter.
The invention controls the stator voltage of the synchronous motor in high-speed operation by a power angle control mode, solves the problem that the control performance of the electromagnetic torque is deteriorated or invalid due to high-speed overcurrent existing in the traditional current feedback control, widens the control range of the motor rotating speed and the electromagnetic torque, and can be developed on the existing hardware platform without additional hardware support.
It will be understood by those skilled in the art that all or part of the above embodiments may be implemented by hardware, or by hardware related to program instructions, and the program for executing the above steps may be stored in a computer readable storage medium, where the above mentioned storage medium may be read only memory, flash memory, magnetic or optical disk, etc.
Fig. 4 is a schematic structural diagram of an electromagnetic torque control system of a permanent magnet synchronous motor based on current and power angle according to an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown.
The system comprises:
a stator current reading unit 11, a first stator voltage calculating unit 12, a current PWM obtaining unit 13, a voltage modulation coefficient calculating unit 14, a power angle reading unit 15, a second stator voltage calculating unit 16, a power angle PWM obtaining unit 17, and a mode switching unit 18;
the stator current reading unit 11, the first stator voltage calculating unit 12, the current PWM obtaining unit 13, the voltage modulation coefficient calculating unit 14, and the mode switching unit 18 are sequentially connected, the power angle reading unit 15, the second stator voltage calculating unit 16, and the power angle PWM obtaining unit 17 are sequentially connected, the current PWM obtaining unit 13 and the power angle PWM obtaining unit 17 are connected to the inverter 19 through a single-pole double-throw switch, wherein,
the stator current reading unit 11 is used for reading the current battery voltage and the motor rotor rotating speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value, and the stator current is read from a torque-ammeter based on the electromagnetic torque value, the current battery voltage and the current motor rotor rotating speed;
a first stator voltage calculation unit 12 that calculates a first stator voltage based on the stator current;
a current PWM obtaining unit 13 that obtains a current PWM duty ratio based on the first stator voltage;
a voltage modulation factor calculation unit 14 that calculates a voltage modulation factor based on the first stator voltage;
in the embodiment of the present invention, the voltage modulation coefficient M is calculated based on the first stator voltage, and the calculation formula is specifically as follows:
wherein, V1dAnd V1qAre d-axis and q-axis components of the first stator voltage, VdcIs the battery voltage.
The power angle value reading unit 15 is configured to read a current battery voltage and a current motor rotor rotation speed based on a torque instruction, where the torque instruction carries an electromagnetic torque value, and read a power angle value from a torque-power angle table based on the electromagnetic torque value, the current battery voltage, and the current motor rotor rotation speed;
a second stator voltage calculation unit 16 that calculates a second stator voltage based on the power angle value;
the calculation method for calculating the second stator voltage based on the power angle value specifically comprises the following steps:
the second stator voltage is derived from the battery voltage VdcAnd power angle δ results, as follows:
wherein, V2dAnd V2qIs the d-axis and q-axis components, V, of the second stator voltagedcIs the cell voltage, δ is the power angle value.
A power angle PWM obtaining unit 17 that obtains a power angle PWM duty ratio based on the second stator voltage;
and the mode switching unit 18 controls the single-pole double-throw switch to throw the current PWM obtaining unit 13 or the power angle PWM obtaining unit 17 based on the voltage modulation coefficient, that is, controls the current PWM obtaining unit 13 or the power angle PWM obtaining unit 17 to be connected with the inverter 19, so that the inverter 19 controls the electromagnetic torque of the permanent magnet synchronous motor based on the current PWM duty ratio output by the current PWM obtaining unit or the power angle PWM duty ratio output by the power angle PWM obtaining unit, and the inverter controls the electromagnetic torque of the permanent magnet synchronous motor based on the current PWM duty ratio or the power angle PWM duty ratio.
The current control mode and the power angle control mode are realized based on a voltage modulation coefficient M, when M is smaller than a set value, the current control mode is adopted, namely, a current PWM (pulse-width modulation) duty ratio is output to the inverter 19, otherwise, the power angle control mode is adopted, namely, the power angle PWM duty ratio is output to the inverter 19, in order to prevent frequent switching of the two modes, the switching of the control modes is controlled by adopting a hysteresis loop method, and when M is smaller than M, the power angle control mode is realized by adopting a hysteresis loop method1(M1＜M2) Or M is greater than M1And tends towards M2When (means that M is located at M1And M2And in an increasing trend), the mode switching unit 18 controls the single-pole double-throw switch to throw the current PWM obtaining unit 13, and the current PWM obtaining unit 13 outputs the current PWM duty ratio to the inverter 19; when M is less than M2Or M is less than M2And tends towards M1When (means that M is located at M1And M2In the middle and in a smaller trend), the mode switching unit 18 controls the single-pole double-throw switch to obtain the power angle PWMThe obtaining unit 17 and the power angle PWM obtaining unit 17 output the power angle PWM duty ratio to the inverter 19.
