CN110190794A - The calculation method and device of internal permanent magnet synchronous motor given value of current value - Google Patents
The calculation method and device of internal permanent magnet synchronous motor given value of current value Download PDFInfo
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- CN110190794A CN110190794A CN201910292295.7A CN201910292295A CN110190794A CN 110190794 A CN110190794 A CN 110190794A CN 201910292295 A CN201910292295 A CN 201910292295A CN 110190794 A CN110190794 A CN 110190794A
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the present invention discloses the calculation method and device of a kind of internal permanent magnet synchronous motor given value of current value, the described method includes: in the case where busbar voltage is Rated motor voltage, torque is demarcated, electric current inquiry table is obtained, the electric current inquiry table includes the corresponding relationship under specified busbar voltage between different torques and different rotating speeds and current value；According to current rotating speed and given torque, d, q shaft current given value are calculated.
Description
Technical field
The present invention relates to the control technologies of electronic automobile-used internal permanent magnet synchronous motor, more particularly to one kind to be based on look-up table
Internal permanent magnet synchronous motor method for controlling torque, device.
Background technique
Internal permanent magnet synchronous motor (IPMSM, Interior Permanent Magnet Synchronous Motor)
Since power density is high, small in size, it has also become the preferred motor of drive system of electric automobile.The cross, straight axle inductance of IPMSM is different,
And limited in operation by inverter output voltage and output electric current, Stator-Quantities Control is complex, generallys use maximum turn
Square electric current ratio (MTPA, Maximum Torque Per Ampere) control and weak magnetic control the control strategy combined.MTPA and
The theoretical calculation of weak magnetic control is very cumbersome, is difficult in real-time control.In actual use, usually pass through the method for calibration
A two-dimensional polling list lattice are established, d, q shaft current value corresponding to different rotating speeds and different torques are recorded.Controller is according to torque
Instruction and current rotating speed value, d, q shaft current given value are calculated by two-dimensional interpolation.The range of current output of motor is by voltage pole
The influence that limit is round and current limitation is round, as shown in Figure 1.Enquiry form be it is corresponding with certain busbar voltage, different
Under busbar voltage, d, q shaft current value corresponding to same rotational speed and torque point may be different.Assuming that mother when calibration table
Line voltage is Udc, and when busbar voltage is higher than Udc, voltage limit circle expands, must by the given value of current value that former enquiry form calculates
It can so fall within new voltage limit circle, illustrate what given value of current value can be achieved on；When busbar voltage is lower than Udc, electricity
Pressure horicycle can reduce, and be possible to fall in except new voltage limit circle by the given value of current value that former enquiry form calculates, this
When current value have exceeded the range of current output of motor, be it is not achievable, motor can not also export required torque.
It can be seen that electric current enquiry form can only be corresponding with a busbar voltage, and when busbar voltage is lower, by looking into
It may be incorrect for asking the calculated given value of current value of table.If separately designing inquiry table by different bus voltage values
Lattice can then greatly increase the difficulty of design, it is therefore desirable to and it designs one kind and had not only adapted to busbar voltage variation, but also be easily achieved
Torque table and d, q shaft current calculation method.
Summary of the invention
In view of this, the embodiment of the present invention provide a kind of internal permanent magnet synchronous motor given value of current value calculation method and
Device can guarantee to export the validity of electric current and the correctness of output torque.
A kind of calculation method of internal permanent magnet synchronous motor given value of current value, comprising:
In the case where busbar voltage is Rated motor voltage, torque is demarcated, electric current inquiry table, the electricity are obtained
Continuous query table includes the corresponding relationship under specified busbar voltage between different torques and different rotating speeds and current value；
According to current rotating speed and given torque, d, q shaft current given value are calculated.
It is described according to current rotating speed and given torque, the step of calculating d, q shaft current given value includes:
Judge bus voltage value；
When the bus voltage value is greater than or equal to voltage rating, according to the electric current inquiry table, by current rotating speed value
As tachometer value of tabling look-up, computation of table lookup is carried out；
When the busbar voltage is lower than the voltage rating, increases and work as in proportion according to the ratio that bus voltage value declines
Preceding revolving speed generates tachometer value of tabling look-up；According to the electric current inquiry table, computation of table lookup is carried out with tachometer value by tabling look-up.
