CN110868120B - Control method for built-in permanent magnet synchronous motor - Google Patents
Control method for built-in permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN110868120B CN110868120B CN201911038347.4A CN201911038347A CN110868120B CN 110868120 B CN110868120 B CN 110868120B CN 201911038347 A CN201911038347 A CN 201911038347A CN 110868120 B CN110868120 B CN 110868120B
- Authority
- CN
- China
- Prior art keywords
- module
- current
- temperature
- motor
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- 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
Detection equipment for the temperature of the rotor is omitted; and redistribute output results using torque closed loopdShaft current
Andqshaft current
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
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 precision of the permanent magnet synchronous motor is influenced, and the precision and the efficiency of the output torque of the motor 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 instruction processing module is given torque Te *。
6) MTPA table look-up module
The input in the MTPA look-up table module is Te *The module outputs according to the maximum torque current ratio algorithmOutput current vector magnitude isAnd a 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 beta1Stator temperature t, wherein current vector angle beta1Is obtained by correcting delta beta output by the current vector angle adjusting module on the basis of the beta value 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)、
Based on the temperature t and the current amplitude i of the stator of the motorsCurrent vector angle beta1Looking up a table for an interpolation algorithm in real time to obtain a current-following amplitude isCurrent vector angle beta1Stator 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 beta1Obtaining a d-axis current set value according to the following formula
Given value of q-axis current
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)、
Wherein the rotor flux linkage psif(t0) Is at the nominal temperature; the output of the feed-forward voltage module is udfw、uqfw；
The input of the current regulator module is
id、iqThe output of the current regulator module is DelautdAnd Δ uq；
And idAs a closed-loop regulator with regulator output of Deltaud，
And iqAs a closed-loop regulator with regulator output of Deltauq；
The output of the voltage calculation module is ud、uqAs a command voltage
9) Flux linkage calculation module
In feed forward decoupling control under steady state working condition, when motor parameter is inaccurateΔ u of current regulator outputdAnd 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)
ψ'f(t) obtaining psi after filtering and amplitude limitingf(t)
ψf(t) a slice interval of
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 beta1。
TebWith a given torque Te *A torque closed-loop regulator is made, the output of the regulator is the compensation quantity delta beta of the current vector angle to regulate the current angle beta, and the sum of the two is beta1，
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 channelsThe current vector angle beta is subjected to on-line real-time table lookup and MTPA real-time table lookup, and the flux linkage is calculated in real time by using a flux linkage calculation model on a feedback channel
A detection device for the temperature of the rotor is omitted; and redistribute d axis electricity using the output result of the torque closed loopFlow of
And q-axis current
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, and permanent magnets are acquired by the rotary transformerThe rotor position theta of the step motor is differentiated to obtain the rotating speed w of the permanent magnet synchronous motore。
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 instruction processing module is given torque Te *。
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 Te *The module outputs a current vector magnitude i according to a maximum torque-to-current ratio algorithmsAnd a 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:
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 Te *Per unit value t divided by torqueebObtaining a per unit torque value ten，ten＝Te */teb；
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，
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 the calculation, the analyzed beta value is inaccurate, and the beta value is corrected in the current vector angle adjustment link.
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 change of stator current will cause the statorMagnetic saturation effect of iron core, resulting in 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 beta1Stator temperature t, wherein current vector angle beta1The correction method is characterized in that the correction method takes motor output torque precision reduction factors caused by motor parameter change, sampling delay and the like into consideration, and is obtained by correcting delta beta output by a torque closed-loop algorithm module on the basis of a beta value 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)、
Based on the temperature t and the current amplitude i of the stator of the motorsCurrent vector angle beta1Looking up a table for an interpolation algorithm in real time to obtain a current-following amplitude isCurrent vector angle beta1Stator 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 beta1Obtaining a d-axis current set value according to the following formula
Given value of q-axis current
Wherein L is determinedd(is、β1、t)、Lq(is、β1、t)、RsThe table of (t) can be obtained by using a parameter table provided by a motor designer or by a test, and the method for obtaining the table by the test 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
Calculating the current amplitude isBy the formula
Calculating a current vector angle beta, and respectively drawing Ld、LqAbout isAnd β. There is one L for each test temperature point tdTwo-dimensional table ofAnd 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 beta with current vector1L ofdA two-dimensional table of parameters, and a value for the current amplitude isAngle beta with current vector1L ofqA parameter two-dimensional table; wherein isIs set to be 0.05 times of the maximum current, beta1The 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 beta1Based 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)、
In which the rotor flux linkage Ψf(t0)Is at the nominal temperature; the output of the feed-forward voltage module is udfw、uqfw；
The input of the current regulator module is
id、iqThe output of the current regulator module is DelautdAnd Δ uq；
And idAs a closed-loop regulator with regulator output of Deltaud，
And iqAs a closed-loop regulator with regulator output of Deltauq；
The output of the voltage calculation module is ud、uqAs a command voltage
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.
