CN108092583B - Current control method and device for permanent magnet synchronous motor - Google Patents

Current control method and device for permanent magnet synchronous motor Download PDF

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CN108092583B
CN108092583B CN201711436054.2A CN201711436054A CN108092583B CN 108092583 B CN108092583 B CN 108092583B CN 201711436054 A CN201711436054 A CN 201711436054A CN 108092583 B CN108092583 B CN 108092583B
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axis
current
axis current
reference value
speed control
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CN108092583A (en
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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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a current control method and device of a permanent magnet synchronous motor, and relates to the technical field of variable frequency driving without electrolytic capacitors. The method and the device determine q-axis torque current and d-axis current reference values according to received bus voltage, phase current input to a motor and operation parameters of the motor, and then calculate an actual speed control output amplitude limit value according to the d-axis current reference value and a preset speed control output amplitude limit value; determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value, so as to realize current control on the permanent magnet synchronous motor; in the process of calculating the actual speed control output amplitude limiting value, the weak magnetic current is introduced into feedback, so that the actual speed control output amplitude limiting value can be adjusted according to the magnitude of the weak magnetic current in a weak magnetic state, the q-axis current reference value is not more than the preset speed control output amplitude limiting value, and the condition that the motor is demagnetized due to the increase of the weak magnetic current can be avoided.

Description

Current control method and device for permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of electrolytic capacitor-free variable frequency driving, in particular to a current control method and device of a permanent magnet synchronous motor.
Background
Along with the continuous development of the society, the popularity of the air conditioner is higher and higher, and the normal operation of the air conditioner can not be realized by a compressor motor, and the motor is driven to operate by a driving system without electrolytic capacitor.
In the existing driving system without electrolytic capacitor, in order to prevent the motor from demagnetizing due to the fact that the given value of current is too large, a speed control output limit setting module is usually arranged to limit the output of speed control within a certain range, but when the flux weakening control increases the flux weakening current, the current vector can still be too large; however, if the output limit of the speed control is reduced to prevent the current from becoming excessively large, the operating torque in the non-field weakening mode may not reach the maximum value.
Disclosure of Invention
In view of the above, the present invention is directed to a method and an apparatus for controlling current of a permanent magnet synchronous motor to solve the above problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, the present invention provides a current control method for a permanent magnet synchronous motor, including:
receiving bus voltage, phase current input to a motor and operation parameters of the motor;
determining q-axis torque current according to the phase current and a preset motor rotating speed reference value;
determining a d-axis current reference value according to the bus voltage, the operating parameter and the phase current;
calculating an actual speed control output amplitude limiting value according to the d-axis current reference value and a preset speed control output amplitude limiting value;
and determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value.
Further, the step of determining a q-axis current reference value according to the q-axis torque current and the actual speed control output clipping value comprises:
determining the q-axis current reference value as the positive actual speed control output amplitude limit value when the q-axis torque current is greater than the positive actual speed control output amplitude limit value;
when the q-axis torque current is smaller than the negative actual speed control output amplitude limit value, determining the q-axis current reference value as the negative actual speed control output amplitude limit value;
and when the q-axis torque current is greater than or equal to the negative actual speed control output amplitude limit value and less than or equal to the positive actual speed control output amplitude limit value, determining the q-axis current reference value as the q-axis torque current.
Further, the step of determining a d-axis current reference value as a function of the bus voltage, the operating parameter, and the phase current comprises:
calculating the actual value of the rotating speed of the motor and the q-axis current according to the phase current;
determining d-axis current given according to the bus voltage, the operation parameters, the actual motor rotating speed value and the q-axis current;
when the d-axis current is given to be greater than 0, determining that the d-axis current reference value is 0;
when the d-axis current give is less than or equal to 0, determining the d-axis current reference value as the d-axis current give.
Further, the operation parameters include d-axis inductance, q-axis inductance, rotor flux linkage and rotor angular velocity of the motor, and the step of determining a given d-axis current according to the bus voltage, the operation parameters, the actual motor speed value and the q-axis current includes:
passing through formula
Figure BDA0001525835500000031
Calculating the d-axis current given, wherein Id_Ref_0Given d-axis current, LdIs d-axis inductance, LqQ-axis inductance, psi rotor flux, UMIs the maximum voltage vector, IqIs the q-axis current, omegarAs angular speed of the rotor, UM＝ηUdc，UMIs the maximum voltage vector, Udcη is a predetermined voltage utilization system for the bus voltage.
