CN108258965B - Control method and system for limiting amplitude of PI (proportional-integral) controller and permanent magnet synchronous motor - Google Patents

Control method and system for limiting amplitude of PI (proportional-integral) controller and permanent magnet synchronous motor Download PDF

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CN108258965B
CN108258965B CN201810307585.XA CN201810307585A CN108258965B CN 108258965 B CN108258965 B CN 108258965B CN 201810307585 A CN201810307585 A CN 201810307585A CN 108258965 B CN108258965 B CN 108258965B
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winding
amplitude limiting
connection state
limiting value
conversion
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CN108258965A (en
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刘超丛
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Guangdong Meizhi Compressor Co Ltd
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Guangdong Meizhi Compressor 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
    • H02P25/184—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays wherein the motor speed is changed by switching from a delta to a star, e.g. wye, connection of its windings, or vice versa
    • 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)

Abstract

The invention provides a control method and a control system for limiting amplitude values of a PI (proportional-integral) controller, a permanent magnet synchronous motor, computer equipment and a computer readable storage medium. The control method of the limiting amplitude value of the PI controller is used for the permanent magnet synchronous motor and comprises the following steps: when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor; and adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before and after conversion so as to enable the amplitude limiting value to be in step change. According to the invention, the amplitude limiting value is adjusted by adopting the reverse PI controller, so that the amplitude limiting value is changed in a step manner, and the phenomenon that the permanent magnet synchronous motor runs unstably and even goes down due to the sudden change of current torque output caused by the sudden change of the amplitude limiting value is avoided.

Description

Control method and system for limiting amplitude of PI (proportional-integral) controller and permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a control method of a PI controller amplitude limiting value, a control system of the PI controller amplitude limiting value, a permanent magnet synchronous motor, computer equipment and a computer readable storage medium.
Background
For a permanent magnet synchronous motor, in order to realize the optimal energy efficiency of the motor in a full frequency band, the switching between a star connection state and an angle connection state of windings is realized through a switching tube, the motor adopts the same vector control structure in the connection state of the two windings, but control parameters need to be adjusted according to different connection states, the PI regulation amplitude limiting value of a current loop rotating speed loop also needs to be correspondingly changed, and when the connection state of the windings is switched, the output current torque is suddenly changed due to the change of the amplitude limiting value, so that the system is unstable.
Therefore, how to realize flexible control of the amplitude limiting value of the PI controller when the windings of the permanent magnet synchronous motor are switched becomes an urgent problem to be solved.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
Therefore, the first aspect of the present invention is to provide a method for controlling the amplitude limiting value of the PI controller.
A second aspect of the present invention is to provide a control system for limiting the amplitude of a PI controller.
A third aspect of the present invention is to provide a permanent magnet synchronous machine.
A fourth aspect of the invention is directed to a computer device.
A fifth aspect of the present invention is directed to a computer-readable storage medium.
In view of the above, according to an aspect of the present invention, a method for controlling a PI controller amplitude limit value is provided, for a permanent magnet synchronous motor, including: when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor; and adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before and after conversion so as to enable the amplitude limiting value to be in step change.
According to the control method of the PI controller amplitude limiting value, the PI adjusting amplitude limiting values of the current loop rotating speed loop adopted by the permanent magnet synchronous motor in the connection state of the two windings are different, when a winding conversion instruction is received, the connection state of the winding before conversion and the connection state of the winding after conversion of the permanent magnet synchronous motor are obtained, then the reverse PI controller is adopted to adjust the amplitude limiting value according to the connection state of the winding before conversion and the connection state of the winding after conversion, the amplitude limiting value is adjusted by adopting the reverse PI controller, the step change of the amplitude limiting value is realized, the smooth change of output is realized, and the occurrence of unstable running and even shutdown of the permanent magnet synchronous motor caused by the current torque output mutation due to the amplitude limiting value mutation is avoided.
The control method for the amplitude limiting value of the PI controller according to the present invention may further have the following technical features:
in the above technical solution, preferably, before obtaining the winding connection state before and after switching of the permanent magnet synchronous motor when receiving the winding switching command, the method further includes: setting and storing the corresponding relation between the winding connection state and the amplitude limiting value; wherein, the corresponding amplitude limiting values of different winding connection states are not equal.
