CN108092583A - The current control method and device of a kind of permanent magnet synchronous motor - Google Patents

The current control method and device of a kind of permanent magnet synchronous motor Download PDF

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Publication number
CN108092583A
CN108092583A CN201711436054.2A CN201711436054A CN108092583A CN 108092583 A CN108092583 A CN 108092583A CN 201711436054 A CN201711436054 A CN 201711436054A CN 108092583 A CN108092583 A CN 108092583A
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Prior art keywords
shaft
current
violent change
change value
output violent
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CN201711436054.2A
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CN108092583B (en
Inventor
李发顺
卓森庆
黄绍敏
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Aux Air Conditioning Co Ltd
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Aux Air Conditioning Co Ltd
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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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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
    • 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)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The present invention provides the current control methods and device of a kind of permanent magnet synchronous motor, are related to no electrolytic capacitor variable-frequency driving technique field.This method and device determine q shaft torques electric current, d shaft current reference values according to the busbar voltage that receives, input to the phase current of a motor and the operating parameter of motor, then calculate actual speed control output violent change value according to d shaft currents reference value and presetting speed control output violent change value；Q shaft current reference values are determined according to q shaft torques electric current and actual speed control output violent change value, the current control to permanent magnet synchronous motor is realized with this again；Due to during actual speed control output violent change value is calculated, weak magnetoelectricity stream is introduced and is fed back, so as under weak magnetic state, output violent change value is controlled according to the big minor adjustment actual speed of weak magnetoelectricity stream, while so that q shaft currents reference value is no more than presetting speed control output violent change value, also it is avoided that due to the situation that weak magnetoelectricity stream increases and motor is caused to demagnetize.

Description

The current control method and device of a kind of permanent magnet synchronous motor
Technical field
The present invention relates to no electrolytic capacitor variable-frequency driving technique field, the electric current control of more particularly to a kind of permanent magnet synchronous motor Method and device processed.
Background technology
With the continuous development of society, the popularity of air-conditioning is also higher and higher, and the normal operation of air-conditioning be unable to do without pressure The electromechanical machine of contracting, is typically now run using no electrolytic capacitor drive system driving motor.
In existing no electrolytic capacitor drive system, given value of current value is excessive and motor is caused to demagnetize in order to prevent, leads to Speed control export-restriction setting module can be often set, by the export-restriction of speed control within the specific limits, but weak magnetic control When system increases weak magnetoelectricity stream, current phasor still may be excessive；But if to prevent electric current is excessive from reducing the defeated of speed control Go out limitation, then can cause operation torque under non-field weakening mode that maximum is not achieved.
The content of the invention
In view of this, the present invention is directed to propose the current control method and device of a kind of permanent magnet synchronous motor, in solution State problem.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
In a first aspect, the present invention provides a kind of current control method of permanent magnet synchronous motor, the permanent magnet synchronous motors Current control method include：
Receive busbar voltage, input to the phase current of a motor and the operating parameter of the motor；
Q shaft torque electric currents are determined according to the phase current and presetting motor speed reference value；
D shaft current reference values are determined according to the busbar voltage, the operating parameter and the phase current；
It is defeated that actual speed control is calculated according to the d shaft currents reference value and presetting speed control output violent change value Go out amplitude limit value；
Q shaft current reference values are determined according to the q shaft torques electric current and actual speed control output violent change value.
Further, it is described to determine q axis electricity according to the q shaft torques electric current and actual speed control output violent change value The step of flowing reference value includes：
When the q shaft torques electric current, which is more than the positive actual speed, controls output violent change value, the q shaft currents are determined Reference value controls output violent change value for the positive actual speed；
When the q shaft torques electric current, which is less than the negative actual speed, controls output violent change value, the q shaft currents are determined Reference value controls output violent change value for the negative actual speed；
When the q shaft torques electric current is greater than or equal to negative actual speed control output violent change value and is less than or equal to When the positive actual speed controls output violent change value, it is the q shaft torques electric current to determine the q shaft currents reference value.
Further, it is described to determine that d shaft currents are joined according to the busbar voltage, the operating parameter and the phase current The step of examining value includes：
Motor speed actual value and q shaft currents are calculated according to the phase current；
D is determined according to the busbar voltage, the operating parameter, the motor speed actual value and the q shaft currents Shaft current gives；
When the d shaft currents are given more than 0, it is 0 to determine the d shaft currents reference value；
When the d shaft currents are given less than or equal to 0, determine the d shaft currents reference value for the d shaft currents to It is fixed.