The ratio according to bus voltage value decline increases current rotating speed in proportion, generates the step of tabling look-up tachometer value tool
Body are as follows:
ωT=ω Udc/UNdc, wherein ωTFor tachometer value of tabling look-up；ω is actual speed value；UNdcFor voltage rating；UdcFor
Busbar voltage.
The step of progress computation of table lookup specifically:
According to the tachometer value ω that tables look-upT, determine the revolving speed section [ω belonging to itk,ωk+1]；
In ωkTorque T is found in corresponding tablee *Affiliated section [Tk,n *,Tk,n+1 *], ω is calculated using linear interpolationk
The lower corresponding current value i of the torqued,k *And iq,k *；Then rotational speed omega is obtainedk+1The lower corresponding current value i of the torqued,k+1 *With
iq,k+1 *；
According to revolving speed section to id,k *、iq,k *And id,k+1 *、iq,k+1 *Linear interpolation is carried out again, obtains rotational speed omegaTIt is corresponding
Given value of current value id *、iq *。
A kind of computing device of internal permanent magnet synchronous motor given value of current value, comprising:
Table establishes unit, in the case where busbar voltage is Rated motor voltage, demarcates to torque, obtains electric current
Inquiry table, the electric current inquiry table include corresponding between different torques and different rotating speeds and current value under specified busbar voltage
Relationship；
Computing unit calculates d, q shaft current given value according to current rotating speed and given torque.
The computing unit includes:
Judgment module judges bus voltage value；
First enquiry module, when the bus voltage value is greater than or equal to voltage rating, according to the electric current inquiry table,
Computation of table lookup is carried out by current rotating speed value；
Second enquiry module, when the busbar voltage is lower than the voltage rating, according to the ratio of bus voltage value decline
Example increases current rotating speed in proportion；According to the electric current inquiry table, computation of table lookup is carried out by the tachometer value after raising.
In reality of the present invention, when carrying out direct torque to internal permanent magnet synchronous motor, it is only necessary to establish specified bus electricity
The electric current enquiry form of pressure.The output validity of electric current and defeated ensure that by raising speed computation of table lookup when busbar voltage reduces
The correctness of torque out.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is that voltage limit in the prior art is round and current limitation is round；
Fig. 2 is the flow diagram figure of the calculation method of internal permanent magnet synchronous motor given value of current value of the invention；
Electric current enquiry form when Fig. 3 is the specified busbar voltage in the present invention；
Fig. 4 is the given value of current value calculation flow chart in the present invention.
Fig. 5 is the connection schematic diagram figure of the computing device of internal permanent magnet synchronous motor given value of current value of the invention.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The purpose of the present invention is to provide a kind of design of internal permanent magnet synchronous motor electric current enquiry form and given value of current
Value calculating method.The design of enquiry form only need to correspond to a determining bus voltage value in this method, but in given value of current
The variation of busbar voltage is adapted in value calculating process.
As shown in Fig. 2, being a kind of calculation method of internal permanent magnet synchronous motor given value of current value of the present invention, packet
It includes:
Step 101, in the case where busbar voltage is Rated motor voltage, torque is demarcated, obtains electric current inquiry
Table, the electric current inquiry table include the corresponding pass under specified busbar voltage between different torques and different rotating speeds and current value
System, as shown in Figure 3；
Step 102, according to current rotating speed and given torque, d, q shaft current given value are calculated.
The step 102 includes:
Judge bus voltage value；
When the bus voltage value is greater than or equal to voltage rating, according to the electric current inquiry table, by current rotating speed value
As tachometer value of tabling look-up, computation of table lookup is carried out；
When the busbar voltage is lower than the voltage rating, increases and work as in proportion according to the ratio that bus voltage value declines
Preceding revolving speed generates tachometer value of tabling look-up；According to the electric current inquiry table, computation of table lookup is carried out with tachometer value by tabling look-up.
The ratio according to bus voltage value decline increases current rotating speed in proportion, generates the step of tabling look-up tachometer value tool
Body are as follows:
ωT=ω Udc/UNdc, wherein ωTFor tachometer value of tabling look-up；ω is actual speed value；UNdcFor voltage rating；UdcFor
Busbar voltage.
The step of progress computation of table lookup specifically: according to the tachometer value ω that tables look-upT, determine the revolving speed section belonging to it
[ωk,ωk+1]；
In ωkTorque T is found in corresponding tablee *Affiliated section [Tk,n *,Tk,n+1 *], ω is calculated using linear interpolationk
The lower corresponding current value i of the torqued,k *And iq,k *；Then rotational speed omega is obtainedk+1The lower corresponding current value i of the torqued,k+1 *With
iq,k+1 *；
According to revolving speed section to id,k *、iq,k *And id,k+1 *、iq,k+1 *Linear interpolation is carried out again, obtains rotational speed omegaTIt is corresponding
Given value of current value id *、iq *。
The embodiment of the present invention 1 is described below, which comprises
Step 1) demarcates torque in the case where busbar voltage is Rated motor voltage, and the electric current obtained at this time is looked into
Ask table.The table is two-dimensional table, has corresponded to the current value under specified busbar voltage under different torques and different rotating speeds.
Step 2), according to current rotating speed and given torque calculation d, q shaft current given value.In calculating process, first determine whether
Bus voltage value.When busbar voltage is more than or equal to voltage rating, computation of table lookup is carried out by current rotating speed value.When busbar voltage is low
When voltage rating, current rotating speed is increased in proportion according to the ratio that busbar voltage declines, is looked by the tachometer value after raising
Meter is calculated.Assuming that busbar voltage when calibration is UNdc, according to voltage limit equation of a circle
In formula, LdFor d axle inductance；LqFor q axle inductance；ΨfIt is revolving speed, U for permanent magnet flux linkage amplitude ωdcFor busbar voltage.
When busbar voltage becomes α UNdcWhen (α < 1), revolving speed ω1Voltage limit it is round and busbar voltage is UNdc, revolving speed be
ω1The voltage limit circle of/α is consistent.Therefore it when busbar voltage reduces, is obtained by revolving speed progress computation of table lookup is increased in proportion
To given value of current value will necessarily fall in current voltage limit circle, ensure that output electric current in the reasonable scope.
The embodiment of the present invention 2 is described below.
Step 1) demarcates motor torque by bench test under specified busbar voltage, obtains meeting MTPA control
Corresponding d, q shaft current enquiry form of system and different rotating speeds that weak magnetic controls, difference torque, as shown in Figure 3.
Step 2), given value of current value calculating process are as shown in Figure 4.When controller receives torque instruction Te *Electric current is carried out to give
When fixed value calculation, the tachometer value ω to table look-up is determined according to bus voltage value firstT.As busbar voltage UdcMore than or equal to specified electricity
Press UNdcWhen, ωTEqual to current rotating speed ω, as busbar voltage UdcLower than voltage rating UNdcWhen, ωTIt is increased to ω Udc/UNdc。
Step 3), according to the tachometer value ω that tables look-upTDetermine the revolving speed section [ω belonging to itk,ωk+1]。
Step 4), in ωkTorque T is found in corresponding tablee *Affiliated section [Tk,n *,Tk,n+1 *], utilize linear interpolation
Calculate ωkThe lower corresponding current value i of the torqued,k *And iq,k *.Then rotational speed omega is obtained with same methodk+1The lower torque is corresponding
Current value id,k+1 *And iq,k+1 *。
Step 5), according to revolving speed section to id,k *、iq,k *And id,k+1 *、iq,k+1 *Linear interpolation is carried out again, obtains revolving speed
ωTCorresponding given value of current value id *、iq *。
As shown in figure 5, being a kind of computing device of internal permanent magnet synchronous motor given value of current value of the present invention, packet
It includes:
Table establishes unit 51, in the case where busbar voltage is Rated motor voltage, demarcates to torque, obtains electricity
Continuous query table, the electric current inquiry table include pair under specified busbar voltage between different torques and different rotating speeds and current value
It should be related to；
Computing unit 52 calculates d, q shaft current given value according to current rotating speed and given torque.
