CN107959452B - 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
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- CN107959452B CN107959452B CN201711273086.5A CN201711273086A CN107959452B CN 107959452 B CN107959452 B CN 107959452B CN 201711273086 A CN201711273086 A CN 201711273086A CN 107959452 B CN107959452 B CN 107959452B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The operating current that the embodiment of the present invention provides a kind of permanent magnet synchronous motor determines method and device, is applied in electric car, belongs to new-energy automobile field.The operating current of the permanent magnet synchronous motor determines that method detects when the current torque of the electric car is the first torque and responds operation of the user to the electric car, it determines and needs 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 and control quadrature axis current for controlling motor in the electric car 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 fields, determine in particular to a kind of operating current of permanent magnet synchronous motor
Method and device.
Background technique
Claim in " the global electric car forecast report in 2017 " of International Energy Agency publication, the electronic vapour travelled on road surface
Vehicle quantity was increased sharply in 2016 to 2,000,000, and China is maximum electric automobile market global so far, accounted for global electricity
Four one-tenth of electrical automobile sales volume are more, while being also more than twice of institute, U.S. sale of electricity electrical automobile quantity.Dynamical system is electric car
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 superiority and inferiority of electric car performance is determined in degree.Permanent magnet synchronous motor has high power density, high efficiency and excellent speed regulation
Performance, therefore, it has become the mainstream driving motors of China's electric car.With the rapid development of science and technology, people are increasingly pursued more
High power density and response speed.
MTPA (Maximum Torque Per Ampere, MTPA) control usually is carried out to pursue to permanent magnet synchronous motor
Unitary current output torque capacity is 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 and magnetic are full in electric car 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 simultaneously, in high speed
Qu Ze, which needs to carry out motor weak magnetic control, can not achieve unitary current output torque capacity；In addition to consider in high velocity
Oval to voltage limitation in the case of parameter of electric machine real-time change and magnetic saturation, motor limitation circle, motor torque hyperbola etc. are constituted
4 rank equations to carry out online accurate solve be also extremely difficult.This will lead to permanent magnet synchronous motor and controls nothing only with MTPA
Method meets the requirement of electric car driving.But it is slow etc. to there is torque responsing speed in the loss minimization controller etc. in the past few years developed
Problem.
Summary of the invention
In view of this, a kind of operating current for being designed to provide permanent magnet synchronous motor of the embodiment of the present invention 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, the embodiment of the invention provides a kind of operating currents of permanent magnet synchronous motor to determine method, it is applied to
In electric car, the current torque of the method in running order and described electric car in the electric car is first turn
When square, detection obtains operation of the user of the electric car to the electric car, responds the operation, determines and needs institute
It states current torque and is adjusted to the second torque from first torque, be 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 control direct-axis current and control quadrature axis current for controlling motor in the electric car, according to institute
It states control direct-axis current and control quadrature axis current controls the motor, first torque is adjusted to second torque.
Further, it is based on target torque curve and optimum torque controlling curve, is obtained corresponding with second torque
Target direct-axis current and target quadrature axis current, comprising: 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, idIt is current straight
Shaft current, iqFor current quadrature axis current, id0For initial direct-axis current, iq0For initial quadrature axis current, Δ idFor direct-axis current increment,
ΔiqFor quadrature axis current increment,
PCuFor copper loss.
Further, it is obtained based on the target direct-axis current and the target quadrature axis current for controlling the electronic vapour
The control direct-axis current of motor and control quadrature axis current in vehicle, comprising: with current direct-axis current idFor abscissa, current quadrature axis electricity
Flow iqFor ordinate, coordinate system is established, and indicates that oval voltage limit, current limitation circle, the target turn 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 control direct-axis current and control quadrature axis current for controlling motor in the electric car.