Further, the operating parameter includes d axle inductances, q axle inductances, rotor flux and the rotor angle of the motor Speed, it is described to determine d according to the busbar voltage, the operating parameter, the motor speed actual value and the q shaft currents The step that shaft current gives includes：
Pass through formulaThe d shaft currents are calculated to give, wherein, Id_Ref_0 It is given for d shaft currents, LdFor d axle inductances, LqFor q axle inductances, ψ is rotor flux, UMFor maximum voltage vector, IqFor q axis electricity Stream, ωrFor rotor velocity, UM=η Udc, UMFor maximum voltage vector, UdcFor busbar voltage, η is that presetting voltage utilizes System.
Further, it is described according to the d shaft currents reference value and presetting speed control output violent change value calculate Actual speed controls the step of output violent change value to include：
Pass through formulaThe actual speed control output violent change value is calculated, Wherein, the IT_Ref_LimtOutput violent change value, the I are controlled for actual speedT_Ref_Limt_setIt is defeated for presetting speed control Go out amplitude limit value, the Id_RefTo state d shaft current reference values.
Second aspect, the present invention also provides a kind of current control device of permanent magnet synchronous motor, the permanent magnet synchronous electrics The current control device of machine includes：
Parameter receiving unit, for receiving the operation of the phase current and the motor of busbar voltage, input a to motor Parameter；
D shaft current reference value determination units, for according to the busbar voltage, the operating parameter and the phase current Determine d shaft current reference values；
Amplitude limit value determination unit, for according to the d shaft currents reference value and presetting speed control output violent change Value calculates actual speed control output violent change value；
Q shaft torque current determination units, for determining q according to the phase current and presetting motor speed reference value Shaft torque electric current；
Q shaft current reference value determination units, for according to the q shaft torques electric current and actual speed control output limit Amplitude determines q shaft current reference values.
Further, the q shaft currents reference value determination unit is used to be more than the positive reality when the q shaft torques electric current During the speed control output violent change value of border, determine that the q shaft currents reference value controls output violent change value for the positive actual speed；
The q shaft currents reference value determination unit is additionally operable to be less than the negative actual speed when the q shaft torques electric current When controlling output violent change value, determine that the q shaft currents reference value controls output violent change value for the negative actual speed；
The q shaft currents reference value determination unit is additionally operable to be greater than or equal to the negative reality when the q shaft torques electric current Border speed control output violent change value and during less than or equal to positive actual speed control output violent change value, determines the q axis Current reference value is the q shaft torques electric current.
Further, the d shaft currents reference value determination unit includes：
Computation subunit, for calculating motor q shaft currents according to the phase current；
D shaft currents give determination subelement, for according to the busbar voltage, the operating parameter and q axis electricity Stream determines that d shaft currents give；
D shaft current reference value determination subelements, for when the d shaft currents are given more than 0, determining the d shaft currents Reference value is 0；
The d shaft currents reference value determination subelement is additionally operable to when the d shaft currents are given less than or equal to 0, is determined The d shaft currents reference value gives for the d shaft currents.
Further, the amplitude limit value determination unit is used to pass through formula The actual speed control output violent change value is calculated, wherein, the IT_Ref_LimtOutput violent change value is controlled for actual speed, it is described IT_Ref_Limt_setFor presetting speed control output violent change value, the Id_RefTo state d shaft current reference values.
Further, the amplitude limit value determination unit is used to pass through formula The actual speed control output violent change value is calculated, wherein, the IT_Ref_LimtOutput violent change value is controlled for actual speed, it is described IT_Ref_Limt_setFor presetting speed control output violent change value, the Id_RefTo state d shaft current reference values.
Compared with the prior art, the current control method and device of permanent magnet synchronous motor of the invention have the advantage that： Q shaft torques electric current, d are determined to the phase current of a motor and the operating parameter of motor according to the busbar voltage that receives, input Shaft current reference value then calculates actual speed according to d shaft currents reference value and presetting speed control output violent change value Control output violent change value；Again q shaft current reference values are determined according to q shaft torques electric current and actual speed control output violent change value, with This realizes the current control to permanent magnet synchronous motor；During controlling output violent change value in calculating actual speed, weak Magnetoelectricity stream introduces feedback, so as to which under weak magnetic state, output violent change is controlled according to the big minor adjustment actual speed of weak magnetoelectricity stream Value so that while q shaft currents reference value is no more than presetting speed control output violent change value, be also avoided that due to weak magnetic electricity The situation that stream increases and motor is caused to demagnetize, so as to also still ensure that the export-restriction to speed control even if electric current increase, together When also can guarantee that torque is run under weak magnetic state can smoothly reach maximum.