Further, the step of calculating the actual speed control output amplitude limit value according to the d-axis current reference value and the preset speed control output amplitude limit value includes:
passing through formula
Figure BDA0001525835500000032
Calculating the actual speed control output amplitude limit value, wherein IT_Ref_LimtControlling the output amplitude limit for the actual speed, said IT_Ref_Limt_setControlling the output amplitude limit for a preset speed, said Id_RefThe d-axis current reference value is described.
In a second aspect, the present invention further provides a current control device for a permanent magnet synchronous motor, including:
the device comprises a parameter receiving unit, a parameter processing unit and a control unit, wherein the parameter receiving unit is used for receiving bus voltage, phase current input to a motor and operation parameters of the motor;
a d-axis current reference value determining unit for determining a d-axis current reference value according to the bus voltage, the operating parameter and the phase current;
the amplitude limiting value determining unit is used for calculating an actual speed control output amplitude limiting value according to the d-axis current reference value and a preset speed control output amplitude limiting value;
the q-axis torque current determining unit is used for determining q-axis torque current according to the phase current and a preset motor rotating speed reference value;
and the q-axis current reference value determining unit is used for determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value.
Further, the q-axis current reference value determination unit is configured to determine the q-axis current reference value as the positive actual speed control output limit value when the q-axis torque current is greater than the positive actual speed control output limit value;
the q-axis current reference value determining unit is further configured to determine the q-axis current reference value as the negative actual speed control output limit value when the q-axis torque current is less than the negative actual speed control output limit value;
the q-axis current reference value determination unit is further configured to determine the q-axis current reference value as the q-axis torque current when the q-axis torque current is greater than or equal to the negative actual speed control output limit value and less than or equal to the positive actual speed control output limit value.
Further, the d-axis current reference value determining unit includes:
the calculation subunit is used for calculating the q-axis current of the motor according to the phase current;
the d-axis current given determination subunit is used for determining d-axis current given according to the bus voltage, the operation parameter and the q-axis current;
a d-axis current reference value determining subunit configured to determine that the d-axis current reference value is 0 when the d-axis current is given to be greater than 0;
the d-axis current reference value determination subunit is further configured to determine that the d-axis current reference value is the d-axis current given when the d-axis current given is less than or equal to 0.
Further, the clipping value determining unit is used for calculating a pass equation
Figure BDA0001525835500000041
Calculating the actual speed control output amplitude limit value, wherein IT_Ref_LimtControlling the output amplitude limit for the actual speed, said IT_Ref_Limt_setControlling the output amplitude limit for a preset speed, said Id_RefThe d-axis current reference value is described.
Further, the clipping value determining unit is used for calculating a pass equation
Figure BDA0001525835500000051
Calculating the actual speed control output amplitude limit value, wherein IT_Ref_LimtControlling the output amplitude limit for the actual speed, said IT_Ref_Limt_setControlling the output amplitude limit for a preset speed, said Id_RefThe d-axis current reference value is described.
Compared with the prior art, the current control method and the current control device of the permanent magnet synchronous motor have the following advantages that: determining q-axis torque current and d-axis current reference values according to the received bus voltage, phase current input to a motor and operation parameters of the motor, and then calculating an actual speed control output amplitude limit value according to the d-axis current reference value and a preset speed control output amplitude limit value; determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value, so as to realize current control on the permanent magnet synchronous motor; because the weak magnetic current is introduced into feedback in the process of calculating the actual speed control output limit value, the actual speed control output limit value can be adjusted according to the magnitude of the weak magnetic current in the weak magnetic state, so that the q-axis current reference value does not exceed the preset speed control output limit value, and simultaneously the condition of demagnetization of the motor caused by the increase of the weak magnetic current can be avoided, the output limit of speed control can still be ensured even if the current is increased, and meanwhile, the operation torque can be ensured to be smoothly maximized in the weak magnetic state.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a block diagram of a circuit structure of an electrolytic capacitor-free variable frequency drive system according to an embodiment of the present invention.
Fig. 2 is a circuit diagram of an electrolytic capacitor-free variable frequency drive system according to an embodiment of the present invention.
Fig. 3 shows a flowchart of a current control method of a permanent magnet synchronous motor according to an embodiment of the present invention.
