CN109274306A - Method for promoting electric car ipm motor controller peak power output - Google Patents
Method for promoting electric car ipm motor controller peak power output Download PDFInfo
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- CN109274306A CN109274306A CN201710585681.6A CN201710585681A CN109274306A CN 109274306 A CN109274306 A CN 109274306A CN 201710585681 A CN201710585681 A CN 201710585681A CN 109274306 A CN109274306 A CN 109274306A
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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 discloses a kind of methods for promoting electric car ipm motor controller peak power output, this method electric machine controller obtains module, pi controller, voltage vector limit algorithm module, coordinate inverse transform block, vector controlled ovennodulation module and three-phase inverter driving motor with current-order, three-phase inverter output signal feeds back to pi controller, motor position and speed signal through coordinate transferring and measures and feed back through the realization of position and speed measurement module；Current-order obtains module and provides the instruction of motor d, q shaft current by three regions；Voltage vector limit algorithm module judges that motor operating condition provides the voltage clipping of motor d, q axis；Vector controlled ovennodulation module carries out voltage modulated by region and defines pulsewidth modulation ratio；Motor dynamics model is established, optimization motor d, q shaft current exports quality.This method promotes peak power output, realizes steady control, good current following dynamic response and the steady-state performance of electric current.
Description
Technical field
It is especially a kind of maximum for promoting electric car ipm motor controller the present invention relates to motor control technology field
The method of output power.
Background technique
Using battery powered IPM synchronous motor (IPMSM, Interior Permanent for electric vehicle
Magnet Synchronous Machine) in controller, the deficiency that there is output voltage ranges is narrow, output torque is small, this
It is the main reason for causing peak power output low.In order to promote the output power of electric machine control system, usually mostly from motor
The design of ontology is started with consideration, and design is to reduce loss and improve efficiency as target, to reduce copper loss, stator resistance design compared with
It is small, it is also smaller to improve electric current and torque responsive, stator d, q axle inductance.But it is not accounted for from electric machine operating characteristic, defeated
The promotion of power is limited out, influences the runnability of motor.
Summary of the invention
It is defeated for promoting electric car ipm motor controller maximum that technical problem to be solved by the invention is to provide one kind
The method of power out, this method are easy, easy to accomplish, it can be achieved that promotion peak power output realizes electric current close to 20%
Steady control, good current following dynamic response and steady-state performance.
In order to solve the above technical problems, the present invention is for promoting electric car ipm motor controller peak power output
Method, electric machine controller obtain module, pi controller, voltage vector limit algorithm mould with sequentially connected current-order
Block, coordinate inverse transform block, vector controlled ovennodulation module and three-phase inverter driving motor, three-phase inverter output signal warp
Coordinate transferring feeds back to pi controller, motor position and speed signal and feeds back respectively through position and speed measurement module
Module, coordinate inverse transform block and coordinate conversion are obtained to current-order, wherein current-order obtains module input motor at full speed
The given torque of domain operating condition；This method includes the following steps:
Step 1: current-order obtains module presses motor permanent torque region using maximum torque per ampere control algorithm respectively
Motor d, q shaft current instruction value is provided, motor invariable power region provides motor d, q shaft current using common weak magnetic control algolithm and refers to
Value is enabled, motor depth weak magnetic region provides motor d, q shaft current instruction value than control algolithm using torque capacity voltage；
Step 2: the voltage vector limit algorithm of optimization voltage vector limit algorithm module, judges the work of motor All Speed Range
Make region and power generation or electronic operating condition that motor is worked, provides the voltage clipping of motor d, q axis respectively；
Step 3: vector controlled ovennodulation module carries out voltage modulated by region and defines pulsewidth modulation ratio MI are as follows:
Wherein:For fundamental wave phase voltage amplitude, UDCFor the busbar voltage of three-phase inverter；
Step 4: establishing motor dynamics model, the electric current of optimization motor d, q axis exports quality, the classical control according to motor
System is theoretical, motor d, q shaft voltage equation when magnetic circuit saturation and cross-coupling effect are as follows:
Wherein,It is with motor d, q shaft current id、iqThe magnetic linkage of nonlinear change, RsFor stator
Resistance, ωeFor synchronous rotational speed, formula (1) and formula (2) expansion are obtained:
Wherein,It indicates d axis dynamic inductance, is denoted as DLd,It indicates q axis dynamic inductance, is denoted as
DLq,It indicates d axis cross-coupling inductance, is denoted as DLdq,It indicates q axis cross-coupling inductance, is denoted as
DLqd；
Then motor dynamics model are as follows:
Motor dynamics model incorporates motor dynamics inductance and cross-coupling inductance, improves the accuracy of motor vector controlled.