Description of the drawings
The attached drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 shows the circuit structure block diagram of no electrolytic capacitor frequency changing driving system provided in an embodiment of the present invention.
Fig. 2 shows the circuit diagram of no electrolytic capacitor frequency changing driving system provided in an embodiment of the present invention.
Fig. 3 shows the flow chart of the current control method of permanent magnet synchronous motor provided in an embodiment of the present invention.
Fig. 4 shows the particular flow sheet of step S302 in Fig. 3.
Fig. 5 shows the particular flow sheet of step S304 in Fig. 3.
Fig. 6 shows the particular flow sheet of step S305 in Fig. 3.
Fig. 7 shows the functional block diagram of the current control device of permanent magnet synchronous motor provided in an embodiment of the present invention.
Fig. 8 shows the specific module frame chart of d shaft currents reference value determination unit in Fig. 7.
Icon：100- no electrolytic capacitor frequency changing driving systems；110- parameter collection modules；120- drive modules；130- electricity Machine；140- pulse width modulation modules；150- control modules；The current control device of 200- permanent magnet synchronous motors；210- parameters receive Unit；220-d shaft current reference value determination units；221- computation subunits；222-d shaft currents give determination subelement；223- Judgment sub-unit；224-d shaft current reference value determination subelements；230- amplitude limit value determination units；240-q shaft torque electric currents determine Unit；250-q shaft current reference value determination units.
Specific embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the present invention can phase Mutually combination.
Referring to Fig. 1, show the circuit structure of no electrolytic capacitor frequency changing driving system 100 provided in an embodiment of the present invention Block diagram.The no electrolytic capacitor frequency changing driving system 100 includes parameter collection module 110, drive module 120, pulse width modulation module 140th, control module 150 and motor 130.Drive module 120 and motor 130, parameter collection module 110, pulse width modulation module 140 are electrically connected, and pulse width modulation module 140 is electrically connected with control module 150.
Wherein, parameter collection module 110 is used to gather input voltage, the phase current and motor of input a to motor 130 130 operating parameter, and input voltage, input to the phase current of motor 130 and the operating parameter of motor 130 are transmitted to control Molding block 150.
Referring to Fig. 2, the circuit diagram of no electrolytic capacitor frequency changing driving system 100 provided in an embodiment of the present invention.It is electroless Capacitance frequency changing driving system 100 includes power circuit, rectification circuit, booster circuit, dc-link capacitance and inverter circuit.Its In, power circuit, rectification circuit, booster circuit, dc-link capacitance and inverter circuit are sequentially connected electrically, inverter circuit and control Molding block 150 is electrically connected.
Wherein, power circuit provides alternating current for circuit；It is direct current that rectification circuit, which is used for convert alternating current,；Boosting electricity Road is used to adjust the voltage value of dc-link capacitance；Dc-link capacitance is used to filter what is still had after rectified circuit rectifies Alternating current；Inverter circuit is electrically connected with control module 150, under the control of pulse-width signal, output voltage to motor 130, realize the control to motor 130.
Control module 150 is used for according to the busbar voltage received, inputs to the phase current and motor of a motor 130 130 operating parameter determines q shaft torques electric current, d shaft current reference values, then according to d shaft currents reference value and presetting Speed control output violent change value calculates actual speed control output violent change value；It is controlled again according to q shaft torques electric current and actual speed Output violent change value determines q shaft current reference values；Again based on d shaft currents reference value, q shaft currents reference value generation pulsewidth modulation letter Number.
Pulse width modulation module 140 is in response to pulse-width signal and by adjusting the conducting state realization pair of inverter circuit The control of 130 three-phase voltage of motor.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention With within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention god.
First embodiment
An embodiment of the present invention provides a kind of current control method of permanent magnet synchronous motor, for control electric current so as to fulfill Control to 130 speed of motor.Referring to Fig. 3, the current control method for permanent magnet synchronous motor provided in an embodiment of the present invention Flow chart.The current control method of the permanent magnet synchronous motor includes：
Step S301：Receive busbar voltage, input to the phase current of motor 130 and the operating parameter of motor 130.
