CN107959452A - A kind of operating current of permanent magnet synchronous motor determines method and device - Google Patents
A kind of operating current of permanent magnet synchronous motor determines method and device Download PDFInfo
- Publication number
- CN107959452A CN107959452A CN201711273086.5A CN201711273086A CN107959452A CN 107959452 A CN107959452 A CN 107959452A CN 201711273086 A CN201711273086 A CN 201711273086A CN 107959452 A CN107959452 A CN 107959452A
- Authority
- CN
- China
- Prior art keywords
- current
- axis current
- target
- torque
- direct
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
-
- 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/10—Direct field-oriented control; Rotor flux feed-back control
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the present invention provides a kind of operating current of permanent magnet synchronous motor and determines method and device, applied in electric automobile, belonging to new-energy automobile field.The method that the operating current of the permanent magnet synchronous motor determines detects when the current torque of the electric automobile is the first torque and responds operation of the user to the electric automobile, determine to need the current torque being adjusted to target torque, based on target torque curve and optimum torque controlling curve, obtain target direct-axis current corresponding with second torque and target quadrature axis current, the control direct-axis current for being used for controlling motor in the electric automobile and control quadrature axis current are obtained based on the target direct-axis current and the target quadrature axis current again, the motor is controlled according to the control direct-axis current and control quadrature axis current, the current torque is adjusted to the target torque.The method improves the dynamic responding speed of motor, improves the operational efficiency of motor by quickly and accurately determining control electric current.
Description
Technical field
The present invention relates to new-energy automobile field, is determined in particular to a kind of operating current of permanent magnet synchronous motor
Method and device.
Background technology
International Energy Agency issue《Global video automobile forecast report in 2017》Middle title, the electronic vapour travelled on road surface
Car quantity was increased sharply to 2,000,000 in 2016, and China is the electric automobile market that the whole world is maximum so far, accounted for global electricity
Four one-tenth of electrical automobile sales volume are more, while are also more than twice of institute of U.S. sale of electricity electrical automobile quantity.Dynamical system is electric automobile
Core, and motor is then the main driving device of power system of electric automobile.Therefore, the quality of motor performance, will be very big
The quality of electric automobile performance is determined in degree.Permanent magnet synchronous motor has high power density, high efficiency and excellent speed governing
Performance, therefore become the mainstream driving motor of China's electric automobile.With the rapid development of science and technology, people increasingly pursue more
High power density and response speed.
MTPA (Maximum Torque Per Ampere, MTPA) controls are usually carried out to permanent magnet synchronous motor to pursue
Unitary current output torque capacity is so as to reduce stator copper loss.But with the increase of output torque, the power factor of electric system
It will fall rapidly upon.And this method model depends on the parameter of electric machine, and because severe thermal environment is satisfied with magnetic in electric automobile operational process
The parameter of electric machine is caused to be changed significantly with effect, MTPA robustness is poor.MTPA can only be useful within the scope of base speed at the same time, at a high speed
Qu Ze needs to can not achieve unitary current output torque capacity to motor progress weak magnetic control；In addition to consider in high velocity
Parameter of electric machine real-time change limits circle, motor torque hyperbola etc. and forms with oval to voltage limitation in the case of magnetic saturation, motor
4 rank equations to carry out online accurate solve be also extremely difficult.This will cause permanent magnet synchronous motor to control nothing only with MTPA
Method meets the requirement of electric automobile driving.Loss minimization controller in the past few years developed etc., it is but slow etc. there are torque responsing speed
Problem.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is that providing a kind of operating current of permanent magnet synchronous motor determines method
And device, to solve the problems, such as existing motor control method, when adjusting torque, response speed is slow and operational efficiency is low.
In a first aspect, an embodiment of the present invention provides a kind of operating current of permanent magnet synchronous motor to determine method, it is applied to
In electric automobile, the method is in running order in the electric automobile and the current torque of the electric automobile is first turn
During square, detection obtains operation of the user of the electric automobile to the electric automobile, responds the operation, determines to need institute
State current torque and be adjusted to the second torque from first torque, based on target torque curve and optimum torque controlling curve, obtain
Target direct-axis current corresponding with second torque and target quadrature axis current, then based on the target direct-axis current and described
Target quadrature axis current obtains the control direct-axis current for being used for controlling motor in the electric automobile and control quadrature axis current, according to institute
State control direct-axis current and control quadrature axis current controls the motor, first torque is adjusted to second torque.
Further, based on target torque curve and optimum torque controlling curve, obtain corresponding with second torque
Target direct-axis current and target quadrature axis current, including：The target torque curve is obtained according to torque equation, according to torque capacity
Electric current obtains the optimum torque controlling curve than equation.It is bent based on the target torque curve and optimum torque control
Line, according to the first iterative equation idSP=id0+ΔidTarget direct-axis current is obtained, according to secondary iteration equation iqSP=iq0+Δiq
Obtain target quadrature axis current.Wherein, idSPFor the target direct-axis current, iqSPFor the target quadrature axis current, idTo be current straight
Shaft current, iqFor current quadrature axis current, id0For initial direct-axis current, iq0For initial quadrature axis currentPCuFor copper loss.
Further, obtained based on the target direct-axis current and the target quadrature axis current and be used to control the electronic vapour
The control direct-axis current of motor and control quadrature axis current in car, including：With current direct-axis current idFor abscissa, current quadrature axis electricity
Flow iqFor ordinate, coordinate system is established, and represent that voltage limit is oval, current limitation is round, the target turns with the coordinate system
Square curve and the optimum torque controlling curve.Judge that area goes out a variety of situations and according to the acquisition under different situations by multistep
Method obtains the control direct-axis current for being used for controlling motor in the electric automobile and control quadrature axis current.