In the technical scheme, when a winding conversion instruction is received, before the winding connection state before conversion and the winding connection state after conversion of the permanent magnet synchronous motor are obtained, when the amplitude limiting value of the permanent magnet synchronous motor is designed, the amplitude limiting values corresponding to different winding connection states of the motor are preset and stored, and different winding connection states correspond to different amplitude limiting values, so that the winding of the motor can be operated according to preset parameter values in any connection mode, and the good operation of the motor is ensured.
In any of the above technical solutions, preferably, the step of adjusting the clipping value by using a reverse PI controller according to the connection state of the winding before switching and the connection state of the winding after switching, so that the clipping value is changed in steps, specifically includes: acquiring amplitude limiting values corresponding to the winding connection state before conversion and the winding connection state after conversion, and respectively setting the amplitude limiting values as a first amplitude limiting value and a second amplitude limiting value; taking the difference value of the second amplitude limiting value and the first amplitude limiting value as amplitude limiting value variation, and dividing the amplitude limiting value variation into preset number of amplitude limiting value sub-variations; and controlling the first amplitude limiting value to accumulate a amplitude limiting value sub-variation at a preset time point until the first amplitude limiting value is accumulated to a second amplitude limiting value.
According to the technical scheme, according to the connection state of the winding before conversion and the connection state of the winding after conversion, a reverse PI controller is adopted to adjust the amplitude limiting value, so that the amplitude limiting value is in a step change process, firstly, the amplitude limiting value A corresponding to the connection state of the winding before conversion is obtained and is set as a first amplitude limiting value, the amplitude limiting value A + delta X corresponding to the connection state of the winding after conversion is obtained and is set as a second amplitude limiting value; then, willThe difference value between the second amplitude limiting value A + delta X and the first amplitude limiting value A is used as amplitude limiting value variation delta X, and the amplitude limiting value variation delta X is divided into preset number of amplitude limiting value sub-variation delta X1、ΔX2、……、ΔXnWherein, Δ X1+ΔX2+……+ΔXnThe method comprises the steps of controlling a first amplitude limiting value A to accumulate an amplitude limiting value sub-variable quantity at a preset time point until the first amplitude limiting value A is accumulated to a second amplitude limiting value A + delta X, so that the amplitude limiting value is changed in a step mode, smooth change of output is achieved, impact is reduced, and the situation that the permanent magnet synchronous motor runs unstably and even crashes due to sudden change of current torque output caused by sudden change of the amplitude limiting value is avoided.
In any of the above technical solutions, preferably, the permanent magnet synchronous motor includes a star-delta winding conversion device; the star-delta winding conversion device comprises a switching device; and the winding conversion command is executed by the star-delta winding conversion device.
In the technical scheme, the star-delta winding conversion device comprises a switch device, the execution of the winding conversion execution instruction in the star-delta winding conversion device is specifically to send the winding conversion execution instruction to the switch device, and the switch device determines which switch devices are switched on and which switch devices are switched off according to the winding conversion instruction so as to realize the conversion of the connection state of the winding and further realize the optimal energy efficiency of the permanent magnet synchronous motor at the full frequency.
In any of the above technical solutions, preferably, the winding connection state includes: star winding connection state and delta winding connection state; the winding switching command is: a command to switch from the star winding connection state to the delta winding connection state or a command to switch from the delta winding connection state to the star winding connection state.
In the technical scheme, the permanent magnet synchronous motor comprises a star winding connection state, a triangular winding connection state and a star-triangular winding conversion device, the winding conversion states comprise two types, and the motor performs conversion of different winding connection states according to needs.
According to a second aspect of the present invention, a control system for limiting the amplitude of a PI controller for a permanent magnet synchronous motor is provided, including: the acquisition unit is used for acquiring the connection state of a winding before conversion and the connection state of a winding after conversion of the permanent magnet synchronous motor when receiving a winding conversion instruction; and the adjusting unit is used for adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion so as to ensure that the amplitude limiting value is in step change.
According to the control system for the amplitude limiting value of the PI controller, the PI adjusting amplitude limiting values of the current loop rotating speed loop adopted by the permanent magnet synchronous motor in the connection state of the two windings are different, when a winding conversion instruction is received, the acquisition unit acquires the connection state of the winding before conversion and the connection state of the winding after conversion of the permanent magnet synchronous motor, the adjustment unit adjusts the amplitude limiting value by adopting the reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion, the amplitude limiting value is adjusted by adopting the reverse PI controller, the stepped change of the amplitude limiting value is realized, the smooth change of output is realized, and the occurrence of unstable operation and even shutdown of the permanent magnet synchronous motor caused by the current torque output mutation due to the amplitude limiting value mutation is avoided.
