CN110868120A - Control method for built-in permanent magnet synchronous motor - Google Patents

Control method for built-in permanent magnet synchronous motor Download PDF

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Publication number
CN110868120A
CN110868120A CN201911038347.4A CN201911038347A CN110868120A CN 110868120 A CN110868120 A CN 110868120A CN 201911038347 A CN201911038347 A CN 201911038347A CN 110868120 A CN110868120 A CN 110868120A
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module
current
temperature
motor
torque
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CN110868120B (en
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柴璐军
张瑞峰
杨高兴
贺志学
梁海刚
詹哲军
李岩
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CRRC Yongji Electric Co Ltd
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CRRC Yongji Electric Co Ltd
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to a control method of a permanent magnet synchronous motor, in particular to a control method of a built-in permanent magnet synchronous motor. The method solves the problem that the motor parameters are not accurately used in real time in the existing permanent magnet synchronous motor control method, so that the torque precision output by the motor and the motor operation efficiency are influenced. The control method of the invention simultaneously considers the influence of temperature change and motor saturation effect on the motor parameters on line, and improves the accuracy of the motor parameters at each working point; the invention is based on motor temperature in the feed-forward patht、Amplitude of currenti s 、Current vector angleβOn-line real-time table look-up and MTPA real-time table look-up, and on feedback channel, using flux linkage calculation model to calculate flux linkage in real time
Figure 217388DEST_PATH_IMAGE002
Detection equipment for the temperature of the rotor is omitted; and redistribute output results using torque closed loopdShaft current
Figure 462425DEST_PATH_IMAGE004
Andqshaft current
Figure 540365DEST_PATH_IMAGE006
And the permanent magnet synchronous motor is maintained to run according to the MTPA track, so that the heating and the loss of the motor are reduced.

Description

Control method for built-in permanent magnet synchronous motor
Technical Field
The invention relates to a control method of a permanent magnet synchronous motor, in particular to a control method of a built-in permanent magnet synchronous motor.
Background
The built-in permanent magnet synchronous motor is gradually and widely used in the urban transportation field of the guide rail electric car and the like due to the advantages of high power density, high power factor, high overload capacity and the like, is very important to the precision and high efficiency of torque output by a traction motor of the guide rail electric car for passenger carrying operation, and is a key for measuring the performance of a traction system. However, motor parameters of the built-in permanent magnet synchronous motor are greatly influenced by the saturation effect and the temperature change of the stator core, and the most important factor influencing the torque precision of the built-in permanent magnet synchronous motor on the trolley of the rail trolley is the motor parameter L caused by the change of the working temperature and the stator current of the motor in the running process of the motord、Lq、Rs、ΨfAnd (4) changing. The accuracy of the motor parameters of the permanent magnet synchronous motor is crucial to the control accuracy of the motor, so that the control algorithm is necessary to obtain accurate motor parameters in real time during the operation of the trolley bus. If the motor parameters cannot be accurately used in real time in the control method, the control of the permanent magnet synchronous motor is influencedAccuracy, accuracy and efficiency of the motor output torque are reduced.
The control of the permanent magnet synchronous motor is divided into an MTPA (maximum torque current ratio) control part and a flux weakening control part, if the influence of saturation effect and temperature change on motor parameters is not considered in the MTPA control, the motor cannot correctly run under an MTPA control track, and the torque output by the motor under each torque instruction has deviation.
Disclosure of Invention
The invention solves the problem that the motor parameters are not accurately used in real time in the existing permanent magnet synchronous motor control method, so that the torque precision of the motor output and the motor operation efficiency are influenced, and provides a built-in permanent magnet synchronous motor control method. The control method considers the influence of iron core magnetic saturation effect factors on motor parameters caused by the temperature change of the motor and the stator current change in the working voltage and current range of the permanent magnet synchronous motor, and provides a control method for adjusting a current vector angle by using a torque closed loop and searching and using the motor parameters on line in real time when an MTPA control mode is used, so as to improve the torque output precision of the permanent magnet synchronous motor.
The invention is realized by adopting the following technical scheme: a control method of a built-in permanent magnet synchronous motor comprises the following control modules: the device comprises a temperature sensor module, a rotary transformer module, a Clark conversion module, a Park conversion module, a torque instruction processing module, an MTPA (maximum Transmission Power Amplifier) table look-up module, a stator inductance and resistance parameter table look-up module, a voltage calculation module, a flux linkage calculation module, a feedback torque calculation module, a current vector angle adjustment module and a pulse modulation module;
1) temperature sensor module
The temperature sensor is buried in the stator of the permanent magnet synchronous motor, and the real-time stator temperature t of the motor is acquired by the temperature sensor.