Second aspect, an embodiment of the present invention provides a kind of operating current determining device, including operation detection module, target
Electric current acquisition module, control electric current acquisition module and torque adjustment module.The operation detection module includes operation detection unit
With torque confirmation unit, the operation detection unit is used in running order in the electric automobile and described electric automobile
When current torque is the first torque, detection obtains operation of the user of the electric automobile to the electric automobile, the torque
Confirmation unit is used to respond the operation when obtaining operation of the user of the electric automobile to the electric automobile so as to really
Need the current torque being adjusted to the second torque from first torque calmly.The target current acquisition module is used to be based on
Target torque curve, optimum torque controlling curve, obtain corresponding with second torque target direct-axis current and target quadrature axis
Electric current.The control electric current acquisition module is used to be obtained based on the target direct-axis current and the target quadrature axis current and is used to control
Make the control direct-axis current and control quadrature axis current of motor in the electric automobile.The torque adjustment module is used for based on described
Control direct-axis current and control quadrature axis current to control the motor, first torque is adjusted to second torque.
Further, it is described control electric current acquisition module coordinate establish unit, the first judging unit, the second judging unit,
3rd judging unit, the 4th judging unit and the 5th judging unit.The coordinate is established unit and is used for current direct-axis current
idFor abscissa, current quadrature axis current iqFor ordinate, establish coordinate system, and with the coordinate system represent voltage limit it is oval,
Current limitation is round, the target torque curve and the optimum torque controlling curve.First judging unit is used to judge
Whether the oval and described current limitation circle of the voltage limit has intersection point.Second judging unit is used to judge that the target turns
Whether square curve has intersection point with current limitation circle.3rd judging unit is used to judge the target torque curve and institute
The intersection point of current limitation circle is stated whether in voltage limit circle.4th judging unit is used to judge the target d-axis
Whether electric current and the corresponding point of the target quadrature axis current are in the voltage limit ellipse.5th judging unit is used to sentence
Whether the disconnected target torque curve is with the oval intersection point close to current limitation circle of the voltage limit in the electric current pole
In limit circle.
The third aspect, the embodiment of the present invention additionally provide a kind of storage medium, and the storage medium is stored in computer,
The storage medium includes a plurality of instruction, and a plurality of instruction is configured such that the computer performs the above-mentioned side of any one
Method.
The beneficial effect of the embodiment of the present invention is：
A kind of operating current of permanent magnet synchronous motor provided in this embodiment determines method and device, applied to electric automobile
In, in electric automobile described in user's operation, user's operation is responded, determines to need the first current torque being adjusted to second turn
Square, based on target torque curve and optimum torque controlling curve, obtain target direct-axis current corresponding with second torque and
Target quadrature axis current, then obtained based on the target direct-axis current and the target quadrature axis current and be used to control the electric automobile
The control direct-axis current and control quadrature axis current of middle motor, according to the control direct-axis current and control quadrature axis current control
Motor, is adjusted to second torque, method provided in an embodiment of the present invention passes through quickly and accurately true by first torque
Surely electric current is controlled, improves the dynamic responding speed of motor, improves the operational efficiency of motor.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that or by implementing understanding of the embodiment of the present invention.The purpose of the present invention and other advantages can be by saying what is write
Specifically noted structure is realized and obtained in bright book, claims and attached drawing.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is that a kind of operating current of the permanent magnet synchronous motor for permanent magnet synchronous motor that first embodiment of the invention provides is true
Determine the flow chart of method；
Fig. 2 is selection that first embodiment of the invention provides closest to the control direct-axis current of optimum torque curve and control
The flow diagram of the method for the operating point of quadrature axis current；
Fig. 3 is the oval side with the intersection point of current limitation circle of a kind of acquisition voltage limit that first embodiment of the invention provides
The schematic diagram of method；
Fig. 4 is a kind of definite target torque curve and the elliptical intersection point of voltage limit that first embodiment of the invention provides
The schematic diagram of method；
Fig. 5 is that a kind of operating current of the permanent magnet synchronous motor for permanent magnet synchronous motor that first embodiment of the invention provides is true
Determine flow chart when method specifically applies to permanent magnet synchronous motor；
Fig. 6 is a kind of module diagram for operating current determining device that second embodiment of the invention provides；
Fig. 7 is a kind of cell schematics for control electric current acquisition module that second embodiment of the invention provides.
Chart：200- operating current determining devices；210- operates detection module；220- target current acquisition modules；230-
Control electric current acquisition module；231- coordinates establish unit；The first judging units of 232-；The second judging units of 233-；234- the 3rd
Judging unit；The 4th judging units of 235-；The 5th judging units of 236-；240- torques adjust module.
Embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Go out all other embodiments obtained on the premise of creative work, belong to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
First embodiment
Please refer to Fig.1, Fig. 1 shows that a kind of operating current for permanent magnet synchronous motor that first embodiment of the invention provides is true
Determine the flow chart of method, the method specifically comprises the following steps：
Step S100：The current torque of in running order in the electric automobile and described electric automobile is the first torque
When, detection obtains operation of the user of the electric automobile to the electric automobile.
The dynamical system of existing electric automobile is generally made of energy-storage system, power electronics modules, motor and gearbox.
Energy-storage system is rechargeable battery pack, exports direct current.Power electronics modules, which are used to control, is charged and discharged speed, motor turn
Speed and torque, also have the function of that direct current is converted to alternating current equivalent to inverter.The motor of electric automobile at present
Permanent magnet synchronous motor is generally used, permanent magnet synchronous motor is the synchronous motor that synchronous rotary magnetic field is produced by permanent magnet excitation, forever
Magnet produces rotating excitation field as rotor, when stator side is passed through three-phase symmetrical electric current, due to threephase stator on locus phase
Poor 120 degree, so threephase stator electric current produces rotating excitation field in space, it is subject to electromagnetic force to transport in rotor rotating excitation field
Dynamic, electric energy is converted into kinetic energy at this time, and permanent magnet synchronous motor is used as motor.Gearbox is then used for according to user to rotating speed and torque
Demand dynamical system is adjusted.
When the current torque of in running order in the electric automobile and described electric automobile is the first torque, Yong Hutong
Cross operation order manual transmission and power electronics modules are sent with change torque instruction.
Step S200：The operation is responded, determines to need the current torque being adjusted to second from first torque
Torque.