The control system for the amplitude limiting value of the PI controller according to the present invention may further have the following technical features:
in the above technical solution, preferably, the method further includes: the storage unit is used for setting and storing the corresponding relation between the winding connection state and the amplitude limiting value; wherein, the corresponding amplitude limiting values of different winding connection states are not equal.
In the technical scheme, when a winding conversion instruction is received, before the winding connection state before conversion and the winding connection state after conversion of the permanent magnet synchronous motor are obtained, when the amplitude limiting value of the permanent magnet synchronous motor is designed, the storage unit presets and stores the amplitude limiting values corresponding to the winding connection states of the motor, and the different winding connection states correspond to different amplitude limiting values, so that the winding of the motor can be operated according to the preset parameter value in any connection mode, and the good operation of the motor is ensured.
In any of the above technical solutions, preferably, the adjusting unit specifically includes: the setting unit is used for acquiring amplitude limiting values corresponding to the winding connection state before conversion and the winding connection state after conversion, and respectively setting the amplitude limiting values as a first amplitude limiting value and a second amplitude limiting value; the dividing unit is used for taking the difference value between the second amplitude limiting value and the first amplitude limiting value as amplitude limiting value variation, and dividing the amplitude limiting value variation into preset number of amplitude limiting value sub-variations; and the control unit is used for controlling the first amplitude limiting value to accumulate a amplitude limiting value sub-variable quantity at a preset time point until the first amplitude limiting value is accumulated to a second amplitude limiting value.
In the technical scheme, according to the connection state of the winding before conversion and the connection state of the winding after conversion, an adjusting unit adjusts the amplitude limiting value by adopting a reverse PI controller so that the amplitude limiting value is in a process of step change; then, the dividing unit takes the difference between the second clipping value A + delta X and the first clipping value A as the clipping value variation delta X, and divides the clipping value variation delta X into the clipping value sub-variations delta X of the preset number of parts1、ΔX2、……、ΔXnWherein Δ X1+ΔX2+……+ΔXnWhen the output of the permanent magnet synchronous motor is changed, the control unit controls the first amplitude limiting value A to accumulate a amplitude limiting value sub-variable quantity at a preset time point until the first amplitude limiting value A is accumulated to the second amplitude limiting value A + delta X, so that the amplitude limiting values are changed in a step mode, smooth change of output is achieved, impact is reduced, and the situation that the permanent magnet synchronous motor runs unstably and even crashes due to sudden change of current torque output caused by sudden change of the amplitude limiting values is avoided.
In any of the above technical solutions, preferably, the permanent magnet synchronous motor includes a star-delta winding conversion device; the star-delta winding conversion device comprises a switching device; and the winding conversion command is executed by the star-delta winding conversion device.
In the technical scheme, the star-delta winding conversion device comprises a switch device, the execution of the winding conversion execution instruction in the star-delta winding conversion device is specifically to send the winding conversion execution instruction to the switch device, and the switch device determines which switch devices are switched on and which switch devices are switched off according to the winding conversion instruction so as to realize the conversion of the connection state of the winding and further realize the optimal energy efficiency of the permanent magnet synchronous motor at the full frequency.
In any of the above technical solutions, preferably, the winding connection state includes: star winding connection state and delta winding connection state; the winding switching command is: a command to switch from the star winding connection state to the delta winding connection state or a command to switch from the delta winding connection state to the star winding connection state.
In the technical scheme, the permanent magnet synchronous motor comprises a star winding connection state, a triangular winding connection state and a star-triangular winding conversion device, the winding conversion states comprise two types, and the motor performs conversion of different winding connection states according to needs.
According to a third aspect of the present invention, the present invention provides a permanent magnet synchronous motor, including the control system of the PI controller amplitude limiting value in any of the above technical solutions.
The permanent magnet synchronous motor provided by the invention comprises the control system of the amplitude limiting value of the PI controller in any technical scheme, so that the control system of the amplitude limiting value of the PI controller has all the beneficial effects, and the description is omitted.