The invention controls the stator voltage of the synchronous motor in high-speed operation by a power angle control mode, solves the problem that the control performance of the electromagnetic torque is deteriorated or invalid due to high-speed overcurrent existing in the traditional current feedback control, and widens the control range of the motor rotating speed and the electromagnetic torque.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A permanent magnet synchronous motor electromagnetic torque control method based on current and power angle is characterized by comprising the following steps:
s1, reading the current battery voltage and the motor rotor speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value;
s2, respectively searching corresponding stator current values and power angle values based on the electromagnetic torque value, the current battery voltage and the current motor rotor speed;
s3, respectively calculating stator voltages based on the stator current values and the power angle values, namely calculating a first stator voltage based on the stator current values and calculating a second stator voltage based on the power angle values;
s4, respectively obtaining a current PWM duty ratio and a power angle PWM duty ratio based on the first stator voltage and the second stator voltage;
s5, calculating a voltage modulation factor M based on the first stator voltage, where a calculation formula of the voltage modulation factor M is specifically as follows:
wherein, V1dAnd V1qIs a first fixedD-and q-axis components of the sub-voltages, VdcIs the battery voltage;
and S6, controlling the current PWM duty ratio or the power angle PWM duty ratio to be output to the inverter based on the voltage modulation coefficient M, so that the inverter controls the electromagnetic torque of the permanent magnet synchronous motor based on the current PWM duty ratio or the power angle PWM duty ratio.
2. The method for controlling the electromagnetic torque of the permanent magnet synchronous motor based on the current and the power angle according to claim 1, wherein the method for calculating the second stator voltage based on the power angle value specifically comprises the following steps:
based on the battery voltage VdcAnd calculating the second stator voltage by the power angle delta value, wherein the calculation formula is as follows:
wherein, V2dAnd V2qThe d-axis and q-axis components of the second stator voltage, respectively.
3. The current and power angle based PMSM electromagnetic torque control method of claim 1, wherein when M is less than M1Or M is greater than M1And tends towards M2Then, outputting the current PWM duty ratio to an inverter; when M is less than M2Or M is less than M2And tends towards M1And then, outputting the power angle PWM duty ratio to the inverter.
4. An electromagnetic torque control system for a permanent magnet synchronous machine based on current and power angle, the system comprising:
the device comprises a stator current reading unit, a first stator voltage calculating unit, a current PWM obtaining unit, a voltage modulation coefficient calculating unit, a power angle reading unit, a second stator voltage calculating unit, a power angle PWM obtaining unit and a mode switching unit;
the stator current reading unit, the first stator voltage calculating unit, the current PWM obtaining unit, the voltage modulation coefficient calculating unit and the mode switching unit are sequentially connected, the power angle reading unit, the second stator voltage calculating unit and the power angle PWM obtaining unit are sequentially connected, the current PWM obtaining unit and the power angle PWM obtaining unit are connected with the inverter through a single-pole double-throw switch, wherein,
the stator current reading unit is used for reading the current battery voltage and the motor rotor rotating speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value, and the stator current is read from a torque-ammeter based on the electromagnetic torque value, the current battery voltage and the current motor rotor rotating speed;
a first stator voltage calculation unit that calculates a first stator voltage based on the stator current;
a current PWM obtaining unit which obtains a current PWM duty ratio based on the first stator voltage;
the voltage modulation coefficient calculation unit calculates a voltage modulation coefficient based on the first stator voltage, and a calculation formula of the voltage modulation coefficient M is as follows:
wherein, V1dAnd V1qAre d-axis and q-axis components of the first stator voltage, VdcIs the battery voltage;
the power angle value reading unit is used for reading the current battery voltage and the motor rotor rotating speed based on a torque instruction, wherein the torque instruction carries an electromagnetic torque value, and the power angle value is read from a torque-power angle table based on the electromagnetic torque value, the current battery voltage and the current motor rotor rotating speed;
a second stator voltage calculation unit that calculates a second stator voltage based on the power angle value;
a power angle PWM obtaining unit for obtaining a power angle PWM duty ratio based on the second stator voltage;
and the mode switching unit is used for controlling the single-pole double-throw switch to throw the current PWM acquisition unit or the power angle PWM acquisition unit based on the voltage modulation coefficient, namely controlling the current PWM acquisition unit or the power angle PWM acquisition unit to be connected with the inverter so that the inverter controls the electromagnetic torque of the permanent magnet synchronous motor based on the current PWM duty ratio output by the current PWM acquisition unit or the power angle PWM duty ratio output by the power angle PWM acquisition unit.
5. The current and power angle based electromagnetic torque control system of a permanent magnet synchronous machine according to claim 4, wherein the second stator voltage based calculation unit is based on a battery voltage VdcAnd calculating the second stator voltage by the power angle delta value, wherein the calculation formula is as follows:
wherein, V2dAnd V2qThe d-axis and q-axis components of the second stator voltage, respectively.
6. The current and power angle based electromagnetic torque control system of a PMSM according to claim 4 when M is less than M1Or M is greater than M1And tends towards M2When the inverter is started, the mode switching unit controls the single-pole double-throw switch to throw to the current PWM obtaining unit, and the current PWM obtaining unit outputs the current PWM duty ratio to the inverter; when M is less than M2Or M is less than M2And tends towards M1And when the power angle PWM is detected, the mode switching unit controls the single-pole double-throw switch to throw the power angle PWM acquisition unit, and the power angle PWM acquisition unit outputs the duty ratio of the power angle PWM to the inverter.
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