Fig. 4 shows a detailed flowchart of step S302 in fig. 3.
Fig. 5 shows a detailed flowchart of step S304 in fig. 3.
Fig. 6 shows a detailed flowchart of step S305 in fig. 3.
Fig. 7 is a functional block diagram of a current control apparatus of a permanent magnet synchronous motor according to an embodiment of the present invention.
Fig. 8 shows a block diagram of specific blocks of the d-axis current reference value determining unit in fig. 7.
Icon: 100-electrolytic capacitor-free variable frequency drive system; 110-a parameter acquisition module; 120-a drive module; 130-a motor; 140-a pulse width modulation module; 150-a control module; 200-current control device of permanent magnet synchronous motor; 210-a parameter receiving unit; 220-d axis current reference value determination unit; 221-a calculation subunit; 222-d-axis current given determination subunit; 223-a judgment subunit; 224-d-axis current reference value determination subunit; 230-clipping value determination unit; a 240-q axis torque current determination unit; a 250-q axis current reference value determination unit.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, a block diagram of a circuit structure of an electrolytic capacitor-free variable frequency driving system 100 according to an embodiment of the present invention is shown. The variable frequency drive system 100 without electrolytic capacitor comprises a parameter acquisition module 110, a drive module 120, a pulse width modulation module 140, a control module 150 and a motor 130. The driving module 120 is electrically connected with the motor 130, the parameter collecting module 110 and the pulse width modulation module 140, and the pulse width modulation module 140 is electrically connected with the control module 150.
The parameter acquiring module 110 is configured to acquire an input voltage, a phase current input to a motor 130, and an operating parameter of the motor 130, and transmit the input voltage, the phase current input to the motor 130, and the operating parameter of the motor 130 to the control module 150.
Referring to fig. 2, a circuit diagram of an electrolytic capacitor-free variable frequency driving system 100 according to an embodiment of the present invention is shown. The variable frequency drive system 100 without electrolytic capacitor includes a power supply circuit, a rectifying circuit, a boost circuit, a dc bus capacitor, and an inverter circuit. The power circuit, the rectifying circuit, the booster circuit, the direct current bus capacitor and the inverter circuit are electrically connected in sequence, and the inverter circuit is electrically connected with the control module 150.
The power circuit provides alternating current for the circuit; the rectifying circuit is used for converting alternating current into direct current; the booster circuit is used for adjusting the voltage value of the direct current bus capacitor; the direct current bus capacitor is used for filtering alternating current still existing after being rectified by the rectifying circuit; the inverter circuit is electrically connected to the control module 150, and is configured to output a voltage to the motor 130 under the control of the pulse width modulation signal, so as to control the motor 130.
The control module 150 is configured to determine a q-axis torque current and a d-axis current reference value according to the received bus voltage, a phase current input to a motor 130, and an operating parameter of the motor 130, and then calculate an actual speed control output amplitude limit value according to the d-axis current reference value and a preset speed control output amplitude limit value; determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value; and generating a pulse width modulation signal based on the d-axis current reference value and the q-axis current reference value.
The pulse width modulation module 140 is used for controlling the three-phase voltage of the motor 130 by adjusting the conduction state of the inverter circuit in response to the pulse width modulation signal.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
First embodiment
The embodiment of the invention provides a current control method of a permanent magnet synchronous motor, which is used for controlling current so as to realize control on the speed of a motor 130. Fig. 3 is a flowchart of a current control method of a permanent magnet synchronous motor according to an embodiment of the present invention. The current control method of the permanent magnet synchronous motor comprises the following steps:
step S301: the bus voltage, the phase current input to the motor 130, and the operating parameters of the motor 130 are received.
It is understood that the phase current, the bus voltage, and the operating parameters of the motor 130 are collected and transmitted by the parameter collecting module 110; further, in the present embodiment, the phase current input to the motor 130 includes a u-phase current iuAnd v phase current iv。
In addition, the operating parameters include d-axis inductance, q-axis inductance, rotor flux linkage, and rotor angular velocity of the electric machine 130. The d-axis voltage and the q-axis voltage of the motor 130 respectively refer to a direct-axis voltage and a quadrature-axis voltage of the motor 130 in a current operation state.
Step S302: and determining a d-axis current reference value according to the bus voltage, the operation parameters and the phase current.