Power electronics modules receive above-mentioned change torque instruction, determine to need the second torque reached.
Step S300：Based on target torque curve and optimum torque controlling curve, according to iterative algorithm, obtain and described the
The corresponding target direct-axis current of two torques and target quadrature axis current.
Before step S300 is performed, the method further includes：The target torque curve is obtained, obtains described optimal turn
Square controlling curve.Wherein, optimum control torque curve is to pass through maximum torque per ampere control strategy according to motor parameter itself
It is calculated.Target torque curve is to handle the parameter of the der Geschwindigkeitkreis of electric machine control system and electric current loop by PI controllers
Arrive.Der Geschwindigkeitkreis are the outer shrouds of electric machine control system, and it is the rotating speed for controlling motor that it, which is acted on, and reaching can speed governing but also steady
The target of speed.Electric current loop is the inner ring of electric machine control system, and it is the electric current for controlling motor that it, which is acted on, and it is most fast to reach startup
Purpose.PI controllers are a kind of linear controllers, it forms control deviation according to set-point and real output value, by the ratio of deviation
Example and integration form controlled quentity controlled variable by linear combination, and controlled device is controlled.
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system, the coordinate system are established
For representing round voltage limit ellipse, current limitation, the target torque curve and the optimum torque controlling curve.
Accurately to be controlled permanent magnet synchronous motor, a coordinate system, this coordinate system are established on its rotor
Rotated synchronously with rotor, it is the d axis by current direct-axis current to take rotor field direction, is to pass through perpendicular to rotor field direction
The q axis of current quadrature axis current, the mathematical model of motor is transformed under this coordinate system, it can be achieved that the decoupling of d axis and q axis, so that
Be well controlled characteristic.
The intersection point characterization electric current of target torque curve and optimum torque controlling curve is that target direct-axis current and target are handed over
Shaft current.The torque equation formula (1) of permanent magnet synchronous motor is：
In formula, TeFor electromagnetic torque；P is number of pole-pairs；LdFor stator d axle inductances, LqFor stator q axle inductances, Ψ is rotor magnetic
Chain.
Current direct-axis current i of the torque capacity electric current than underdWith current quadrature axis current iqExpression formula (2) be：
At the same timeSimultaneous formula (1) and formula (2) understand d axis and q axis electricity on optimum torque controlling curve
Stream is target torque TeSPMonotropic function, i.e.,：
[id_MTPA iq_MTPA]=fMTPA(TeSP) (3)
But direct simultaneous formula (1), formula (2), formula (3) andAsk for TeSPOn optimum torque controlling curve
Corresponding target direct-axis current idSPWith target quadrature axis current iqSPValue need solve a biquadratic equation, calculate it is extremely complex, it is huge
Time-consuming for big operand, makes the motor dynamics response speed of electric automobile slack-off.
Torque current than it is maximum when, while mean stator copper loss PCuMinimum, by PCuIt is converted into idFunction of a single variable, tool
Body process is as follows：
Stator copper loss expression formula (5) is：
Simultaneous formula (1) and formula (5) can obtain PCuOn idFunction of a single variable：
Iterative equation can obtain according to formula (4) at this time：
iqSP=id0+Δid (7)
Wherein, Δ idIt can be obtained by formula (8)：
Target direct-axis current i corresponding with second torque is obtained by above-mentioned Newton iteration processdSPWith target quadrature axis electricity
Flow ipThe value of SP.
Step S400：Obtained based on the target direct-axis current and the target quadrature axis current and be used to control the electronic vapour
The control direct-axis current of motor and control quadrature axis current in car.
The direct-axis current and the value of the quadrature axis current receive the limitation of inverter maximum power, should meet constraints
Formula (9)：
In formula | U | it is the single-phase amplitude of stator voltage, | I | it is the single-phase amplitude of stator current, ud is the current d-axis electricity of stator
Pressure, uqFor the current quadrature-axis voltage of stator, idFor the current direct-axis current of stator, iqFor the current quadrature axis current of stator.
When meeting the constraints of above-mentioned formula (9), actual torque T should be madeeAs far as possible close to target torque TeSP, i.e.,：
{(id,iq)=argmin | TeSP-Te| (10)
In set { (id,iq) in choose closest to optimum torque curve combination (id,iq), (i at this timed,iq) point correspondence
Current direct-axis current i.e. direct-axis current in order to control, its corresponding current quadrature axis current i.e. quadrature axis current in order to control.Wherein, please join
Fig. 2 is examined, Fig. 2 is that the selection that first embodiment of the invention provides is handed over closest to the control direct-axis current of optimum torque curve and control
The flow diagram of the method for the operating point of shaft current, chooses the combination (i closest to optimum torque curved,iq) concrete condition
Mode is as follows：
Situation 1：Voltage limit is oval and current limitation circle is without intersection point, since inverter output voltage size is limited, and works as
Be possible to occur when modulation ratio is excessive upper and lower bridge arm lead directly to, the rough sledding such as electric current Severe distortion, therefore voltage constraint should be by
Override considers.At this time, determine that the voltage limit is oval with the idIntersection point on the right side of axis is the first intersection point, determines described
The corresponding current direct-axis current of one intersection point is the control direct-axis current for controlling motor in the electric automobile, and definite institute
It is the control quadrature axis current for controlling motor in the electric automobile to state the corresponding current quadrature axis current of the first intersection point.
Judge voltage limit it is oval justify with current limitation whether there is intersection point method it is as follows：
According to the voltage equation of permanent magnet synchronous motor：
In formula, ωeFor angular rate, motor speedIt is fixed to ignore under high speed conditions
Sub- resistance RS.By iq=0 HeSubstitution formula (11) obtains：
In idq0<- | I | during lim, you can be determined as voltage limit ellipse with current limitation circle without intersection point.