2) Rotary transformer module
The rotary transformer is arranged on the permanent magnet synchronous motor, the rotor position theta of the permanent magnet synchronous motor is acquired through the rotary transformer, and the rotating speed w of the permanent magnet synchronous motor can be obtained through differentiating the rotor position thetae。
3) Clark conversion module
The current sensor collects two-phase current of the stator to obtain ia、ibThen obtaining stator current i through Clark conversionα、iβ。
4) Park conversion module
Clark transformation module to obtain iα、iβObtaining the current i under a d-q rotating coordinate system through Park transformationd、iq。
5) Torque command processing module
The input of the torque command processing module is a target torque Te(ii) a After amplitude limiting and torque slope processing, the output of the torque command processing module is given torque
Figure BDA0002252165440000021
6) MTPA table look-up module
The input in the MTPA look-up table module is
Figure BDA0002252165440000022
The module outputs a current vector amplitude i according to a maximum torque current ratio algorithmsAnd current vector angle β;
7) stator inductance and resistance parameter look-up table module
The input of the stator inductance and resistance parameter lookup module is a current amplitude value isCurrent vector angle β1Stator temperature t, wherein current vector angle β1Is obtained by correcting delta β output by the current vector angle adjusting module on the basis of β values obtained by the MTPA table look-up module.
The output of the stator inductance and resistance parameter lookup module is Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)、
Figure BDA0002252165440000023
Figure BDA0002252165440000024
Based on the temperature t and the current amplitude i of the stator of the motorsCurrent vector angle β1Looking up a table for an interpolation algorithm in real time to obtain a current-following amplitude isCurrent vector angle β1Stator inductance L with variable stator temperature td(is、β1、t)，Lq(is、β1、t)。
Obtaining the stator resistance R changing along with the stator temperature through a real-time table look-up interpolation algorithm based on the motor temperature ts(t)。
According to the current amplitude isCurrent vector angle β1Obtaining a d-axis current set value according to the following formula
Figure BDA0002252165440000031
Given value of q-axis current
Figure BDA0002252165440000032
Figure BDA0002252165440000033
8) Voltage calculation module
The voltage calculation module consists of a front feed voltage module and a current regulator module.
The input of the front feed voltage module is Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)、ψf(t0)、
Figure BDA0002252165440000034
Wherein the rotor flux linkage psif(t0) Is at the nominal temperature; the output of the feed-forward voltage module is udfw、uqfw；
Figure BDA0002252165440000035
The input of the current regulator module is
Figure BDA0002252165440000036
id、iqThe output of the current regulator module is DelautdAnd Δ uq；
Figure BDA0002252165440000037
And idAs a closed-loop regulator with regulator output of Deltaud，
Figure BDA0002252165440000038
And iqAs a closed-loop regulator with regulator output of Deltauq；
The output of the voltage calculation module is ud、uqAs a command voltage
Figure BDA0002252165440000039
9) Flux linkage calculation module
In feed forward decoupling control under steady state working condition, when motor parameters of the current regulator are inaccurate, delta u output by the current regulatordAnd Δ uqAnd the value is a non-zero value, and voltage calculation deviation caused by inaccurate motor parameters is compensated.
Inductance and resistance parameter in calculation module for feedforward voltage uses online real-time look-up table value Ld(is、β1、t)、Lq(is、β1、t)、Rs(t) high precision, and the control deviation caused by inaccurate motor parameters in the control system mainly comes from the rotor flux linkage psif
The input of the flux linkage calculation module is id、iq、uq，Ld(is、β1T), the output is psif(t)，
Psi 'can be obtained from the following formula'f(t)
Figure BDA00022521654400000310
ψ'f(t) filteredAnd after clipping to obtain psif(t)
ψf(t) a slice interval of
Figure BDA0002252165440000041
10) Feedback torque calculation module
The input of the feedback torque calculation module is id、iq、ψf(t)、ψf(t0)、Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)；
The output of the feedback torque calculation module is TebThe method comprises the following steps:
Tee1＝1.5npiqψf(t)
in the formula, npIs the number of pole pairs of the motor
Tee2＝1.5npiqψf(t0)
Tee＝Tee1-Tee2
Test＝1.5npiq[ψf(t0)+(Ld(t、is、β1)-Lq(t、is、β1))id]
Teb＝Tee+Test
11) Current vector angle adjusting module
The input of the current vector angle adjustment module is Teb、Te *、β。
The output of the current vector angle adjustment module is β1。
TebWith a given torque Te *A torque closed-loop regulator is made, the output of the regulator is a compensation quantity delta β of a current vector angle to adjust a current angle β, and the sum of the two is β1，
β1＝β+Δβ
12) Pulse modulation module
The input to the modulo pulse modulation block is ud、uq、udcTheta, the output is the conduction time T of the three-phase inverter bridge IGBTa、Tb、TcAnd the IGBT is conducted to drive the motor to run.