Please refer to fig. 4, which is a flowchart illustrating the step S302. Step S302 includes:
substep S3021: the q-axis current is calculated from the phase currents.
First, pass u-phase current iuAnd v phase current ivCalculating w phase current iw：
iw＝-iu-iv
Then passing the u-phase current iuV phase current ivAnd w phase current iwCalculate α Axis Current and β Axis CurrentThe formula is as follows:
iα＝iu
Figure BDA0001525835500000081
the q-axis current is calculated as:
Iq＝iβcosθ-iαsinθ
the formula for calculating the d-axis current is as follows:
Id＝iαcosθ+iβsinθ
wherein θ is an angle of a permanent magnet flux linkage of the rotor of the motor 130, and can be obtained by a conventional position estimation algorithm, and the calculation process is as follows:
first, the d-axis component and the q-axis component of the back electromotive force are calculated according to the following formulas:
Figure BDA0001525835500000091
Figure BDA0001525835500000092
wherein the error of the estimated angle from the actual angle
Figure BDA0001525835500000093
Specifically, the angle of the permanent magnet flux linkage of the rotor of the motor 130 is calculated by the following equation:
θ(n)＝θ(n-1)+Δθ
substep S3022: determining a d-axis current set according to the bus voltage, the operating parameter and the q-axis current.
Firstly, a maximum voltage vector is calculated through the bus voltage, and the calculation formula is as follows:
UM＝ηUdc
wherein, Udcη is a predetermined voltage utilization system for the bus voltage.
Since the voltage utilization factor is related to the modulation scheme of the inverter circuit, η is constant once the inverter circuit is determined, and the maximum voltage vector is the maximum voltage value that the inverter circuit can output.
In the present embodiment, the inverter circuit adopts SVPWM modulation method,
Figure BDA0001525835500000094
then, the d-axis current set is calculated by the following equation:
Figure BDA0001525835500000095
wherein, Id_Ref_0Given d-axis current, LdIs d-axis inductance, LqQ-axis inductance, psi rotor flux, UMIs the maximum voltage vector, IqIs the q-axis current, omegarIs the rotor angular velocity.
It can be understood that d-axis inductance, q-axis inductance, rotor flux linkage, and rotor angular velocity of the motor 130 are all operation parameters of the motor 130, and current required for the operation of the motor 130 can be better fitted by fully considering the current operation state of the motor 130 when calculating the d-axis current.
Substep S3023: judging whether the d-axis current is given to be more than 0, if so, executing a substep S3024; if not, then substep S3025 is performed.
Substep S3024: the d-axis current reference value is determined to be 0.
When I isd_Ref_0>At 0, the voltage required by the operation of the motor 130 does not reach the maximum voltage value output by the inverter circuit, and at this time, the input current of the motor 130 can continuously track the d-axis current for a given amount, so that the field weakening control is not needed at this time, and I isd_Ref＝0。
Substep S3025: the d-axis current reference value is determined to be the d-axis current given.
When I isd_Ref_0When the voltage value is less than or equal to 0, the voltage required by the operation of the motor 130 already exceeds the maximum voltage value output by the inverter circuit, and at the moment, the motor 130 needs to be subjected to flux weakening control to increase the heightTorque output capability of fast-time motor 130, therefore Id_Ref＝Id_Ref_0。
Step S303: and calculating the actual speed control output amplitude limiting value according to the d-axis current reference value and a preset speed control output amplitude limiting value.
Specifically, the actual speed control output amplitude limit value is calculated by the following equation:
Figure BDA0001525835500000101
wherein, IT_Ref_LimtControlling the output amplitude limit for the actual speed, IT_Ref_Limt_setControlling the output amplitude limit for a preset speed, Id_RefIs a d-axis current reference value.
It can be understood that, since the d-axis current reference value is related to the operating state of the motor 130, the actual speed control output amplitude limit calculated based on the d-axis current reference value also meets the actual operating condition of the motor 130, and better conforms to the actual application scenario, thereby avoiding the problem caused by setting a single unchanged speed control output amplitude limit.
Step S304: and determining a q-axis torque current according to the phase current and a preset motor rotating speed reference value.
Please refer to fig. 5, which is a flowchart illustrating the step S304. Step S304 includes:
substep S3041: and calculating the actual value of the rotating speed of the motor according to the phase current.
Specifically, the motor speed actual value is calculated by the angle of the permanent magnet flux linkage of the rotor of the motor 130 mentioned in the sub-step S3021, and then the motor speed actual value can be calculated by the following equation:
Figure BDA0001525835500000111
substep S3042: and determining the q-axis torque current according to the actual motor rotating speed value and a preset motor rotating speed reference value.
Specifically, the q-axis torque current may be calculated by the following equation:
IT_Ref_0＝Kp1*(Wr_Ref-Wr)+Ki1*∫(Wr_Ref-Wr)dt
wherein, IT_Ref_0Is q-axis torque current, Wr_RefFor a predetermined reference value of the motor speed, WrIs the actual value of the motor speed, Kp1For a predetermined first scale factor, Ki1Is a preset first integral coefficient.
Step S305: and determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value.
Please refer to fig. 6, which is a flowchart illustrating the step S305. Step S305 includes:
substep S3051: judging whether the q-axis torque current is greater than or equal to a negative actual speed control output amplitude limit value and less than or equal to a positive actual speed control output amplitude limit value, if so, executing a substep S3052; if not, then sub-step S3053 is performed.
Substep S3052: and determining the q-axis current reference value as a q-axis torque current.
Understandably, when-IT_Ref_Limt≤IT_Ref_0≤IT_Ref_LimtAt this time, the q-axis torque current does not exceed the amplitude limit range, so that the current output at this time, i.e., the q-axis current reference value, remains unchanged, i.e., Iq_Ref＝IT_Ref_0。
Substep S3053: judging whether the q-axis torque current is larger than a positive actual speed control output amplitude limit value or not, and if so, executing a substep S3054; if not, then sub-step S3055 is performed.
Substep S3054: an actual speed control output clipping value that determines the q-axis current reference value to be positive.
Understandably, when IT_Ref_0>IT_Ref_LimtAt this time, the q-axis torque current exceeds the upper limit of the amplitude limiting range, so that the reference value of the current output at this time, i.e., the q-axis current, is the upper limit of the amplitude limiting range, i.e., IT_Ref＝IT_Ref_Limt。
Substep S3055: an actual speed control output clipping value that determines the q-axis current reference value to be negative.
Understandably, when IT_Ref_0<-IT_Ref_LimtThen, the q-axis torque current exceeds the lower limit of the amplitude limiting range, so that the reference value of the output current, i.e. the q-axis current, is the lower limit of the amplitude limiting range, i.e. IT_Ref＝-IT_Ref_Limt。
Second embodiment
Referring to fig. 7, fig. 7 is a functional block diagram of a current control apparatus 200 of a permanent magnet synchronous motor according to a preferred embodiment of the present invention. It should be noted that the basic principle and the generated technical effect of the current control device 200 of the permanent magnet synchronous motor provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiments. The current control apparatus 200 of the permanent magnet synchronous motor includes a parameter receiving unit 210, a d-axis current reference value determining unit 220, a limit value determining unit 230, a q-axis torque current determining unit 240, and a q-axis current reference value determining unit 250.
The parameter receiving unit 210 is configured to receive a bus voltage, a phase current input to the motor 130, and an operation parameter of the motor 130.
It is to be understood that, in a preferred embodiment, the parameter receiving unit 210 may be configured to perform step S301.
The d-axis current reference value determining unit 220 is configured to determine a d-axis current reference value according to the bus voltage, the operating parameter, and the phase current.
It is to be understood that, in a preferred embodiment, the d-axis current reference value determining unit 220 may be configured to perform step S302.
Specifically, referring to fig. 8, the d-axis current reference value determining unit 220 includes a calculating subunit 221, a d-axis current given determining subunit 222, a judging subunit 223, and a d-axis current reference value determining subunit 224.
The calculating subunit 221 is configured to calculate the q-axis current according to the phase current.
It will be appreciated that in a preferred embodiment, the calculation subunit 221 is operable to perform sub-step S3021.
The d-axis current set determination subunit 222 is operable to determine a d-axis current set as a function of the bus voltage, the operating parameter, and the q-axis current.
It is to be appreciated that in a preferred embodiment, the d-axis current given determination subunit 222 is operable to perform sub-step S3022.
The judgment subunit 223 is configured to judge whether the d-axis current is given to be greater than 0.
It is to be understood that, in a preferred embodiment, the determining subunit 223 is operable to execute step S3023.
The d-axis current reference value determining subunit 224 is configured to determine that the d-axis current reference value is 0 when the d-axis current is given to be greater than 0; the d-axis current reference value determination subunit 224 is further configured to determine the d-axis current reference value as the d-axis current given when the d-axis current given is less than or equal to 0.
It is to be understood that in a preferred embodiment, the d-axis current reference value determining subunit 224 is operable to perform sub-step S3024 as well as sub-step S3025.
The amplitude limiting value determining unit 230 is configured to calculate an actual speed control output amplitude limiting value according to the d-axis current reference value and a preset speed control output amplitude limiting value.
Specifically, the actual speed control output amplitude limit value is calculated by the following equation:
Figure BDA0001525835500000131
wherein, IT_Ref_LimtControlling the output amplitude limit for the actual speed, IT_Ref_Limt_setControlling the output amplitude limit for a preset speed, Id_RefIs a d-axis current reference value.
It will be appreciated that in a preferred embodiment, the clipping value determination unit 230 may be adapted to perform sub-step S303.
The q-axis torque current determination unit 240 is configured to determine a q-axis torque current according to the phase current and a preset motor speed reference value.
It is to be understood that in a preferred embodiment, the q-axis torque current determination unit 240 may be configured to perform the step S304, the sub-step S3041, and the sub-step S3042.
The q-axis current reference value determining unit 250 is configured to determine a q-axis current reference value according to the q-axis torque current and the actual speed control output limit value.
Specifically, the q-axis current reference value determining unit 250 is configured to determine the q-axis current reference value as a positive actual speed control output limit value when the q-axis torque current is greater than the positive actual speed control output limit value; when the q-axis torque current is smaller than the negative actual speed control output amplitude limit value, determining the q-axis current reference value as the negative actual speed control output amplitude limit value; and when the q-axis torque current is greater than or equal to the negative actual speed control output amplitude limit value and less than or equal to the positive actual speed control output amplitude limit value, determining the q-axis current reference value as the q-axis torque current.
It is to be understood that, in a preferred embodiment, the q-axis current reference value determining unit 250 may be configured to perform the step S305, the sub-step S3051, the sub-step S3052, the sub-step S3053, the sub-step S3054 and the sub-step S3055.
In summary, the current control method and apparatus of the permanent magnet synchronous motor of the present invention determine q-axis torque current and d-axis current reference values according to the received bus voltage, the phase current input to a motor, and the operating parameters of the motor, and then calculate the actual speed control output amplitude limit value according to the d-axis current reference value and the preset speed control output amplitude limit value; determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value, so as to realize current control on the permanent magnet synchronous motor; because the weak magnetic current is introduced into feedback in the process of calculating the actual speed control output limit value, the actual speed control output limit value can be adjusted according to the magnitude of the weak magnetic current in the weak magnetic state, so that the q-axis current reference value does not exceed the preset speed control output limit value, and simultaneously the condition of demagnetization of the motor caused by the increase of the weak magnetic current can be avoided, the output limit of speed control can still be ensured even if the current is increased, and meanwhile, the operation torque can be ensured to be smoothly maximized in the weak magnetic state.

Claims (8)

1. A current control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
receiving bus voltage, phase current input to a motor and operation parameters of the motor;
calculating a q-axis current according to the phase current;
determining a d-axis current set according to the bus voltage, the operating parameter and the q-axis current;
when the d-axis current is given to be greater than 0, determining that a d-axis current reference value is 0;
when the d-axis current given is less than or equal to 0, determining the d-axis current reference value as the d-axis current given;
calculating an actual speed control output amplitude limiting value according to the d-axis current reference value and a preset speed control output amplitude limiting value;
determining q-axis torque current according to the phase current and a preset motor rotating speed reference value;
and determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value.
2. The current control method of a permanent magnet synchronous motor according to claim 1, wherein the step of determining a q-axis current reference value according to the q-axis torque current and the actual speed control output limit value comprises:
determining the q-axis current reference value as the positive actual speed control output amplitude limit value when the q-axis torque current is greater than the positive actual speed control output amplitude limit value;
when the q-axis torque current is smaller than the negative actual speed control output amplitude limit value, determining the q-axis current reference value as the negative actual speed control output amplitude limit value;
and when the q-axis torque current is greater than or equal to the negative actual speed control output amplitude limit value and less than or equal to the positive actual speed control output amplitude limit value, determining the q-axis current reference value as the q-axis torque current.