According to a fourth aspect of the present invention, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor; and adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before and after conversion so as to enable the amplitude limiting value to be in step change.
The invention provides a computer device, which realizes that when a processor executes a computer program: when a winding conversion instruction is received, the connection state of a winding before conversion and the connection state of a winding after conversion of the permanent magnet synchronous motor are obtained, then the amplitude limiting value is adjusted by adopting the reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion, and the amplitude limiting value is adjusted by adopting the reverse PI controller, so that the amplitude limiting value is changed in a step manner, the smooth change of output is realized, and the occurrence of unstable running and even downtime of the permanent magnet synchronous motor caused by current torque output mutation due to the amplitude limiting value mutation is avoided.
According to a fifth aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of: when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor; and adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before and after conversion so as to enable the amplitude limiting value to be in step change.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements: when a winding conversion instruction is received, the connection state of a winding before conversion and the connection state of a winding after conversion of the permanent magnet synchronous motor are obtained, then the amplitude limiting value is adjusted by adopting the reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion, and the amplitude limiting value is adjusted by adopting the reverse PI controller, so that the amplitude limiting value is changed in a step manner, the smooth change of output is realized, and the occurrence of unstable running and even downtime of the permanent magnet synchronous motor caused by current torque output mutation due to the amplitude limiting value mutation is avoided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart illustrating a control method for limiting the amplitude of a PI controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a motor vector control architecture of a specific embodiment of the present invention;
FIG. 3 illustrates a schematic diagram of an inverse PI clipping value flexible control architecture of an embodiment of the present invention;
FIG. 4 is a flow chart illustrating a method for controlling the amplitude limit value of the PI controller according to another embodiment of the present invention;
FIG. 5 is a flow chart illustrating a control method for limiting the amplitude of a PI controller according to yet another embodiment of the present invention;
FIG. 6 illustrates a schematic diagram of a torque compensation process of an exemplary embodiment of the present invention;
FIG. 7 is a schematic diagram of a winding structure of a star-delta switching motor according to an embodiment of the present invention;
FIG. 8 shows a schematic block diagram of a control system for PI controller clipping values in accordance with an embodiment of the present invention;
fig. 9 shows a schematic block diagram of a permanent magnet synchronous machine of an embodiment of the invention;
FIG. 10 shows a schematic block diagram of a computer device of an embodiment of the present invention.
Reference numerals:
wherein, the correspondence between the reference numbers and the names of the components in fig. 7 is:
71 a first switching device, 72 a second switching device, 73 a third switching device, 74 a fourth switching device, 75 a fifth switching device, 76 a sixth switching device.
Detailed Description
So that the manner in which the above recited aspects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
An embodiment of a first aspect of the present invention provides a method for controlling a PI controller amplitude limiting value, and fig. 1 shows a flow chart of the method for controlling the PI controller amplitude limiting value according to an embodiment of the present invention:
102, when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor;
and 104, adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion so as to enable the amplitude limiting value to be in step change.
According to the control method of the limiting value of the PI controller, the PI adjusting limiting values of the current loop rotating speed loops adopted by the permanent magnet synchronous motor in the connection state of two windings are different, the same vector control is adopted in the continuous operation state (the winding switching state is not carried out), for example, a motor vector control structure of a specific embodiment shown in figure 2 is that three PI loops are arranged in figure 2, namely a rotating speed loop, a D-axis current loop and a Q-axis current loop, the limiting values of the three PI loops need to be changed in different operation states, the flexible control PI loop is not added in the conventional method, the limiting values are fixed, and the current torque mutation is possibly caused after the limiting values are changed. The control method for limiting the amplitude of the PI controller provided in this embodiment obtains the connection state of the windings before and after switching of the permanent magnet synchronous motor when receiving the winding switching instruction, and then adjusts the amplitude of the permanent magnet synchronous motor by using the reverse PI controller according to the connection state of the windings before and after switching, as shown in fig. 3, in a flexible control structure of the amplitude limiting value through the reverse PI according to a specific embodiment, the control structure limits the output to the changed amplitude limiting value through the reverse PI, and after the amplitude limiting value is changed, the output of the control quantity does not change suddenly, so that the amplitude limiting value changes in a step manner, thereby realizing smooth change of the output, and avoiding the occurrence of unstable operation and even shutdown of the permanent magnet synchronous motor caused by sudden change of the current torque output due to sudden change of the amplitude limiting value.