It is adopted it is to be appreciated that the operating parameter of phase current, busbar voltage and motor 130 is parameter collection module 110 Collect and transmit；In addition, in the present embodiment, inputting to the phase current of motor 130 includes u phase currents iuAnd v phase currents iv。
In addition, operating parameter includes d axle inductances, q axle inductances, rotor flux and the rotor velocity of motor 130.Motor 130 d shaft voltages, q shaft voltages refer to direct-axis voltage and quadrature-axis voltage under 130 current operating conditions of motor respectively.
Step S302：D shaft current reference values are determined according to busbar voltage, operating parameter and phase current.
Referring to Fig. 4, the particular flow sheet for step S302.Step S302 includes：
Sub-step S3021：Q shaft currents are calculated according to phase current.
Pass through u phase currents i firstuAnd v phase currents ivCalculate w phase currents iw：
iw=-iu-iv
Then u phase currents i is passed throughu, v phase currents ivAnd w phase currents iwIt calculates α shaft currents and β shaft currents, formula is as follows It is shown：
iα=iu
Then the calculation formula of q shaft currents is：
Iq=iβcosθ-iαsinθ
The calculation formula of d shaft currents is：
Id=iαcosθ+iβsinθ
Wherein, θ is the angle of 130 rotor permanent magnet magnetic linkage of motor, can be drawn by traditional position estimation algorithm, is counted Calculation process is as follows：
It is first depending on following formula and calculates the d axis components of counter electromotive force and q axis components：
Wherein, estimated angle and the error of actual angle
Specifically, the angle of 130 rotor permanent magnet magnetic linkage of motor is calculated by following formula：
θ (n)=θ (n-1)+Δ θ
Sub-step S3022：Determine that d shaft currents give according to busbar voltage, operating parameter and q shaft currents.
First, maximum voltage vector is calculated by busbar voltage, calculation formula is as follows：
UM=η Udc
Wherein, UdcFor busbar voltage, η is that presetting voltage utilizes system.
It should be noted that voltage usage factor is related with the modulation system of inverter circuit, once thus inverter circuit it is true Fixed, η is just certain.In addition, the maximum voltage value that maximum voltage vector can export for inverter circuit.
In the present embodiment, inverter circuit uses SVPWM modulation systems,
Then, d shaft currents are given by following formula and calculated：
Wherein, Id_Ref_0It is given for d shaft currents, LdFor d axle inductances, LqFor q axle inductances, ψ is rotor flux, UMFor maximum Voltage vector, IqFor q shaft currents, ωrFor rotor velocity.
It is to be appreciated that the d axle inductances of motor 130, q axle inductances, rotor flux and rotor velocity are motor 130 Operating parameter, calculating the d shaft currents operating status current to motor 130 is periodically taken into full account, can more be bonded motor Electric current needed for 130 operations.
Sub-step S3023：Judge that d shaft currents give and whether be more than 0, if it is, performing sub-step S3024；If not, Then perform sub-step S3025.
Sub-step S3024：It is 0 to determine d shaft currents reference value.
Work as Id_Ref_0>When 0, motor 130 runs the maximum voltage value that required voltage is also not up to inverter circuit output, this When motor 130 input current can continue to track d shaft currents and give specified rate, thus weak magnetic control need not be carried out at this time, thus Id_Ref=0.
Sub-step S3025：Determine that d shaft currents reference value gives for d shaft currents.
Work as Id_Ref_0When≤0, motor 130 runs the maximum voltage value that required voltage alreadys exceed inverter circuit output, It needs to carry out weak magnetic control to motor 130 at this time, the torque output capability of motor 130 during increasing high speed, thus Id_Ref= Id_Ref_0。
Step S303：Actual speed is calculated according to d shaft currents reference value and presetting speed control output violent change value Control output violent change value.
Specifically, actual speed is calculated by following formula and controls output violent change value：
Wherein, IT_Ref_LimtOutput violent change value, I are controlled for actual speedT_Ref_Limt_setIt is defeated for presetting speed control Go out amplitude limit value, Id_RefFor d shaft current reference values.
It is to be appreciated that join since d shaft currents reference value is related to the operating status of motor 130, thus based on d shaft currents The actual operating state that the actual speed control output violent change value that value is calculated also meets motor 130 is examined, more meets actual answer With scene, avoid the problem that setting single constant speed control output violent change value causes.