Situation 2：Voltage limit is oval to have intersection point with current limitation circle, and target torque curve is not handed over current limitation circle
When the intersection point of point, optimum torque controlling curve and current limitation circle is in voltage limit circle, determine that the optimum torque control is bent
Line is the second intersection point positioned at the intersection point of first quartile or the second quadrant with current limitation circle, determines that second intersection point corresponds to
Current direct-axis current be control direct-axis current for controlling motor in the electric automobile, and determine second intersection point
Corresponding current quadrature axis current is the control quadrature axis current for controlling motor in the electric automobile.
1 it can according to circumstances obtain, in idq0>=-| I | during lim, i.e., voltage limit is oval has intersection point with current limitation circle, judges
The method that target torque curve whether there is intersection point with current limitation circle is as follows：
According to i in formula (2)dWith iqAcquisition modes can calculate the maximum torque point T in current limitation circleemaxFor optimal turn
Intersection point (the i of square controlling curve and current limitation circledTm, iqTm).It can be obtained according to formula (1)：
| TeSP|>TemaxWhen, target torque curve is with current limitation circle without intersection point.
Judge the intersection point (i of optimum torque controlling curve and current limitation circledTm, iqTm) whether voltage limit circle in side
Method is as follows：
WillSubstitution formula (11) obtains：
When, intersection point (idTm, iqTm)
In voltage limit ellipse.
Situation 3：Voltage limit is oval to have intersection point with current limitation circle, and target torque curve is not handed over current limitation circle
Point, when the intersection point that optimum torque controlling curve is justified with current limitation is not in voltage limit circle, obtains according to secondary iteration rule
The oval intersection point with current limitation circle of the voltage limit, determines that the voltage limit is oval oval with the current limitation
It is the 3rd intersection point positioned at the intersection point of first quartile or the second quadrant, determines the corresponding current direct-axis current of the 3rd intersection point to use
In the control direct-axis current for controlling motor in the electric automobile, and determine the corresponding current quadrature axis current of the 3rd intersection point
For the control quadrature axis current for controlling motor in the electric automobile.
2 it can according to circumstances obtain,When,
Intersection point (the i of optimum torque controlling curve and current limitation circledTm, iqTm) not in voltage limit circle.
Wherein, please refer to Fig.3, Fig. 3 is a kind of the acquisition voltage limit ellipse and electric current that first embodiment of the invention provides
The schematic diagram of the method for the intersection point of horicycle, it is oval with the current limitation to obtain the voltage limit according to secondary iteration rule
The method of round intersection point is as follows：
Voltage is changed into by increment situation according to formula (11):
For specifying initial point (id0,iq0), this point corresponding voltage under current rotating speed is (ud0,uq0),Make rd=RSud0+ωeLduq0, rq=RSuq0+ωeLqud0, d | U | SP=| U | lim- | U | 0,
Then in did-diqStraight line Lu can be used in coordinate system：D | U | SP | U | 0=rddid+rqdiqApproximation replaces | U | lim voltage limits are ellipse
Circle.
| U | the elliptical unit negative gradient of voltage is at 0U is as straight
The normal vector of line Lu.
OrderThen u=(Ud,Uq)。
Take I0=(id0,iq0)=(idTm, iqTm) initial point as iteration.In did-diqIn coordinate system, the circle of electric current circle
Heart coordinate is x0=(- id0,-iq0), straight line Lu and diqThe intersecting point coordinate of axis isThen vectorx0The point nearest apart from straight line Lu is mL, and it is by x to make DL0It is directed toward the vector of mL.
x0y0It is projected as on uDue to point y0
On straight line Lu, work as x0DL when below straight line<0, DL=- | DL | u=DLu；Work as x0DL when square on straight line>0.Vector DL
=| DL | u=DLu.I.e.Straight line Lu and electricity
The intersection point of stream circle is I1=(id1,iq1), I is directed toward by mL1Vectorial λ=(Uq|λ|,-Ud| λ |), and
It can thus be concluded that the iteration result I of first time1=x0+ DL+ λ are in did-diqVector addition under coordinate)；It is scaled to id-iq
Then I under coordinate system1=DL+ λ, are the oval intersection point (i with current limitation circle of voltage limitdUI,iqUI) approximation.
Situation 4：Voltage limit is oval to have intersection point with current limitation circle, and target torque curve has intersection point with current limitation circle,
When target direct-axis current and the corresponding point of target quadrature axis current are in the voltage limit ellipse, the target direct-axis current is determined
For the control direct-axis current for controlling motor in the electric automobile, and determine that the target quadrature axis current is for controlling
The control quadrature axis current of motor in the electric automobile.
Judge target direct-axis current and the corresponding point of target quadrature axis current whether the method in the voltage limit ellipse
It is as follows：
2 it can according to circumstances obtain, | TeSP|<TemaxWhen, target torque curve has intersection point with current limitation circle, whenWhen, target direct-axis current and target quadrature axis current correspond to
Point (idSP,iqSP) in the voltage limit ellipse.
Situation 5：Voltage limit is oval to have intersection point with current limitation circle, and target torque curve has intersection point with current limitation circle,
Target direct-axis current and the corresponding point of target quadrature axis current be not in the voltage limit ellipse, target torque curve and voltage pole
When the oval intersection point close to current limitation circle of limit is in current limitation circle, the target torque curve and the voltage limit are determined
The oval close elliptical intersection point of the current limitation is the 4th intersection point, and the current direct-axis current of correspondence for determining the 4th intersection point is
For controlling the control direct-axis current of motor in the electric automobile, and determine the current quadrature axis electricity of correspondence of the 4th intersection point
Flow for the control quadrature axis current for controlling motor in the electric automobile.
Wherein, please refer to Fig.4, Fig. 4 is a kind of definite target torque curve and voltage that first embodiment of the invention provides
The schematic diagram of the method for the elliptical intersection point of the limit, the judgement target torque curve are oval close to current limitation circle with voltage limit
Intersection point whether current limitation circle in method it is as follows：
Torque is written as by incremental form according to formula (3)：
OrderdTeSP=
TeSP-Te0.Then in did-diqStraight line Lt can be used in coordinate system：kddid+kqdiq=dTeSPApproximation replaces TeSPTarget torque curve.