Fig. 4 is a flowchart illustrating a control method for limiting the amplitude of the PI controller according to another embodiment of the present invention. Wherein, the method comprises the following steps:
step 402, setting and storing a corresponding relation between a winding connection state and an amplitude limiting value;
404, when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor;
and step 406, adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion, so that the amplitude limiting value is changed in a step manner.
Wherein, the corresponding amplitude limiting values of different winding connection states are not equal.
In the embodiment, when a winding switching instruction is received, before the winding connection state before switching and the winding connection state after switching of the permanent magnet synchronous motor are obtained, when the amplitude limiting value of the permanent magnet synchronous motor is designed, the amplitude limiting values corresponding to different winding connection states of the motor are preset and stored, and different winding connection states correspond to different amplitude limiting values, so that the winding of the motor can be operated according to preset parameter values in any connection mode, and the good operation of the motor is ensured.
Fig. 5 is a flowchart illustrating a control method for limiting the amplitude of the PI controller according to still another embodiment of the present invention. Wherein, the method comprises the following steps:
step 502, setting and storing a corresponding relation between a winding connection state and an amplitude limiting value;
step 504, when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor;
step 506, obtaining amplitude limiting values corresponding to the winding connection state before conversion and the winding connection state after conversion, and respectively setting the amplitude limiting values as a first amplitude limiting value and a second amplitude limiting value;
step 508, taking the difference value between the second amplitude limiting value and the first amplitude limiting value as amplitude limiting value variation, and dividing the amplitude limiting value variation into preset number of amplitude limiting value sub-variations;
step 510, controlling the first amplitude limiting value to accumulate a amplitude limiting value sub-variation at a preset time point until the first amplitude limiting value is accumulated to a second amplitude limiting value.
Wherein, the corresponding amplitude limiting values of different winding connection states are not equal.
In the embodiment, according to the connection state of the winding before conversion and the connection state of the winding after conversion, a reverse PI controller is adopted to adjust the amplitude limiting value, so that the amplitude limiting value is in a step change process, firstly, the amplitude limiting value A corresponding to the connection state of the winding before conversion is obtained and set as a first amplitude limiting value, the amplitude limiting value A + delta X corresponding to the connection state of the winding after conversion is obtained and set as a second amplitude limiting value; then, the difference between the second clipping value a + Δ X and the first clipping value a is used as the clipping value variation Δ X, and the clipping value variation Δ X is divided into a preset number of clipping value sub-variations Δ X1、ΔX2、……、ΔXnWherein Δ X1+ΔX2+……+ΔXnThe method includes the steps that a limiting value sub-variation is accumulated at a preset time point by controlling a first limiting value A until the first limiting value A is accumulated to a second limiting value A + delta X, and thus, the limiting value is changed in a step mode, as shown in a torque compensation control process of a specific embodiment of fig. 6, the delta X with the value of 1 is divided into 5 values which are 0.2 limiting value sub-variation, the limiting value is increased by 0.2 at the moment of t1, the limiting value is increased by 0.2 at the moment of t2, the limiting value is increased by 0.2 at the moment of t3, the limiting value is increased by 0.2 at the moment of t4, the limiting value is increased by 0.2 at the moment of t5, step increase of the limiting value and smooth change of output are realized, impact is reduced, and the situation that the operation of the permanent magnet synchronous motor is not stable and even shutdown is caused by the current torque output limiting value mutation due to the sudden change is avoided.
In any of the above embodiments, the permanent magnet synchronous machine comprises a star-delta winding conversion device; the star-delta winding conversion device comprises a switching device; and the winding conversion command is executed by the star-delta winding conversion device.
In this embodiment, the star-delta winding conversion device includes a switching device, and executing the winding conversion execution instruction in the star-delta winding conversion device specifically is to send the winding conversion execution instruction to the switching device, and the switching device determines which switching devices are turned on and which switching devices are turned off according to the winding conversion instruction, so as to realize the conversion of the winding connection state, and further realize the optimal energy efficiency of the permanent magnet synchronous motor in the full frequency. As shown in fig. 7, a winding structure of a star-delta switching motor according to a specific embodiment is implemented by switching on and off six switching devices to make star connection and angular connection of windings: when the first switching device 71, the second switching device 72 and the third switching device 73 are switched on, and the fourth switching device 74, the fifth switching device 75 and the sixth switching device 76 are switched off, the motor winding is in star connection; when the first switching device 71, the second switching device 72 and the third switching device 73 are turned off and the fourth switching device 74, the fifth switching device 75 and the sixth switching device 76 are turned on, the motor windings are in angular contact.
In any of the above embodiments, the winding connection state includes: star winding connection state and delta winding connection state; the winding switching command is: a command to switch from the star winding connection state to the delta winding connection state or a command to switch from the delta winding connection state to the star winding connection state.
In the embodiment, the permanent magnet synchronous motor comprises a star winding connection state, a delta winding connection state and a star-delta winding conversion device, the winding conversion states comprise two types, and the motor can convert different winding connection states according to requirements.
In the second aspect of the present invention, a control system 800 for limiting the PI controller is provided, and fig. 8 shows a schematic block diagram of the control system 800 for limiting the PI controller according to an embodiment of the present invention. As shown in fig. 8, a system 800 for controlling the clipping value of a PI controller includes: an acquisition unit 802 and an adjustment unit 804.
In the control system 800 of the PI controller amplitude limit value provided by the present invention, the obtaining unit 802 is configured to obtain a winding connection state before switching and a winding connection state after switching of the permanent magnet synchronous motor when receiving a winding switching instruction; the adjusting unit 804 is configured to adjust the clipping value by using a reverse PI controller according to the winding connection state before and after switching, so that the clipping value changes in a step manner. Because the PI regulation amplitude limiting values of the current loop rotating speed loop adopted by the permanent magnet synchronous motor in the two winding connection states are different, when a winding conversion instruction is received, the acquisition unit 802 acquires the winding connection state before conversion and the winding connection state after conversion of the permanent magnet synchronous motor, and then the regulation unit 804 adopts the reverse PI controller to regulate the amplitude limiting values according to the winding connection state before conversion and the winding connection state after conversion, and the amplitude limiting values are regulated by adopting the reverse PI controller, so that the step change of the amplitude limiting values is realized, the smooth change of output is realized, and the occurrence of unstable running and even shutdown of the permanent magnet synchronous motor caused by the sudden change of the current torque output caused by the sudden change of the amplitude limiting values is avoided.
In one embodiment, the control system 800 for PI controller clipping further comprises: and a memory unit.
In this embodiment, the storage unit is configured to set and store a correspondence between a winding connection state and a clipping value; wherein, the corresponding amplitude limiting values of different winding connection states are not equal. When receiving a winding switching instruction, before acquiring the winding connection state before and after switching of the permanent magnet synchronous motor, when designing the amplitude limiting value of the permanent magnet synchronous motor, the storage unit presets and stores the amplitude limiting values corresponding to different winding connection states of the motor, and the different winding connection states correspond to different amplitude limiting values, so that any connection mode of the winding of the motor can be operated according to the preset parameter value, and the good operation of the motor is ensured.
In any of the above embodiments, the adjusting unit 804 specifically includes: the device comprises a setting unit, a dividing unit and a control unit. The device comprises a setting unit, a control unit and a control unit, wherein the setting unit is used for acquiring amplitude limiting values corresponding to a winding connection state before conversion and a winding connection state after conversion, and respectively setting the amplitude limiting values as a first amplitude limiting value and a second amplitude limiting value; the dividing unit is used for taking the difference value between the second amplitude limiting value and the first amplitude limiting value as amplitude limiting value variation, and dividing the amplitude limiting value variation into preset number of amplitude limiting value sub-variations; and the control unit is used for controlling the first amplitude limiting value to accumulate a amplitude limiting value sub-variable quantity at a preset time point until the first amplitude limiting value is accumulated to a second amplitude limiting value.
In this embodiment, the adjusting unit 804 adjusts the winding connection state before switching and the winding connection state after switching according to the winding connection state before switching and the winding connection state after switchingFirstly, a setting unit acquires an amplitude limiting value A corresponding to the winding connection state before conversion, sets the amplitude limiting value A as a first amplitude limiting value, acquires an amplitude limiting value A + delta X corresponding to the winding connection state after conversion, and sets the amplitude limiting value A + delta X as a second amplitude limiting value; then, the dividing unit takes the difference between the second clipping value A + delta X and the first clipping value A as the clipping value variation delta X, and divides the clipping value variation delta X into the clipping value sub-variations delta X of the preset number of parts1、ΔX2、……、ΔXnWherein Δ X1+ΔX2+……+ΔXnWhen the output of the permanent magnet synchronous motor is changed, the control unit controls the first amplitude limiting value A to accumulate a amplitude limiting value sub-variable quantity at a preset time point until the first amplitude limiting value A is accumulated to the second amplitude limiting value A + delta X, so that the amplitude limiting values are changed in a step mode, smooth change of output is achieved, impact is reduced, and the situation that the permanent magnet synchronous motor runs unstably and even crashes due to sudden change of current torque output caused by sudden change of the amplitude limiting values is avoided.