Step S304：Q shaft torque electric currents are determined according to phase current and presetting motor speed reference value.
Referring to Fig. 5, the particular flow sheet for step S304.Step S304 includes：
Sub-step S3041：Motor speed actual value is calculated according to phase current.
Specifically, by the angle calculation motor speed for the 130 rotor permanent magnet magnetic linkage of motor mentioned in sub-step S3021 Actual value, then motor speed actual value can be calculated by following formula：
Sub-step S3042：Q shaft torques electricity is determined according to motor speed actual value and presetting motor speed reference value Stream.
Specifically, q shaft torque electric currents can be calculated by following formula：
IT_Ref_0=Kp1*(Wr_Ref-Wr)+Ki1*∫(Wr_Ref-Wr)dt
Wherein, IT_Ref_0For q shaft torque electric currents, Wr_RefFor presetting motor speed reference value, WrIt is real for motor speed Actual value, Kp1For the first presetting proportionality coefficient, Ki1For presetting first integral coefficient.
Step S305：Q shaft current reference values are determined according to q shaft torques electric current and actual speed control output violent change value.
Referring to Fig. 6, the particular flow sheet for step S305.Step S305 includes：
Sub-step S3051：Judge q shaft torques electric current whether be greater than or equal to negative actual speed control output violent change value and Output violent change value is controlled less than or equal to positive actual speed, if it is, performing sub-step S3052；If it is not, then perform son Step S3053.
Sub-step S3052：It is q shaft torque electric currents to determine q shaft currents reference value.
It is to be appreciated that as-IT_Ref_Limt≤IT_Ref_0≤IT_Ref_LimtWhen, q shaft torque electric currents are not out amplitude limit model It encloses, thus the electric current exported at this time i.e. q shaft currents reference value remains unchanged, i.e. Iq_Ref=IT_Ref_0。
Sub-step S3053：Judge whether q shaft torques electric current is more than positive actual speed control output violent change value, if so, Then perform sub-step S3054；If it is not, then perform sub-step S3055.
Sub-step S3054：Determine that q shaft currents reference value controls output violent change value for positive actual speed.
It is to be appreciated that work as IT_Ref_0>IT_Ref_LimtWhen, q shaft torque electric currents have exceeded the upper limit of clipping range, thus The electric current exported at this time i.e. q shaft currents reference value be clipping range upper limit value, i.e. IT_Ref=IT_Ref_Limt。
Sub-step S3055：Determine that q shaft currents reference value controls output violent change value for negative actual speed.
It is to be appreciated that work as IT_Ref_0<-IT_Ref_LimtWhen, q shaft torque electric currents have exceeded the lower limit of clipping range, thus The electric current exported at this time i.e. q shaft currents reference value be clipping range lower limiting value, i.e. IT_Ref=-IT_Ref_Limt。
Second embodiment
Referring to Fig. 7, Fig. 7 is a kind of current control device for permanent magnet synchronous motor that present pre-ferred embodiments provide 200 functional block diagram.It should be noted that the current control device 200 for the permanent magnet synchronous motor that the present embodiment is provided, Basic principle and the technique effect of generation are identical with above-described embodiment, and to briefly describe, the present embodiment part does not refer to part, can With reference to corresponding contents in the above embodiments.The current control device 200 of the permanent magnet synchronous motor includes parameter receiving unit 210th, d shaft currents reference value determination unit 220, amplitude limit value determination unit 230, q shaft torques current determination unit 240 and q axis Current reference value determination unit 250.
Wherein, parameter receiving unit 210 is used to receive busbar voltage, input to the phase current of motor 130 and motor 130 Operating parameter.
It is to be appreciated that in a kind of preferred embodiment, parameter receiving unit 210 can be used for performing step S301.
D shaft current reference values determination unit 220 is used to determine d axis electricity according to busbar voltage, operating parameter and phase current Flow reference value.
It is to be appreciated that in a kind of preferred embodiment, d shaft current reference values determination unit 220 can be used for performing step Rapid S302.
Specifically, referring to Fig. 8, d shaft current reference values determination unit 220 includes computation subunit 221, d shaft currents are given Determine determination subelement 222, judgment sub-unit 223 and d shaft current reference values determination subelement 224.
Wherein, computation subunit 221 is used to calculate q shaft currents according to phase current.
It is to be appreciated that in a kind of preferred embodiment, computation subunit 221 can be used for performing sub-step S3021.