Similarly, with straight line Lu：D | U | SP | U | 0=rddid+rqdiqApproximation replaces | U | lim voltage limits are oval.Take I0
=(id0,iq0)=(idSP,iqSP) initial point as iteration, the intersection I of straight line Lt and straight line Lu1(straight-line intersection is omitted herein
Solution, and pay attention to solving result be did-diqCoordinate under coordinate system) it is approximately that target torque curve and voltage limit are ellipse
Round intersection point (idUT,iqUT),When, target torque curve and voltage limit
Elliptical intersection point (idUT,iqUT) within current limitation circle.
Situation 6：Voltage limit is oval to have intersection point with current limitation circle, and target torque curve has intersection point with current limitation circle,
Target direct-axis current and the corresponding point of target quadrature axis current be not in the voltage limit ellipse, target torque curve and voltage pole
When the oval intersection point close to current limitation circle of limit is not in current limitation circle, determine that the voltage limit is oval with the electric current pole
Limit circle is the 5th intersection point positioned at the intersection point of first quartile or the second quadrant, determines the corresponding current direct-axis current of the 5th intersection point
For the control direct-axis current for controlling motor in the electric automobile, and the corresponding current quadrature axis of definite 5th intersection point
Electric current is the control quadrature axis current for controlling motor in the electric automobile.
5 it can according to circumstances obtain,When, target torque curve and voltage
Elliptical intersection point (the i of the limitdUT,iqUT) not within current limitation circle.According to circumstances the method in 3 can obtain voltage limit ellipse
Intersection point with current limitation circle is the 5th intersection point.
Step S500：The motor is controlled based on the control direct-axis current and control quadrature axis current, works as forward by described in
Square is adjusted to second torque from first torque.
Fig. 5 is refer to, Fig. 5 is a kind of permanent magnet synchronous motor for permanent magnet synchronous motor that first embodiment of the invention provides
Operating current determines flow chart when method specifically applies to permanent magnet synchronous motor.The permanent magnetism that first embodiment of the invention provides is same
The operating current of step motor determines method in electric automobile described in user's operation, responds user's operation, determines that needs will be current
The first torque be adjusted to the second torque, based on target torque curve and optimum torque controlling curve, obtain and described second turn
The corresponding target direct-axis current of square and target quadrature axis current, then led to based on the target direct-axis current and the target quadrature axis current
Cross judgement and distinguish above-mentioned six kinds of situations, obtained respectively according to six kinds of situations corresponding with the situation for controlling the electronic vapour
The control direct-axis current of motor and control quadrature axis current in car, according to the control direct-axis current and control quadrature axis current control institute
Motor is stated, first torque is adjusted to second torque, method provided in an embodiment of the present invention passes through quickly and accurately
Determine control electric current, improve the dynamic responding speed of motor, more accurately define the control current work of efficiency optimization
Point, improves the operational efficiency of motor.
Second embodiment
To realize above-mentioned halt protection method, second embodiment of the invention provides a kind of operating current determining device 200, please
With reference to the module diagram of Fig. 6, Fig. 6 a kind of operating current determining device 200 provided for second embodiment of the invention, the work
Making electric current determining device 200 includes：Operate detection module 210, target current acquisition module 220, control electric current acquisition module 230
Module 240 is adjusted with torque.
As a kind of embodiment, operation detection module 210 includes operation detection unit and torque confirmation unit, the behaviour
Make detection unit to be used in running order in the electric automobile and the electric automobile current torque when being the first torque,
Detect whether to obtain operation of the user of the electric automobile to the electric automobile, the torque confirmation unit is used to obtain
The operation is responded during operation of the user of the electric automobile to the electric automobile so that it is determined that need will described in work as forward
Square is adjusted to the second torque from first torque.
Target current acquisition module 220, for based on target torque curve, optimum torque controlling curve, obtain with it is described
The corresponding target direct-axis current of second torque and target quadrature axis current.
Electric current acquisition module 230 is controlled, for being used based on the target direct-axis current and the target quadrature axis current
The control direct-axis current of motor and control quadrature axis current in the control electric automobile.
Torque adjusts module 240, will for controlling the motor based on the control direct-axis current and control quadrature axis current
First torque is adjusted to second torque.
As a kind of embodiment, wherein, target current acquisition module 220 includes：Basic data acquiring unit and target
Operating point acquiring unit.
Wherein, basic data acquiring unit is used to obtain the target torque curve according to torque equation, is turned according to maximum
Square electric current obtains the optimum torque controlling curve than equation.
Target operation points acquiring unit is used to be based on the target torque curve and the optimum torque controlling curve, according to
First iterative equation idSP=id0+ΔidTarget direct-axis current is obtained, according to secondary iteration equation iqSP=iq0+ΔiqObtain target
Quadrature axis current.
Further, Fig. 7 is refer to, Fig. 7 is a kind of control electric current acquisition module that second embodiment of the invention provides
Cell schematics.Control electric current acquisition module 230 includes：Coordinate establishes unit 231, the first judging unit 232, second judges list
First 233, the 3rd judging unit 234, the 4th judging unit 235, the 5th judging unit 236.
Coordinate establishes unit 231, for current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, build
Vertical coordinate system, and with the coordinate system represent voltage limit is oval, current limitation is round, the target torque curve and it is described most
Excellent direct torque curve.
First judging unit 232, for judging whether the oval and described current limitation circle of the voltage limit has intersection point.
Second judging unit 233, for judging whether the target torque curve has intersection point with current limitation circle.
3rd judging unit 234, for judge the target torque curve and the current limitation circle intersection point whether
In the voltage limit circle.
4th judging unit 235, for judging that the target direct-axis current and the corresponding point of the target quadrature axis current be
It is no in the voltage limit ellipse.
5th judging unit 236, for judging that the target torque curve and the voltage limit are oval close to the electricity
The intersection point of horicycle is flowed whether in current limitation circle.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, may be referred to the corresponding process in preceding method, no longer excessively repeat herein.