Further, the current-order obtains module in d, q shaft current instruction value in motor invariable power region It is given
It is as follows:
Wherein, Ulim=0.636UDC, UDCFor three-phase inverter busbar voltage, IsmaxFor motor current limit radius of circle, Ld、
LqFor motor d, q axle inductance, and Lq>Ld, ψmFor rotor permanent magnetism chain, ωeFor synchronous rotational speed；
The current-order obtains module in d, q shaft current instruction value in motor depth weak magnetic regionIt gives such as
Under:
Wherein,
Further, the voltage vector limit algorithm of the voltage vector limit algorithm module includes the following steps:
A) judge whether All Speed Range motor active section is depth weak magnetic region, such asInto depth weak magnetic region, such asThen exit depth weak magnetic region；
B) motor exits depth weak magnetic regional work, judges that operating condition that motor is worked is power generation or electronic, such asFor electronic operating condition, such asFor generating operation mode；
C) when motor powered operating condition, clipping is carried out to motor d, q shaft voltage by following clipping rule, compares motor d, q axis
Current-orderSize,
IfIt sets up, is executed by following clipping measure:
Such as: | ud|>η×Ulim, then udlim=η × Ulim,
Such as: | ud|≤η×Ulim, then udlim=ud,
IfIt sets up, is executed by following clipping measure:
Such as: | uq|>η×Ulim, then uqlim=η × Ulim,
Such as: | uq|≤η×Ulim, then uqlim=uq,
D) when electric power generation operating condition, clipping is carried out to motor d, q shaft voltage by following clipping rule,
E) motor enters depth weak magnetic regional work, judges that operating condition that motor is worked is power generation or electronic, such asFor electronic operating condition, such asFor generating operation mode；
F) when motor powered operating condition, clipping rule as described below carries out clipping to motor d, q shaft voltage, such as | uq|>η
×Ulim, then uqlim=η × Ulim,
Such as | uq|≤η×Ulim, then uqlim=uq,
G) when electric power generation operating condition, clipping rule as described below carries out clipping to motor d, q shaft voltage, such as | ud|>η
×Ulim, then udlim=η × Ulim,
Such as | ud|≤η×Ulim, then udlim=ud,
Wherein, ud、uqFor the input of voltage vector limit algorithm module, udlim、uqlimFor motor d, q shaft voltage amplitude limit value,
η is the ratio of linear modulation area maximum output voltage and overmodulation maximum output voltage,For motor d axis magnetic linkage.
Further, voltage modulated is divided into linear zone, the first overmodulation and by the vector controlled ovennodulation module
Two overmodulation；
Linear zone 0≤MI < 0.9069, output voltage UoRange be Uo≤0.577UDC；
First overmodulation, 0.9069≤MI≤0.9523, output voltage UoRange be 0.577UDC≤Uo≤
0.606UDC, the first overmodulation keeps reference voltage vector phase invariant, only corrects voltage amplitude, wherein Correction and Control angle αr
It is as follows with the relationship of pulsewidth modulation ratio MI:
Second overmodulation, 0.9523 < MI≤1, output voltage UoRange be 0.606UDC≤MI<0.636UDC, the
Two overmodulation reference voltage vector phases and voltage amplitude are modified, wherein amendment keeps angle αhWith pulsewidth modulation ratio MI
Relationship it is as follows:
Angle modification carries out as the following formula,
Wherein, θeFor reference voltage vector angle, θr' it is voltage vector angle correction.