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, alpha 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
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)
ψ'f(t) obtaining psi after filtering and amplitude limitingf(t)
ψf(t) a slice interval of
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 magnet at rated temperatureChain psif(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 shown as the following formula and is determined by motor parameters; because the motor parameters are influenced by temperature and saturation during the operation of the permanent magnet synchronous motor and constantly change, the motor current vector angle beta is usually inaccurate by calculation in an MTPA table look-up module according to fixed motor parameters; thus isDistributing command current to d and q axes
And
inaccuracy leads to the fact that the actual running of the motor is not in the MTPA state, and the precision of the torque output by the motor is reduced. The current vector angle beta needs to be adjusted,
the input of the current vector angle adjustment module is Teb、Te *、β。
The output of the current vector angle adjustment module is beta1。
TebWith a given torque Te *A torque closed-loop regulator is made, the output of the regulator is the compensation quantity delta beta of the current vector angle to regulate the current angle beta, and the sum of the two is beta1As 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
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. 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]A system ofUnder the working condition of [180 degrees ] and 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 subjected to Clark transformation to obtain the final productSub-current iα、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
6) MTPA table look-up module
The input in the MTPA look-up table module is
The module outputs a current vector amplitude i according to a maximum torque current ratio algorithmsAnd a 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 beta1Stator temperature t, wherein current vector angle beta1Is obtained by correcting delta beta output by a current vector angle adjusting module on the basis of a beta value 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)、
Based on the temperature t and the current amplitude i of the stator of the motorsCurrent vector angle beta1Real-time table look-up interpolation algorithm to obtainTo the amplitude i of the follow currentsCurrent vector angle beta1Stator 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 beta1Obtaining a d-axis current set value according to the following formula
Given value of q-axis current
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)、
Wherein the rotor flux linkage psif(t0) Is at the nominal temperature; the output of the feed-forward voltage module is udfw、uqfw；
The input of the current regulator module is
id、iqThe output of the current regulator module is DelautdAnd Δ uq；
And idAs a closed-loop regulator with regulator output of Deltaud，
And iqAs a closed-loop regulator with regulator output of Deltauq；
The output of the voltage calculation module is ud、uqAs a command voltage
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)
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
Feedback torqueThe input of the 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 beta1；
TebWith a given torque Te *A torque closed-loop regulator is made, the output of the regulator is the compensation quantity delta beta of the current vector angle to regulate the current angle beta, and the sum of the two is beta1，
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:
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
Per unit value t divided by torqueebObtaining a per unit torque value ten，
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
All correspond to an idnCalculating to obtain a q-axis current per unit value i according to the following formulaqn，
idn、iqnMultiplied by the current base ibObtaining d, q axesCurrent value id、iqI.e. id＝idn×ib，iq＝iqn×ibThen, the current amplitude i is calculated according to the following formulasThe current vector angle beta,
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
Calculating the current amplitude isBy the formula
Calculate outCurrent vector angle beta, 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); 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 beta with current vector1L ofdA two-dimensional table of parameters, and a value for the current amplitude isAngle beta with current vector1L ofqA parameter two-dimensional table; wherein isIs set to be 0.05 times of the maximum current, beta1The 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 beta1Based 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,
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,
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 isnIs rated torque; the amplitude limit range of delta beta is [ -5 DEG, 5 DEG ]]；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 isnIs rated torque; the amplitude limit range of delta beta is [ -5 DEG, 5 DEG ]]；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]。
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911038347.4A CN110868120B (en) | 2019-10-29 | 2019-10-29 | Control method for built-in permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911038347.4A CN110868120B (en) | 2019-10-29 | 2019-10-29 | Control method for built-in permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110868120A CN110868120A (en) | 2020-03-06 |
| CN110868120B true CN110868120B (en) | 2021-03-26 |
Family
ID=69652967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911038347.4A Active CN110868120B (en) | 2019-10-29 | 2019-10-29 | Control method for built-in permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110868120B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087174B (en) * | 2020-07-31 | 2022-04-01 | 北方工业大学 | Induction motor control method and device, electronic device and storage medium |