In conclusion the embodiment of the present invention, which provides a kind of operating current of permanent magnet synchronous motor, determines method and device, should
For in electric automobile, in electric automobile described in user's operation, responding user's operation, determine to need the first current torque
The second torque is adjusted to, based on target torque curve and optimum torque controlling curve, obtains mesh corresponding with second torque
Direct-axis current and target quadrature axis current are marked, then is obtained based on the target direct-axis current and the target quadrature axis current and is used to control
The control direct-axis current of motor and control quadrature axis current in the electric automobile, according to the control direct-axis current and control quadrature axis
Motor described in current control, is adjusted to second torque, method provided in an embodiment of the present invention passes through by first torque
Quickly and accurately determine control electric current, the thermal environment of driving motor for electric automobile system can be improved, preferably play motor performance,
Electrical machinery life is improved, improves the torque dynamic response of power system of electric automobile, makes electric automobile that there is more preferably power performance,
And operational efficiency of the electric system in arbitrary load point is improved, high efficient area scope is widened, saves vehicular energy, is extended electronic
The course continuation mileage of automobile.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in attached drawing
Show the devices of multiple embodiments according to the present invention, method and computer program product architectural framework in the cards,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used for realization holding for defined logic function
Row instruction.It should also be noted that at some as in the implementation replaced, the function that is marked in square frame can also with different from
The order marked in attached drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is it is also noted that every in block diagram and/or flow chart
The combination of a square frame and block diagram and/or the square frame in flow chart, can use function or the dedicated base of action as defined in performing
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment the method for the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, is then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention answers the scope of the claims of being subject to.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
Claims (10)
1. a kind of operating current of permanent magnet synchronous motor determines method, applied in electric automobile, it is characterised in that the method
Including：
When the current torque of in running order in the electric automobile and described electric automobile is the first torque, detection obtains institute
State operation of the user of electric automobile to the electric automobile；
The operation is responded, determines to need the current torque being adjusted to the second torque from first torque；
Based on target torque curve and optimum torque controlling curve, according to iterative algorithm, obtain corresponding with second torque
Target direct-axis current and target quadrature axis current；
The control for being used for controlling motor in the electric automobile is obtained based on the target direct-axis current and the target quadrature axis current
Direct-axis current processed and control quadrature axis current；
The motor is controlled based on the control direct-axis current and the control quadrature axis current, by the current torque from described the
One torque is adjusted to second torque.
2. according to the method described in claim 1, it is characterized in that, be based on target torque curve and optimum torque controlling curve,
According to iterative algorithm, target direct-axis current corresponding with second torque and target quadrature axis current are obtained, including：
The target torque curve is obtained, obtains the optimum torque controlling curve；
Based on the target torque curve and the optimum torque controlling curve, according to the first iterative equation idSP=id0+ΔidObtain
Target direct-axis current is obtained, according to secondary iteration equation iqSP=iq0+ΔiqObtain target quadrature axis current；
Wherein, idSPFor the target direct-axis current, ipSPFor the target quadrature axis current, idFor current direct-axis current, iqTo be current
Quadrature axis current, id0For initial direct-axis current, iq0For initial quadrature axis currentPCuFor copper loss.
3. according to the method described in claim 2, it is characterized in that, based on the target direct-axis current and target quadrature axis electricity
Stream obtains the control direct-axis current for being used for controlling motor in the electric automobile and control quadrature axis current, including：
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Represent round voltage limit ellipse, current limitation, the target torque curve and the optimum torque controlling curve；
Judge whether the oval and described current limitation circle of the voltage limit has intersection point；
For it is no when, determine that the voltage limit is oval with the idAxis is the first intersection point close to the intersection point that the current limitation is justified,
It is the control direct-axis current for controlling motor in the electric automobile to determine the corresponding current direct-axis current of first intersection point,
And determine that the corresponding current quadrature axis current of first intersection point is the control quadrature axis for controlling motor in the electric automobile
Electric current.
4. according to the method described in claim 3, it is characterized in that, based on the target direct-axis current and target quadrature axis electricity
Stream obtains the control direct-axis current for being used for controlling motor in the electric automobile and control quadrature axis current, including：
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Represent round voltage limit ellipse, current limitation, the target torque curve and the optimum torque controlling curve；
Judge whether the oval and described current limitation circle of the voltage limit has intersection point；
When to be, judge whether the target torque curve has intersection point with current limitation circle；
When the target torque curve and current limitation circle do not have intersection point, the optimum torque controlling curve and institute are judged
The intersection point of current limitation circle is stated whether in voltage limit circle；
When the intersection point of the optimum torque controlling curve and current limitation circle is in voltage limit circle, determine described
Optimum torque controlling curve is the second intersection point positioned at the intersection point of first quartile or the second quadrant with current limitation circle, determines institute
It is the control direct-axis current for controlling motor in the electric automobile to state the corresponding current direct-axis current of the second intersection point, and really
The corresponding currently quadrature axis current of fixed second intersection point is the control quadrature axis current for controlling motor in the electric automobile；
When the intersection point of the optimum torque controlling curve and current limitation circle is not in voltage limit circle, according to the
Two rule of iteration obtain the oval intersection point with current limitation circle of the voltage limit, determine the voltage limit ellipse and institute
It is the 3rd intersection point to state the oval intersection point positioned at first quartile or the second quadrant of current limitation, determines that the 3rd intersection point is corresponding and works as
Preceding direct-axis current is the control direct-axis current for controlling motor in the electric automobile, and determines that the 3rd intersection point corresponds to
Current quadrature axis current be control quadrature axis current for controlling motor in the electric automobile.
5. according to the method described in claim 4, it is characterized in that, based on the target direct-axis current and target quadrature axis electricity
Stream obtains the control direct-axis current for being used for controlling motor in the electric automobile and control quadrature axis current, including：
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Represent round voltage limit ellipse, current limitation, the target torque curve and the optimum torque controlling curve；
Judge whether the oval and described current limitation circle of the voltage limit has intersection point；
When to be, judge whether the target torque curve has intersection point with current limitation circle；
When the target torque curve and current limitation circle have intersection point, the target direct-axis current and the target are judged
Whether the corresponding point of quadrature axis current is in the voltage limit ellipse；
When the target direct-axis current and the corresponding point of the target quadrature axis current are in the voltage limit ellipse, institute is determined
It is the control direct-axis current for controlling motor in the electric automobile to state target direct-axis current, and determines the target quadrature axis
Electric current is the control quadrature axis current for controlling motor in the electric automobile.
