CN110212831A - Consider the IPMSM field weakening control method in the case of DC bus-bar voltage falls - Google Patents

Consider the IPMSM field weakening control method in the case of DC bus-bar voltage falls Download PDF

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Publication number
CN110212831A
CN110212831A CN201910369925.6A CN201910369925A CN110212831A CN 110212831 A CN110212831 A CN 110212831A CN 201910369925 A CN201910369925 A CN 201910369925A CN 110212831 A CN110212831 A CN 110212831A
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ipmsm
current
direct
axis current
bus
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姚超
颜建虎
应展烽
张旭东
周鑫昇
宋同月
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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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
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • 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
    • 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 field weakening control method of IPMSM in the case of falling the invention discloses a kind of consideration DC bus-bar voltage, specific steps: the parameter of motor is obtained by off-line identification first, direct-axis current is calculated using the formula of MTPA control methods again, next judges whether to enter weak magnetic area, to calculate the direct-axis current of compensation, the direct-axis current under MTPA control methods is added with the direct-axis current of compensation again, given direct-axis current is obtained, given quadrature axis current finally is calculated using the current limitation equation of a circle of IPMSM.Present invention employs the field weakening control methods of negative direct-axis current compensation, it eliminates DC bus-bar voltage variation and may cause the base speed of motor and change the influence out of control under general control method so as to cause motor, motor perseverance revolving speed can be still maintained to run when busbar voltage is substantially fallen.

Description

Consider the IPMSM field weakening control method in the case of DC bus-bar voltage falls
Technical field
The present invention relates to motor technology, especially a kind of IPMSM weak magnetic control considered in the case of DC bus-bar voltage falls Method processed.
Background technique
Internal permanent magnet synchronous motor (IPMSM) is by high efficiency, structure is simple and the advantages such as small in size, in AC servo Field plays more and more important role.In order to widen the range of motor speeds of permanent magnet synchronous motor, there has been proposed various Method.IPMSM because permanent magnet presence, counter electromotive force can be more than on-load voltage when high speed, it is necessary to apply weak magnetoelectricity stream to tie up It holds and stablizes under motor high-speed case.
Traditional IPMSM field weakening control method is in the case where being constant based on DC bus-bar voltage, to specifically include that formula Calculating method, look-up table, gradient descent method scheduling algorithm.Wherein equation is completely dependent on the parameter of motor, in operation due to motor, Its inductance is changed with magnetic linkage parameter by the variation of electric current, then is no longer desirable for direct formula and calculates, and this method is only With theory significance, seldom apply in practice；Rule of tabling look-up needs a large amount of experimental data to build table, although solving public affairs Formula method does not have generality to the dependence of the parameter of electric machine, realizes difficult；And gradient descent method is the voltage pole according to motor The corner dimension between the direction of elliptical voltage grading and permanent torque operation curve is limited, to determine the weak magnetic where motor operation Region, this method avoid use the inconvenience of lot of experimental data bring, but realization program complexity.
2011, Jae Hyuk Lee was in " Field-weakening strategy in condition of DC- link voltage variation using on electric vehicle of IPMSM》(Electrical Machines and Systems (ICEMS), 2011International Conference on, 2011) it in a text, proposes The method that establishes 3 dimension instruction catalogues according to revolving speed, torque and busbar voltage solves current regulator saturated zone and carrys out revolving speed mistake The problem of tune, while dynamic property is also enhanced, but it is big to create table difficulty；2012, Huang Surong, Wang Weichen et al., " the electric car permanent magnet synchronous motor control strategy based on busbar voltage dynamic change " (motor and control are applied, and 2012,39 (10): 24-29 it) in a text, proposes and converts into actual bus voltage to specified busbar voltage is equivalent, adjustment is used as and tables look-up on year-on-year basis The method of the angular rate instruction value of foundation has widened the range of motor workspace, but there is still a need for creation tables；It is 2013, old Rather, Zhang Yue et al., the weak magnetic of built-in type PMSM Drive System " control " (control theory and application, 2013,30 (06): 717-723) in a text, the closed-loop control that effective voltage vector is introduced when busbar voltage is fallen is proposed, it can be with Amendment direct-axis current in real time avoids the shortcomings that current regulator is saturated, but since the pi regulator of introducing is more, adjusts difficult.
Summary of the invention
A kind of IPMSM weak magnetic controlling party in the case of falling the purpose of the present invention is to provide consideration DC bus-bar voltage Method is dropped into busbar voltage lower than busbar voltage required for given rotating speed, and voltage limit ellipse and electric current pole in IPMSM When limit circle has intersection point, by judging the voltage integrated vector of current regulator output and the size of real-time DC bus-bar voltage, come Motor direct-axis current is adjusted, to maintain constant rotational speed.
Realize technical solution of the invention are as follows: it is a kind of consider DC bus-bar voltage fall in the case of IPMSM weak magnetic Control method, d-c bus voltage value are not constant value, specific steps:
Step 1: constructing the weak magnetic control system in the case of IPMSM is fallen based on DC bus-bar voltage, taken below base speed MTPA module is built, the axis inductor L of IPMSM is utilizedq, d-axis inductance Ld, permanent magnet flux linkage ψfAnd stator current isIt is calculated straight Shaft current id0。
Step 2: the voltage integrated vector of calculating current adjuster output in real timeSimultaneously and according to bus The inverter output voltage limiting value that voltage obtainsIt is compared, works as us> ulimWhen, direct-axis current offset Δ id0 For negative value；Otherwise Δ id0It is 0.Wherein, udFor the direct-axis voltage of current regulator output；uqFor current regulator output Quadrature-axis voltage；udcFor DC bus-bar voltage.
Step 3: the direct-axis current i that will be calculated under MTPA control methodsd0It needs to compensate in the case of falling with busbar voltage Direct-axis current Δ id0It is added, obtains given direct-axis currentRecycle IPMSM current limitation equation of a circle be calculated to Fixed quadrature axis current
Further, in the step 1, since the equivalent inductance of IPMSM is unequal, i.e.,So having magnetic resistance Torque.By building MTPA module, so that IPMSM obtains higher torque using the smallest stator current.
Further, in the step 1, the axis inductor L of IPMSMq, d-axis inductance Ld, permanent magnet flux linkage ψfPass through Off-line identification obtains.
Further, in the step 2, only as the u of IPMSMs> ulimWhen, by difference DELTA us=ulim-usBy PI Adjuster, the direct-axis current value Δ i compensated using integral clippingd0, Δ i at this timed0For negative value；But work as the u of IPMSMlim ≥usWhen, the direct-axis current value Δ i of compensationd0It is 0.
Further, in the step 3, the direct-axis current i under MTPA control will be calculatedd0Fall with busbar voltage In the case of for maintain motor constant rotational speed required for compensate direct-axis current Δ id0It is added, obtains given direct-axis currentMost Given quadrature axis current is calculated using the current limitation equation of a circle of IPMSM afterwards
Compared with prior art, the present invention its remarkable advantage is:
(1) it is salient-pole machine that the present invention, which considers IPMSM, and non-uniform air-gap, there are reluctance torques, then can using MTPA module To utilize the part of reluctance torque in electromagnetic torque well, to consume the smallest stator electricity under given torque conditions It is maximum to reach motor output torque under unitary current for stream.
(2) present invention considers falling for DC bus-bar voltage, i.e. the voltage limit of motor becomes smaller；Traditional is weak Magnetic control is default busbar voltage udcIt is invariable, the i.e. voltage limit u of motorsFor constant value.
(3) present invention is decided whether by judging the voltage integrated vector value that voltage limit is exported with current regulator The direct-axis current for needing to compensate causes motor speed out of control to solve the problems, such as that motor DC busbar voltage is fallen.
Detailed description of the invention
Fig. 1 is the block diagram of the IPMSM field weakening control method in the case of present invention consideration DC bus-bar voltage falls.
Fig. 2 is block diagram of the IPMSM under MTPA control.
Fig. 3 is IPMSM weak magnetic part control block diagram.
Fig. 4 is the block diagram that IPMSM calculates given ac-dc axis electric current when DC bus-bar voltage falls.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
Since internal permanent magnet synchronous motor (IPMSM) rotor structure is stablized, convex grey subset is higher, can be obtained by weak-magnetic speed-regulating Wider speed adjustable range is obtained, while relying on high power density, High Power Factor, efficient feature, is transported in household electrical appliance, traffic Important role further is occupied in the AC Servo Controls such as defeated, numerically-controlled machine tool field.High performance permanent magnet synchronous motor vector controlled System needs to obtain motor rotor position and revolving speed in real time, as the feedback of field orientation foundation and der Geschwindigkeitkreis.But motor When the amplitude that DC bus-bar voltage falls is very big, it is possible to cause the turnover speed of motor to change, lead to motor Revolving speed is out of control.
The invention proposes the weak magnetic controls in the case where busbar voltage is substantially fallen suddenly, compensated using negative direct-axis current Method processed.This method effective solution IPMSM busbar voltage falls the problem of causing revolving speed to be lacked of proper care suddenly, and can be rapid Stabilized (steady-state) speed, the revolving speed before making motor still maintain not fall.
It is following in motor base speed, it is contemplated that the influence of the reluctance torque of internal permanent magnet synchronous motor, using torque capacity Electric current ratio (MTPA) control.In the case that the control method realizes same output torque, the smallest stator current is consumed, to subtract The loss of small machine and inverter.At this point, motor stator end voltage is not up to voltage limit.With the rising of revolving speed, due to Motor stator end voltage receives the limitation of inverter busbar voltage, can not continue with biggish electromagnetic torque.
In conjunction with Fig. 1, consideration DC bus-bar voltage of the present invention fall in the case of IPMSM field weakening control method, tool Body step:
Step 1: constructing the weak magnetic control system in the case of IPMSM is fallen based on DC bus-bar voltage, taken below base speed MTPA module is built, the axis inductor L of IPMSM is utilizedq, d-axis inductance Ld, permanent magnet flux linkage ψfAnd stator current isIt is calculated straight Shaft current id0。
It first has to calculate the direct-axis current under MTPA control, calculation formula of the lower surface analysis under MTPA control.It is false first If: ignore the iron core saturation of IPMSM, ignores vortex and magnetic hystersis loss, and the electric current of IPMSM is the electric current of three-phase sine-wave.It is false If tri- windings of IPMSM are symmetrical, ignore higher hamonic wave, eddy-current loss, then under based on rotor field-oriented dq coordinate system Stator voltage equation are as follows:
In formula: ud、uq、id、iq、ψd、ψq、ωe、RsRespectively direct-axis voltage, quadrature-axis voltage, direct-axis current, quadrature axis current, D-axis magnetic linkage, quadrature axis magnetic linkage, rotor angular rate and armature winding resistance.
Flux linkage equations:
In formula: Ld、Lq、ψfRespectively d-axis inductance, axis inductor and permanent magnet flux linkage.
Stator voltage equation when stable state, under dq coordinate system are as follows:
It, can be with negligible resistance pressure drop, i.e. stator voltage equation under dq coordinate system when IPMSM operates in high speed are as follows:
The current limitation equation of a circle of IPMSM are as follows:
In formula: isFor stator phase currents.
The voltage limit elliptic equation of IPMSM are as follows:
In formula: usFor stator terminal voltage.
The electromagnetic torque equation of IPMSM are as follows:
In formula: p, TeRespectively number of pole-pairs and electromagnetic torque.
In conjunction with Fig. 2, in base speed hereinafter, using MTPA control methods.MTPA control methods are to be obtained using the smallest electric current Maximum torque, then using Lagrangian extreme value theorem, direct-axis current and quadrature axis current under asking MTPA to control torque equation, That is:
According to formula (5), (7) and (8), the direct-axis current i under MTPA control is acquiredd0:
Step 2: above-mentioned formula (9) no longer meets IPMSM perseverance revolving speed when the busbar voltage of IPMSM is lower than certain value Operation, then the weak magnetic control means that compensated by negative direct-axis current are lower than the mother that given rotating speed needs to solve busbar voltage When line voltage value, the problem of IPMSM revolving speed can decline suddenly.In conjunction with Fig. 1 and Fig. 3, it can be seen that the control method passes through continuous The voltage instruction of current regulator output and the bus voltage amplitude size of motor are detected, once the voltage of current regulator output Synthetic vector is more than voltage limit, then increases the amplitude of direct-axis current, move to left the operating point of motor, it is ellipse to come back to voltage In circle.In conjunction with Fig. 3 as can be seen that when the voltage integrated vector value of current regulator output is greater than contravarianter voltage limiting value, then Its difference DELTA u is calculatedsAfter pi regulator, direct-axis current offset Δ i is obtainedd0。
Step 3: in conjunction with Fig. 4, by the direct-axis current i under MTPA control methodsd0With the direct-axis current Δ i of compensationd0Carry out phase Add, obtains given direct-axis currentGiven quadrature axis current is calculated according to the current limitation equation of a circle of IPMSMBelow It is exactly the calculating to given ac-dc axis electric current:
In conclusion it is proposed by the present invention it is a kind of consider DC bus-bar voltage fall in the case of IPMSM weak magnetic controlling party Method, the field weakening control method of the negative direct-axis current compensation of use are efficiently solved in the case of DC bus-bar voltage substantially falls, are led The turnover speed for sending a telegraph machine mutates the problem of cannot maintaining constant rotational speed.

Claims (5)

1. it is a kind of consider DC bus-bar voltage fall in the case of IPMSM field weakening control method, which is characterized in that DC bus electricity Pressure value is not constant value, specific steps:
Step 1: constructing the weak magnetic control system in the case of IPMSM is fallen based on DC bus-bar voltage, built below base speed MTPA module utilizes the axis inductor L of IPMSMq, d-axis inductance Ld, permanent magnet flux linkage ψfAnd stator current isD-axis is calculated Electric current id0。
Step 2: the voltage integrated vector of calculating current adjuster output in real timeSimultaneously and according to busbar voltage Obtained inverter output voltage limiting valueIt is compared, works as us> ulimWhen, direct-axis current offset Δ id0It is negative Value；Otherwise Δ id0It is 0.Wherein, udFor the direct-axis voltage of current regulator output；uqFor the friendship of current regulator output Shaft voltage；udcFor DC bus-bar voltage.
Step 3: the direct-axis current i that will be calculated under MTPA control methodsd0Need to compensate in the case of falling with busbar voltage is straight Shaft current Δ id0It is added, obtains given direct-axis currentThe current limitation equation of a circle of IPMSM is recycled to be calculated given Quadrature axis current
2. it is according to claim 1 consider DC bus-bar voltage fall in the case of IPMSM field weakening control method, feature It is: in the step 1, since the equivalent inductance of IPMSM is unequal, i.e. Ld≠Lq, so having reluctance torque.By building MTPA module, so that IPMSM obtains higher torque using the smallest stator current.
3. it is according to claim 1 consider DC bus-bar voltage fall in the case of IPMSM field weakening control method, feature It is: in the step 1, the axis inductor L of IPMSMq, d-axis inductance Ld, permanent magnet flux linkage ψfObtained by off-line identification.
4. it is according to claim 1 consider DC bus-bar voltage fall in the case of IPMSM field weakening control method, feature It is: in the step 2, only as the u of IPMSMs> ulimWhen, by difference DELTA us=ulim-usBy pi regulator, using The direct-axis current value Δ i that integral clipping is compensatedd0, Δ i at this timed0For negative value；But work as the u of IPMSMlim≥usWhen, compensation it is straight Shaft current value Δ id0It is 0.
5. it is according to claim 1 consider DC bus-bar voltage fall in the case of IPMSM field weakening control method, feature It is: in the step 3, the direct-axis current i under MTPA control will be calculatedd0It is maintenance in the case of falling with busbar voltage The direct-axis current Δ i compensated required for motor constant rotational speedd0It is added, obtains given direct-axis currentFinally utilize IPMSM's Current limitation equation of a circle calculates given quadrature axis current
CN201910369925.6A 2019-05-06 2019-05-06 Consider the IPMSM field weakening control method in the case of DC bus-bar voltage falls Pending CN110212831A (en)

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CN110529979A (en) * 2019-09-12 2019-12-03 宁波奥克斯电气股份有限公司 A kind of motor control method, device and air conditioner
CN110601625A (en) * 2019-09-19 2019-12-20 中国核动力研究设计院 Reactor key electric valve motor low-voltage ride-through control method and controller
CN110707968A (en) * 2019-09-10 2020-01-17 苏州安驰控制***有限公司 Control method and system of single-spindle control system and computer storage medium
CN110932638A (en) * 2019-11-20 2020-03-27 珠海格力电器股份有限公司 Air conditioner, driving device of permanent magnet synchronous motor and control method and device of driving device
CN111200385A (en) * 2020-02-24 2020-05-26 珠海格力电器股份有限公司 Control method of compressor
CN111211716A (en) * 2020-01-07 2020-05-29 湖南大学 Efficiency-optimized PMSM current prediction control method and system
CN111355411A (en) * 2020-03-26 2020-06-30 同济大学 Control method and device of permanent magnet synchronous motor, storage medium and terminal
CN111884552A (en) * 2020-07-02 2020-11-03 华中科技大学 Permanent magnet synchronous motor flux weakening optimization control method and system based on voltage feedback
CN112290841A (en) * 2020-10-10 2021-01-29 珠海格力节能环保制冷技术研究中心有限公司 Permanent magnet synchronous motor control method and device, electronic equipment and storage medium
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CN110601625A (en) * 2019-09-19 2019-12-20 中国核动力研究设计院 Reactor key electric valve motor low-voltage ride-through control method and controller
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CN111884552A (en) * 2020-07-02 2020-11-03 华中科技大学 Permanent magnet synchronous motor flux weakening optimization control method and system based on voltage feedback
CN111884552B (en) * 2020-07-02 2021-11-02 华中科技大学 Permanent magnet synchronous motor flux weakening optimization control method and system based on voltage feedback
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CN112290841B (en) * 2020-10-10 2022-03-18 珠海格力节能环保制冷技术研究中心有限公司 Permanent magnet synchronous motor control method and device, electronic equipment and storage medium
CN112290841A (en) * 2020-10-10 2021-01-29 珠海格力节能环保制冷技术研究中心有限公司 Permanent magnet synchronous motor control method and device, electronic equipment and storage medium
CN112737429B (en) * 2020-12-24 2022-07-15 珠海格力节能环保制冷技术研究中心有限公司 Motor and current compensation control method and device thereof, storage medium and processor
CN112737429A (en) * 2020-12-24 2021-04-30 珠海格力节能环保制冷技术研究中心有限公司 Motor and current compensation control method and device thereof, storage medium and processor
WO2022134772A1 (en) * 2020-12-25 2022-06-30 中车永济电机有限公司 Control method for permanent magnet auxiliary synchronous reluctance motor
WO2024021763A1 (en) * 2022-07-29 2024-02-01 青岛海尔空调器有限总公司 Control method and apparatus for air conditioner, and air conditioner and storage medium
WO2024021692A1 (en) * 2022-07-29 2024-02-01 青岛海尔空调器有限总公司 Control method and apparatus for air conditioner, and air conditioner and storage medium

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