Further, motor d, q shaft voltage is converted to α, β coordinate system voltage by the coordinate inverse transform block,
uα=ud cosθe-uq sinθe
uβ=udsinθe+uqcosθe
Wherein: uαFor α shaft voltage, uβFor β shaft voltage, θeFor reference voltage vector angle.
Further, motor three-phase current is converted to motor d, q shaft current by the coordinate transferring,
Wherein: iaFor motor a phase current, ibFor motor b phase current, θeFor reference voltage vector angle.
Method due to the present invention for promoting electric car ipm motor controller peak power output uses above-mentioned skill
Art scheme, i.e., electric machine controller obtains module, pi controller, voltage arrow with sequentially connected current-order in this method
Measure limit algorithm module, coordinate inverse transform block, vector controlled ovennodulation module and three-phase inverter driving motor, three-phase inversion
Device output signal feeds back to pi controller through coordinate transferring, and motor position and speed signal are measured through position and speed
Module feeds back to current-order respectively and obtains module, coordinate inverse transform block and coordinate conversion, and wherein current-order obtains module
Input the given torque of motor All Speed Range operating condition；Current-order obtains module and provides motor d, q shaft current by three regions respectively
Instruction value；Voltage vector limit algorithm module judges motor operation optimization voltage vector limit algorithm, provides motor d, q axis respectively
Voltage clipping；Vector controlled ovennodulation module carries out voltage modulated by region and defines pulsewidth modulation ratio；Establish motor dynamics
The electric current of model, optimization motor d, q axis exports quality.This method is easy, easy to accomplish, effectively realizes mentioning for peak power output
It rises, realizes steady control, good current following dynamic response and the steady-state performance of electric current.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:
Fig. 1 is the functional block diagram of electric machine controller in this method；
Fig. 2 is that working region divides schematic diagram under motor All Speed Range operating condition in this method；
Fig. 3 is the flow diagram of voltage vector limit algorithm module in this method；
Fig. 4 is the linear zone schematic diagram of vector controlled ovennodulation module voltage modulation in this method；
Fig. 5 is the first overmodulation schematic diagram of vector controlled ovennodulation module voltage modulation in this method；
Fig. 6 is the second overmodulation schematic diagram of vector controlled ovennodulation module voltage modulation in this method；
Fig. 7 is the curve synoptic diagram of vector controlled ovennodulation module pilot angle and modulation ratio in this method；
Fig. 8 is the curve synoptic diagram that vector controlled ovennodulation module keeps angle and modulation ratio in this method.
Specific embodiment
Embodiment is as shown in Figure 1, the present invention is used to be promoted the side of electric car ipm motor controller peak power output
Method, electric machine controller obtain module 1, pi controller 2, voltage vector limit algorithm mould with sequentially connected current-order
Block 3,6 driving motor 7 of coordinate inverse transform block 4, vector controlled ovennodulation module 5 and three-phase inverter, three-phase inverter 6 export
Signal feeds back to pi controller 2 through coordinate transferring 8, and 7 position and speed signal of motor measures mould through position and speed
Block 9 feeds back to current-order respectively and obtains module 1, coordinate inverse transform block 4 and coordinate conversion 8, and wherein current-order obtains mould
The given torque of the input motor All Speed Range operating condition of block 1This method includes the following steps:
Step 1: as shown in Fig. 2, current-order obtains module presses motor permanent torque region 11 using torque capacity electricity respectively
Stream provides motor d, q shaft current instruction value than control algolithm, and motor invariable power region 12 is provided using common weak magnetic control algolithm
Motor d, q shaft current instruction value, motor depth weak magnetic region 13 provide motor d, q axis than control algolithm using torque capacity voltage
Current instruction value；
Step 2: the voltage vector limit algorithm of optimization voltage vector limit algorithm module, judges the work of motor All Speed Range
Make region and power generation or electronic operating condition that motor is worked, provides the voltage clipping of motor d, q axis respectively；
Step 3: vector controlled ovennodulation module carries out voltage modulated by region and defines pulsewidth modulation ratio MI are as follows:
Wherein:For fundamental wave phase voltage amplitude, UDCFor the busbar voltage of three-phase inverter；
Step 4: establishing motor dynamics model, the electric current of optimization motor d, q axis exports quality, the classical control according to motor
System is theoretical, motor d, q shaft voltage equation when magnetic circuit saturation and cross-coupling effect are as follows:
Wherein,It is with motor d, q shaft current id、iqThe magnetic linkage of nonlinear change, RsFor stator
Resistance, ωeFor synchronous rotational speed, formula (1) and formula (2) expansion are obtained:
Wherein,It indicates d axis dynamic inductance, is denoted as DLd,It indicates q axis dynamic inductance, is denoted as
DLq,It indicates d axis cross-coupling inductance, is denoted as DLdq,It indicates q axis cross-coupling inductance, is denoted as
DLqd；
Then motor dynamics model are as follows:
Motor dynamics model incorporates motor dynamics inductance and cross-coupling inductance, improves the accuracy of motor vector controlled.
D, q axle inductance parameter of IPMSM for electric vehicle has cross-coupling variation with the size of d, q shaft current component
Feature, i.e., d axle inductance is not only different with the size of d shaft current, but also d axle inductance size is also by the coupling effect of q shaft current
It influences, meanwhile, q axle inductance is not only different with the size of q shaft current, but also q axle inductance size is also imitated by the coupling of d shaft current
Should influence, final cross-coupling effect forms inductance to the parameter matrix of d, q shaft current, space show as inductance to d,
The curved surface object figure of q shaft current, by the foundation of motor dynamics model, so that motor vector controlled is more accurate.
Preferably, as shown in Fig. 2, d, q shaft current of the current-order acquisition module in motor invariable power region 12 refers to
Enable valueIt is given below:
Wherein, Ulim=0.636UDC, UDCFor three-phase inverter busbar voltage, IsmaxFor motor current limit radius of circle, Ld、
LqFor motor d, q axle inductance, and Lq>Ld, ψmFor rotor permanent magnetism chain, ωeFor synchronous rotational speed；Above-mentioned formula (8) formula (9) is to scheme
D, q shaft current of AB shown in 2 sections of output-constant operation instruct given value
The current-order obtains module in d, q shaft current instruction value in motor depth weak magnetic region 13It gives such as
Under:
Wherein,
Above-mentioned formula (10) and formula (11) are d, q axis electricity that BC sections of motor depth weak magnetic region 13 shown in Fig. 2 is run
Stream instruction given valuePower is gradually promoted, and until the maximum power point (mpp) D run in BC section, so far, depth is weak
13 curve motion of magnetic area terminates, and realizes the due maximum power output of motor.
Preferably, as shown in figure 3, the voltage vector limit algorithm of the voltage vector limit algorithm module includes following step
It is rapid:
A) judge whether All Speed Range motor active section is depth weak magnetic region, such asInto depth weak magnetic region, such asThen exit depth weak magnetic region；
B) motor exits depth weak magnetic regional work, judges that operating condition that motor is worked is power generation or electronic, such asFor electronic operating condition, such asFor generating operation mode；
C) when motor powered operating condition, clipping is carried out to motor d, q shaft voltage by following clipping rule, compares motor d, q axis
Current-orderSize,
IfIt sets up, is executed by following clipping measure:
Such as: | ud|>η×Ulim, then udlim=η × Ulim,
Such as: | ud|≤η×Ulim, then udlim=ud,
IfIt sets up, is executed by following clipping measure:
Such as: | uq|>η×Ulim, then uqlim=η × Ulim,
Such as: | uq|≤η×Ulim, then uqlim=uq,
D) when electric power generation operating condition, clipping is carried out to motor d, q shaft voltage by following clipping rule,
E) motor enters depth weak magnetic regional work, judges that operating condition that motor is worked is power generation or electronic, such asFor electronic operating condition, such asFor generating operation mode；
F) when motor powered operating condition, clipping rule as described below carries out clipping to motor d, q shaft voltage,
Such as | uq|>η×Ulim, then uqlim=η × Ulim,
Such as | uq|≤η×Ulim, then uqlim=uq,
G) when electric power generation operating condition, clipping rule as described below carries out clipping to motor d, q shaft voltage,
Such as | ud|>η×Ulim, then udlim=η × Ulim,
Such as | ud|≤η×Ulim, then udlim=ud,
Wherein, ud、uqFor the input of voltage vector limit algorithm module, udlim、uqlimFor motor d, q shaft voltage amplitude limit value,
η is the ratio of linear modulation area maximum output voltage and overmodulation maximum output voltage,For motor d axis magnetic linkage.
Preferably, as shown in Figure 4, Figure 5 and Figure 6, voltage modulated is divided into linearly by the vector controlled ovennodulation module
Area, the first overmodulation and the second overmodulation；
Linear zone 0≤MI < 0.9069, output voltage UoRange be Uo≤0.577UDC；
First overmodulation, 0.9069≤MI≤0.9523, output voltage UoRange be 0.577UDC≤Uo≤
0.606UDC, the first overmodulation keeps reference voltage vector phase invariant, only corrects voltage amplitude, corrects in path such as Fig. 5
Heavy line indicates, wherein Correction and Control angle αrIt is as follows with the relationship of pulsewidth modulation ratio MI:
Pilot angle and pulsewidth modulation are more as shown in Figure 7 than curve；
Second overmodulation, 0.9523 < MI≤1, output voltage UoRange be 0.606UDC≤MI<0.636UDC, the
Two overmodulation reference voltage vector phases and voltage amplitude are modified, and the heavy line corrected in path such as Fig. 6 indicates,
Middle amendment keeps angle αhIt is as follows with the relationship of pulsewidth modulation ratio MI:
Keep angle and pulsewidth modulation more as shown in Figure 8 than curve；
Angle modification carries out as the following formula,
Wherein, θeFor reference voltage vector angle, θr' it is voltage vector angle correction.
Preferably, motor d, q shaft voltage is converted to α, β coordinate system voltage by the coordinate inverse transform block,
uα=ud cosθe-uq sinθe
uβ=ud sinθe+uq cosθe
Wherein: uαFor α shaft voltage, uβFor β shaft voltage, θeFor reference voltage vector angle.
Preferably, motor three-phase current is converted to motor d, q shaft current by the coordinate transferring,
Wherein: iaFor motor a phase current, ibFor motor b phase current, θeFor reference voltage vector angle.
This method execute when, must carry out parameter of electric machine calibration, obtain motor operation permanent torque region, invariable power region and
The optimal current torque data table in depth weak magnetic regionIt can be calculated further according to motor mathematics model of stable state
Motor d, q axis magnetic linkageObtain electric current magnetic linkage tables of data
After calibrated, the identification operation of the parameter of electric machine is carried out, wherein rotation high frequency signal injection method can be used to carry out d, q axis dynamic electric
The identification of sense and cross-coupling inductance, obtaining motor dynamics model parameter sequence is
Current-order obtains module and is stored with motor operation in permanent torque region, invariable power region and depth weak magnetic region
Optimal current torque two-dimensional data tableWhen vector controlled, according to torque command and motor speed feedback real-time query
It is instructed to optimal d, q shaft current
Pi controller output are as follows:
Wherein, Kpd、τid、Kpq、τiqRatio, i for motor d, q axis scale integral controllerd、iqFor the electricity of motor d, q axis
Stream feedback, integral parameter, electric current loop decouple feedforward control discretization are as follows:
Wherein, τsFor current control cycle, formula is stored with motor operation in permanent torque region, invariable power region and depth
The optimal magnetic linkage torque two-dimensional data table in weak magnetic regionWhen vector controlled, two-dimensional data tableRoot
According to torque command and motor speed feedback real-time query to d, q axis magnetic linkage
To the explanation for improving Overmodulation Method, the execution of the Overmodulation Method of vector controlled ovennodulation module must be according to modulation
Section is only modified the quadrature voltage vector of modulation, to modulated process without interference, i.e., no longer divides modulation areas to zero
The action time of vector sum basic voltage vectors is calculated, but uses same linear modulation area zero vector and fundamental voltage
The action time allocation rule of vector exports T0、T1、T2.Specific implementation step is as follows:
Step 1: generating pulsewidth modulation than the number with pilot angle using MatLab data Fitting Toolbox according to formula (12)
It is stored according to table；
Step 2: generating modulation ratio according to formula (13) using Matlab data Fitting Toolbox and keeping the tables of data at angle
It is stored；
Step 3: calculating pulsewidth modulation ratio MI, modulator zone locating for reference voltage vector is judged；
Step 4: reference voltage vector is located at linear modulation area, without amendment quadrature voltage vector；
Step 5: reference voltage vector is located at the first overmodulation, using step 3 modulation ratio MI calculated, calls and adjust
The look-up routine than MI and pilot angle is made, current control angle is searched, reference voltage vector is modified according to pilot angle, such as
Reference voltage vector is in pilot angle, without amendment quadrature voltage vector, maintain former orthogonal reference voltage vector amplitude and
Phase；Reference voltage is in outside pilot angle, does not have to modification, corrects orthogonal reference voltage vector as follows:
Step 6: reference voltage vector is located at the second overmodulation, using step 3 modulation ratio MI calculated, calls and adjust
It makes than MI and the look-up routine for keeping angle, searches and currently keep angle, reference voltage vector is modified according to holding angle；Ginseng
It examines voltage vector to be in holding angle, the amplitude and phase of reference voltage vector are by the substantially electric of reference voltage vector present position
Vector correction is pressed, i.e. the amplitude correction of reference voltage vector is basic voltage vectors, and the angle of reference voltage vector is maintained base
Angle where this voltage vector；Reference voltage vector, which is in, to be kept outside angle, the angle, θ of reference voltage vectorr' by formula (14) into
Row amendment, and orthogonal reference voltage vector is corrected as follows:
Step 7: by revised voltage vector, unified call SVPWM linear modulation algorithm calculates zero vector and basic
The action time T of voltage vector0、T1、T2；
Step 8: terminating.
Wherein, θ 'rFor the corrected reference voltage vector angle calculated by formula (14), n is sector where reference voltage vector.
Compared with prior art, improved Overmodulation Method is easy, easy to accomplish, it can be achieved that promoting electric car for this method
With the peak power output of ipm motor close to 20%.The voltage limit algorithm of the optimization of proposition has carried out motor d, q shaft voltage
The optimum allocation of amplitude realizes the steady control of electric current, has in conjunction with accurate motor dynamics model in the application of this method
The feature that current following dynamic response is good, steady-state performance is high.