The invention has the following beneficial effects:
(1) the method simultaneously considers the influence of temperature change and motor saturation effect on the motor parameters on line, improves the accuracy of the motor parameters at each working point, and ensures that the permanent magnet synchronous motor can still maintain high control precision under wide environmental conditions;
(2) the invention is based on the motor temperature t and the current amplitude i on a feedforward channelsCurrent vector angle β on-line real-time table look-up and MTPA real-time table look-up, flux linkage is calculated in real time by using flux linkage calculation model on feedback channel
Figure BDA0002252165440000042
A detection device for the temperature of the rotor is omitted; and the d-axis current is redistributed by the output result of the torque closed loop
Figure BDA0002252165440000051
And q-axis current
Figure BDA0002252165440000052
The permanent magnet synchronous motor is maintained to run according to the MTPA track, and the heating and the loss of the motor are reduced.
(3) The algorithm of the invention can improve the output precision and stability of the torque, and improve the efficiency of the permanent magnet synchronous motor and the running performance of the guide rail electric car.
Drawings
FIG. 1 is a general diagram of a control method according to the present invention;
fig. 2 is a current vector diagram of the permanent magnet synchronous motor according to the present invention;
FIG. 3 is a table look-up flow chart of the parameters of the inductance and the resistance of the permanent magnet synchronous motor according to the present invention;
FIG. 4 is a control block diagram of the flux linkage calculation module according to the present invention;
FIG. 5 is a block diagram of the current vector angle adjustment control of the present invention;
fig. 6 is a block diagram of a multi-mode modulation strategy according to the present invention.
Detailed Description
A control method of an interior permanent magnet synchronous motor comprises the following control modules (as shown in figure 1): the device comprises a temperature sensor module 1, a rotary transformer module 2, a Clark conversion module 3, a Park conversion module 4, a torque instruction processing module 5, an MTPA table look-up module 6, a stator inductance and resistance parameter table look-up module 7, a voltage calculation module, a flux linkage calculation module 9, a feedback torque calculation module 10, a current vector angle adjustment module 11 and a pulse modulation module 12;
1) temperature sensor module
The temperature sensor is buried in the stator of the permanent magnet synchronous motor, and the real-time stator temperature t of the motor is acquired by the temperature sensor.
2) Rotary transformer module
The rotary transformer is arranged on the permanent magnet synchronous motor, the rotor position theta of the permanent magnet synchronous motor is acquired through the rotary transformer, and the rotating speed w of the permanent magnet synchronous motor can be obtained through differentiating the rotor position thetae。
3) Clark conversion module
The current sensor collects two-phase current of the stator to obtain ia、ibThen obtaining stator current i through Clark conversionα、iβ。
4) Park conversion module
Clark transformation module to obtain iα、iβObtaining the current i under a d-q rotating coordinate system through Park transformationd、iq。
5) Torque command processing module
The input of the torque command processing module is a target torque TeIts value is derived from the VCU control unit; after amplitude limiting and torque slope processing, the output of the torque command processing module is given torque
Figure BDA0002252165440000061
6) MTPA table look-up module
The MTPA table look-up module is realized by selecting parameters of rated points of the motor, and the input of the MTPA table look-up module is
Figure BDA0002252165440000062
The module outputs a current vector amplitude i according to a maximum torque current ratio algorithmsAnd current vector angle β;
the maximum torque current ratio algorithm is specifically as follows:
per unit value i of currentbAs shown in the following formula:
Figure BDA0002252165440000063
wherein L isd(t0) And Lq(t0) The value psi of the stator inductance under the rated working conditionf(t0) Is the value of the permanent magnet flux linkage under rated operating conditions,
per unit base value t of torqueebIs represented by the following formula:
teb＝1.5npψf(t0)ib
in the formula, npIs the number of pole pairs of the motor,
for input torque
Figure BDA0002252165440000064
Per unit value t divided by torqueebObtaining a per unit torque value ten，
Figure BDA0002252165440000065
Constructing a t according to the algorithm of the maximum torque current ratioenAnd d-axis current per unit value idnFor each table using a one-dimensional interpolation table look-up algorithm
Figure BDA0002252165440000066
All correspond to an idnCalculating to obtain a q-axis current per unit value i according to the following formulaqn，
Figure BDA0002252165440000067
idn、iqnMultiplied by the current base ibObtaining current values i of d and q axesd、iqI.e. id＝idn×ib，iq＝iqn×ibThen, the current amplitude i is calculated according to the following formulasCurrent vector angle β, as shown in FIG. 2, due to ibWhen the fixed motor parameters are used in calculation, the analyzed β value is inaccurate, and the β value is corrected in a current vector angle adjustment link.
Figure BDA0002252165440000068
Figure BDA0002252165440000069
7) Stator inductance and resistance parameter look-up table module
The temperature change of the motor can cause the winding resistance RsInfluence winding loss, control algorithm RsThe variation affects the resistive voltage drop. R of permanent magnet synchronous motor on trolley bussGreater value, RsThe effect of the variation is not negligible.
The variation of the stator current can cause the magnetic saturation effect of the stator core, resulting in the stator inductance Ld、LqThe value of (c) is changed. Temperature affects the rotor permanent magnet flux linkage ΨfThe saturation of d-axis and q-axis can be changed by the change of flux linkage, in addition, the magnetic permeability of the motor silicon steel sheet can be reduced along with the rise of temperature, and the saturation of the inductor can be influenced by the change of the magnetic permeability of the motor iron core material, so that LdAnd LqWill vary as a function of temperature and current.