Second aspect, the embodiment of the invention provides a kind of operating current determining devices, including operation detection module, target
Electric current obtains module, control electric current obtains module and torque adjusts module.The operation detection module includes operation detection unit
With torque confirmation unit, the operation detection unit is used in the electric car the in running order and described electric car
When current torque is the first torque, detection obtains operation of the user of the electric car to the electric car, the torque
Confirmation unit is used to respond the operation in operation of the user for obtaining the electric car to the electric car to really
It is fixed to need the current torque being adjusted to the second torque from first torque.The target current obtains module for being based on
Target torque curve, optimum torque controlling curve obtain target direct-axis current corresponding with second torque and target quadrature axis
Electric current.The control electric current is obtained module and is used to be obtained based on the target direct-axis current and the target quadrature axis current for controlling
Make the control direct-axis current and control quadrature axis current of motor in the electric car.The torque adjustment module is used for based on described
It controls direct-axis current and control quadrature axis current controls the motor, first torque is adjusted to second torque.
Further, the control electric current obtain module coordinate establish unit, the first judging unit, second judgment unit,
Third judging unit, the 4th judging unit and the 5th judging unit.The coordinate establishes unit for current direct-axis current id·
For abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, and indicates that voltage limit is oval, electric with the coordinate system
Flow horicycle, the target torque curve and the optimum torque controlling curve.First judging unit is for judging institute
State whether voltage limit ellipse and current limitation circle have intersection point.The second judgment unit is for judging the target torque
Whether curve and current limitation circle have intersection point.The third judging unit for judge the target torque curve with it is described
Whether the intersection point of current limitation circle is in the voltage limit ellipse.4th judging unit is for judging 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 for sentencing
Break the target torque curve and the voltage limit ellipse close to current limitation circle intersection point whether in the electric current pole
In limit circle.
The third aspect, the embodiment of the invention also provides a kind of storage medium, 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 executes 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, is applied to electric car
In, when the electric car described in user's operation, user's operation is responded, determines and needs the first current torque being adjusted to second turn
Square is based on target torque curve and optimum torque controlling curve, obtain corresponding with second torque target direct-axis current and
Target quadrature axis current, then obtained based on the target direct-axis current and the target quadrature axis current for controlling the electric car
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
First torque is adjusted to second torque by motor, and method provided in an embodiment of the present invention passes through quickly and accurately true
Surely electric current is controlled, the dynamic responding speed of motor is improved, 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 by implementing understanding of the embodiment of the present invention.The objectives and other advantages of the invention can be by written theory
Specifically noted structure is achieved and obtained in bright book, claims and attached drawing.
Detailed description of the invention
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 should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range 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 the selection that provides of first embodiment of the invention 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 side of the intersection point of a kind of acquisition voltage limit ellipse that first embodiment of the invention provides and current limitation circle
The schematic diagram of method；
Fig. 4 is a kind of determining target torque curve that first embodiment of the invention provides and the elliptical intersection point of voltage limit
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 the cell schematics that a kind of control electric current that second embodiment of the invention provides obtains module.
Chart: 200- operating current determining device；210- operates detection module；220- target current obtains module；230-
It controls electric current and obtains module；231- coordinate establishes unit；The first judging unit of 232-；233- second judgment unit；234- third
Judging unit；The 4th judging unit of 235-；The 5th judging unit of 236-；240- torque adjusts module.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments 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 be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
First embodiment
Referring to FIG. 1, the operating current that Fig. 1 shows a kind of permanent magnet synchronous motor of first embodiment of the invention offer is true
Determine the flow chart of method, the method specifically comprises the following steps:
Step S100: in the electric car, the current torque of the in running order and described electric car is the first torque
When, detection obtains operation of the user of the electric car to the electric car.
The dynamical system of existing electric car 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 are charged and discharged rate, motor turn for controlling
Speed and torque, also have the function of being equivalent to inverter is converted to alternating current for direct current.The motor of electric car at present
Permanent magnet synchronous motor is generallyd use, permanent magnet synchronous motor is the synchronous motor that synchronous rotary magnetic field is generated by permanent magnet excitation, forever
Magnet generates rotating excitation field as rotor, when stator side is passed through three-phase symmetrical electric current, due to threephase stator on spatial position phase
It poor 120 degree, so threephase stator electric current generates rotating excitation field in space, is transported in rotor rotating excitation field by electromagnetic force
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 revolving speed and torque
Demand dynamical system is adjusted.
When in the electric car, the current torque of the in running order and described electric car is the first torque, Yong Hutong
It crosses operation order manual transmission and power electronics modules is issued and change torque instruction.