In any of the above embodiments, the permanent magnet synchronous motor 800 includes a star-delta winding switching device; the star-delta winding conversion device comprises a switching device; and the winding conversion command is executed by the star-delta winding conversion device.
In this embodiment, the star-delta winding conversion device includes a switching device, and executing the winding conversion execution instruction in the star-delta winding conversion device specifically is to send the winding conversion execution instruction to the switching device, and the switching device determines which switching devices are turned on and which switching devices are turned off according to the winding conversion instruction, so as to realize the conversion of the winding connection state, and further realize the optimal energy efficiency of the permanent magnet synchronous motor in the full frequency.
In any of the above embodiments, the winding connection state includes: star winding connection state and delta winding connection state; the winding switching command is: a command to switch from the star winding connection state to the delta winding connection state or a command to switch from the delta winding connection state to the star winding connection state.
In the embodiment, the permanent magnet synchronous motor comprises a star winding connection state, a delta winding connection state and a star-delta winding conversion device, the winding conversion states comprise two types, and the motor can convert different winding connection states according to requirements.
In an embodiment of the third aspect of the present invention, a permanent magnet synchronous motor 900 is provided, as shown in fig. 9, the permanent magnet synchronous motor 900 includes: a control system 902 for limiting the value of a PI controller as in any of the embodiments described above.
The permanent magnet synchronous motor 900 provided by the invention comprises the control system 902 of the PI controller amplitude limiting value in any of the embodiments, so that the control system 902 of the PI controller amplitude limiting value has all the beneficial effects, and details are not repeated herein.
In a fourth aspect of the present invention, a computer device is provided, and fig. 10 shows a schematic block diagram of a computer device 100 according to an embodiment of the present invention. Wherein the computer device 100 comprises:
a memory 102, a processor 104, and a computer program stored on the memory 102 and executable on the processor 104, the processor 104 when executing the computer program implementing the steps of: when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor; and adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before and after conversion so as to enable the amplitude limiting value to be in step change.
In the computer device 100 provided by the present invention, the processor 104 implements, when executing the computer program: when a winding conversion instruction is received, the connection state of a winding before conversion and the connection state of a winding after conversion of the permanent magnet synchronous motor are obtained, then the amplitude limiting value is adjusted by adopting the reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion, and the amplitude limiting value is adjusted by adopting the reverse PI controller, so that the amplitude limiting value is changed in a step manner, the smooth change of output is realized, and the occurrence of unstable running and even downtime of the permanent magnet synchronous motor caused by current torque output mutation due to the amplitude limiting value mutation is avoided.
An embodiment of the fifth aspect of the present invention provides a computer readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the steps of: when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor; and adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before and after conversion so as to enable the amplitude limiting value to be in step change.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements: when a winding conversion instruction is received, the connection state of a winding before conversion and the connection state of a winding after conversion of the permanent magnet synchronous motor are obtained, then the amplitude limiting value is adjusted by adopting the reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion, and the amplitude limiting value is adjusted by adopting the reverse PI controller, so that the amplitude limiting value is changed in a step manner, the smooth change of output is realized, and the occurrence of unstable running and even downtime of the permanent magnet synchronous motor caused by current torque output mutation due to the amplitude limiting value mutation is avoided.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A control method of a limiting value of a PI controller is used for a permanent magnet synchronous motor, and is characterized by comprising the following steps:
when receiving a winding conversion instruction, acquiring a winding connection state before conversion and a winding connection state after conversion of the permanent magnet synchronous motor;
according to the winding connection state before conversion and the winding connection state after conversion, a reverse PI controller is adopted to adjust the amplitude limiting value, so that the amplitude limiting value is changed in a step manner;
before acquiring the connection state of the winding before and after switching of the permanent magnet synchronous motor when receiving the winding switching instruction, the method further comprises the following steps:
setting and storing the corresponding relation between the winding connection state and the amplitude limiting value;
wherein, the amplitude limiting values corresponding to different winding connection states are not equal;
according to the winding connection state before the conversion and the winding connection state after the conversion, the amplitude limiting value is adjusted by adopting a reverse PI controller, so that the amplitude limiting value is changed in a step mode, and the method specifically comprises the following steps:
acquiring amplitude limiting values corresponding to the winding connection state before conversion and the winding connection state after conversion, and respectively setting the amplitude limiting values as a first amplitude limiting value and a second amplitude limiting value;
taking the difference value between the second amplitude limiting value and the first amplitude limiting value as amplitude limiting value variation, and dividing the amplitude limiting value variation into preset number of amplitude limiting value sub-variations;
and controlling the first amplitude limiting value to accumulate one amplitude limiting value sub-variation at a preset time point until the first amplitude limiting value is accumulated to the second amplitude limiting value.