| CN112511058A (en) * | 2020-12-16 | 2021-03-16 | 哈尔滨工业大学 | Method for rapidly, accurately and comprehensively calculating characteristics of servo motor influenced by temperature |
| CN112701969B (en) * | 2020-12-24 | 2022-07-22 | 西安理工大学 | Synchronous reluctance motor maximum torque current ratio online optimization method |
| CN112737457B (en) * | 2020-12-25 | 2023-08-01 | 中车永济电机有限公司 | Stability control method for permanent magnet auxiliary synchronous reluctance motor |
| CN112737441B (en) * | 2020-12-25 | 2022-11-22 | 中车永济电机有限公司 | Control method of permanent magnet auxiliary synchronous reluctance motor |
| CN113067505B (en) * | 2021-03-09 | 2023-06-16 | 重庆长安汽车股份有限公司 | Method for compensating voltage vector in control process of permanent magnet synchronous motor |
| CN113872496B (en) * | 2021-09-27 | 2023-07-21 | 深蓝汽车科技有限公司 | Motor control method and system for automobile electric drive system and vehicle |
| CN116418278A (en) * | 2023-04-13 | 2023-07-11 | 哈尔滨理工大学 | High-speed motor rotor temperature detection method based on molybdenum disulfide material |
| CN116995981B (en) * | 2023-09-26 | 2023-12-12 | 天津德星智能科技有限公司 | Current-voltage vector amplitude angle control method |
| CN118100728A (en) * | 2024-04-28 | 2024-05-28 | 四川蓉大智能设备有限公司 | Alternating current motor control method and system of wheel disc type groove type turning machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014103693A1 (en) * | 2012-12-26 | 2014-07-03 | 日産自動車株式会社 | Motor control device and motor control method |
| CN108377116A (en) * | 2018-04-11 | 2018-08-07 | 东软集团股份有限公司 | A kind of the current work point given system and method for permanent magnet AC motor |
| JP2019068600A (en) * | 2017-09-29 | 2019-04-25 | 日産自動車株式会社 | Control method of motor, and control arrangement of motor |
| CN109787526A (en) * | 2019-03-14 | 2019-05-21 | 哈尔滨理工大学 | A kind of voltage feedforward control method and device based on permanent magnet synchronous motor model |
| CN110289797A (en) * | 2018-03-19 | 2019-09-27 | 通用汽车环球科技运作有限责任公司 | It is used to determine when the method and system of the application adaptability thermal compensation in the operation area of motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6780333B2 (en) * | 2016-07-12 | 2020-11-04 | コニカミノルタ株式会社 | Permanent magnet synchronous motor control device, image forming device, and control method |
-
2019
- 2019-10-29 CN CN201911038347.4A patent/CN110868120B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014103693A1 (en) * | 2012-12-26 | 2014-07-03 | 日産自動車株式会社 | Motor control device and motor control method |
| JP2019068600A (en) * | 2017-09-29 | 2019-04-25 | 日産自動車株式会社 | Control method of motor, and control arrangement of motor |
| CN110289797A (en) * | 2018-03-19 | 2019-09-27 | 通用汽车环球科技运作有限责任公司 | It is used to determine when the method and system of the application adaptability thermal compensation in the operation area of motor |
| CN108377116A (en) * | 2018-04-11 | 2018-08-07 | 东软集团股份有限公司 | A kind of the current work point given system and method for permanent magnet AC motor |
| CN109787526A (en) * | 2019-03-14 | 2019-05-21 | 哈尔滨理工大学 | A kind of voltage feedforward control method and device based on permanent magnet synchronous motor model |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110868120A (en) | 2020-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110868120B (en) | Control method for built-in permanent magnet synchronous motor | |
| Wang et al. | Loss manipulation capabilities of deadbeat direct torque and flux control induction machine drives | |
| CN109194229B (en) | Torque closed-loop-based MTPA control system and method for permanent magnet synchronous motor | |
| CN105122631B (en) | The method for determining motor terminal voltage | |
| CN103931096B (en) | Method and system with function of temperature compensation control motor | |
| Kim et al. | Torque control strategy of an IPMSM considering the flux variation of the permanent magnet | |
| WO2022133892A1 (en) | Permanent magnet synchronous motor mtpa control method and apparatus, system and device | |
| Sun et al. | Integration of FOC with DFVC for interior permanent magnet synchronous machine drives | |
| Han et al. | Improved online maximum-torque-per-ampere algorithm for speed controlled interior permanent magnet synchronous machine | |
| CN102647134B (en) | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor | |
| JP5595835B2 (en) | Electric motor drive | |
| WO2022134772A1 (en) | Control method for permanent magnet auxiliary synchronous reluctance motor | |
| CN103762922A (en) | Alternating-current servo flux-weakening speed-regulating method | |
| CN110808702B (en) | Control method of embedded permanent magnet synchronous motor | |
| CN108809182A (en) | A kind of method for controlling torque and device of permanent magnet synchronous motor | |
| CN104579083A (en) | Method and system for vector control of permanent magnet synchronous motor | |
| CN111245328B (en) | Permanent magnet synchronous motor control method combining table look-up method with regulator | |
| CN104426448A (en) | Control parameter self-setting method for compressor | |
| CN106788041A (en) | A kind of stator permanent magnetic type memory electrical machine high efficiency and wide speed regulation control method | |
| Seok et al. | Optimal flux selection of an induction machine for maximum torque operation in flux-weakening region | |
| CN110784141B (en) | Control method of permanent magnet synchronous motor | |
| CN104158457A (en) | Torque calibration method for AC induction motor of electric vehicle | |
| CN112564578A (en) | High-efficiency control method for permanent magnet synchronous motor | |
| CN109217762B (en) | Matching method of driver and built-in permanent magnet synchronous motor | |
| Shrestha et al. | Online compensation of parameter variation effects for robust interior PM synchronous motor drives |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |