CN108242904A - A kind of zero reactive power control method of permanent magnet synchronous motor - Google Patents
A kind of zero reactive power control method of permanent magnet synchronous motor Download PDFInfo
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- CN108242904A CN108242904A CN201810251859.8A CN201810251859A CN108242904A CN 108242904 A CN108242904 A CN 108242904A CN 201810251859 A CN201810251859 A CN 201810251859A CN 108242904 A CN108242904 A CN 108242904A
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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
- H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
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Abstract
The invention discloses a kind of zero reactive power control method of permanent magnet synchronous motor, including motor speed closed loop, ac-dc axis current distribution method, ac-dc axis current double closed-loop, the decoupling of ac-dc axis electric voltage feed forward and five parts of space vector modulation.The present invention gives motor ac-dc axis current phasor amplitude using motor speed ring, motor ac-dc axis given value of current is distributed using ac-dc axis current distribution method, ac-dc axis current double closed-loop ensures tracking of the motor actual current for set-point, and realization permanent magnet synchronous motor active power meets load requirement, the purpose that reactive power is zero.It realizes zero reactive power operation of permanent magnet synchronous motor, reduces power system reactive power loss, improve grid voltage quality, this is of great significance for the national economic development.Pi regulator, PID regulator, fuzzy pi regulator, PID adjuster with fuzzy control, synovial membrane adjuster or neural network adjuster can be used in speed regulator and current regulator.
Description
Technical field
The present invention relates to method for controlling permanent magnet synchronous motor, more particularly to a kind of zero reactive power control of permanent magnet synchronous motor
Method processed.
Background technology
In recent years, scholar conducts in-depth research for permanent magnet synchronous motor control strategy, mainly there is Direct torque
System strategy, id=0 control strategy, weak magnetic control strategy, maximum torque per ampere control strategy etc..Strategy of Direct Torque Control is not
Motor position angle is needed, needs not rely on the parameter of electric machine, entire control structure is simple, and robustness is good, to motor torque and electricity
The shortcomings of machine stator magnetic linkage is controlled, and meets motor load requirement, but uses Hysteresis control, and PWM frequency is not fixed.
Vector control technology be use for reference armature of direct current motor electric current it is vertical with exciting current, without coupling and can be mutual indepedent
Thinking is controlled, the control to motor stator electric current size and Orientation in synchronous rotating frame reaches to quadrature axis and d-axis point
Decoupling control purpose is measured, is realized to motor-field and direct torque.id=0 control strategy is most common vector controlled skill
Art, the control strategy is simple, is chiefly used in Serve Motor Control.To improve motor speed adjustable range, plan is controlled using weak magnetic
Slightly.To reduce copper wastage, electric efficiency is improved, maximum torque per ampere control strategy can be used.
But above-mentioned permanent magnet synchronous motor control strategy does not all consider reactive power, if load side has a large amount of permanent magnet synchronous electric
Machine loads, and reactive compensator of electrical network off-capacity causes network voltage to reduce, and power grid quality declines.
Invention content
Goal of the invention：The purpose of the present invention is realize that permanent magnet synchronous motor active power meets load requirement, reactive power
The purpose for being zero.
Technical solution：To reach this purpose, the present invention uses following technical scheme：
Zero reactive power control method of permanent magnet synchronous motor of the present invention, includes the following steps：
S1：It is obtained by absolute type encoder, incremental encoder, hall position sensor or position-sensor-free algorithm
Go out current motor rotor position angle θ, and calculate the actual speed ω of rotor；Again by the actual speed of current motor rotor
ω passes through negative-feedback and given rotating speed ω*Form rotating speed outer shroud, rotor actual speed ω and given rotating speed ω*Subtract each other to obtain
The output signal of speed error signal Δ ω, speed error signal Δ ω after speed regulator gives as motor ac-dc axis
Current phasor amplitude I*；
S2：The current phasor amplitude I obtained by step S1*Ac-dc axis electric current distribution angle α is calculated, passes through current phasor width
Value I*It is calculated with ac-dc axis electric current distribution angle α, obtains motor quadrature axis current and giveDirect-axis current givesControl motor ac-dc axis
Controlled current flow permanent magnet synchronous motor reactive power is zero.Motor ac-dc axis is to constant current such as formula (1) Suo Shi：
S3：Utilize the phase current i of current transformer acquisition inverteraAnd ib, convert to obtain by abc/ α β static in two-phase
α shaft currents i under coordinate systemαWith β shaft currents iβ, convert to obtain the quadrature axis current i under two-phase rotating coordinate system using α β/dqq
With direct-axis current id；By the quadrature axis current iqThe quadrature axis current set-point obtained with step S2After comparing, by current regulation
Device obtains quadrature-axis voltageBy the direct-axis current idThe direct-axis current set-point obtained with step S2After comparing, using
Current regulator obtains direct-axis voltage
S4：The quadrature-axis voltage under two-phase rotating coordinate system will be obtained in step S3And direct-axis voltageIt is input to feedforward
In decoupling controller, according to formulaQuadrature-axis voltage after being decoupledAccording to formulaDirect-axis voltage after being decoupledWherein, LdFor motor d-axis inductance, λ is permanent magnet flux linkage value, LqFor electricity
Machine quadrature axis inductance；
S5：The quadrature axis reference voltage that step S4 is obtainedWith d-axis reference voltageAnd current motor rotor position
Angle θ is defeated by dq/ α β units, exports α axis reference voltages under two-phase stationary coordinate systemWith β axis reference voltagesBy α axis with reference to electricity
Pressureβ axis reference voltagesAnd DC bus-bar voltage VdcIt is input in SVPWM units, SVPWM units export six tunnel pulses
Modulated signal controls the conducting of the power tube of three-phase inverter and shutdown.
Further, pi regulator, PID regulator, PI type Fuzzy tune can be used in the speed regulator and current regulator
Save device, PID adjuster with fuzzy control, synovial membrane adjuster or neural network adjuster.
Advantageous effect：Compared with prior art, the present invention has following advantageous effect：
1) reactive power is zero, permanent magnet synchronous motor only active power of output, the operation of permanent magnet synchronous motor High Power Factor；
2) load side grid voltage quality is improved；
3) load side does not need to high-capacity reactive compensation device.
Description of the drawings
Fig. 1 is the whole control block diagram for the system for employing specific embodiment of the invention method；
Fig. 2 is the active power simulation waveform when motor of the specific embodiment of the invention is operated in load 0.5Nm；
Fig. 3 is the reactive power simulation waveform when motor of the specific embodiment of the invention is operated in load 0.5Nm；
Fig. 4 is the active power simulation waveform when motor of the specific embodiment of the invention is operated in load 1Nm；
Fig. 5 is the reactive power simulation waveform when motor of the specific embodiment of the invention is operated in load 1Nm；
Fig. 6 is the motor speed simulation waveform of the specific embodiment of the invention；
Fig. 7 is the motor speed simulation waveform of the specific embodiment of the invention；
Fig. 8 is the system hardware structure block diagram of the specific embodiment of the invention.
Specific embodiment
Technical scheme of the present invention is further introduced with reference to specific embodiments and the drawings.
Zero reactive power control method of permanent magnet synchronous motor of the present embodiment, including motor speed closed loop, ac-dc axis electric current
Distribution method, ac-dc axis current double closed-loop, the decoupling of ac-dc axis electric voltage feed forward and five parts of space vector modulation, such as Fig. 1 institutes
Show, specifically include following steps：
S1：It is obtained by absolute type encoder, incremental encoder, hall position sensor or position-sensor-free algorithm
Go out current motor rotor position angle θ, and calculate the actual speed ω of rotor；Again by the actual speed of current motor rotor
ω passes through negative-feedback and given rotating speed ω*Form rotating speed outer shroud, rotor actual speed ω and given rotating speed ω*Subtract each other to obtain
The output signal of speed error signal Δ ω, speed error signal Δ ω after speed regulator gives as motor ac-dc axis
Current phasor amplitude I*；
S2：The current phasor amplitude I obtained by step S1*Ac-dc axis electric current distribution angle α is calculated, passes through current phasor width
Value I*It is calculated with ac-dc axis electric current distribution angle α, obtains motor quadrature axis current and giveDirect-axis current givesControl motor ac-dc axis
Controlled current flow permanent magnet synchronous motor reactive power is zero.Motor ac-dc axis is to constant current such as formula (1) Suo Shi：
S3：Utilize the phase current i of current transformer acquisition inverteraAnd ib, convert to obtain by abc/ α β static in two-phase
α shaft currents i under coordinate systemαWith β shaft currents iβ, convert to obtain the quadrature axis current i under two-phase rotating coordinate system using α β/dqq
With direct-axis current id；By the quadrature axis current iqThe quadrature axis current set-point obtained with step S2After comparing, by current regulation
Device obtains quadrature-axis voltageBy the direct-axis current idThe direct-axis current set-point obtained with step S2After comparing, using
Current regulator obtains direct-axis voltage
S4：The quadrature-axis voltage under two-phase rotating coordinate system will be obtained in step S3And direct-axis voltageIt is input to feedforward
In decoupling controller, according to formulaQuadrature-axis voltage after being decoupledAccording to formulaDirect-axis voltage after being decoupledWherein, LdFor motor d-axis inductance, λ is permanent magnet flux linkage value, LqFor electricity
Machine quadrature axis inductance；
S5：The quadrature axis reference voltage that step S4 is obtainedWith d-axis reference voltageAnd current motor rotor position
Angle θ is defeated by dq/ α β units, exports α axis reference voltages under two-phase stationary coordinate systemWith β axis reference voltagesBy α axis with reference to electricity
Pressureβ axis reference voltagesAnd DC bus-bar voltage VdcIt is input in SVPWM units, SVPWM units export six tunnel pulses
Modulated signal controls the conducting of the power tube of three-phase inverter and shutdown.
Wherein, the speed regulator and current regulator can be used pi regulator, PID regulator, PI type Fuzzy and adjust
Device, PID adjuster with fuzzy control, synovial membrane adjuster or neural network adjuster.
According to procedure described above, using MATLAB/Simulink emulation platforms, the simulation model is built, and be directed to
It is emulated when system load is respectively 0.5Nm, 1Nm, obtains corresponding simulation waveform.Fig. 2 is operated in load for motor
Active power simulation waveform during 0.5Nm；Fig. 3 is reactive power simulation waveform when motor is operated in load 0.5Nm；Figure
4 are operated in active power simulation waveform during load 1Nm for motor；Fig. 5 is idle work(when motor is operated in load 1Nm
Rate simulation waveform；Fig. 6 is the motor speed simulation waveform of the specific embodiment of the invention；Fig. 7 is specific embodiment party of the present invention
The electromagnetic torque simulation waveform of formula.It can be obtained with Fig. 4 according to fig. 2, motor meets load requirement, and load increases, motor wattful power
Rate increases；It can be obtained with Fig. 5 according to fig. 3, motor reactive power is no more than 20var in lower fluctuation above freezing, maximum value, and minimum value does not surpass
Cross -20var；Can obtain the control method according to Fig. 6 has given rotating speed good tracking performance, and speed overshoot amount is small, response speed
Soon, strong antijamming capability；Motor electromagnetic torque has good tracking performance for load torque as can be seen from FIG. 7.Simulation result is tested
The validity of zero active power controller algorithm of permanent magnet synchronous motor proposed by the present invention is demonstrate,proved.
The microcomputer control PWM governing systems hardware structure diagram of above-mentioned algorithm is as shown in figure 8, the hardware electricity of entire governing system
It route permanent magnet synchronous motor, inverter, control circuit, protection circuit composition.The real-time rotating speed of motor is examined by the FBS that motor carries
It surveys, through shaping pulse, by the Digit Velocity module of microcontroller to central processing unit, motor speed or using position-sensor-free
Control algolithm obtains；The given speed of motor is provided by keyboard, by the I/O modules of microcontroller to central processing unit.Utilize electricity
The real-time speed of machine and the difference of given speed through a speed regulator, obtain the ac-dc axis current phasor amplitude of motor；Meter
Calculate ac-dc axis electric current distribution angle and distribution motor ac-dc axis given value of current component；Measure motor three in real time by current transformer
The real time data of the phase current of motor is conveyed to central processing unit, through Clarke by phase phase current, the A/D modules through microcontroller
Three-phase current in three-phase static coordinate system, is converted to the α β shaft currents i in two-phase stationary coordinate system by variationαWith iβ, through one
Park is converted, by the electric current i under two-phase stationary coordinate systemαWith iβThe ac-dc axis electric current being transformed under synchronous rotating frame, it is and upper
It states given ac-dc axis reference current and forms feedback closed loop, the signal that the two is subtracted each other passes through current regulator, before overvoltage
Feedback compensation, obtains ac-dc axis reference voltage of the motor under rotating coordinate system, by Clarke inverse transformations, gained is quiet in two-phase
The only α β shaft voltages u under coordinate systemαWith uβSignal is given to SVPWM modules, and SVPWM provides six tunnel PWM waves, and six tunnel PWM waves pass through light
Coupling isolation circuit, then through driving circuit controls the power tube of inverter opening and turning off, drives motor rotation.
System protection circuit is made of electric voltage over press protection circuit, circuit current foldback circuit and temperature sensing circuit,
Analysis comparison is carried out to voltage, electric current and temperature, if breaking down, microcontroller is notified immediately, failure is avoided further to expand,
Wherein, the voltage in measure loop, electric current and temperature signal become digital quantity from A/D ALT-CH alternate channels and enter microcontroller, show
Unit shows the rotating speed of current motor, phase voltage, phase current etc., and power-supplying circuit is changed into different voltage class, gives
Fault secure circuit, driving circuit, optical coupling isolation circuit, modulate circuit and microcontroller power supply ensure its normal work.
The present embodiment gives motor ac-dc axis current phasor amplitude using motor speed ring, utilizes ac-dc axis electric current distribution side
Method distributes motor ac-dc axis given value of current, and ac-dc axis current double closed-loop ensures tracking of the motor actual current for set-point, real
The existing purpose that permanent magnet synchronous motor active power meets load requirement, reactive power is zero.Realize that permanent magnet synchronous motor zero is idle
Power operation reduces power system reactive power loss, improves grid voltage quality, this has great meaning for the national economic development
Justice.
Above embodiment is merely illustrative of the invention's technical idea, it is impossible to protection scope of the present invention is limited with this, it is all
It is according to technological thought proposed by the present invention, any unsubstantiality done on the basis of technical solution is changed, and each falls within this hair
Within the protection domain of bright claims.
Claims (3)
1. a kind of zero reactive power control method of permanent magnet synchronous motor, which is characterized in that include the following steps：
S1：It is obtained and worked as by absolute type encoder, incremental encoder, hall position sensor or position-sensor-free algorithm
Preceding motor rotor position angle θ, and calculate the actual speed ω of rotor；The actual speed ω of current motor rotor is led to again
Cross negative-feedback and given rotating speed ω*Form rotating speed outer shroud, rotor actual speed ω and given rotating speed ω*Subtract each other to obtain rotating speed
The output signal of deviation signal Δ ω, speed error signal Δ ω after speed regulator is as motor ac-dc axis to constant current
Vector magnitude I*；
S2：The current phasor amplitude I obtained by step S1*Ac-dc axis electric current distribution angle α is calculated, passes through current phasor amplitude I*
It is calculated with ac-dc axis electric current distribution angle α, obtains motor quadrature axis current and giveDirect-axis current givesControl motor ac-dc axis electric current
Controllable permanent magnet synchronous motor reactive power is zero；
S3：Utilize the phase current i of current transformer acquisition inverteraAnd ib, convert to obtain in two-phase static coordinate by abc/ α β
α shaft currents i under systemαWith β shaft currents iβ, convert to obtain the quadrature axis current i under two-phase rotating coordinate system using α β/dqqWith it is straight
Shaft current id；By the quadrature axis current iqThe quadrature axis current set-point obtained with step S2After comparing, obtained by current regulator
To quadrature-axis voltageBy the direct-axis current idThe direct-axis current set-point obtained with step S2After comparing, using electric current
Adjuster obtains direct-axis voltage
S4：The quadrature-axis voltage under two-phase rotating coordinate system will be obtained in step S3And direct-axis voltageIt is input to Feedforward Decoupling
In controller, according to formulaQuadrature-axis voltage after being decoupledAccording to formulaDirect-axis voltage after being decoupledWherein, LdFor motor d-axis inductance, λ is permanent magnet flux linkage value, LqFor electricity
Machine quadrature axis inductance；
S5：The quadrature axis reference voltage that step S4 is obtainedWith d-axis reference voltageAnd current motor rotor position angle θ
Dq/ α β units are defeated by, export α axis reference voltages under two-phase stationary coordinate systemWith β axis reference voltagesBy α axis reference voltagesβ axis reference voltagesAnd DC bus-bar voltage VdcIt is input in SVPWM units, SVPWM units export six tunnel pulse tune
Signal processed controls the conducting of the power tube of three-phase inverter and shutdown.