D shaft currents give determination subelement 222 for determining that d axis is electric according to busbar voltage, operating parameter and q shaft currents Stream is given.
It is to be appreciated that in a kind of preferred embodiment, d shaft currents give determination subelement 222 and can be used for performing son Step S3022.
Whether judgment sub-unit 223 is more than 0 for judging that d shaft currents give.
It is to be appreciated that in a kind of preferred embodiment, judgment sub-unit 223 can be used for performing step S3023.
D shaft current reference values determination subelement 224 is used for when d shaft currents are given more than 0, determines d shaft current reference values For 0；D shaft current reference values determination subelement 224 is additionally operable to when d shaft currents are given less than or equal to 0, determines that d shaft currents are joined Value is examined to give for d shaft currents.
It is to be appreciated that in a kind of preferred embodiment, d shaft current reference values determination subelement 224 can be used for performing Sub-step S3024 and sub-step S3025.
Amplitude limit value determination unit 230 is used for according to d shaft currents reference value and presetting speed control output violent change value Calculate actual speed control output violent change value.
Specifically, actual speed is calculated by following formula and controls output violent change value：
Wherein, IT_Ref_LimtOutput violent change value, I are controlled for actual speedT_Ref_Limt_setIt is defeated for presetting speed control Go out amplitude limit value, Id_RefFor d shaft current reference values.
It is to be appreciated that in a kind of preferred embodiment, amplitude limit value determination unit 230 can be used for performing sub-step S303。
Q shaft torques current determination unit 240 is used to determine q axis according to phase current and presetting motor speed reference value Torque current.
It is to be appreciated that in a kind of preferred embodiment, q shaft torques current determination unit 240 can be used for performing step S304, sub-step S3041 and sub-step S3042.
Q shaft current reference values determination unit 250 is used for true according to q shaft torques electric current and actual speed control output violent change value Determine q shaft current reference values.
Specifically, q shaft currents reference value determination unit 250 is used to control when q shaft torques electric current is more than positive actual speed During output violent change value, determine that q shaft currents reference value controls output violent change value for positive actual speed；When q shaft torque electric currents are less than When negative actual speed controls output violent change value, determine that q shaft currents reference value controls output violent change value for negative actual speed；When Q shaft torques electric current is greater than or equal to negative actual speed control output violent change value and is controlled less than or equal to positive actual speed defeated When going out amplitude limit value, it is q shaft torque electric currents to determine q shaft currents reference value.
It is to be appreciated that in a kind of preferred embodiment, q shaft current reference values determination unit 250 can be used for performing step Rapid S305, sub-step S3051, sub-step S3052, sub-step S3053, sub-step S3054 and sub-step S3055.
In conclusion the current control method and device of the permanent magnet synchronous motor of the present invention are according to the busbar electricity received Pressure inputs to the phase current of a motor and the operating parameter of motor and determines q shaft torques electric current, d shaft current reference values, then according to Actual speed control output violent change value is calculated according to d shaft currents reference value and presetting speed control output violent change value；Again according to Q shaft current reference values are determined according to q shaft torques electric current and actual speed control output violent change value, are realized with this to permanent magnet synchronous motor Current control；Due to during actual speed control output violent change value being calculated, weak magnetoelectricity stream being introduced and is fed back, so as to Under weak magnetic state, output violent change value is controlled according to the big minor adjustment actual speed of weak magnetoelectricity stream so that q shaft currents reference value is not While more than presetting speed control output violent change value, be also avoided that causes what motor demagnetized since weak magnetoelectricity stream increases Situation so as to also still ensure that the export-restriction to speed control even if electric current increase, while also can guarantee under weak magnetic state Operation torque can smoothly reach maximum.

Claims (10)

  1. A kind of 1. current control method of permanent magnet synchronous motor, which is characterized in that the current control side of the permanent magnet synchronous motor Method includes：
    Receive busbar voltage, input to the phase current of a motor and the operating parameter of the motor；
    D shaft current reference values are determined according to the busbar voltage, the operating parameter and the phase current；
    Actual speed control output limit is calculated according to the d shaft currents reference value and presetting speed control output violent change value Amplitude；
    Q shaft torque electric currents are determined according to the phase current and presetting motor speed reference value；
    Q shaft current reference values are determined according to the q shaft torques electric current and actual speed control output violent change value.
  2. 2. the current control method of permanent magnet synchronous motor according to claim 1, which is characterized in that described according to the q The step of shaft torque electric current determines q shaft current reference values with actual speed control output violent change value includes：
    When the q shaft torques electric current, which is more than the positive actual speed, controls output violent change value, the q shaft currents reference is determined It is worth and controls output violent change value for the positive actual speed；
    When the q shaft torques electric current, which is less than the negative actual speed, controls output violent change value, the q shaft currents reference is determined It is worth and controls output violent change value for the negative actual speed；
    When the q shaft torques electric current is greater than or equal to negative actual speed control output violent change value and less than or equal to positive During the actual speed control output violent change value, it is the q shaft torques electric current to determine the q shaft currents reference value.
  3. 3. the current control method of permanent magnet synchronous motor according to claim 1, which is characterized in that described according to the mother Line voltage, the operating parameter and the phase current determine that the step of d shaft current reference values includes：
    Q shaft currents are calculated according to the phase current；
    Determine that d shaft currents give according to the busbar voltage, the operating parameter and the q shaft currents；
    When the d shaft currents are given more than 0, it is 0 to determine the d shaft currents reference value；
    When the d shaft currents are given less than or equal to 0, determine that the d shaft currents reference value gives for the d shaft currents.
  4. 4. the current control method of permanent magnet synchronous motor according to claim 3, which is characterized in that the operating parameter bag Include d axle inductances, q axle inductances, rotor flux and the rotor velocity of the motor, it is described according to the busbar voltage, it is described Operating parameter, the motor speed actual value and the q shaft currents determine that the step that d shaft currents give includes：
    Pass through formulaThe d shaft currents are calculated to give, wherein, Id_Ref_0For d axis Given value of current, LdFor d axle inductances, LqFor q axle inductances, ψ is rotor flux, UMFor maximum voltage vector, IqFor q shaft currents, ωrFor Rotor velocity, UM=η Udc, UMFor maximum voltage vector, UdcFor busbar voltage, η is that presetting voltage utilizes system.
  5. 5. the current control method of permanent magnet synchronous motor according to claim 1, which is characterized in that described according to the d Shaft current reference value and presetting speed control output violent change value calculate the step of actual speed controls output violent change value and wrap It includes：
    Pass through formulaThe actual speed control output violent change value is calculated, wherein, IT_Ref_LimtOutput violent change value, I are controlled for actual speedT_Ref_Limt_setFor presetting speed control output violent change value, Id_Ref For d shaft current reference values.
  6. A kind of 6. current control device of permanent magnet synchronous motor, which is characterized in that the current control dress of the permanent magnet synchronous motor Put including：
    Parameter receiving unit, for receiving busbar voltage, input to the phase current of a motor and the operating parameter of the motor；
    Q shaft torque current determination units, for determining that q axis turns according to the phase current and presetting motor speed reference value Square electric current；
    D shaft current reference value determination units, for being determined according to the busbar voltage, the operating parameter and the phase current D shaft current reference values；
    Amplitude limit value determination unit, based on according to the d shaft currents reference value and presetting speed control output violent change value Calculate actual speed control output violent change value；
    Q shaft current reference value determination units, for controlling output violent change value according to the q shaft torques electric current and the actual speed Determine q shaft current reference values.
  7. 7. the current control device of permanent magnet synchronous motor according to claim 6, which is characterized in that the q shaft currents ginseng Value determination unit is examined for when the q shaft torques electric current is more than the positive actual speed and controls output violent change value, determining institute It states q shaft currents reference value and controls output violent change value for the positive actual speed；
    The q shaft currents reference value determination unit is additionally operable to be less than negative actual speed control when the q shaft torques electric current During output violent change value, determine that the q shaft currents reference value controls output violent change value for the negative actual speed；
    The q shaft currents reference value determination unit is additionally operable to be greater than or equal to the negative actual speed when the q shaft torques electric current When degree controls output violent change value and controls output violent change value less than or equal to the positive actual speed, the q shaft currents are determined Reference value is the q shaft torques electric current.
  8. 8. the current control device of permanent magnet synchronous motor according to claim 6, which is characterized in that the d shaft currents ginseng Examining value determination unit includes：
    Computation subunit, for calculating motor speed actual value and q shaft currents according to the phase current；
    D shaft currents give determination subelement, for actual according to the busbar voltage, the operating parameter, the motor speed Value and the q shaft currents determine that d shaft currents give；
    D shaft current reference value determination subelements, for when the d shaft currents are given more than 0, determining the d shaft currents reference It is worth for 0；
    The d shaft currents reference value determination subelement is additionally operable to, when the d shaft currents are given less than or equal to 0, determine the d Shaft current reference value gives for the d shaft currents.
  9. 9. the current control device of permanent magnet synchronous motor according to claim 8, which is characterized in that the d shaft currents are given Determination subelement is determined for passing through formulaThe d shaft currents are calculated to give, In, Id_Ref_0It is given for d shaft currents, LdFor d axle inductances, LqFor q axle inductances, ψ is rotor flux, UMFor maximum voltage vector, Iq For q shaft currents, ωrFor rotor velocity, UM=η Udc, UMFor maximum voltage vector, UdcFor busbar voltage, η is presetting electricity Pressure utilizes system.
  10. 10. the current control device of permanent magnet synchronous motor according to claim 1, which is characterized in that the amplitude limit value is true Order member is used to pass through formulaCalculate the actual speed control output violent change Value, wherein, the IT_Ref_LimtOutput violent change value, the I are controlled for actual speedT_Ref_Limt_setFor presetting speed control Output violent change value, the Id_RefTo state d shaft current reference values.
CN201711436054.2A 2017-12-26 2017-12-26 Current control method and device for permanent magnet synchronous motor Active CN108092583B (en)

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CN109039188A (en) * 2018-07-17 2018-12-18 华中科技大学 A kind of no electrolytic capacitor motor control method, device and system
CN110701828A (en) * 2019-10-21 2020-01-17 广东美的暖通设备有限公司 Control method and system of compressor, compressor assembly, air conditioner and storage medium
CN112398371A (en) * 2019-08-13 2021-02-23 华大半导体(成都)有限公司 System, equipment and method for flux weakening control
CN112963942A (en) * 2021-03-22 2021-06-15 宁波奥克斯电气股份有限公司 Defrosting control method and device, air conditioner and storage medium
CN114244225A (en) * 2021-12-03 2022-03-25 淮安威灵电机制造有限公司 Weak magnetic control method and device of motor, motor controller and motor control system
CN114759851A (en) * 2022-05-20 2022-07-15 哈尔滨工业大学 Overvoltage prevention control method for driving system of permanent magnet synchronous motor without electrolytic capacitor

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CN105763118A (en) * 2016-04-08 2016-07-13 合肥工业大学 EPS control method for improving hand touch of steering wheel rapidly manipulated by driver
CN107147346A (en) * 2017-07-20 2017-09-08 奥克斯空调股份有限公司 Power conversion control device

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Publication number Priority date Publication date Assignee Title
CN105763118A (en) * 2016-04-08 2016-07-13 合肥工业大学 EPS control method for improving hand touch of steering wheel rapidly manipulated by driver
CN107147346A (en) * 2017-07-20 2017-09-08 奥克斯空调股份有限公司 Power conversion control device

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109039188A (en) * 2018-07-17 2018-12-18 华中科技大学 A kind of no electrolytic capacitor motor control method, device and system
CN112398371A (en) * 2019-08-13 2021-02-23 华大半导体(成都)有限公司 System, equipment and method for flux weakening control
CN112398371B (en) * 2019-08-13 2022-04-19 华大半导体(成都)有限公司 System, equipment and method for flux weakening control
CN110701828A (en) * 2019-10-21 2020-01-17 广东美的暖通设备有限公司 Control method and system of compressor, compressor assembly, air conditioner and storage medium
CN110701828B (en) * 2019-10-21 2021-09-21 广东美的暖通设备有限公司 Control method and system of compressor, compressor assembly, air conditioner and storage medium
CN112963942A (en) * 2021-03-22 2021-06-15 宁波奥克斯电气股份有限公司 Defrosting control method and device, air conditioner and storage medium
CN112963942B (en) * 2021-03-22 2022-03-29 宁波奥克斯电气股份有限公司 Defrosting control method and device, air conditioner and storage medium
CN114244225A (en) * 2021-12-03 2022-03-25 淮安威灵电机制造有限公司 Weak magnetic control method and device of motor, motor controller and motor control system
CN114244225B (en) * 2021-12-03 2024-04-12 淮安威灵电机制造有限公司 Weak magnetic control method and device for motor, motor controller and motor control system
CN114759851A (en) * 2022-05-20 2022-07-15 哈尔滨工业大学 Overvoltage prevention control method for driving system of permanent magnet synchronous motor without electrolytic capacitor

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