The input of the inductance and resistance parameter look-up table module is a current amplitude value isCurrent vector angle β1Stator temperature t, wherein current vector angle β1The torque precision correction method is characterized in that motor output torque precision reduction factors caused by motor parameter change, sampling delay and the like are considered, and the correction is obtained by delta β output by a torque closed-loop algorithm module on the basis of β values obtained by an MTPA table look-up module.
The output of the stator inductance and resistance parameter lookup module is Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)、
Figure BDA0002252165440000071
Figure BDA0002252165440000072
Based on the temperature t and the current amplitude i of the stator of the motorsCurrent vector angle β1Looking up a table for an interpolation algorithm in real time to obtain a current-following amplitude isCurrent vector angle β1Stator inductance L with variable stator temperature td(is、β1、t)，Lq(is、β1、t)。
Stator resistance RsThe influence of current is small, the influence of temperature is mainly used, and the stator resistance R changing along with the temperature of the stator is obtained through a real-time table look-up interpolation algorithm based on the temperature t of the motors(t)。
According to the current amplitude isCurrent vector angle β1Obtaining a d-axis current set value according to the following formula
Figure BDA0002252165440000073
Given value of q-axis current
Figure BDA0002252165440000074
Figure BDA0002252165440000075
Wherein L is determinedd(is、β1、t)、Lq(is、β1、t)、RsThe table of (t) may use motor designThe parameter table provided by the personnel can also be obtained through tests, and the method for obtaining the table through the tests is as follows:
firstly, under the environment of a drag test, the rotor flux linkage psi of the motor is tested under the condition of reverse drag at rated temperaturef(t0)。
And then the motor runs at a rated rotating speed, the tested motor is loaded, and the temperature of the winding or the iron core is tested through a temperature sensor arranged on the stator to be used as the inductance environment temperature. The rated temperature of the motor is set to be 20 ℃ and is between minus 20 ℃ and 160 DEG C]Performing a test every time the motor in the interval rises by 10 ℃, and recording the temperature t at the moment when the temperature value is stable; giving different d-axis and q-axis currents i at each test temperature point (nineteen temperature points in total) through an upper computerd1、iq1Recording the current regulator module output value ud1、uq1Measured torque T of torquemetere1Calculating Rs、Ld、LqRecording motor parameters; using formula at the same time
Figure BDA0002252165440000081
Calculating the current amplitude isBy the formula
Figure BDA0002252165440000082
Calculating current vector angle β, and respectively drawing Ld、LqAbout isAnd β, there is one L for each test temperature point tdTwo-dimensional table of (1) and LqA two-dimensional table of (1); a plurality of LdAnd LqThe two-dimensional table of (1) is written in the program in the form of an array; r exists at each test temperature point tsThe one-dimensional table about t is written in the program in the form of a one-dimensional array for use in queries.
The motor parameter table look-up method comprises the following steps:
the temperature sensor collects the stator temperature t in real time, and each stator temperature t collected in real time corresponds to two table lookup temperatures tsAnd ts+10，tsAnd ts+10Is [ -20 deg.C, 160 deg.C]Two adjacent test temperature points within the interval, t being at [ ts，ts+10]A value of the interval;
ts+10＝ts+10
wherein t issIs integral multiple of 10, and has a value range of-20 deg.C and 160 deg.C]。
For each table lookup temperature t in the algorithmsAll have a reference to the current amplitude isAngle β with current vector1L ofdA two-dimensional table of parameters, and a value for the current amplitude isAngle β with current vector1L ofqA parameter two-dimensional table; wherein isThe interval of the lookup table of (2) is set to 0.05 times the maximum current of β1The angle interval of the table lookup is set to be 6 degrees; at each temperature t of table lookupsLower, LdAnd LqRespectively by the real-time value of i at that momentsAnd β1Based on Ld、LqAnd the parameter two-dimensional table is obtained by two-dimensional linear interpolation. Thus looking up the table temperature ts、ts+10Two inductance parameters L of the d-axis inductance are obtained respectivelyd(is、β1、ts)、Ld(is、β1、ts+10) And two inductance parameters L of the q-axis inductanceq(is、β1、ts)、Lq(is、β1、ts+10) Then Ld(is、β1、ts) And Ld(is、β1、ts+10)，Lq(is、β1、ts) And Lq(is、β1、ts+10) Respectively related to the temperature t according to the real-time temperature ts，ts+10One-dimensional linear interpolation is carried out to obtain an inductance value L corresponding to the real-time sampling temperature td(is、β1T) and Lq(is、β1T), the flow chart is shown in FIG. 3;
for stator resistance RsEach real-time temperature t has two temperatures t corresponding to two lookup tablessAnd ts+10Temperature value R ofs(ts)、Rs(ts+10) Then Rs(ts) And Rs(ts+10) Respectively related to the temperature t according to the real-time temperature ts、ts+10One-dimensional linear interpolation is carried out to obtain the resistance value R corresponding to the real-time sampling temperature ts(t)。
8) Voltage calculation module
The voltage calculation module consists of a feedforward voltage module 8 and a current regulator module.
The input of the front feed voltage module is Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)、ψf(t0)、
Figure BDA0002252165440000091
In which the rotor flux linkage Ψf(t0)Is at the nominal temperature; the output of the feed-forward voltage module is udfw、uqfw；
Figure BDA0002252165440000092
The input of the current regulator module is
Figure BDA0002252165440000093
id、iqThe output of the current regulator module is DelautdAnd Δ uq；
Figure BDA0002252165440000094
And idAs a closed-loop regulator with regulator output of Deltaud，
Figure BDA0002252165440000095
And iqAs a closed-loop regulator with regulator output of Deltauq；
The output of the voltage calculation module is ud、uqAs a command voltage
Figure BDA0002252165440000096
9) Flux linkage calculation module
The permanent magnet material in the permanent magnet synchronous motor rotor is greatly influenced by temperature change, the guide rail electric car permanent magnet synchronous motor rotor is particularly sensitive to temperature by selecting the rubidium, iron and boron material, and the residual magnetism B of the magnet material is generated during the temperature changerAnd intrinsic coercive force HicThe change occurs and the relationship between the remanence of the magnet material and the temperature is shown in the following formula.
Figure BDA0002252165440000097
Wherein t is0Is rated temperature, in the invention, the rated temperature of the motor is set at 20 ℃, t is the actual working temperature of the permanent magnet, Br0Is the remanence of the magnet at the rated temperature, BrtIs the remanence of the permanent magnet under the actual working temperature, α is the temperature coefficient of the remanence, the motor rotor flux linkage and the motor remanence have the following relationship,
ψf(t)＝∫BrtdA
where a is a region through which the flux linkage passes, the relationship between the motor flux linkage and the temperature change is as follows
Figure BDA0002252165440000098
ψf(t0) Is the rotor flux linkage at rated temperature,. psifAnd (t) is the rotor flux linkage at the actual operating temperature of the motor.
Permanent magnets mounted in the rotor of the machine psif(t) is difficult to measure under the condition that the motor runs, and the real-time flux linkage value psi is calculated by adopting a flux linkage calculation model in the inventionf(t)。
In feed forward decoupling control under steady state working condition, when motor parameters of the current regulator are inaccurate, delta u output by the current regulatordAnd Δ uqAnd the value is a non-zero value, and voltage calculation deviation caused by inaccurate motor parameters is compensated.
Inductance and resistance parameter in calculation module for feedforward voltage uses online real-time look-up table value Ld(is、β1、t)、Lq(is、β1、t)、Rs(t) high precision, and the control deviation caused by inaccurate motor parameters in the control system mainly comes from the rotor flux linkage psif
The input of the flux linkage calculation module is id、iq、uq，Ld(is、β1T), the output is psif(t)，
Psi 'can be obtained from the following formula'f(t)
Figure BDA0002252165440000101
ψ'f(t) obtaining psi after filtering and amplitude limitingf(t)
ψf(t) a slice interval of
Figure BDA0002252165440000102
10) Feedback torque calculation module
The motor torque is composed of an excitation torque and a reluctance torque, wherein the excitation torque is related to the rotor flux linkage and is independent of the inductance, so that the calculated flux linkage ψ can be usedf(T) calculating the excitation torque Tee1Using rotor flux linkage psi at rated temperaturef(t0) Calculating the excitation torque Tee2The difference T between the twoeeAs a deviation of the excitation torque exerted when the rotor flux linkage changes due to a change in temperature; meanwhile, the electromagnetic torque T of the motor is calculated according to inductance parameters obtained by table lookupest，TeeAnd TestThe sum is used as the feedback torque T of the motoreb。
The input of the feedback torque calculation module is id、iq、ψf(t)、ψf(t0)、Ld(is、β1、t)、Ld(is、β1、t)、Rs(t)
The output of the feedback torque calculation module is TebThe method comprises the following steps:
Tee1＝1.5npiqψf(t)
in the formula, npIs the number of pole pairs of the motor
Tee2＝1.5npiqψf(t0)
Tee＝Tee1-Tee2
Test＝1.5npiq[ψf(t0)+(Ld(t、is、β1)-Lq(t、is、β1))id]
Teb＝Tee+Test
11) Current vector angle adjusting module
The MTPA control current track is determined by motor parameters as shown in the following formula, and because the motor parameters are influenced by temperature and saturation continuously during the operation of the permanent magnet synchronous motor, the motor current vector angle β calculated in the MTPA table look-up module according to the fixed motor parameters is usually inaccurate, so that isDistributing command current to d and q axes
Figure BDA0002252165440000111
And
Figure BDA0002252165440000112
inaccuracy results in the motor not being in the MTPA state during actual operation, which reduces the accuracy of the torque output by the motor, and therefore the current vector angle β needs to be adjusted,
Figure BDA0002252165440000113
the input of the current vector angle adjustment module is Teb、Te *、β。
The output of the current vector angle adjustment module is β1。
TebWith a given torque Te *Making a torque closed-loop regulator, the regulator output is the compensation quantity delta β of the current vector angle to regulate electricityFlow angle β, sum of which is β1As shown in fig. 5, the following equation is shown.
β1＝β+Δβ
Correction of current vector angle is aimed at realizing non-static tracking of feedback torque to given torque and raising control accuracy of torque, but the torque output accuracy of motor can not be up to 100%, and given torque Te *And between feedbackebThere will always be a static error, so the torque closed-loop regulator is only provided with a proportional link, as shown in the following formula
Figure BDA0002252165440000114
Δβ＝kpΔTe
In the formula kpIs a proportionality coefficient, kpThe value of (a) is to be adjusted in the test, depending on the current isAnd the change of the stator temperature t of the motor is set in sections or fitted according to test data. k is a radical ofpHas a value range of [ -0.03, 0.03 [)]
ΔTeHas a limiting range of [ -0.05Tn，0.05Tn]Wherein T isnIs the rated torque.
The clipping range of Δ β is [ -5 °, 5 ° ].
β1Under the traction condition of the limiting range of [90 degrees ] and 180 degrees]Under the braking working condition, the angle is [180 degrees ], 270 degrees]。
12) Pulse modulation module
The guide rail electric car traction system belongs to a high-power electric transmission system and is mainly characterized by high voltage and high current, the peak power of a motor reaches 360kW and is limited by heat dissipation conditions, the switching frequency of an IGBT is only 900Hz at most, but the output frequency of an inverter can reach 300Hz at most, the traditional svpwm modulation algorithm cannot meet the requirements, and the modulation algorithm adopts a multi-mode modulation strategy, as shown in figure 6, the multi-mode modulation strategy comprises asynchronous modulation, synchronous modulation, special synchronous modulation and finally square wave control, and the utilization rate of bus voltage is improved.
The input to the modulo pulse modulation block is ud、uq、udcTheta, the output is the conduction time T of the three-phase inverter bridge IGBTa、Tb、TcAnd the IGBT is conducted to drive the motor to run.

Claims (10)

1. A control method of a built-in permanent magnet synchronous motor is characterized by comprising the following control modules: the device comprises a temperature sensor module (1), a rotary transformer module (2), a Clark conversion module (3), a Park conversion module (4), a torque instruction processing module (5), an MTPA table look-up module (6), a stator inductance and resistance parameter table look-up module (7), a voltage calculation module, a flux linkage calculation module (9), a feedback torque calculation module (10), a current vector angle adjustment module (11) and a pulse modulation module (12);
1) temperature sensor module
The temperature sensor is buried in a permanent magnet synchronous motor stator, and the real-time stator temperature t of the motor is acquired by the temperature sensor;
2) rotary transformer module
The rotary transformer is arranged on the permanent magnet synchronous motor, the rotor position theta of the permanent magnet synchronous motor is acquired through the rotary transformer, and the rotating speed w of the permanent magnet synchronous motor can be obtained through differentiating the rotor position thetae；
3) Clark conversion module
The current sensor collects two-phase current of the stator to obtain ia、ibThen obtaining stator current i through Clark conversionα、iβ；
4) Park conversion module
Clark transformation module to obtain iα、iβObtaining the current i under a d-q rotating coordinate system through Park transformationd、iq；
5) Torque command processing module
The input of the torque command processing module is a target torque Te(ii) a After amplitude limiting and torque slope processing, the output of the torque command processing module is given torque
Figure FDA0002252165430000011
6) MTPA table look-up module
The input in the MTPA look-up table module is
Figure FDA0002252165430000012
The module outputs a current vector amplitude i according to a maximum torque current ratio algorithmsAnd current vector angle β;
7) stator inductance and resistance parameter look-up table module
The input of the stator inductance and resistance parameter lookup module is a current amplitude value isCurrent vector angle β1Stator temperature t, wherein current vector angle β1Is obtained by correcting delta β output by the current vector angle adjusting module on the basis of β values obtained by the MTPA table look-up module;
the output of the stator inductance and resistance parameter lookup module is Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)、
Figure FDA0002252165430000013
Figure FDA0002252165430000021
Based on the temperature t and the current amplitude i of the stator of the motorsCurrent vector angle β1Looking up a table for an interpolation algorithm in real time to obtain a current-following amplitude isCurrent vector angle β1Stator inductance L with variable stator temperature td(is、β1、t)，Lq(is、β1、t)；
Obtaining the stator resistance R changing along with the stator temperature through a real-time table look-up interpolation algorithm based on the motor temperature ts(t)；
According to the current amplitude isCurrent vector angle β1Obtaining a d-axis current set value according to the following formula
Figure FDA0002252165430000022
Given value of q-axis current
Figure FDA0002252165430000023
Figure FDA0002252165430000024
Wherein L is determinedd(is、β1、t)、Lq(is、β1、t)、Rs(t) the table is obtained using a parameter table provided by a motor designer, or by experiment;
8) voltage calculation module
The voltage calculation module consists of a front feed voltage module (8) and a current regulator module;
the input of the front feed voltage module is Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)、ψf(t0)、
Figure FDA0002252165430000025
Wherein the rotor flux linkage psif(t0) Is at the nominal temperature; the output of the feed-forward voltage module is udfw、uqfw；
Figure FDA0002252165430000026
The input of the current regulator module is
Figure FDA0002252165430000027
id、iqThe output of the current regulator module is DelautdAnd Δ uq；
Figure FDA0002252165430000028
And idAs a closed-loop regulator with regulator output of Deltaud，
Figure FDA0002252165430000029
And iqAs a closed-loop regulator with regulator output of Deltauq；
The output of the voltage calculation module is ud、uqAs a command voltage
Figure FDA00022521654300000210
9) Flux linkage calculation module
The input of the flux linkage calculation module is id、iq、uq，Ld(is、β1T), the output is psif(t)，
Psi 'can be obtained from the following formula'f(t)
Figure FDA0002252165430000031
ψ'f(t) obtaining psi after filtering and amplitude limitingf(t)
ψf(t) has a slicing interval of 0.8 psif(t0)，1.03ψf(t0)]；
10) Feedback torque calculation module
The input of the feedback torque calculation module is id、iq、ψf(t)、ψf(t0)、Ld(is、β1、t)、Lq(is、β1、t)、Rs(t)；
The output of the feedback torque calculation module is TebThe method comprises the following steps:
Tee1＝1.5npiqψf(t)
in the formula, npIs the number of pole pairs of the motor
Tee2＝1.5npiqψf(t0)
Tee＝Tee1-Tee2
Test＝1.5npiq[ψf(t0)+(Ld(t、is、β1)-Lq(t、is、β1))id]
Teb＝Tee+Test
11) Current vector angle adjusting module
The input of the current vector angle adjustment module is Teb、Te *、β；
The output of the current vector angle adjustment module is β1；
TebWith a given torque Te *A torque closed-loop regulator is made, the output of the regulator is a compensation quantity delta β of a current vector angle to adjust a current angle β, and the sum of the two is β1，
β1＝β+Δβ
12) Pulse modulation module
The input to the modulo pulse modulation block is ud、uq、udcTheta, the output is the conduction time T of the three-phase inverter bridge IGBTa、Tb、TcAnd the IGBT is conducted to drive the motor to run.
2. The method for controlling the interior permanent magnet synchronous motor according to claim 1, wherein in the 6) MTPA table look-up module, a maximum torque current ratio algorithm is as follows:
per unit value i of currentbAs shown in the following formula:
Figure FDA0002252165430000041
wherein L isd(t0) And Lq(t0) The value of the stator inductance, Ψ, respectively under nominal operating conditionsf(t0) Is the value of the permanent magnet flux linkage under rated operating conditions,
per unit base value t of torqueebIs represented by the following formula:
teb＝1.5npψf(t0)ib
in the formula, npIs the number of pole pairs of the motor,
for input torque
Figure FDA0002252165430000042
Per unit value t divided by torqueebObtaining a per unit torque value ten，
Figure FDA0002252165430000043
Constructing a t according to the algorithm of the maximum torque current ratioenAnd d-axis current per unit value idnFor each T, using a one-dimensional interpolation table look-up algorithme *All correspond to an idnCalculating to obtain a q-axis current per unit value i according to the following formulaqn，
Figure FDA0002252165430000044
idn、iqnMultiplied by the current base ibObtaining current values i of d and q axesd、iqI.e. id＝idn×ib，iq＝iqn×ibThen, the current amplitude i is calculated according to the following formulasThe current vector angle β, the current vector angle,
Figure FDA0002252165430000045
Figure FDA0002252165430000046
3. the method for controlling the interior permanent magnet synchronous motor according to claim 1 or 2, wherein 7) in the stator inductance and resistance parameter table look-up module, a method for obtaining a table through a test is as follows:
firstly, under the environment of a drag test, a rotor flux linkage psi of the motor is tested under reverse drag test at rated temperaturef(t0)；
Then the motor runs at a rated rotating speed, the tested motor is loaded, and the temperature of a winding or an iron core is tested through a temperature sensor arranged on the stator to be used as the inductance environment temperature; the rated temperature of the motor is set to be 20 ℃ and is between minus 20 ℃ and 160 DEG C]Performing a test every time the motor in the interval rises by 10 ℃, and recording the temperature t at the moment when the temperature value is stable; giving different d-axis and q-axis currents i at each test temperature point through an upper computerd1、iq1Recording the current regulator module output value ud1、uq1Measured torque T of torquemetere1Calculating Rs、Ld、LqRecording motor parameters; using formula at the same time
Figure FDA0002252165430000047
Calculating the current amplitude isBy the formula
Figure FDA0002252165430000048
Calculating current vector angle β, and respectively drawing Ld、LqAbout isAnd β, one L for each test temperature point tdTwo-dimensional table of (1) and LqA two-dimensional table of (1); r exists at each test temperature point tsA one-dimensional table with respect to t.