The computing unit 52 includes:
Judgment module judges bus voltage value；
First enquiry module, when the bus voltage value is greater than or equal to voltage rating, according to the electric current inquiry table,
Computation of table lookup is carried out by current rotating speed value；
Second enquiry module, when the busbar voltage is lower than the voltage rating, according to the ratio of bus voltage value decline
Example increases current rotating speed in proportion；According to the electric current inquiry table, computation of table lookup is carried out by the tachometer value after raising.
The invention has the following advantages:
When carrying out direct torque to internal permanent magnet synchronous motor, it is only necessary to which the electric current established under specified busbar voltage is looked into
Ask table.Busbar voltage reduce when by raising speed computation of table lookup ensure that output electric current validity and output torque it is correct
Property.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (6)
1. a kind of calculation method of internal permanent magnet synchronous motor given value of current value characterized by comprising
In the case where busbar voltage is Rated motor voltage, torque is demarcated, electric current inquiry table is obtained, the electric current is looked into
Inquiry table includes the corresponding relationship under specified busbar voltage between different torques and different rotating speeds and current value；
According to current rotating speed and given torque, d, q shaft current given value are calculated.
2. the method according to claim 1, wherein described according to current rotating speed and given torque, calculating d, q axis
The step of given value of current value includes:
Judge bus voltage value；
When the bus voltage value is greater than or equal to voltage rating, according to the electric current inquiry table, using current rotating speed value as
It tables look-up tachometer value, carries out computation of table lookup；
When the busbar voltage is lower than the voltage rating, is increased in proportion according to the ratio that bus voltage value declines and work as forward
Speed generates tachometer value of tabling look-up；According to the electric current inquiry table, computation of table lookup is carried out with tachometer value by tabling look-up.
3. according to the method described in claim 2, it is characterized in that, the ratio according to bus voltage value decline rises in proportion
High current rotating speed generates the step of tabling look-up tachometer value specifically:
ωT=ω Udc/UNdc, wherein ωTFor tachometer value of tabling look-up；ω is actual speed value；UNdcFor voltage rating；UdcFor bus
Voltage.
4. according to the method described in claim 3, it is characterized in that, the step of the progress computation of table lookup specifically:
According to the tachometer value ω that tables look-upT,Determine the revolving speed section [ω belonging to itk,ωk+1]；
In ωkTorque T is found in corresponding tablee *Affiliated section [Tk,n *,Tk,n+1 *], ω is calculated using linear interpolationkDown should
The corresponding current value i of torqued,k *And iq,k *；Then rotational speed omega is obtainedk+1The lower corresponding current value i of the torqued,k+1 *And iq,k+1 *；
According to revolving speed section to id,k *、iq,k *And id,k+1 *、iq,k+1 *Linear interpolation is carried out again, obtains rotational speed omegaTCorresponding electric current
Given value id *、iq *。
5. a kind of computing device of internal permanent magnet synchronous motor given value of current value characterized by comprising
Table establishes unit, in the case where busbar voltage is Rated motor voltage, demarcates to torque, obtains electric current inquiry
Table, the electric current inquiry table include the corresponding pass under specified busbar voltage between different torques and different rotating speeds and current value
System；
Computing unit calculates d, q shaft current given value according to current rotating speed and given torque.
6. device according to claim 5, which is characterized in that the computing unit includes:
Judgment module judges bus voltage value；
First enquiry module, according to the electric current inquiry table, will work as when the bus voltage value is greater than or equal to voltage rating
Preceding tachometer value carries out computation of table lookup as tachometer value of tabling look-up；
Second enquiry module, when the busbar voltage is lower than the voltage rating, the ratio declined according to bus voltage value is same
Ratio increases current rotating speed, generates tachometer value of tabling look-up；According to the electric current inquiry table, based on tabling look-up and being tabled look-up with tachometer value
It calculates.
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Cited By (3)
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| CN112193081A (en) * | 2020-09-29 | 2021-01-08 | 奇瑞新能源汽车股份有限公司 | Motor controller bus current obtaining method |
| CN113839605A (en) * | 2020-06-23 | 2021-12-24 | 苏州宝时得电动工具有限公司 | Motor rotating speed control method and device |
| CN114726282A (en) * | 2022-06-07 | 2022-07-08 | 坎德拉(深圳)新能源科技有限公司 | Permanent magnet synchronous motor calibration system and method for flywheel energy storage |
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