3. The current control method of a permanent magnet synchronous motor according to claim 1, wherein the operation parameters include d-axis inductance, q-axis inductance, rotor flux linkage, and rotor angular velocity of the motor, and the step of determining a d-axis current set according to the bus voltage, the operation parameters, the motor speed actual value, and the q-axis current includes:
passing through formula
Figure FDA0002249707720000021
Calculating the d-axis current given, wherein Id_Ref_0Given d-axis current, LdIs d-axis inductance, LqQ-axis inductance, psi rotor flux, UMIs the maximum voltage vector, IqIs the q-axis current, omegarAs angular speed of the rotor, UM＝ηUdc，UMIs the maximum voltage vector, Udcη is a predetermined voltage utilization system for the bus voltage.
4. The current control method of a permanent magnet synchronous motor according to claim 1, wherein the step of calculating an actual speed control output amplitude limit value according to the d-axis current reference value and a preset speed control output amplitude limit value comprises:
passing through formula
Figure FDA0002249707720000022
Calculating the actual speed control output amplitude limit value, wherein IT_Ref_LimtControlling the output amplitude limit for the actual speed, IT_Ref_Limt_setControlling the output amplitude limit for a preset speed, Id_RefIs a d-axis current reference value.
5. A current control device of a permanent magnet synchronous motor, characterized by comprising:
the device comprises a parameter receiving unit, a parameter processing unit and a control unit, wherein the parameter receiving unit is used for receiving bus voltage, phase current input to a motor and operation parameters of the motor;
the q-axis torque current determining unit is used for determining q-axis torque current according to the phase current and a preset motor rotating speed reference value;
a d-axis current reference value determining unit for determining a d-axis current reference value according to the bus voltage, the operating parameter and the phase current; wherein the d-axis current reference value determining unit includes:
the calculation subunit is used for calculating the actual value of the rotating speed of the motor and the q-axis current according to the phase current;
the d-axis current given determination subunit is used for determining d-axis current given according to the bus voltage, the operation parameter, the actual motor rotating speed value and the q-axis current;
a d-axis current reference value determining subunit configured to determine that the d-axis current reference value is 0 when the d-axis current is given to be greater than 0;
the d-axis current reference value determining subunit is further configured to determine that the d-axis current reference value is the d-axis current given when the d-axis current given is less than or equal to 0;
the amplitude limiting value determining unit is used for calculating an actual speed control output amplitude limiting value according to the d-axis current reference value and a preset speed control output amplitude limiting value;
and the q-axis current reference value determining unit is used for determining a q-axis current reference value according to the q-axis torque current and the actual speed control output amplitude limit value.
6. The current control apparatus of a permanent magnet synchronous motor according to claim 5, wherein the q-axis current reference value determining unit is configured to determine the q-axis current reference value as the positive actual speed control output limit value when the q-axis torque current is greater than the positive actual speed control output limit value;
the q-axis current reference value determining unit is further configured to determine the q-axis current reference value as the negative actual speed control output limit value when the q-axis torque current is less than the negative actual speed control output limit value;
the q-axis current reference value determination unit is further configured to determine the q-axis current reference value as the q-axis torque current when the q-axis torque current is greater than or equal to the negative actual speed control output limit value and less than or equal to the positive actual speed control output limit value.
7. The current control apparatus of a permanent magnet synchronous motor according to claim 5, wherein the d-axis current setting determination subunit is used for the pass-through equation
Figure FDA0002249707720000041
Calculating the d-axis current given, wherein Id_Ref_0Given d-axis current, LdIs d-axis inductance, LqQ-axis inductance, psi rotor flux, UMIs the maximum voltage vector, IqIs the q-axis current, omegarAs angular speed of the rotor, UM＝ηUdc，UMIs the maximum voltage vector, Udcη is a predetermined voltage utilization system for the bus voltage.
8. The current control apparatus of a permanent magnet synchronous motor according to claim 5, wherein the clipping value determining unit is configured to determine the clipping value by a formula
Figure FDA0002249707720000042
Calculating the actual speed control output amplitude limit value, wherein IT_Ref_LimtControlling the output amplitude limit for the actual speed, said IT_Ref_Limt_setControlling the output amplitude limit for a preset speed, said Id_RefThe d-axis current reference value is described.
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