6. according to the method described in claim 5, it is characterized in that, based on the target direct-axis current and target quadrature axis electricity
Stream obtains the control direct-axis current for being used for controlling motor in the electric automobile and control quadrature axis current, including：
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Represent round voltage limit ellipse, current limitation, the target torque curve and the optimum torque controlling curve；
Judge whether the oval and described current limitation circle of the voltage limit has intersection point；
When to be, judge whether the target torque curve has intersection point with current limitation circle；
When the target torque curve and current limitation circle have intersection point, the target direct-axis current and the target are judged
Whether the corresponding point of quadrature axis current is in the voltage limit ellipse；
When the target direct-axis current and the corresponding point of the target quadrature axis current be not oval in the voltage limit, institute is judged
Target torque curve is stated with the oval intersection point close to current limitation circle of the voltage limit whether in current limitation circle
It is interior；
When the target torque curve and the oval intersection point close to current limitation circle of the voltage limit are in the electric current pole
When in limit circle, determine the target torque curve and the voltage limit it is oval close to the elliptical intersection point of the current limitation be the
Four intersection points, the current direct-axis current of correspondence for determining the 4th intersection point are for controlling the control of motor in the electric automobile straight
Shaft current, and determine that the current quadrature axis current of correspondence of the 4th intersection point is control for controlling motor in the electric automobile
Quadrature axis current processed；
When the target torque curve and the elliptical intersection point of the voltage limit be not in current limitation circle, determine described
The oval circle with the current limitation of voltage limit is the 5th intersection point positioned at the intersection point of first quartile or the second quadrant, determines described the
The corresponding current direct-axis current of five intersection points is the control direct-axis current for controlling motor in the electric automobile, and definite institute
It is the control quadrature axis current for controlling motor in the electric automobile to state the corresponding current quadrature axis current of the 5th intersection point.
A kind of 7. operating current determining device, it is characterised in that including：
Detection module, including operation detection unit and torque confirmation unit are operated, the operation detection unit is used in electronic vapour
Car is in running order and when the current torque of the electric automobile is the first torque, and detection obtains the user of the electric automobile
Operation to the electric automobile, the torque confirmation unit are used to respond the operation so that it is determined that needing to work as forward by described in
Square is adjusted to the second torque from first torque；
Target current acquisition module, for based on target torque curve, optimum torque controlling curve, obtaining and second torque
Corresponding target direct-axis current and target quadrature axis current；
Electric current acquisition module is controlled, is used to control institute for obtaining based on the target direct-axis current and the target quadrature axis current
State the control direct-axis current and control quadrature axis current of motor in electric automobile；
Torque adjusts module, for controlling the motor based on the control direct-axis current and control quadrature axis current, by described the
One torque is adjusted to second torque.
8. device according to claim 7, it is characterised in that the target current acquisition module includes：
Basic data acquiring unit, for obtaining the target torque curve according to torque equation, according to torque capacity electric current ratio
Equation obtains the optimum torque controlling curve；
Target operation points acquiring unit, for based on the target torque curve and the optimum torque controlling curve, according to
One iterative equation idSP=id0+ΔidTarget direct-axis current is obtained, according to secondary iteration equation iqSP=iq0+ΔiqTarget is obtained to hand over
Shaft current.
9. device according to claim 8, it is characterised in that the control electric current acquisition module includes：
Coordinate establishes unit, for current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate is established
System, and represent round voltage limit ellipse, current limitation, the target torque curve and the optimum torque with the coordinate system
Controlling curve；
First judging unit, for judging whether the oval and described current limitation circle of the voltage limit has intersection point；
Second judging unit, for judging whether the target torque curve has intersection point with current limitation circle；
3rd judging unit, for judging the target torque curve with the intersection point of current limitation circle whether in the voltage
In horicycle；
4th judging unit, for judging the target direct-axis current and the corresponding point of the target quadrature axis current whether described
In voltage limit ellipse；
5th judging unit, justifies for judging that the target torque curve and the voltage limit are oval close to the current limitation
Intersection point whether the current limitation circle in.