Step S200: responding the operation, determines and needs the current torque being adjusted to second from first torque
Torque.
Power electronics modules receive above-mentioned change torque instruction, and determining needs the second torque to be achieved.
Step S300: being based on target torque curve and optimum torque controlling curve, according to iterative algorithm, obtains and described the
The corresponding target direct-axis current of two torques and target quadrature axis current.
Before executing step S300, the method also 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 controller
It arrives.Der Geschwindigkeitkreis is the outer ring of electric machine control system, effect be control motor revolving speed, reach can adjust the speed again surely
The target of speed.Electric current loop is the inner ring of electric machine control system, and effect is the electric current for controlling motor, and it is most fast to reach starting
Purpose.PI controller is a kind of linear controller, it constitutes control deviation according to given value and real output value, by the ratio of deviation
Example and integral control controlled device by linear combination composition control amount.
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system, the coordinate system are established
For indicating oval voltage limit, current limitation circle, 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
It is rotated synchronously with rotor, taking rotor field direction is the d axis by current direct-axis current, is to pass through perpendicular to rotor field direction
The mathematical model of motor is transformed under this coordinate system, it can be achieved that the decoupling of d axis and q axis by the q axis of current quadrature axis current, thus
Be well controlled characteristic.
The intersection point of target torque curve and optimum torque controlling curve characterization electric current is that target direct-axis current and target are handed over
Shaft current.The torque equation formula (1) of permanent magnet synchronous motor are as follows:
In formula, TeFor electromagnetic torque；P is number of pole-pairs；LdFor stator d axle inductance, LqFor stator q axle inductance, 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) are as follows:
SimultaneouslyD axis and q axis electricity known to joint type (1) and formula (2) on optimum torque controlling curve
Stream is target torque TeSPMonotropic function, it may be assumed that
[id_MTPA iq_MTPA]=fMTPA(TeSP)(3)
But direct joint type (1), formula (2), formula (3) andSeek TeSPIn optimum torque controlling curve
Upper corresponding target direct-axis current idSPWith target quadrature axis current iqSPValue need to solve a biquadratic equation, calculate it is extremely complex,
Time-consuming for huge operand, keeps the motor dynamics response speed of electric car slack-off.
Torque current than it is maximum when, while meaning 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) are as follows:
P can be obtained in joint type (1) and formula (5)CuAbout idFunction of a single variable:
Iterative equation can be obtained 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 iqSPValue.
Step S400: it is obtained based on the target direct-axis current and the target quadrature axis current for controlling the electronic vapour
The control direct-axis current of motor and control quadrature axis current in vehicle.
The direct-axis current and the value of the quadrature axis current receive the limitation of inverter maximum power, should meet constraint condition
Formula (9):
In formula | U | it is the single-phase amplitude of stator voltage, | I | it is the single-phase amplitude of stator current, udFor 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 constraint condition of above-mentioned formula (9), actual torque T should be madeeAs far as possible close to target torque TeSP, it may be assumed that
{(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 be control direct-axis current, corresponding current quadrature axis current be control quadrature axis current.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 ellipse and current limitation circle since inverter output voltage size is limited, and are worked as without intersection point
It is possible to occur the rough sledding such as upper and lower bridge arm straight-through, electric current Severe distortion when modulation ratio is excessive, therefore voltage constraint should be by
Override considers.At this point, determining the voltage limit ellipse and the idIntersection point on the right side of axis is the first intersection point, determines described the
The corresponding current direct-axis current of one intersection point is the control direct-axis current for controlling motor in the electric car, and determines institute
Stating the corresponding current quadrature axis current of the first intersection point is the control quadrature axis current for controlling motor in the electric car.
Judging voltage limit ellipse, whether there is or not the method for intersection point is as follows with current limitation circle:
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 | when lim, voltage limit ellipse and current limitation circle can be determined as without intersection point.
Situation 2: voltage limit ellipse and current limitation circle have intersection point, 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 ellipse, the optimum torque control is determined
It is the second intersection point that curve and current limitation circle, which are located at first quartile or the intersection point of the second quadrant, determines second intersection point pair
The current direct-axis current answered is the control direct-axis current for controlling motor in the electric car, and determines that described second hands over
The corresponding current quadrature axis current of point is the control quadrature axis current for controlling motor in the electric car.
It 1 can according to circumstances obtain, in idq0>=-| I | when lim, i.e. voltage limit ellipse and current limitation circle has intersection point, judges
Whether there is or not the method for intersection point is as follows with current limitation circle for target torque curve:
According to i in formula (2)dWith iqAcquisition modes can calculate the maximum torque point T in current limitation circleemaxIt is optimal turn
Intersection point (the i of square controlling curve and current limitation circledTm, iqTm).It can be obtained according to formula (1):
| TeSP|>Te maxWhen, target torque curve and current limitation circle are without intersection point.
Judge the intersection point (i of optimum torque controlling curve and current limitation circledTm, iqTm) whether in voltage limit ellipse
Method is as follows:
It willSubstitution formula (11) obtains:
?When, intersection point (idTm, iqTm)
In voltage limit ellipse.
Situation 3: voltage limit ellipse and current limitation circle have intersection point, 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 not in voltage limit ellipse, obtained according to secondary iteration rule
The intersection point for obtaining the voltage limit ellipse and current limitation circle determines the voltage limit ellipse and current limitation circle
It is third intersection point positioned at the intersection point of first quartile or the second quadrant, determines the corresponding current direct-axis current of the third intersection point to use
In the control direct-axis current for controlling motor in the electric car, and determine the corresponding current quadrature axis current of the third intersection point
For the control quadrature axis current for controlling motor in the electric car.
It 2 can according to circumstances obtain,When,
Intersection point (the i of optimum torque controlling curve and current limitation circledTm, iqTm) not in voltage limit ellipse.
Wherein, referring to FIG. 3, Fig. 3 is a kind of 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 obtains the voltage limit ellipse and the current limitation according to secondary iteration rule
The method of round intersection point is as follows:
Voltage is become into increment situation according to formula (11):
For specifying initial point (id0,iq0), this point corresponding voltage under current rotating speed is (ud0,uq0),Enable rd=RSud0+ωeLduq0, rq=RSuq0+ωeLqud0, d | U | SP=| U | lim- | U |0,
Then in did-diqStraight line Lu:d can be used in coordinate system | U | SP | U |0=rddid+rqdiqApproximation replaces | U | lim voltage limit is ellipse
Circle.
| U | the elliptical unit negative gradient of voltage is at 0U is as straight
The normal vector of line Lu.
It enablesThen 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 vectorPoint x0 nearest apart from straight line Lu is mL, and enabling DL is the arrow that mL is directed toward by x0
Amount.
X0y0 is projected as on uDue to point y0
On straight line Lu, DL < 0, DL=- when x0 is below straight line | DL | u=DLu；DL > 0 when x0 is square on straight line.Vector
DL=| DL | u=DLu.I.e.Straight line Lu with
The intersection point of electric current circle is I1=(id1,iq1), I is directed toward by mL1Vector λ=(Uq|λ|,-Ud| λ |), and
It can thus be concluded that the iteration result I of first time1=x0+DL+ λ is in did-diqVector addition under coordinate)；It is scaled to id-iq
Then I under coordinate system1Intersection point (the i of=DL+ λ, as voltage limit ellipse and current limitation circledUI,iqUI) approximation.
Situation 4: voltage limit ellipse and current limitation circle have intersection point, and target torque curve and current limitation circle have intersection point,
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 car, and determine that the target quadrature axis current is for controlling
The control quadrature axis current of motor in the electric car.
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:
It 2 can according to circumstances obtain, | TeSP|<Te maxWhen, target torque curve and current limitation circle have intersection point, whenWhen, target direct-axis current and target quadrature axis current are corresponding
Point (idSP,iqSP) in the voltage limit ellipse.
Situation 5: voltage limit ellipse and current limitation circle have intersection point, and target torque curve and current limitation circle have intersection point,
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 intersection point close to current limitation circle is the 4th intersection point, determines the current direct-axis current of correspondence of the 4th intersection point to use
In the control direct-axis current for controlling motor in the electric car, and determine the current quadrature axis current of correspondence of the 4th intersection point
For the control quadrature axis current for controlling motor in the electric car.
Wherein, referring to FIG. 4, Fig. 4 is a kind of determining 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 and voltage limit ellipse are close to current limitation circle
Intersection point whether current limitation circle in method it is as follows:
Torque is written as incremental form according to formula (3):
It enables
dTeSP=TeSP-Te0.Then in did-diqStraight line Lt:k can be used in coordinate systemddid+kqdiq=dTeSPApproximation replaces TeSPTarget torque
Curve.
Similarly, with straight line Lu:d | U | SP | U | 0=rddid+rqdiqApproximation replaces | U | lim voltage limit is 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 pole
Limit elliptical intersection point (idUT,iqUT) within current limitation circle.
Situation 6: voltage limit ellipse and current limitation circle have intersection point, and target torque curve and current limitation circle have intersection point,
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, the voltage limit ellipse and the electric current pole are determined
It is the 5th intersection point that limit circle, which is located at first quartile or the intersection point of 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 car, and the corresponding current quadrature axis of determining 5th intersection point
Electric current is the control quadrature axis current for controlling motor in the electric car.
It 5 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 it is oval to can get voltage limit for the method in 3
Intersection point with current limitation circle is the 5th intersection point.
Step S500: controlling the motor based on the control direct-axis current and control quadrature axis current, described will work as forward
Square is adjusted to second torque from first torque.
Referring to FIG. 5, 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
When the operating current of step motor determines method electric car described in user's operation, user's operation is responded, determines that needs will be current
The first torque be adjusted to the second torque, be based on target torque curve and optimum torque controlling curve, obtain with described second turn
The corresponding target direct-axis current of square and target quadrature axis current, then it is logical based on the target direct-axis current and the target quadrature axis current
It crosses judgement and distinguishes 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 vehicle, control institute according to the control direct-axis current and control quadrature axis current
Motor is stated, first torque is adjusted to second torque, method provided in an embodiment of the present invention is by quickly and accurately
It determines control electric current, improves the dynamic responding speed of motor, the control current work of efficiency optimization has been determined more accurately
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, asks
Referring to Fig. 6, Fig. 6 is a kind of module diagram for operating current determining device 200 that second embodiment of the invention provides, the work
Making electric current determining device 200 includes: operation detection module 210, target current acquisition module 220, control electric current acquisition module 230
Module 240 is adjusted with torque.
As an implementation, operation detection module 210 includes operation detection unit and torque confirmation unit, the behaviour
Make detection unit in the electric car the in running order and described electric car current torque be the first torque when,
Detect whether to obtain operation of the user of the electric car to the electric car, the torque confirmation unit is for obtaining
The operation is responded when the user of the electric car is to the operation of the electric car so that it is determined that needing that described forward will be worked as
Square is adjusted to the second torque from first torque.
Target current obtain module 220, for be 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.
It controls electric current and obtains module 230, 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 car.
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 an implementation, wherein it includes: basic data acquiring unit and target that target current, which obtains module 220,
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, referring to FIG. 7, Fig. 7 is that a kind of control electric current that second embodiment of the invention provides obtains module
Cell schematics.It includes: that coordinate establishes unit 231, the first judging unit 232, second judgement list that control electric current, which obtains module 230,
First 233, third 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 indicate oval voltage limit, current limitation circle, the target torque curve and it is described most
Excellent direct torque curve.
First judging unit 232, for judging whether the voltage limit ellipse and current limitation circle have intersection point.
Second judgment unit 233, for judging whether the target torque curve and current limitation circle have intersection point.
Third judging unit 234, for judge the target torque curve and the current limitation circle intersection point whether
In the voltage limit ellipse.
4th judging unit 235, for judging the target direct-axis current and the corresponding point of the target quadrature axis current is
It is no in voltage limit ellipse.
5th judging unit 236, for judging the target torque curve and the voltage limit ellipse 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, no longer can excessively be repeated herein with reference to the corresponding process in preceding method.
In conclusion the operating current that the embodiment of the present invention provides a kind of permanent magnet synchronous motor determines method and device, answer
For in electric car, when the electric car described in user's operation, user's operation is responded, determines and needs the first current torque
It is adjusted to the second torque, is 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 for controlling
The control direct-axis current of motor and control quadrature axis current in the electric car, according to the control direct-axis current and control quadrature axis
First torque is adjusted to second torque by motor described in current control, and method provided in an embodiment of the present invention passes through
It quickly and accurately determines control electric current, the thermal environment of driving motor for electric automobile system can be improved, preferably performance motor performance,
Electrical machinery life is improved, the torque dynamic response of power system of electric automobile is improved, makes electric car that there is more preferably power performance,
And electric system is improved in the operational efficiency of arbitrary load point, high efficient area range is widened, vehicular energy is saved, is extended electronic
The course continuation mileage of automobile.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It should be noted that, in this document, 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 actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (8)
1. a kind of operating current of permanent magnet synchronous motor determines method, it is applied in electric car, which is characterized in that the method
Include:
When in the electric car, the current torque of the in running order and described electric car is the first torque, detection obtains institute
State operation of the user of electric car to the electric car；
The operation is responded, determines and needs the current torque being adjusted to the second torque from first torque；
Target torque curve is obtained, optimum torque controlling curve is obtained；
Based on the target torque curve and the optimum torque controlling curve, according to the first iterative equation idSP=id0+ΔidIt obtains
Target direct-axis current is obtained, according to secondary iteration equation iqSP=iq0+ΔiqObtain target quadrature axis current, wherein idSPFor the mesh
Mark direct-axis current, iqSPFor the target quadrature axis current, idFor current direct-axis current, iqFor current quadrature axis current, id0It is initial straight
Shaft current, iq0For initial quadrature axis current, Δ idFor direct-axis current increment, Δ iqFor quadrature axis current increment,PCuFor copper loss；
The control for controlling motor in the electric car 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. the method according to claim 1, wherein based on the target direct-axis current and target quadrature axis electricity
Stream obtains control direct-axis current and control quadrature axis current for controlling motor in the electric car, comprising:
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Indicate oval voltage limit, current limitation circle, the target torque curve and the optimum torque controlling curve；
Judge whether the voltage limit ellipse and current limitation circle have intersection point；
When to be no, the voltage limit ellipse and the i are determineddAxis is the first intersection point close to the intersection point of current limitation circle,
Determine that the corresponding current direct-axis current of first intersection point is the control direct-axis current for controlling motor in the electric car,
And determine that the corresponding current quadrature axis current of first intersection point is the control quadrature axis for controlling motor in the electric car
Electric current.
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 control direct-axis current and control quadrature axis current for controlling motor in the electric car, comprising:
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Indicate oval voltage limit, current limitation circle, the target torque curve and the optimum torque controlling curve；
Judge whether the voltage limit ellipse and current limitation circle have intersection point；
When to be, judge whether the target torque curve and current limitation circle have intersection point；
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 the voltage limit ellipse；
When the intersection point of the optimum torque controlling curve and current limitation circle is in the voltage limit ellipse, institute is determined
It states optimum torque controlling curve and current limitation circle is located at the intersection point of first quartile or the second quadrant for the second intersection point, determine
The corresponding current direct-axis current of second intersection point is the control direct-axis current for controlling motor in the electric car, and
Determine that the corresponding current quadrature axis current of second intersection point is the control quadrature axis current for controlling motor in the electric car；
When the intersection point of the optimum torque controlling curve and current limitation circle is not in the voltage limit ellipse, according to
Secondary iteration rule obtain the voltage limit ellipse and the current limitation circle intersection point, determine the voltage limit ellipse with
It is third intersection point that the current limitation circle, which is located at first quartile or the intersection point of the second quadrant, determines that the third intersection point is corresponding and works as
Preceding direct-axis current is the control direct-axis current for controlling motor in the electric car, and determines that the third intersection point is corresponding
Current quadrature axis current be control quadrature axis current for controlling motor in the electric car.
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 control direct-axis current and control quadrature axis current for controlling motor in the electric car, comprising:
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Indicate oval voltage limit, current limitation circle, the target torque curve and the optimum torque controlling curve；
Judge whether the voltage limit ellipse and current limitation circle have intersection point；
When to be, judge whether the target torque curve and current limitation circle have intersection point；
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
Stating target direct-axis current is the control direct-axis current for controlling motor in the electric car, and determines the target quadrature axis
Electric current is the control quadrature axis current for controlling motor in the electric car.
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 control direct-axis current and control quadrature axis current for controlling motor in the electric car, comprising:
With current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate system is established, the coordinate system is used for
Indicate oval voltage limit, current limitation circle, the target torque curve and the optimum torque controlling curve；
Judge whether the voltage limit ellipse and current limitation circle have intersection point；
When to be, judge whether the target torque curve and current limitation circle have intersection point；
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 in the voltage limit ellipse, institute is judged
Target torque curve and the voltage limit ellipse are stated close to the intersection point of current limitation circle whether in current limitation circle
It is interior；
When the target torque curve and the voltage limit ellipse close to current limitation circle intersection point in the electric current pole
When in limit circle, determine that the target torque curve and the voltage limit ellipse close to the intersection point of current limitation circle are the 4th
Intersection point determines that the current direct-axis current of correspondence of the 4th intersection point is the control d-axis for controlling motor in the electric car
Electric current, and determine that the current quadrature axis current of correspondence of the 4th intersection point is the control for controlling motor in the electric car
Quadrature axis current；
When the target torque curve and the elliptical intersection point of the voltage limit be not in the current limitation is justified, described in determination
The intersection point that voltage limit ellipse and current limitation circle are located at first quartile or the second quadrant is the 5th intersection point, 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 car, and determines institute
Stating the corresponding current quadrature axis current of the 5th intersection point is the control quadrature axis current for controlling motor in the electric car.
6. a kind of operating current determining device characterized by comprising
Detection module, including operation detection unit and torque confirmation unit are operated, the operation detection unit is used in electronic vapour
When vehicle is in running order and the current torque of the electric car is the first torque, detection obtains the user of the electric car
Operation to the electric car, the torque confirmation unit is for responding the operation so that it is determined that needing that described forward will be worked as
Square is adjusted to the second torque from first torque；
Target current obtains module, for obtaining target torque curve, obtains optimum torque controlling curve；Turned based on the target
Square curve and the optimum torque controlling curve, according to the first iterative equation idSP=id0+ΔidObtain target direct-axis current, root
According to secondary iteration equation iqSP=iq0+ΔiqObtain target quadrature axis current, wherein idSPFor the target direct-axis current, iqSPFor institute
State target quadrature axis current, idFor current direct-axis current, iqFor current quadrature axis current, id0For initial direct-axis current, iq0Initially to hand over
Shaft current, Δ idFor direct-axis current increment, Δ iqFor quadrature axis current increment,PCuFor copper loss；
It controls electric current and obtains module, for being obtained based on the target direct-axis current and the target quadrature axis current for controlling
State the control direct-axis current and control quadrature axis current of motor in electric car；
Torque adjusts module, for based on the control direct-axis current and the control quadrature axis current control motor, by described the
One torque is adjusted to second torque.
7. device according to claim 6, which is characterized in that the control electric current obtains module and includes:
Coordinate establishes unit, for current direct-axis current idFor abscissa, current quadrature axis current iqFor ordinate, coordinate is established
System, and oval voltage limit, current limitation circle, the target torque curve and the optimum torque are indicated with the coordinate system
Controlling curve；
First judging unit, for judging whether the voltage limit ellipse and current limitation circle have intersection point；
Second judgment unit, for judging whether the target torque curve and current limitation circle have intersection point；
Third judging unit, for judging the intersection point of the target torque curve and current limitation circle whether in the voltage
In limit ellipse；
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, for judging the target torque curve and the voltage limit ellipse close to current limitation circle
Intersection point whether the current limitation circle in.
8. a kind of storage medium, which is characterized in that the storage medium is stored in computer, and the storage medium includes a plurality of
Instruction, a plurality of instruction are configured such that the computer perform claim requires any one of 1-5 the method.
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| CN109831138B (en) * | 2019-02-26 | 2020-12-01 | 湖南大学 | Maximum efficiency torque ratio control method and controller for permanent magnet synchronous motor |
| CN110323982B (en) * | 2019-05-29 | 2021-04-06 | 长沙学院 | Permanent magnet synchronous motor control method considering cross coupling and saturation effect |
| 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 |
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