CN109302109A - Permanent magnet synchronous motor field weakening control method and control device - Google Patents
Permanent magnet synchronous motor field weakening control method and control device Download PDFInfo
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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
- H02P21/0085—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
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Abstract
The invention discloses a kind of permanent magnet synchronous motor field weakening control method and control devices, which comprises intersects weak magnetic coefficient k to the current error value Δ i of d, q axis of permanent magnet synchronous motor using dq axisdWith Δ iqIt is modified, obtains Δ ' idWith Δ ' iq；Calculate Δ ' idWith Δ ' iqThe voltage vector obtained after d, q shaft current proportional and integral controller respectively；Corresponding driving signal is exported according to the voltage vector of calculating, realizes the control to the permanent magnet synchronous motor.The present invention, calculation amount insensitive to the parameter of electric machine in control motor operation course is small and is not necessarily to filter, to be influenced by parameter of electric machine variation small, system response delay is small, and performance is more excellent.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control technology fields, particularly relate to a kind of permanent magnet synchronous motor weak magnetic controlling party
Method and control device.
Background technique
In PMSM Speed control field, there are many high-speed cruisings that application needs motor, but due to
Counter electromotive force of motor is directly proportional to stator magnetic linkage and motor speed, thus when revolving speed be more than certain value when be possible to can because
Counter electromotive force (EMF) is greater than the maximum stator voltage that inverter can be provided and so-called voltage saturation occurs.The method of solution
It is that DC bus-bar voltage can be increased by boost (boosting) circuit；Another method is controlled using weak magnetic, weak magnetic control
Basic thought is the d shaft current of given degaussing to reduce the size of EMF, and system is made to have enough voltage to guarantee that motor operation exists
High velocity.Weak magnetic is a kind of simple effective method, from d shaft current it is given in terms of, scholar proposes certain methods to realize
The high speed weak magnetic field operation of motor.
For example, a kind of look-up table needs to be calculated a look-up table in advance, during running, by looking into
The mode of table obtains d shaft current information, but motor operating state real-time change, this method tabled look-up are although relatively simple
But error is larger.
Another method is then the d shaft current needed for being solved based on permanent magnet synchronous motor solution to model analysis method, this method
Although simply, quickly still it is more sensitive for the parameter of electric machine.It needs to be counted according to voltage limit ellipse and current limitation circle
The d axis weak magnetoelectricity stream at current time is calculated, the method for this parsing needs to use the parameters such as the permanent magnet flux linkage of motor, d axle inductance,
Calculated result is affected by parameter of electric machine variation in motor operation course.
It is fed back voltage error in addition, there are also documents, is weak to obtain d axis by way of current error feedback equal error feedback
Magnetoelectricity stream, but these methods based on error feedback require design filter, and the addition of filter will will lead to system and ring
The delay answered influences the performance of system.Therefore, it is necessary to develop it is a kind of it is novel it is insensitive to the parameter of electric machine, calculation amount is small simultaneously
The performance preferably permanent magnet synchronous motor field weakening control method of filter design is not needed.
Summary of the invention
In view of this, it is an object of the invention to propose a kind of permanent magnet synchronous motor field weakening control method and control device,
, calculation amount insensitive to the parameter of electric machine is small in control motor operation course and is not necessarily to filter, to be changed by the parameter of electric machine
Influence it is small, system response delay it is small, performance is more excellent.
A kind of permanent magnet synchronous motor field weakening control method is provided based on the above-mentioned purpose present invention, comprising:
Intersect weak magnetic coefficient k to the current error value Δ i of d, q axis of permanent magnet synchronous motor using dq axisdWith Δ iqIt is repaired
Just, Δ ' i is obtaineddWith Δ ' iq；
Calculate Δ ' idWith Δ ' iqThe voltage vector obtained after d, q shaft current proportional and integral controller respectively；
Corresponding driving signal is exported according to the voltage vector of calculating, realizes the control to the permanent magnet synchronous motor.
Further, intersect weak magnetic coefficient k to the current error value Δ of d, q axis of permanent magnet synchronous motor using dq axis described
idWith Δ iqBefore being modified, further includes:
According to the d shaft current reference value of permanent magnet synchronous motorWith q shaft current initial valueAnd current d axis electricity
Flow sampled value idWith q shaft current sampled value iqCalculate separately the current error value Δ i of d, q axisdWith Δ ' iq。
Wherein, the coefficient k is the coefficient directly proportional to the revolving speed of the permanent magnet synchronous motor.
Wherein, the coefficient k=ωr·L；
Wherein, ωrFor the revolving speed of the permanent magnet synchronous motor, the average inductance of permanent magnet synchronous motor described in L.
Alternatively, the coefficient k is calculated according to following expression three:
Wherein, l is the product coefficient of setting, ωrbaseFor the rated speed of the permanent magnet synchronous motor, ωrFor it is described forever
The actual speed of magnetic-synchro motor.
The present invention also provides a kind of permanent magnet synchronous motor weak magnetic control devices, comprising:
The coefficient k is calculated according to following expression three:
Wherein, l is the product coefficient of setting, ωrbaseFor the rated speed of the permanent magnet synchronous motor, ωrFor it is described forever
The actual speed of magnetic-synchro motor.
In the technical solution of the embodiment of the present invention, intersect weak magnetic coefficient k to d, q axis of permanent magnet synchronous motor using dq axis
Current error value Δ idWith Δ iqIt is modified, obtains Δ ' idWith Δ ' iq；Calculate Δ ' idWith Δ ' iqPass through d, q shaft current respectively
The voltage vector obtained after proportional and integral controller；Corresponding driving signal is exported according to the voltage vector of calculating, is realized to described
The control of permanent magnet synchronous motor.During this motor control, due to permanent magnet flux linkage, the d axle inductance etc. without reference to motor
Parameter, to the parameter of electric machine change it is insensitive, by the parameter of electric machine variation influenced it is small, and be not necessarily to filter, calculation amount is small, to reach
To preferably performance.
Detailed description of the invention
Fig. 1 is a kind of internal structure chart of PMSM Speed control system provided in an embodiment of the present invention；
Fig. 2 is a kind of permanent magnet synchronous motor field weakening control method flow chart provided in an embodiment of the present invention；
Fig. 3 is a kind of internal structure block diagram of permanent magnet synchronous motor weak magnetic control device provided in an embodiment of the present invention；
Fig. 4 is that the permanent magnet synchronous motor band that rated frequency provided in an embodiment of the present invention is 100Hz is partly loaded in 10kHz sampling
Under rate, motor is directly raised to the simulation result curve graph of 150Hz from 5Hz；
Fig. 5 is the oscilloscope data waveform screenshot of emulation experiment provided in an embodiment of the present invention；
Fig. 6 is the oscilloscope data waveform screenshot for the emulation experiment that band provided in an embodiment of the present invention carries after increasing；
Fig. 7 be it is provided in an embodiment of the present invention by DA output in the case that band carry 7.5Nm,iqWith Δ idShow
Wave device data waveform screenshot；
Fig. 8 is the torque rotary speed curve graph of motor provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that when we claim element to be " connected " or " coupling
Connect " to another element when, it can be directly connected or coupled to other elements, or there may also be intermediary elements.In addition, this
In " connection " or " coupling " that uses may include being wirelessly connected or wireless coupling.Wording "and/or" used herein includes one
A or more associated whole for listing item or any cell and all combination.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
The present inventor is it is considered that intersect weak magnetic coefficient k to the electric current of d, q axis of permanent magnet synchronous motor using dq axis
Error amount Δ idWith Δ iqIt is modified, obtains Δ ' idWith Δ ' iq；Calculate Δ ' idWith Δ ' iqPass through d, q shaft current ratio respectively
The voltage vector obtained after integral controller does not need then to feed back similar to traditional based on voltage magnitude feedback or current error
The weak magnetoelectricity stream reference value of d axis is obtained after wave filter；But according to actual operation conditions and according to current operating condition,
Adjusting and compensation mutual between dq shaft current are realized using weak magnetic coefficient k is intersected.It is embodied in when motor operation is in high speed
Qu Shi subtracts the error feedback of q shaft current again on the basis of practical d axis error feedback current, provides more weak magnetic electricity
Stream；Simultaneously along with the error of d shaft current is fed back on the basis of practical q axis error feedback current, to guarantee to mention to motor
For enough power output electric currents, whole process is all the mutual adjusting of dq axis actual current, does not need the participation of filter.It is specific real
Existing process is to intersect weak magnetic coefficient k using dq axis to the current error value Δ i of d, q axis of permanent magnet synchronous motordWith Δ iqIt is repaired
Just, Δ ' i is obtaineddWith Δ ' iq；Calculate Δ ' idWith Δ ' iqThe electricity obtained after d, q shaft current proportional and integral controller respectively
Press vector；In turn, corresponding driving signal is exported according to the voltage vector of calculating, realizes the control to the permanent magnet synchronous motor.
During this motor control, due to parameters such as permanent magnet flux linkage, d axle inductances without reference to motor, the parameter of electric machine is changed
It is insensitive, by the parameter of electric machine variation influenced it is small, and be not necessarily to filter, calculation amount is small, to reach preferably performance.
The technical solution for embodiment that the invention will now be described in detail with reference to the accompanying drawings.
The internal structure of a kind of PMSM Speed control system provided in an embodiment of the present invention, as shown in Figure 1, packet
It includes: three-phase voltage source, permanent magnet synchronous motor, DC bus capacitor, three-phase diode rectifier bridge, voltage and current sample circuit, DSP control
Device and inverter and its driving circuit processed.
Wherein, voltage and current sample circuit can use voltage hall sensor and current Hall sensor and acquire respectively directly
Side voltage and permanent magnet synchronous motor a, b phase current are flowed, sampled signal enters dsp controller after signal conditioning circuit and converts
For digital signal.Dsp controller completes the operation of method proposed by the invention, exports six way switch pulse signals through electricity of overdriving
The final driving signal of six switching tubes of inverter is obtained behind road.
The detailed process of a kind of permanent magnet synchronous motor field weakening control method provided in an embodiment of the present invention, as shown in Fig. 2, packet
Include following steps:
Step S201: the current error value Δ i of d, q axis is calculateddWith Δ iq。
In this step, according to the d shaft current reference value of permanent magnet synchronous motorWith q shaft current initial valueAnd it is current
D shaft current sampled value idWith q shaft current sampled value iqCalculate separately the current error value Δ i of d, q axisdWith Δ ' iq, i.e.,
Wherein, q shaft current initial valueIt can be obtained using existing method.For example, according to torque instructionIt obtains Wherein npFor the motor number of pole-pairs of permanent magnet synchronous motor, ψfFor permanent magnet flux linkage, for example, np=4.And
Torque instructionIt can be obtained by PI (proportional integration) adjuster of speed ring, as shown in expression formula one:
In expression formula one, ωr *For the reference velocity of permanent magnet synchronous motor, ωrFor the actual speed of permanent magnet synchronous motor, s
For integral operator；KpAnd KiThe respectively proportional gain in the pi regulator of speed ring and integral gain.
Wherein, the d shaft current reference value initially givenGenerally zero.
Step S202: intersect weak magnetic coefficient k to the current error value Δ i of d, q axis of permanent magnet synchronous motor using dq axisdWith
ΔiqIt is modified, obtains Δ ' idWith Δ ' iq。
In this step, intersect weak magnetic coefficient k to the current error value Δ i of d, q axis of permanent magnet synchronous motor using dq axisdWith
ΔiqIt is modified, obtains current error value Δ ' i of revised d, q axisdWith Δ ' iq。
Wherein, weak magnetic coefficient k is designed according to electric current loop transmission function；Electric current loop transmission function such as two institute of expression formula
Show:
In expression formula two, R, L are respectively the stator resistance and average inductance of permanent magnet synchronous motor,Respectively it is
Statistics calculates the reference current and reference voltage vector when electric current loop transmission function, and j is complex operation operator, kg=Kp/ L=Ki/ R,
KpAnd KiRespectively system power ring proportionality coefficient and integral coefficient, s are integral operator.
K is the coefficient directly proportional to the angular speed of the permanent magnet synchronous motor, i.e., with the increased coefficient of speed direct ratio, when
K=ωrWhen L, available electric current loop transmission function is consistent with complex vector PI, therefore k can be designed as: k=ωrL, ωrFor
The actual speed of permanent magnet synchronous motor.
More preferably, it is contemplated that the operating status of real system, coefficient k should have k (ω r) min in a certain range
=0, then k can be calculated according to following expression three:
Wherein, l is a product coefficient related with real system, can be rule of thumb arranged by those skilled in the art,
For example, l=3 can be set；ωrbaseFor the normal speed of permanent magnet synchronous motor.
Step S203: Δ ' i is calculateddWith Δ ' iqThe electricity obtained after d, q shaft current PI (proportional integration) adjuster respectively
Press vector.
In this step, can according to the voltage equation in the mathematical model of permanent magnet synchronous motor in two-phase rotating coordinate system,
As shown in expression formula four, five, calculate Δ ' idWith Δ ' iqThe obtained voltage arrow after d, q shaft current pi regulator respectively
Measure udAnd uq:
In expression formula four, five, Lq、Ld、iq、idRespectively indicate the q axle inductance, d axle inductance, q shaft current of permanent magnet synchronous motor
With d shaft current, s is integral operator, ωrFor the motor actual speed of permanent magnet synchronous motor；
In addition, the K in expression formula fourpAnd KiThe respectively proportionality coefficient and integral coefficient of d shaft current pi regulator；Expression
K in formula fivepAnd KiThe respectively proportionality coefficient and integral coefficient of q shaft current pi regulator.
Step S204: corresponding driving signal is exported according to the voltage vector of calculating, is realized to the permanent magnet synchronous motor
Control.
Specifically, the voltage vector u being first calculatedd、uq, after two-phase rotates to the static coordinate transform of two-phase,
Obtain transformed voltage vector uαAnd uβ；In turn, by voltage vector uαAnd uβAfter space vector pulse width modulation (SVPWM)
The driving signal to drive the switching tube of inverter is obtained, to realize that control drives the permanent magnet synchronous motor.
Based on above-mentioned method, a kind of permanent-magnet synchronous that can be set in dsp controller provided in an embodiment of the present invention
Motor weak magnetic control device, internal structure block diagram, as shown in Figure 3, comprising: current error amending unit 301, voltage vector calculate
Unit 302, driving signal output unit 303.
Wherein, current error amending unit 301 is used to intersect weak magnetic coefficient k to d, q of permanent magnet synchronous motor using dq axis
The current error value Δ i of axisdWith Δ iqIt is modified, obtains Δ ' idWith Δ ' iq；Specifically, current error amending unit 301 can
According to the d shaft current reference value of permanent magnet synchronous motorWith q shaft current initial valueAnd current d shaft current sampled value
idWith q shaft current sampled value iqCalculate separately the current error value Δ i of d, q axisdWith Δ ' iq, and then intersect weak magnetic system using dq axis
Current error value Δ i of the number k to d, q axis of permanent magnet synchronous motordWith Δ iqIt is modified, obtains Δ ' idWith Δ ' iq。
Voltage vector computing unit 302 is for calculating Δ ' idWith Δ ' iqPass through d, q shaft current proportional and integral controller respectively
The voltage vector obtained afterwards；Specifically, voltage vector computing unit 302 can be according to two in the mathematical model of permanent magnet synchronous motor
The voltage equation that cordic phase rotator is fastened is calculated Δ ' idWith Δ ' iqThe institute after d, q shaft current proportional and integral controller respectively
Obtained voltage vector.
Driving signal output unit 303 is used to export corresponding driving signal according to the voltage vector of calculating, realizes to described
The control of permanent magnet synchronous motor；Specifically, the voltage vector u that driving signal output unit 303 can will be calculatedd、uq, warp
It crosses after two-phase rotates to the static coordinate transform of two-phase, obtains transformed voltage vector uαAnd uβ；By voltage vector uαAnd uβThrough
The driving signal to the switching tube for driving the inverter of the permanent magnet synchronous motor is obtained after crossing space vector pulse width modulation, it is real
Now control drives the permanent magnet synchronous motor.
The concrete methods of realizing of the function of above-mentioned each unit can refer to each step method in process as shown in Figure 2, herein
It repeats no more.
In the technical solution of the embodiment of the present invention, intersect weak magnetic coefficient k to d, q axis of permanent magnet synchronous motor using dq axis
Current error value Δ idWith Δ iqIt is modified, obtains Δ ' idWith Δ ' iq；Calculate Δ ' idWith Δ ' iqPass through d, q shaft current respectively
The voltage vector obtained after proportional and integral controller；Corresponding driving signal is exported according to the voltage vector of calculating, is realized to described
The control of permanent magnet synchronous motor.During this motor control, due to permanent magnet flux linkage, the d axle inductance etc. without reference to motor
Parameter, to the parameter of electric machine change it is insensitive, by the parameter of electric machine variation influenced it is small, and be not necessarily to filter, calculation amount is small, to reach
To preferably performance.
The validity of method proposed by the invention can be verified by emulating and testing.
Fig. 4 is that the permanent magnet synchronous motor band that rated frequency is 100Hz is partly loaded under 10kHz sample rate, and motor is direct from 5Hz
It is raised to the simulation result of 150Hz, as 0.1 speed starts direct raising speed to 1.5 times of rated speeds as a result, due to real system
Maximum current is set as 10A, but depth weak magnetic is so electric current is larger, therefore emulation is only raised to 1.5 times specified with speed of experiment.Its
Middle load is 5Nm (semi-load), and wherein channel 1 is motor speed instruction value and actual value, and channel 2 is electromagnetic torque, and channel 3 is magnetic
Chain, channel 4 are a phase current.Figure 4, it is seen that starting direct raising speed to 1.5 times from 0.1 rated speed in motor speed
Motor can also operate in permanent torque area at the beginning when rated speed, and when speed is more than 0.1 times of rated speed, motor operation is in perseverance
Power area, last torque are stablized in load torque 5Nm.
Fig. 5 is the corresponding experimental result of Fig. 4 emulation, and channel oscilloscope 1 corresponds to the revolving speed of motor, and channel 2 is torque,
Channel 3 corresponds to permanent magnet flux linkage, and channel 4 corresponds to motor a phase current.Fig. 6 will only increase for the experiment done with Fig. 5 with carrying
Corresponding experimental waveform when for 7.5Nm, channel correspondence are consistent with Fig. 5, it was demonstrated that the method for the present invention in motor different loads,
It is able to achieve good performance.
For the situation of change of more intuitive observation dq shaft current during weak magnetic speed-up, Fig. 7 is to pass through digital-to-analogue conversion DA
(Digital to Analog Convert) output in the case that band carry 7.5Nm,iqWith Δ idWaveform, it is corresponding logical
Road 1 is velocity wave form, and channel 2 is iq, channel 3 isChannel 4 is Δ id。
Fig. 8 is the torque rotary speed curve graph of motor, it can be seen that when base speed is following, motor is in permanent torque area, base speed with
Upper motor is in invariable power area.
Those skilled in the art of the present technique are appreciated that the present invention includes being related to for executing in operation described herein
One or more equipment.These equipment can specially design and manufacture for required purpose, or also may include general
Known device in computer.These equipment have the computer program being stored in it, these computer programs are selectively
Activation or reconstruct.Such computer program can be stored in equipment (for example, computer) readable medium or be stored in
It e-command and is coupled in any kind of medium of bus respectively suitable for storage, the computer-readable medium includes but not
Be limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, only
Read memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable Programmable
Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable
Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card
Piece.It is, readable medium includes by equipment (for example, computer) with any Jie for the form storage or transmission information that can be read
Matter.
Those skilled in the art of the present technique be appreciated that can be realized with computer program instructions these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology neck
Field technique personnel be appreciated that these computer program instructions can be supplied to general purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, to pass through the processing of computer or other programmable data processing methods
The scheme specified in frame or multiple frames of the device to execute structure chart and/or block diagram and/or flow graph disclosed by the invention.
Those skilled in the art of the present technique have been appreciated that in the present invention the various operations crossed by discussion, method, in process
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Kind of operation, method, other steps, measures, and schemes in process may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and the step in various operations, method disclosed in the present invention, process, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
It should be understood by those ordinary skilled in the art that: the discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under thinking of the invention, above embodiments
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and be existed such as
Many other variations of the upper different aspect of the invention, for simplicity, they are not provided in details.Therefore, it is all
Within the spirit and principles in the present invention, any omission, modification, equivalent replacement, improvement for being made etc. be should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of permanent magnet synchronous motor field weakening control method characterized by comprising
Intersect weak magnetic coefficient k to the current error value Δ i of d, q axis of permanent magnet synchronous motor using dq axisdWith Δ iqIt is modified,
Obtain Δ ' idWith Δ ' iq；
Calculate Δ ' idWith Δ ' iqThe voltage vector obtained after d, q shaft current proportional and integral controller respectively；
Corresponding driving signal is exported according to the voltage vector of calculating, realizes the control to the permanent magnet synchronous motor.
2. the method according to claim 1, wherein described same to permanent magnetism using dq axis intersection weak magnetic coefficient k
Walk the current error value Δ i of d, q axis of motordWith Δ iqBefore being modified, further includes:
According to the d shaft current reference value of permanent magnet synchronous motorWith q shaft current initial valueAnd current d shaft current sampling
Value idWith q shaft current sampled value iqCalculate separately the current error value Δ i of d, q axisdWith Δ ' iq。
3. the method according to claim 1, wherein the calculating Δ ' idWith Δ ' iqPass through d, q shaft current respectively
The voltage vector obtained after proportional and integral controller, specifically:
According to the voltage equation in the mathematical model of permanent magnet synchronous motor in two-phase rotating coordinate system, calculate Δ ' idWith Δ ' iq
The obtained voltage vector after d, q shaft current proportional and integral controller respectively.
4. the method according to claim 1, wherein described export corresponding driving letter according to the voltage vector of calculating
Number, it realizes the control to the permanent magnet synchronous motor, specifically includes:
The voltage vector u that will be calculatedd、uq, after two-phase rotates to the static coordinate transform of two-phase, obtain transformed
Voltage vector uαAnd uβ；
By voltage vector uαAnd uβThe inverter to drive the permanent magnet synchronous motor is obtained after space vector pulse width modulation
Switching tube driving signal, realize that control drives the permanent magnet synchronous motor.
5. method according to claim 1 to 4, which is characterized in that the coefficient k be and the permanent magnet synchronous motor
The directly proportional coefficient of angular speed.
6. according to the method described in claim 5, it is characterized in that, the coefficient k=ωr·L；
Wherein, ωrFor the actual speed of the permanent magnet synchronous motor, the average inductance of permanent magnet synchronous motor described in L.
7. according to the method described in claim 5, it is characterized in that, the coefficient k is calculated according to following expression three:
Wherein, l is the product coefficient of setting, ωrbaseFor the normal speed of the permanent magnet synchronous motor, ωrIt is same for the permanent magnetism
Walk the actual speed of motor.
8. a kind of permanent magnet synchronous motor weak magnetic control device characterized by comprising
Current error amending unit, for intersecting weak magnetic coefficient k to the current error of d, q axis of permanent magnet synchronous motor using dq axis
It is worth Δ idWith Δ iqIt is modified, obtains Δ ' idWith Δ ' iq；
Voltage vector computing unit, for calculating Δ ' idWith Δ ' iqIt is obtained after d, q shaft current proportional and integral controller respectively
Voltage vector；
Driving signal output unit is realized same to the permanent magnetism for exporting corresponding driving signal according to the voltage vector of calculating
Walk the control of motor.
9. device according to claim 8, which is characterized in that the coefficient k is and the angle of the permanent magnet synchronous motor is fast
Spend directly proportional coefficient.
10. device according to claim 8, which is characterized in that
The driving signal output unit is specifically used for the voltage vector u that will be calculatedd、uq, it is quiet that two-phase is rotated to by two-phase
After coordinate transform only, transformed voltage vector u is obtainedαAnd uβ；By voltage vector uαAnd uβBy space vector pulse width modulation
The driving signal to the switching tube for driving the inverter of the permanent magnet synchronous motor is obtained afterwards, realizes that control drives the permanent magnetism
Synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811089589.1A CN109302109B (en) | 2018-09-18 | 2018-09-18 | Flux weakening control method and control device for permanent magnet synchronous motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811089589.1A CN109302109B (en) | 2018-09-18 | 2018-09-18 | Flux weakening control method and control device for permanent magnet synchronous motor |
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| CN109302109A true CN109302109A (en) | 2019-02-01 |
| CN109302109B CN109302109B (en) | 2020-09-22 |
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| CN201811089589.1A Expired - Fee Related CN109302109B (en) | 2018-09-18 | 2018-09-18 | Flux weakening control method and control device for permanent magnet synchronous motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348620A (en) * | 2019-02-15 | 2021-09-03 | 深圳配天智能技术研究院有限公司 | Motor control method and motor control device |
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| US20070085507A1 (en) * | 2005-10-19 | 2007-04-19 | Kazuaki Tobari | Field weakening vector controller for permanent magnet synchronous motor and control module |
| CN102324877A (en) * | 2011-09-15 | 2012-01-18 | 重庆长安汽车股份有限公司 | Car permanent magnet synchronous motor control system and method |
| CN102891647A (en) * | 2011-07-22 | 2013-01-23 | 通用汽车环球科技运作有限责任公司 | Temperature compensation for improved field weakening accuracy |
| CN106452243A (en) * | 2016-10-26 | 2017-02-22 | 珠海格力节能环保制冷技术研究中心有限公司 | Field weakening control system and method for PMSM, refrigerator controller and refrigerator |
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|---|---|---|---|---|
| US20070085507A1 (en) * | 2005-10-19 | 2007-04-19 | Kazuaki Tobari | Field weakening vector controller for permanent magnet synchronous motor and control module |
| CN102891647A (en) * | 2011-07-22 | 2013-01-23 | 通用汽车环球科技运作有限责任公司 | Temperature compensation for improved field weakening accuracy |
| US20130020971A1 (en) * | 2011-07-22 | 2013-01-24 | GM Global Technology Operations LLC | Temperature compensation for improved field weakening accuracy |
| CN102324877A (en) * | 2011-09-15 | 2012-01-18 | 重庆长安汽车股份有限公司 | Car permanent magnet synchronous motor control system and method |
| CN106452243A (en) * | 2016-10-26 | 2017-02-22 | 珠海格力节能环保制冷技术研究中心有限公司 | Field weakening control system and method for PMSM, refrigerator controller and refrigerator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348620A (en) * | 2019-02-15 | 2021-09-03 | 深圳配天智能技术研究院有限公司 | Motor control method and motor control device |
| CN113348620B (en) * | 2019-02-15 | 2023-06-02 | 深圳配天智能技术研究院有限公司 | Motor control method and motor control device |
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| CN109302109B (en) | 2020-09-22 |
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