10. a kind of storage medium, it is characterised in that the storage medium is stored in computer, and the storage medium includes more
Bar instructs, and a plurality of instruction is configured such that the computer perform claim requires any one of 1-6 the method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711273086.5A CN107959452B (en) | 2017-12-05 | 2017-12-05 | A kind of operating current of permanent magnet synchronous motor determines method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711273086.5A CN107959452B (en) | 2017-12-05 | 2017-12-05 | A kind of operating current of permanent magnet synchronous motor determines method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107959452A true CN107959452A (en) | 2018-04-24 |
| CN107959452B CN107959452B (en) | 2019-08-20 |
Family
ID=61957526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711273086.5A Active CN107959452B (en) | 2017-12-05 | 2017-12-05 | A kind of operating current of permanent magnet synchronous motor determines method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107959452B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109831138A (en) * | 2019-02-26 | 2019-05-31 | 湖南大学 | Permanent magnet synchronous motor maximal efficiency torque ratio control method and controller |
| CN110323982A (en) * | 2019-05-29 | 2019-10-11 | 长沙学院 | A kind of method for controlling permanent magnet synchronous motor considering cross-coupling and saturation effect |
| CN111948537A (en) * | 2020-08-11 | 2020-11-17 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102857159A (en) * | 2012-09-20 | 2013-01-02 | 西北工业大学 | Excitation-varied synchronous motor MTPA (Maximum Torque Per Ampere) control method based on fitting of binary quadratic function |
| KR20160139104A (en) * | 2015-05-26 | 2016-12-07 | 엘에스산전 주식회사 | Apparatus for controlling motor |
| KR20160141942A (en) * | 2015-06-01 | 2016-12-12 | 엘에스산전 주식회사 | Method for controlling motor |
| CN106230336A (en) * | 2015-06-02 | 2016-12-14 | Ls产电株式会社 | The operational approach of synchronous motor |
| CN106411213A (en) * | 2015-07-27 | 2017-02-15 | 比亚迪股份有限公司 | Method and device used for providing motor stator current values |
| CN106655951A (en) * | 2016-12-09 | 2017-05-10 | 浙江吉利控股集团有限公司 | Curve fitting-based maximum torque current control method |
| CN106685299A (en) * | 2015-11-04 | 2017-05-17 | 湖南大学 | Current control method of built-in PMSM (Permanent Magnet Synchronous Motor) |
| CN106921326A (en) * | 2015-12-25 | 2017-07-04 | 南车株洲电力机车研究所有限公司 | Maximum torque per ampere control method and apparatus in the full range of speeds of motor |
-
2017
- 2017-12-05 CN CN201711273086.5A patent/CN107959452B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102857159A (en) * | 2012-09-20 | 2013-01-02 | 西北工业大学 | Excitation-varied synchronous motor MTPA (Maximum Torque Per Ampere) control method based on fitting of binary quadratic function |
| KR20160139104A (en) * | 2015-05-26 | 2016-12-07 | 엘에스산전 주식회사 | Apparatus for controlling motor |
| KR20160141942A (en) * | 2015-06-01 | 2016-12-12 | 엘에스산전 주식회사 | Method for controlling motor |
| CN106230336A (en) * | 2015-06-02 | 2016-12-14 | Ls产电株式会社 | The operational approach of synchronous motor |
| CN106411213A (en) * | 2015-07-27 | 2017-02-15 | 比亚迪股份有限公司 | Method and device used for providing motor stator current values |
| CN106685299A (en) * | 2015-11-04 | 2017-05-17 | 湖南大学 | Current control method of built-in PMSM (Permanent Magnet Synchronous Motor) |
| CN106921326A (en) * | 2015-12-25 | 2017-07-04 | 南车株洲电力机车研究所有限公司 | Maximum torque per ampere control method and apparatus in the full range of speeds of motor |
| CN106655951A (en) * | 2016-12-09 | 2017-05-10 | 浙江吉利控股集团有限公司 | Curve fitting-based maximum torque current control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109831138A (en) * | 2019-02-26 | 2019-05-31 | 湖南大学 | Permanent magnet synchronous motor maximal efficiency torque ratio control method and controller |
| CN110323982A (en) * | 2019-05-29 | 2019-10-11 | 长沙学院 | A kind of method for controlling permanent magnet synchronous motor considering cross-coupling and saturation effect |
| CN111948537A (en) * | 2020-08-11 | 2020-11-17 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
| CN111948537B (en) * | 2020-08-11 | 2022-12-02 | 臻驱科技（上海）有限公司 | Method for calibrating maximum torque flux linkage ratio working point of salient pole type permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107959452B (en) | 2019-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103891129B (en) | Device and method for generating the Initial controller look-up table for IPM machine | |
| CN107191308B (en) | A kind of prediction technique of mixed flow pump turbine complete characteristic curve | |
| CN107959452A (en) | A kind of operating current of permanent magnet synchronous motor determines method and device | |
| CN104993760B (en) | Consider the electric automobile asynchronous machine fuzzy self-adaption dynamic surface control method of iron loss | |
| CN107359837A (en) | Torsion control system of synchronization generator with everlasting magnetic and method based on sliding mode observer and Active Disturbance Rejection Control | |
| CN101604953B (en) | Comprehensive method for vector or direct torque control of permanent magnetism type wind generator | |
| CN106627251A (en) | Motor control method and device | |
| CN105375848B (en) | A kind of permanent magnet synchronous motor Adaptive Identification control method and its control system | |
| CN113014170B (en) | Permanent magnet synchronous motor minimum loss control method based on whale optimization algorithm | |
| CN107147342A (en) | A kind of induction motor parameter identification system and method | |
| CN109245100A (en) | Consider the Dynamic Load Modeling method of alternating current-direct current distribution network load composition time variation | |
| CN109873587B (en) | Automatic multi-parameter identification method for permanent magnet synchronous motor | |
| CN105071735B (en) | Asynchronous machine energy-saving control method based on the simplified models of T 1 | |
| CN106788046A (en) | Permagnetic synchronous motor command filtering finite time fuzzy control method | |
| CN108923698A (en) | A kind of motor control method of predicted voltage vector sequence | |
| CN112468038B (en) | Permanent magnet synchronous motor MTPA control current track searching method and online control method | |
| CN106992733A (en) | Vehicle-mounted internal permanent magnet synchronous motor control method | |
| CN106788076A (en) | A kind of balance car control method, apparatus and system | |
| CN106301100A (en) | The automatic calibration method of a kind of permagnetic synchronous motor, system and controller | |
| Güneşer et al. | An induction motor design for urban use electric vehicle | |
| Adeoye et al. | Design, simulation and implementation of a PID vector control for EHVPMSM for an automobile with hybrid technology | |
| CN102750422B (en) | Design method of electric car driving system | |
| CN108875255A (en) | Permanent magnet drive motor temperature rise analytical method based on electric car Real-road Driving Cycle | |
| Zhao et al. | Research on deadbeat current prediction vector control system of axial flux permanent magnet synchronous motor for electric bus based on efficiency optimal torque distribution method | |
| CN106655962B (en) | Electric vehicle Induction Motor-Driven system control method based on extreme learning machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190722 Address after: 410000 Yueshan Gate of Yueshan South Road, Yuelu District, Changsha City, Hunan Province Applicant after: Hunan University Applicant after: Hunan VicRuns Electric Technology Co., Ltd. Address before: 410000 Yueshan Gate of Yueshan South Road, Yuelu District, Changsha City, Hunan Province Applicant before: Hunan University |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |