CN109286346A - Permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function - Google Patents
Permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function Download PDFInfo
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- CN109286346A CN109286346A CN201710595960.0A CN201710595960A CN109286346A CN 109286346 A CN109286346 A CN 109286346A CN 201710595960 A CN201710595960 A CN 201710595960A CN 109286346 A CN109286346 A CN 109286346A
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- Prior art keywords
- linear function
- mtpa
- permanent magnet
- synchronous motor
- fitting
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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
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to variable frequency ac drive technology technical fields, more particularly to the permanent magnet synchronous motor MTPA control method being fitted based on unitary linear function, it uses following method and step: step 1: by measuring to permanent magnet synchronous motor parameter, obtaining d-axis inductance, axis inductorAnd rotor fluxParameter.MTPA control seeks to complete nonlinear programming problem as follows in real time, in the hope of the reference value of rectangular axis electric current；Step 2: observing the variation of curve, selects multiple turning points, by a plurality of straight line of this curveConnection, to approach fitting, the segmentation of this linear function the more the more to approach the more good；Step 3: unitary linear function is segmented with thisBased on establish MTPA module；Therefore every input oneInstruction can be obtained by correspondingInstruction, as MTPA module；It has fitting degree good, the small advantage of shared memory；Use instruction as the input of MTPA module, logic is simply clear, easily controllable.
Description
Technical field
The present invention relates to variable frequency ac drive technology technical fields, and in particular to is related to permanent magnet synchronous motor torque capacity electricity
Stream is a kind of permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function than control method.
Background technique
Permanent magnet synchronous motor uses permanent magnet, while realizing high power density and wide speed adjustable range, stability
Preferably, therefore become mainstream motor for electric vehicle.And starting, the operation of permanent magnet synchronous motor all rely on electric current, how to protect
The problem of card electric car has a high efficiency, lower energy consumption, exactly takes up bigger load with the smallest electric current.Therefore electronic vapour
Motor vehicle drive system must realize maximum torque per ampere control.The present invention is exactly to approach realization torque capacity with unitary linear function
Electric current is than control.
MTPA control mostly using torque as input reference, but at this time MTPA control seek in real time complete it is as follows
Shown in nonlinear programming problem, in the hope of the reference value of rectangular axis electric current:
It can be acquired respectively by above formulaWith, but the exact analytic expression of function f1 and f2 are all very in formula
Difficult determination is built ac-dc axis electric current using polynomial fitting and resolves mould so be generally fitted using secondary or cubic polynomial
Block, but some chips not can be carried out the calculating of quadratic function, thus the present invention propose a kind of input be not torque instruction but
Instruction, the method being fitted using linear function.
Summary of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide be fitted forever based on unitary linear function
Magnetic-synchro motor MTPA control method.
Permanent magnet synchronous motor MTPA control method of the present invention based on the fitting of unitary linear function, it is using as follows
Method and step:
Step 1: by measuring to permanent magnet synchronous motor parameter, d-axis inductance is obtained, axis inductorAnd rotor fluxParameter.MTPA control seeks to complete nonlinear programming problem as follows in real time, in the hope of the ginseng of rectangular axis electric current
Examine value:
It is solved by above formula available, by withFor abscissa,It is sat to be vertical
Mark, can depictWithRelated curve；
Step 2: observing the variation of curve, selects multiple turning points, by a plurality of straight line of this curve
Connection, to approach fitting, the segmentation of this linear function the more the more to approach the more good；
Step 3: unitary linear function is segmented with thisBased on establish MTPA module.Cause
This every input oneInstruction can be obtained by correspondingInstruction, as MTPA module.
After adopting the above structure, the invention has the following beneficial effects: of the present invention be fitted forever based on unitary linear function
Magnetic-synchro motor MTPA control method is carried out the fitting of ac-dc axis electric current using unitary linear function approximating method, solves core
Piece operational capability is insufficient, or makes to can be carried out MTPA control in the case where using quadratic function inconvenience by data reduction,
Compared to other methods such as two-dimentional look-up tables, have fitting degree good, the small advantage of shared memory；WithInstruction is used as MTPA mould
The input of block, logic is simply clear, easily controllable.
Detailed description of the invention
Described herein the drawings are intended to provide a further understanding of the invention, constitutes part of this application, but
It does not constitute improper limitations of the present invention, in the accompanying drawings:
Fig. 1 is the present invention (id , iq) value curve；
Fig. 2 is Function Fitting number of the present invention and id It is worth curve；
Fig. 3 is the entire block diagram of permanent magnet synchronous motor vector control system of the present invention.
Specific embodiment
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says
It is bright to be only used to explain the present invention but not as a limitation of the invention.
As shown in Figure 1-Figure 3, the permanent magnet synchronous motor based on the fitting of unitary linear function described in present embodiment
MTPA control method, it uses following method and step:
Step 1: by measuring to permanent magnet synchronous motor parameter, d-axis inductance is obtained, axis inductorAnd rotor fluxParameter.MTPA control seeks to complete nonlinear programming problem as follows in real time, in the hope of the ginseng of rectangular axis electric current
Examine value:
It is solved by above formula available, by withFor abscissa,It is sat to be vertical
Mark, can depictWithRelated curve.
Step 2: observing the variation of curve, selects multiple turning points, by a plurality of straight line of this curve
Connection, to approach fitting, the segmentation of this linear function the more the more to approach the more good;
Step 3: unitary linear function is segmented with thisBased on establish MTPA module.
Therefore every input oneInstruction can be obtained by correspondingInstruction, as MTPA module;
Specific embodiments of the present invention:
1) permanent magnet synchronous motor number of pole-pairs n used is testedp=4, power 3kw, d-axis inductance Ld=117uH, axis inductor Lq=
197uH, rotor flux=0.0277Wb。
According to series of points (id, iq) can be made, as shown in the table:
| id | iq | id | iq |
| -0,002866379 | 0,999995892 | -103,5888774 | 216,4932897 |
| -0,286173107 | 9,995904409 | -109,9045046 | 224,5462087 |
| -1,139131333 | 19,96753314 | -116,2698359 | 232,5539191 |
| -2,542718124 | 29,89204885 | -122,6803491 | 240,5192964 |
| -4,471649491 | 39,74926856 | -129,1320282 | 248,4450025 |
| -6,893627793 | 49,52249889 | -135,6212976 | 256,3335008 |
| -9,771723179 | 59,19893095 | -142,1449667 | 264,1870709 |
| -13,06667214 | 68,7696305 | -148,7001819 | 272,0078232 |
| -16,73884473 | 78,22922138 | -155,2843848 | 279,7977123 |
| -20,74975722 | 87,57538224 | -161,8952771 | 287,5585492 |
| -25,06311356 | 96,80826586 | -168,530789 | 295,2920134 |
| -29,64542913 | 105,9299227 | -175,1890529 | 302,999663 |
| -34,46632244 | 114,9437802 | -181,8683798 | 310,6829452 |
| -39,49856628 | 123,8542016 | -188,5672393 | 318,3432052 |
| -44,71797889 | 132,6661312 | -195,2842419 | 325,9816941 |
| -50,10321955 | 141,3848202 | -202,0181236 | 333,5995769 |
| -55,63553533 | 150,0156232 | -208,7677324 | 341,1979395 |
| -61,29849112 | 158,5638515 | -215,5320163 | 348,7777945 |
| -67,07770321 | 167,0346722 | -222,3100133 | 356,3400875 |
| -72,96058849 | 175,4330429 | -229,1008418 | 363,8857022 |
| -78,93613521 | 183,7636704 | -235,9036929 | 371,4154651 |
| -84,99469789 | 192,0309905 | -242,7178228 | 378,9301499 |
| -91,12781628 | 200,2391598 | -249,5425469 | 386,4304819 |
| -97,32805723 | 208,3920567 | -256,3772338 | 393,917141 |
2) it is fitted according to upper table data with linear function, available iqAbout idCurve, as a result as shown in Figure 1.
3) MTPA module is established:
MTPA module is established based on above formula.
Verifying: with above formula linear function fit approach establish MTPA module withBased on establish MTPA mould
Block is made comparisons, revolving speed inscription of loop, and revolving speed 1500rpm adds different loads, obtains stator current.
As shown in Figure 2 as can be seen that under identical load torque, the stator current that the method for linear function fitting obtains is more
It is small, it is more efficient.That is the method same current power output of linear function fitting is bigger.
It is illustrated in figure 3 the entire block diagram of permanent magnet synchronous motor vector control system of the present invention, MTPA module is embodied and exists
Position in system.
The present invention has the advantage that
1) in the present invention, unitary linear function approximating method carries out the fitting of ac-dc axis electric current, solves chip operational capability not
Foot, or make to can be carried out MTPA control in the case where using quadratic function inconvenience by data reduction, it is looked into compared to two dimension
The other methods such as table method have fitting degree good, the small advantage of shared memory.
2) it in the present invention, usesThe input as MTPA module is instructed, logic is simply clear, easily controllable.
The above description is only a preferred embodiment of the present invention, thus it is all according to the configuration described in the scope of the patent application of the present invention,
The equivalent change or modification that feature and principle are done, is included in the scope of the patent application of the present invention.
Claims (1)
1. the permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function, it is characterised in that: it uses following
Method and step:
Step 1: by measuring to permanent magnet synchronous motor parameter, d-axis inductance is obtained, axis inductorAnd rotor fluxParameter;
MTPA control seeks to complete nonlinear programming problem as follows in real time, in the hope of the reference of rectangular axis electric current
Value:
It is solved by above formula available, by withFor abscissa,It is sat to be vertical
Mark, can depictWithRelated curve；
Step 2: observing the variation of curve, selects multiple turning points, by a plurality of straight line of this curve
Connection, to approach fitting, the segmentation of this linear function the more the more to approach the more good；
Step 3: unitary linear function is segmented with thisBased on establish MTPA module；Cause
This every input oneInstruction can be obtained by correspondingInstruction, as MTPA module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710595960.0A CN109286346A (en) | 2017-07-20 | 2017-07-20 | Permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function |
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| CN201710595960.0A CN109286346A (en) | 2017-07-20 | 2017-07-20 | Permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112003508A (en) * | 2020-09-18 | 2020-11-27 | 蔚然（南京）动力科技有限公司 | Motor position sensorless control method and device |
| WO2021063293A1 (en) * | 2019-09-30 | 2021-04-08 | 华中科技大学 | Method for fitting control curve of mtpa of permanent magnet synchronous motor |
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| CN102857160A (en) * | 2012-09-20 | 2013-01-02 | 西北工业大学 | Control method for variable excitation synchronous motor MTPA based on multi-line fitting |
| CN105871265A (en) * | 2016-05-20 | 2016-08-17 | 北京新能源汽车股份有限公司 | Control method and system for maximum torque current ratio of built-in permanent magnet synchronous motor |
| CN105978434A (en) * | 2016-06-30 | 2016-09-28 | 上海交通大学 | Method and system for controlling maximum torque-to-current ratio of permanent magnetic synchronous motor |
| KR20160141942A (en) * | 2015-06-01 | 2016-12-12 | 엘에스산전 주식회사 | Method for controlling motor |
| CN106655951A (en) * | 2016-12-09 | 2017-05-10 | 浙江吉利控股集团有限公司 | Curve fitting-based maximum torque current control method |
| DE102015223365A1 (en) * | 2015-11-26 | 2017-06-01 | Zf Friedrichshafen Ag | Method for determining a d and q current for controlling a permanent-magnet synchronous machine |
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| CN102857160A (en) * | 2012-09-20 | 2013-01-02 | 西北工业大学 | Control method for variable excitation synchronous motor MTPA based on multi-line fitting |
| KR20160141942A (en) * | 2015-06-01 | 2016-12-12 | 엘에스산전 주식회사 | Method for controlling motor |
| DE102015223365A1 (en) * | 2015-11-26 | 2017-06-01 | Zf Friedrichshafen Ag | Method for determining a d and q current for controlling a permanent-magnet synchronous machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021063293A1 (en) * | 2019-09-30 | 2021-04-08 | 华中科技大学 | Method for fitting control curve of mtpa of permanent magnet synchronous motor |
| CN112003508A (en) * | 2020-09-18 | 2020-11-27 | 蔚然（南京）动力科技有限公司 | Motor position sensorless control method and device |
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Application publication date: 20190129 |