4. The built-in permanent magnet synchronous motor control method according to claim 3, characterized in that 7) in the stator inductance and resistance parameter table look-up module, the motor parameter table look-up method comprises the following steps:
the temperature sensor collects the stator temperature t in real time, and each stator temperature t collected in real time corresponds to two table lookup temperatures tsAnd ts+10，tsAnd ts+10Is [ -20 deg.C, 160 deg.C]Two adjacent test temperature points within the interval, t being at [ ts，ts+10]A value of the interval;
ts+10＝ts+10
wherein t issIs integral multiple of 10, and has a value range of-20 deg.C and 160 deg.C]；
For each table lookup temperature t in the algorithmsAll have a reference to the current amplitude isAngle β with current vector1L ofdA two-dimensional table of parameters, and a value for the current amplitude isAngle β with current vector1L ofqA parameter two-dimensional table; wherein isThe interval of the lookup table of (2) is set to 0.05 times the maximum current of β1The angle interval of the table lookup is set to be 6 degrees; at each temperature t of table lookupsLower, LdAnd LqRespectively by the real-time value of i at that momentsAnd β1Based on Ld、LqThe parameter two-dimensional table is obtained by two-dimensional linear interpolation; thus looking up the table temperature ts、ts+10Two inductance parameters L of the d-axis inductance are obtained respectivelyd(is、β1、ts)、Ld(is、β1、ts+10) And two inductance parameters L of the q-axis inductanceq(is、β1、ts)、Lq(is、β1、ts+10) Then Ld(is、β1、ts) And Ld(is、β1、ts+10)，Lq(is、β1、ts) And Lq(is、β1、ts+10) Respectively related to the temperature t according to the real-time temperature ts，ts+10One-dimensional linear interpolation is carried out to obtain an inductance value L corresponding to the real-time sampling temperature td(is、β1T) and Lq(is、β1、t)；
For stator resistance RsEach real-time temperature t has two temperatures t corresponding to two lookup tablessAnd ts+10Temperature value R ofs(ts)、Rs(ts+10) Then Rs(ts) And Rs(ts+10) Respectively related to the temperature t according to the real-time temperature ts、ts+10One-dimensional linear interpolation is carried out to obtain the resistance value R corresponding to the real-time sampling temperature ts(t)。
5. The interior permanent magnet synchronous motor control method according to claim 1 or 2, characterized in that, in 11) the current vector angle adjustment module,
ΔTe＝Te *-Teb
Δβ＝kpΔTe
in the formula kpIs a proportionality coefficient, kpThe value of (a) is to be adjusted in the test, depending on the current isAnd the change of the stator temperature t of the motor is set in sections or fitted according to test data.
6. The interior permanent magnet synchronous motor control method according to claim 4, wherein, in 11) the current vector angle adjustment module,
Figure FDA0002252165430000061
Δβ＝kpΔTe
in the formula kpIs a proportionality coefficient, kpThe value of (a) is to be adjusted in the test, depending on the current isAnd the change of the stator temperature t of the motor is set in sections or fitted according to test data.
7. The interior permanent magnet synchronous motor control method according to claim 5, wherein Δ TeHas a clipping range of [ -0.1T [)n，0.1Tn]Wherein T isnThe limit range of delta β is [ -5 DEG, 5 DEG ] for rated torque]；β1Under the traction condition of the limiting range of [90 degrees ] and 180 degrees]Under the braking working condition, the angle is [180 degrees ], 270 degrees]。
8. The interior permanent magnet synchronous motor control method according to claim 6, wherein Δ TeHas a limiting range of [ -0.05Tn，0.05Tn]Wherein T isnThe limit range of delta β is [ -5 DEG, 5 DEG ] for rated torque]；β1The amplitude limiting range of the traction engine is [90 degrees ],180°]under the braking working condition, the angle is [180 degrees ], 270 degrees]。
9. The method for controlling the interior permanent magnet synchronous motor according to claim 1 or 2, wherein in the 12) pulse modulation module, a multi-mode modulation strategy is adopted in a modulation algorithm, and comprises asynchronous modulation, synchronous modulation, special synchronous modulation and finally square wave control.
10. The method for controlling the interior permanent magnet synchronous motor according to claim 3, wherein in the 12) pulse modulation module, a multi-mode modulation strategy is adopted in a modulation algorithm, and the multi-mode modulation strategy comprises asynchronous modulation, synchronous modulation, special synchronous modulation and finally square wave control.
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