2. zero reactive power control method of permanent magnet synchronous motor according to claim 1, it is characterised in that：The speed tune
Pi regulator, PID regulator, fuzzy pi regulator, PID adjuster with fuzzy control, synovial membrane tune can be used in section device and current regulator
Save device or neural network adjuster.
3. zero reactive power control method of permanent magnet synchronous motor according to claim 1, which is characterized in that in step S2：
The motor ac-dc axis is to constant current such as formula (1) Suo Shi：
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| CN201810251859.8A CN108242904A (en) | 2018-03-26 | 2018-03-26 | A kind of zero reactive power control method of permanent magnet synchronous motor |
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| CN201810251859.8A CN108242904A (en) | 2018-03-26 | 2018-03-26 | A kind of zero reactive power control method of permanent magnet synchronous motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110707968A (en) * | 2019-09-10 | 2020-01-17 | 苏州安驰控制***有限公司 | Control method and system of single-spindle control system and computer storage medium |
| CN111224602A (en) * | 2020-02-27 | 2020-06-02 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of permanent magnet synchronous motor based on power balance |
| CN111245320A (en) * | 2020-02-27 | 2020-06-05 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of synchronous reluctance motor based on power balance |
| CN114301348A (en) * | 2021-12-29 | 2022-04-08 | 臻驱科技（上海）有限公司 | Control method and control system for pulse vibration high-frequency injection position-free sensor |
| CN116995981A (en) * | 2023-09-26 | 2023-11-03 | 天津德星智能科技有限公司 | Current-voltage vector amplitude angle control method |
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| CN102005843A (en) * | 2010-11-21 | 2011-04-06 | 沈阳工业大学 | Brushless double-fed wind driven generator and method for controlling brushless double-fed wind driven generating system |
| CN106655947A (en) * | 2016-10-24 | 2017-05-10 | 东南大学 | Permanent magnet synchronous motor control algorithm for improving transient stability of small capacity dc bus capacitor voltage |
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| CN102005843A (en) * | 2010-11-21 | 2011-04-06 | 沈阳工业大学 | Brushless double-fed wind driven generator and method for controlling brushless double-fed wind driven generating system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110707968A (en) * | 2019-09-10 | 2020-01-17 | 苏州安驰控制***有限公司 | Control method and system of single-spindle control system and computer storage medium |
| CN110707968B (en) * | 2019-09-10 | 2021-11-30 | 苏州安驰控制***有限公司 | Control method and system of single-spindle control system and computer storage medium |
| CN111224602A (en) * | 2020-02-27 | 2020-06-02 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of permanent magnet synchronous motor based on power balance |
| CN111245320A (en) * | 2020-02-27 | 2020-06-05 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of synchronous reluctance motor based on power balance |
| CN111224602B (en) * | 2020-02-27 | 2022-05-31 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of permanent magnet synchronous motor based on power balance |
| CN111245320B (en) * | 2020-02-27 | 2022-05-31 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of synchronous reluctance motor based on power balance |
| CN114301348A (en) * | 2021-12-29 | 2022-04-08 | 臻驱科技（上海）有限公司 | Control method and control system for pulse vibration high-frequency injection position-free sensor |
| CN114301348B (en) * | 2021-12-29 | 2024-06-21 | 臻驱科技（上海）有限公司 | Control method and control system for pulse vibration high-frequency injection position-free sensor |
| CN116995981A (en) * | 2023-09-26 | 2023-11-03 | 天津德星智能科技有限公司 | Current-voltage vector amplitude angle control method |
| CN116995981B (en) * | 2023-09-26 | 2023-12-12 | 天津德星智能科技有限公司 | Current-voltage vector amplitude angle control method |
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