Claims (6)
1. a kind of method for promoting electric car ipm motor controller peak power output, electric machine controller is successively to connect
The current-order connect obtains module, pi controller, voltage vector limit algorithm module, coordinate inverse transform block, vector
Control ovennodulation module and three-phase inverter driving motor, three-phase inverter output signal feed back to ratio through coordinate transferring
Integral controller, motor position and speed signal feed back to current-order through position and speed measurement module respectively and obtain module, seat
Inverse transform block and coordinate conversion are marked, wherein current-order obtains the given torque of module input motor All Speed Range operating condition；It is special
Sign is that this method includes the following steps:
It is provided respectively by motor permanent torque region using maximum torque per ampere control algorithm Step 1: current-order obtains module
Motor d, q shaft current instruction value, motor invariable power region provide the instruction of motor d, q shaft current using common weak magnetic control algolithm
Value, motor depth weak magnetic region provide motor d, q shaft current instruction value than control algolithm using torque capacity voltage；
Step 2: the voltage vector limit algorithm of optimization voltage vector limit algorithm module, judges the workspace of motor All Speed Range
The power generation or electronic operating condition that domain and motor are worked, provide the voltage clipping of motor d, q axis respectively；
Step 3: vector controlled ovennodulation module carries out voltage modulated by region and defines pulsewidth modulation ratio MI are as follows:
Wherein:For fundamental wave phase voltage amplitude, UDCFor the busbar voltage of three-phase inverter；
Step 4: establishing motor dynamics model, the electric current of optimization motor d, q axis exports quality, and the classic control according to motor is managed
Motor d, q shaft voltage equation when by, magnetic circuit saturation and cross-coupling effect are as follows:
Wherein,It is d, q axis magnetic linkage, and with motor d, q shaft current id、iqNonlinear change, RsFor stator
Resistance, ωeFor synchronous rotational speed, formula (1) and formula (2) expansion are obtained:
Wherein,It indicates d axis dynamic inductance, is denoted as DLd,It indicates q axis dynamic inductance, is denoted as DLq,It indicates d axis cross-coupling inductance, is denoted as DLdq,It indicates q axis cross-coupling inductance, is denoted as DLqd；
Then motor dynamics model are as follows:
Motor dynamics model incorporates motor dynamics inductance and cross-coupling inductance, improves the accuracy of motor vector controlled.
2. the method according to claim 1 for promoting electric car ipm motor controller peak power output, special
Sign is: the current-order obtains module in d, q shaft current instruction value in motor invariable power regionIt is given below:
Wherein, Ulim=0.636UDC, UDCFor three-phase inverter busbar voltage, IsmaxFor motor current limit radius of circle, Ld、LqFor
Motor d, q axle inductance, and Lq>Ld, ψmFor rotor permanent magnetism chain, ωeFor synchronous rotational speed；
The current-order obtains module in d, q shaft current instruction value in motor depth weak magnetic regionIt is given below:
Wherein,
3. the method according to claim 1 for promoting electric car ipm motor controller peak power output, special
Sign is: the voltage vector limit algorithm of the voltage vector limit algorithm module includes the following steps:
A) judge whether All Speed Range motor active section is depth weak magnetic region, such asInto depth weak magnetic region, such asThen exit depth weak magnetic region；
B) motor exits depth weak magnetic regional work, judges that operating condition that motor is worked is power generation or electronic, such asFor electronic operating condition, such asFor generating operation mode；
C) when motor powered operating condition, clipping is carried out to motor d, q shaft voltage by following clipping rule, compares motor d, q shaft current
InstructionSize,
IfIt sets up, is executed by following clipping measure:
Such as: | ud|>η×Ulim, then udlim=η × Ulim,
Such as: | ud|≤η×Ulim, then udlim=ud,
IfIt sets up, is executed by following clipping measure:
Such as: | uq|>η×Ulim, then uqlim=η × Ulim,
Such as: | uq|≤η×Ulim, then uqlim=uq,
D) when electric power generation operating condition, clipping is carried out to motor d, q shaft voltage by following clipping rule,
E) motor enters depth weak magnetic regional work, judges that operating condition that motor is worked is power generation or electronic, such asFor electronic operating condition, such asFor generating operation mode；
F) when motor powered operating condition, clipping rule as described below carries out clipping to motor d, q shaft voltage,
Such as | uq|>η×Ulim, then uqlim=η × Ulim,
Such as | uq|≤η×Ulim, then uqlim=uq,
G) when electric power generation operating condition, clipping rule as described below carries out clipping to motor d, q shaft voltage,
Such as | ud|>η×Ulim, then udlim=η × Ulim,
Such as | ud|≤η×Ulim, then udlim=ud,
Wherein, ud、uqFor the input of voltage vector limit algorithm module, udlim、uqlimFor motor d, q shaft voltage amplitude limit value, η is line
The ratio of property modulator zone maximum output voltage and overmodulation maximum output voltage,For motor d axis magnetic linkage.
4. the method according to claim 1 for promoting electric car ipm motor controller peak power output, special
Sign is: voltage modulated is divided into linear zone, the first overmodulation and the second ovennodulation by the vector controlled ovennodulation module
Area；
Linear zone 0≤MI < 0.9069, output voltage UoRange be Uo≤0.577UDC；
First overmodulation, 0.9069≤MI≤0.9523, output voltage UoRange be 0.577UDC≤Uo≤
0.606UDC, the first overmodulation keeps reference voltage vector phase invariant, only corrects voltage amplitude, wherein Correction and Control angle αr
It is as follows with the relationship of pulsewidth modulation ratio MI:
Second overmodulation, 0.9523 < MI≤1, output voltage UoRange be 0.606UDC≤MI<0.636UDC, the second mistake
Modulator zone reference voltage vector phase and voltage amplitude are modified, wherein amendment keeps angle αhWith the pass of pulsewidth modulation ratio MI
It is as follows:
Angle modification carries out as the following formula,
Wherein, θeFor reference voltage vector angle, θ 'rFor voltage vector angle correction.
5. the method according to claim 1 for promoting electric car ipm motor controller peak power output, special
Sign is: motor d, q shaft voltage is converted to α, β coordinate system voltage by the coordinate inverse transform block,
uα=udcosθe-uqsinθe
uβ=udsinθe+uqcosθe
Wherein: uαFor α shaft voltage, uβFor β shaft voltage, θeFor reference voltage vector angle.
6. the method according to claim 1 for promoting electric car ipm motor controller peak power output, special
Sign is: motor three-phase current is converted to motor d, q shaft current by the coordinate transferring,
Wherein: iaFor motor a phase current, ibFor motor b phase current, θeFor reference voltage vector angle.
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| CN113300650A (en) * | 2020-02-24 | 2021-08-24 | 蜂巢传动***(江苏)有限公司保定研发分公司 | Driving motor calibration method and system |
| CN113992099A (en) * | 2021-12-01 | 2022-01-28 | 北京国家新能源汽车技术创新中心有限公司 | FOC-based permanent magnet synchronous motor weak magnetic out-of-control method, system, computer and storage medium |
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| CN113300650A (en) * | 2020-02-24 | 2021-08-24 | 蜂巢传动***(江苏)有限公司保定研发分公司 | Driving motor calibration method and system |
| CN111756291A (en) * | 2020-07-08 | 2020-10-09 | 东风电子科技股份有限公司 | Method for realizing voltage saturation out-of-control inhibition control of new energy automobile permanent magnet synchronous motor controller |
| CN111756291B (en) * | 2020-07-08 | 2023-08-18 | 东风电子科技股份有限公司 | Method for realizing control for inhibiting voltage saturation and runaway by using new energy automobile permanent magnet synchronous motor controller |
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| CN113098354B (en) * | 2021-04-29 | 2023-02-21 | 臻驱科技（上海）有限公司 | Over-modulation region control method and system of motor controller |
| CN113098354A (en) * | 2021-04-29 | 2021-07-09 | 臻驱科技（上海）有限公司 | Overmodulation region control method and system of motor controller |
| WO2023098181A1 (en) * | 2021-12-01 | 2023-06-08 | 北京国家新能源汽车技术创新中心有限公司 | Foc-based permanent magnet synchronous motor field-weakening runaway control method, computer, and storage medium |
| CN113992099A (en) * | 2021-12-01 | 2022-01-28 | 北京国家新能源汽车技术创新中心有限公司 | FOC-based permanent magnet synchronous motor weak magnetic out-of-control method, system, computer and storage medium |
| CN113992099B (en) * | 2021-12-01 | 2024-03-22 | 北京国家新能源汽车技术创新中心有限公司 | FOC-based permanent magnet synchronous motor flux weakening control method, system, computer and storage medium |
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