2. The method of claim 1, wherein the PI controller clipping value is controlled,
the permanent magnet synchronous motor comprises a star-delta winding conversion device;
the star-delta winding conversion device comprises a switching device;
and the winding conversion instruction is executed by the star-delta winding conversion device.
3. The PI controller clipping value control method according to claim 1 or 2,
the winding connection state includes: star winding connection state and delta winding connection state;
the winding switching command is as follows: and a command for switching from the star winding connection state to the delta winding connection state or a command for switching from the delta winding connection state to the star winding connection state.
4. A control system of PI controller amplitude limiting value is used for a permanent magnet synchronous motor, and is characterized by comprising:
the acquisition unit is used for acquiring the connection state of a winding before conversion and the connection state of a winding after conversion of the permanent magnet synchronous motor when receiving a winding conversion instruction;
the adjusting unit is used for adjusting the amplitude limiting value by adopting a reverse PI controller according to the connection state of the winding before conversion and the connection state of the winding after conversion so as to enable the amplitude limiting value to be in step change;
the storage unit is used for setting and storing the corresponding relation between the winding connection state and the amplitude limiting value;
wherein, the amplitude limiting values corresponding to different winding connection states are not equal;
the adjusting unit specifically comprises:
the setting unit is used for acquiring amplitude limiting values corresponding to the winding connection state before conversion and the winding connection state after conversion, and respectively setting the amplitude limiting values as a first amplitude limiting value and a second amplitude limiting value;
the dividing unit is used for taking the difference value between the second amplitude limiting value and the first amplitude limiting value as amplitude limiting value variation, and dividing the amplitude limiting value variation into preset number of amplitude limiting value sub-variations;
and the control unit is used for controlling the first amplitude limiting value to accumulate one amplitude limiting value sub-variation at a preset time point until the first amplitude limiting value is accumulated to the second amplitude limiting value.
5. The control system of the PI controller clipping value of claim 4,
the permanent magnet synchronous motor comprises a star-delta winding conversion device;
the star-delta winding conversion device comprises a switching device;
and the winding conversion instruction is executed by the star-delta winding conversion device.
6. The control system of the PI controller clipping value of claim 4 or 5 wherein,
the winding connection state includes: star winding connection state and delta winding connection state;
the winding switching command is as follows: and a command for switching from the star winding connection state to the delta winding connection state or a command for switching from the delta winding connection state to the star winding connection state.
7. A permanent magnet synchronous motor, comprising:
a control system for a PI controller clipping value as claimed in any one of claims 4 to 6.
8. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for controlling a PI controller clipping value according to any one of claims 1 to 3 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method for controlling a PI controller clipping value according to any one of claims 1 to 3.
CN201810307585.XA 2018-01-03 2018-04-08 Control method and system for limiting amplitude of PI (proportional-integral) controller and permanent magnet synchronous motor Active CN108258965B (en)

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CN102403953A (en) * 2011-12-21 2012-04-04 中国东方电气集团有限公司 Flexible control system and method for alternating current asynchronous drive motor of electric vehicle
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JPH05328776A (en) * 1992-05-19 1993-12-10 Meidensha Corp Limiting method and limiter operator
CN102403953A (en) * 2011-12-21 2012-04-04 中国东方电气集团有限公司 Flexible control system and method for alternating current asynchronous drive motor of electric vehicle
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