CN110971149A - Control method and control device for motor deceleration and driving circuit - Google Patents
Control method and control device for motor deceleration and driving circuit Download PDFInfo
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Abstract
The invention relates to the field of motor drive control, and discloses a control method, a control device and a drive circuit for motor deceleration, wherein the voltage value of a direct current bus for supplying power to an inverter circuit of a drive motor is acquired in real time; determining a first amplitude limiting value of Q-axis given current of the control motor according to the direct-current bus voltage value and a preset voltage value, acquiring the preset amplitude limiting value of the Q-axis given current, and finally performing brake control on the motor according to the first amplitude limiting value and the preset amplitude limiting value to control the motor to operate in a speed reduction mode. Because the first amplitude limit value for braking control of the motor is related to the voltage of the direct-current bus detected in real time, in the process of braking and decelerating the motor, the induced electromotive force generated by the motor is fed back to the direct-current bus through the inverter and is not too high, and the damage of devices of a circuit on the direct-current bus due to overvoltage is prevented. The working reliability of the whole motor driving circuit is improved.
Description
Technical Field
The invention relates to the field of motor drive control, in particular to a control method, a control device and a drive circuit for motor deceleration.
Background
When a direct current motor runs, especially a permanent magnet synchronous motor runs, acceleration and deceleration running of the permanent magnet synchronous motor is a common working condition. During deceleration operation, if the purpose of rapid deceleration is to be achieved, braking torque needs to be generated through braking control. However, in the permanent magnet synchronous motor control system, the braking control means that the motor enters a Power generation state, that is, a circuit of a dc bus for supplying Power is directly charged through an IPM Module (Intelligent Power Module, which is a core component for controlling the operation of the permanent magnet synchronous motor), and a device of the circuit may be damaged due to overvoltage.
Therefore, how to control the motor to rapidly decelerate and the overvoltage of the direct current bus module cannot be caused becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a control method, a control device and a drive circuit for motor deceleration, and aims to solve the problem that an IPM module power supply line is damaged due to overvoltage of the IPM module power supply line during deceleration operation of the traditional direct current motor in the drive operation process.
In order to achieve the above object, the present invention provides a control method for motor deceleration, applied to a motor driving circuit, the motor driving circuit including a rectifying circuit, a filter circuit and an inverter circuit, the method including:
acquiring a direct current bus voltage value for supplying power to the inverter circuit;
determining a first amplitude limit value of a given current of a Q shaft of a control motor according to the voltage value of the direct-current bus and a preset voltage value;
acquiring a preset amplitude limiting value of the given current of the Q axis;
and carrying out braking control on the motor according to the first amplitude limiting value and a preset amplitude limiting value, so that the Q-axis current of the motor is between the first amplitude limiting value and the preset amplitude limiting value, and the motor is controlled to operate at a reduced speed.
Optionally, the determining a first limit value of the Q-axis given current for controlling the motor according to the dc bus voltage value and the preset voltage value includes:
calculating a difference value between a preset voltage value and a direct current bus voltage value;
and calculating a first amplitude limiting value k x Uf of the given current of the Q shaft according to the difference, wherein Uf is the difference, and k is a preset coefficient larger than zero.
Optionally, obtaining the preset clipping value of the Q-axis given current comprises:
acquiring an overcurrent protection value of the inverter circuit;
and determining a preset amplitude limit value according to the overcurrent protection value.
Optionally, the performing braking control on the motor according to the first amplitude limit value and the preset amplitude limit value includes:
calculating the difference between the target rotating speed value of the motor and the estimated motor speed value;
performing PI regulation on the difference calculation result to obtain an initial value of the Q-axis given current;
carrying out amplitude limiting on the initial value of the Q-axis given current according to the first amplitude limiting value and a preset amplitude limiting value to obtain a Q-axis given current value;
and participating in vector transformation operation according to the Q-axis given current value to generate the modulation signal for driving the inverter circuit so as to control the braking operation of the motor.
Optionally, the limiting the initial value of the Q-axis given current according to the first limit value and a preset limit value includes:
in the case of forward rotation of the motor, -Iqmax1 [ ═ Iqref [ - ] Iqmax 2;
in the case of reverse rotation of the motor, -Iqmax2 [ ═ Iqref [ - ] Iqmax 1; wherein Iqmax1 is the first clipping value, Iqmax2 is the preset clipping value, and Iqref is the Q-axis given current value.
In order to achieve the above object, the present invention further provides a control device for motor deceleration, applied to a motor driving circuit, where the motor driving circuit includes a rectifying circuit, a filtering circuit and an inverter circuit, the control device is configured to output a modulation signal for controlling the inverter circuit to control operation of a motor, and the control device includes:
the voltage detection module is used for detecting the voltage value of a direct current bus supplying power to the inverter circuit;
a controller connected with the voltage detection module and the inverter circuit, the controller configured to: from voltage detection
The measuring module obtains the voltage value of the direct current bus and determines control according to the voltage value of the direct current bus and a preset voltage value
Obtaining a first amplitude limit value of Q-axis given current of the motor, and obtaining a preset amplitude limit value of the Q-axis given current
A value for brake control of the motor according to the first amplitude limit value and the preset amplitude limit value,
so that the Q-axis current of the motor is between the first and the preset limiting value
And the motor is controlled to run at a reduced speed.
Optionally, the control unit is configured to determine a first limit value for a Q-axis given current of the control motor according to the dc bus voltage value and a preset voltage value:
calculating a difference value between a preset voltage value and a direct current bus voltage value;
and calculating a first amplitude limiting value k x Uf of the given current of the Q shaft according to the difference, wherein Uf is the difference, and k is a preset coefficient larger than zero.
Optionally, the obtaining of the preset clipping value of the Q-axis given current is configured to:
acquiring an overcurrent protection value of the inverter circuit;
and determining a preset amplitude limit value according to the overcurrent protection value.
Optionally, the control unit is configured to control braking of the motor according to the first amplitude limit value and a preset amplitude limit value:
calculating the difference between the target rotating speed value of the motor and the estimated motor speed value;
performing PI regulation on the difference calculation result to obtain an initial value of the Q-axis given current;
carrying out amplitude limiting on the initial value of the Q-axis given current according to the first amplitude limiting value and a preset amplitude limiting value to obtain a Q-axis given current value;
and participating in vector transformation operation according to the Q-axis given current value to generate the modulation signal for driving the inverter circuit so as to control the braking operation of the motor.
Optionally, the limiting the initial value of the Q-axis given current according to the first limit value and a preset limit value includes:
in the case of forward rotation of the motor, -Iqmax1 [ ═ Iqref [ - ] Iqmax 2;
in the case of reverse rotation of the motor, -Iqmax2 [ ═ Iqref [ - ] Iqmax 1; wherein Iqmax1 is the first clipping value, Iqmax2 is the preset clipping value, and Iqref is the Q-axis given current value.
In order to achieve the above object, the present invention further provides a motor driving circuit, which includes a rectifying circuit, a filter circuit, and an inverter circuit, and further includes the above control device for motor deceleration.
According to the technical scheme, the control method for motor deceleration obtains the voltage value of the direct current bus supplying power to the inverter circuit of the driving motor in real time; determining a first amplitude limiting value of Q-axis given current of the control motor according to the direct-current bus voltage value and a preset voltage value, acquiring the preset amplitude limiting value of the Q-axis given current, and finally performing brake control on the motor according to the first amplitude limiting value and the preset amplitude limiting value to control the motor to operate in a speed reduction mode. Because the first amplitude limit value of the given current of the Q shaft for braking control of the motor is related to the voltage of the direct-current bus detected in real time, in the process of braking and decelerating the motor, the induced electromotive force generated by the motor is fed back to the direct-current bus through the inverter and is not too high, and the device of the circuit on the direct-current bus is prevented from being damaged due to overvoltage. The working reliability of the whole motor driving circuit is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a circuit schematic diagram of a motor drive circuit for a control method of motor deceleration according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method for motor deceleration according to an embodiment of the present invention;
fig. 3 is a controller internal block diagram in the control apparatus for motor deceleration according to the embodiment of the present invention;
fig. 4 is a graph of D-axis inductance and Q-axis inductance of a motor as a function of current.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
An embodiment of the present invention provides a control method for motor deceleration, which is applied to a motor driving circuit, where the motor is a dc motor such as a permanent magnet synchronous motor, as shown in fig. 1, the motor driving circuit includes an input ac power supply, a rectifying circuit 3, a filter circuit 7, an inverter 8, and a controller 5, where the rectifying circuit 3 rectifies input ac, the filter circuit 7 performs smoothing filtering on rectified dc, and outputs a dc bus voltage to power the inverter 8, and the inverter 8 mainly includes an IPM module, and converts a dc bus into a three-phase ac with adjustable frequency under the control of the controller 5 to drive the motor 10 to operate.
The motor driving circuit further comprises a PFC circuit 4, the input end of the PFC circuit is connected with the output end of the rectifying circuit 3, the output end of the PFC circuit is connected with the filter circuit 7, and power factor correction is further carried out on the rectified direct current.
The motor driving circuit further comprises an alternating current voltage sampling circuit 1, an alternating current sampling circuit 2, a direct current voltage sampling circuit 6 and a phase current sampling circuit 9, wherein the alternating current voltage sampling circuit 1 is connected to an alternating current input side in parallel and used for detecting the size of input alternating current voltage; the alternating current sampling circuit 2 is connected in series on an alternating current input loop between alternating current and the rectifying circuit 3 and is used for collecting the magnitude of alternating current flowing in the loop; the direct current voltage sampling circuit 6 is connected in parallel to a direct current bus connected with the output end of the rectification circuit 3 and used for detecting the voltage of the direct current bus; the controller 5 outputs control signals according to the ac voltage, the ac current and the dc voltage to control the switching state of the switching tube of the PFC circuit 4, so as to realize the normal operation of the PFC circuit 4.
A phase current sampling circuit 9 for sampling the phase current of the motor 10 and obtaining the corresponding phase current value, and inputting the phase current value to the controller 5, such as the three-phase current signal I in FIG. 1u、Iv、IwThe phase current sampling circuit 9 can be implemented based on a current sampling scheme with three resistors and a single resistor, and belongs to the prior art, and is not described herein again. On the upper partThe three-phase current signals are input to the controller 5, and the controller 5 simultaneously obtains the DC bus voltage value and the target rotation speed value omega of the motor 10 according to the obtained DC bus voltage valuerefAnd finally, outputting six paths of PWM modulation signals to the inverter 8 through vector conversion calculation, thereby realizing the control of the inverter 8 to drive the motor 10 to operate.
As shown in fig. 2, the control method for motor deceleration of the present invention includes the steps of:
step S210, acquiring a direct current bus voltage value for supplying power to an inverter circuit;
step S220, determining a first amplitude limiting value of Q-axis given current of the control motor according to the voltage value of the direct-current bus and a preset voltage value;
step S230, acquiring a preset amplitude limiting value of the given current of the Q axis;
and S240, performing brake control on the motor according to the first amplitude limiting value and a preset amplitude limiting value, so that the Q-axis current of the motor is between the first amplitude limiting value and the preset amplitude limiting value, and controlling the motor to operate at a reduced speed.
Specifically, in step S210, the dc bus voltage value U may be obtained in real time based on the dc voltage sampling circuit 6dc。
In step S220, a predetermined voltage value U is determinedrefThe predetermined voltage value UrefTypically the highest voltage value that can be sustained on the DC bus voltage, e.g. 410V, and then according to the predetermined voltage value UrefAnd the real-time detected voltage value U of the direct current busdcTo determine the first amplitude limit Iqmax1 for the Q-axis set current controlling the motor 10, since the controller 5 will derive the Q-axis set current I during the calculation processqrefThe Q axis gives a current IqrefIn relation to the torque of the drive motor.
Specifically, the preset voltage value U can be calculatedrefAnd the voltage value U of the direct current busdcIs equal to Uref-UdcThen, the first amplitude limiting value Iqmax1 is calculated according to the difference value based on the following formula:
Iqmax1＝k*Uf＝k*(Uref-Udc) Where k is a predetermined coefficient greater than zero, whichThe magnitude of the coefficients can be obtained by earlier experiments.
In step S230, a preset amplitude limit value Iqmax2 of the Q-axis given current is further required to be obtained, where the preset amplitude limit value Iqmax2 is determined by the motor driving circuit during design, that is, specifically related to design parameters of the inverter circuit 8 of the motor driving circuit, and is smaller than the over-current protection value of the inverter circuit 8, and may generally be between 0.7 and 0.9 times of the over-current protection value, such as 0.8 times of the over-current protection value.
In step S240, when the motor 10 is controlled to brake according to the first amplitude limiting value Iqmax1 and the preset amplitude limiting value Iqmax2, specifically, a difference between a motor target rotation speed value ω ref and a motor speed estimation value ω est is calculated, and then a result of the difference calculation is subjected to PI adjustment to obtain a Q-axis given current initial value Iqref 1; and then, carrying out amplitude limiting on the initial value Iqref1 of the Q-axis given current according to the first amplitude limiting value Iqmax1 and a preset amplitude limiting value Iqmax2 to obtain a Q-axis given current value Iqref, participating the Q-axis given current value Iqref in vector transformation operation, finally outputting a modulation signal for controlling the inverter 8, driving the motor to carry out braking operation through the inverter 8, and enabling the Q-axis current Iq to be between the first amplitude limiting value Iqmax1 and the preset amplitude limiting value Iqmax2 during the motor operation, thereby finally achieving the purpose of speed reduction. The vector transformation operation is the existing vector transformation algorithm and is not described in detail.
Specifically, when the amplitude limiting is performed, the motor rotates in the forward direction, -Iqmax1< (Iqref) < (Iqmax 2) according to the difference between the forward rotation and the reverse rotation of the motor; and-Iqmax 2< (Iqref) < (Iqmax 1) when the motor is reversing.
When the controller 5 controls the motor 10 to decelerate, the Q axis gives a current IqrefThe determined motor torque may be in the same direction or opposite to the motor running direction, and if the speed reduction is slow, the motor torque may be always in the same direction as the motor 10 running direction, and the Q axis gives the current IqrefThe operation of the motor 10 is always positively controlled only by the given current I of the Q-axisqrefThe motor torque is small, so that the slow deceleration effect is achieved; and if a faster deceleration is desired, the direction of motor torque and the operation of motor 10 are such thatThe rotation directions are opposite, namely the Q axis gives a current IqrefThe braking effect on the motor 10 is achieved, but the Q axis is given current IqrefThe braking torque is not too large, so that the situation that the motor 10 is too high in direction induced electromotive force generated in a power generation state due to the fact that the braking torque is too large, and the motor is damaged or the service life of the motor is shortened due to impact on electrolytic capacitors in the inverter 8 and the filter circuit 7 on the direct current bus is avoided. Therefore, the Q-axis predetermined current value Iqref may be the same or opposite, i.e., positive or negative, with respect to the motor operation during deceleration of the motor 10 in the forward or reverse rotation, such that when the motor 10 is in the forward rotation, a positive Q-axis predetermined current value Iqref indicates that the motor 10 is being accelerated in the forward direction, and when the Q-axis predetermined current value Iqref is negative, indicates that the motor 10 is being braked. During the braking process of the motor 10, the given current value Iqref of the Q axis at this time cannot exceed Iqmax1, since Iqmax1 is set to the preset voltage value UrefAnd the voltage value U of the DC busdcTherefore, the current value Iqref given by the Q shaft of the reverse brake at the moment can be ensured, so that the reverse induced electromotive force generated by the motor is fed back to the direct current bus through the inverter 8 and is not too high, and the inverter 8 in the motor driving circuit and components in the filter circuit 7 are not damaged by overvoltage.
According to the control method for motor deceleration, the voltage value of the direct current bus supplying power to the inverter circuit of the driving motor is obtained in real time; determining a first amplitude limiting value of Q-axis given current for controlling the motor according to the direct-current bus voltage value and a preset voltage value, acquiring the preset amplitude limiting value of the Q-axis given current, and finally performing braking control on the motor according to the first amplitude limiting value and the preset amplitude limiting value so that the Q-axis current during the operation of the motor is between the first amplitude limiting value and the preset amplitude limiting value, thereby controlling the motor to operate at a reduced speed. Because the first amplitude limit value of the given current of the Q shaft for braking control of the motor is related to the voltage of the direct-current bus detected in real time, in the process of braking and decelerating the motor, the induced electromotive force generated by the motor is fed back to the direct-current bus through the inverter and is not too high, and the device of the circuit on the direct-current bus is prevented from being damaged due to overvoltage. The working reliability of the whole motor driving circuit is improved.
The present invention further provides a control device for motor deceleration, which is applied to a motor driving circuit, in an embodiment, as shown in fig. 1, the motor driving circuit includes an input ac power supply, a rectifying circuit 3, a filter circuit 7, an inverter 8 and a controller 5, wherein the rectifying circuit 3 rectifies input ac power, specifically, the rectifying circuit 3 is a bridge rectifying circuit composed of diodes D1-D4, the filter circuit 7 smoothes rectified dc power, outputs dc bus voltage to power the inverter 8, and the inverter 8 is mainly composed of an IPM module, and converts the dc bus into frequency-adjustable three-phase ac power under the control of the controller 5 to drive the motor 10 to operate.
The motor driving circuit further comprises a PFC circuit 4, the input end of the PFC circuit is connected with the output end of the rectifying circuit 3, the output end of the PFC circuit is connected with the filter circuit 7, and power factor correction is further carried out on the rectified direct current. The PFC circuit 4 is mainly composed of an inductor L and a switching tube S7.
The motor driving circuit further comprises an alternating voltage sampling circuit 1, an alternating current sampling circuit 2, a direct current sampling circuit 6 and a phase current sampling circuit 9, wherein the alternating voltage sampling circuit 1 is connected to an alternating current input side in parallel, can be composed of a simple resistance voltage division circuit and is used for detecting the size of input alternating voltage; the alternating current sampling circuit 2 is connected in series to an alternating current input loop between alternating current and the rectifying circuit 3, can be composed of a detection circuit based on a current transformer and is used for collecting the magnitude of alternating current flowing in the loop; the direct current voltage sampling circuit 6 is connected in parallel with a direct current bus connected with the output end of the rectifying circuit 3, and can be composed of a detection circuit based on a current transformer and used for detecting the voltage of the direct current bus; the controller 5 outputs control signals according to the ac voltage, the ac current and the dc voltage to control the switching state of the switching tube of the PFC circuit 4, so as to realize the normal operation of the PFC circuit 4.
A phase current sampling circuit for sampling phase current of the motor 10 and obtaining corresponding phase current value, and inputting to the controller 5, such as phase current signal I of three phases in FIG. 1u、Iv、IwThe current sampling unit 9 can be implemented based on a current sampling scheme with three resistors and a single electron, and belongs to the prior art, which is not described herein again. The three-phase current signals are input to the controller 5, and the controller 5 simultaneously outputs six paths of PWM modulation signals to the inverter 8 through vector conversion calculation according to the acquired direct current bus voltage value and the target rotating speed value omega ref of the motor 10, so as to control the inverter 8 to drive the motor to operate.
The control device comprises a voltage detection module and a controller 5, namely the above-mentioned direct current voltage sampling circuit 6, for detecting a direct current bus voltage value and outputting the value controller 5, wherein the controller 5 is configured to:
acquiring a direct current bus voltage value from a voltage detection module;
determining a first amplitude limit value of a given current of a Q shaft of a control motor according to the voltage value of the direct-current bus and a preset voltage value;
acquiring a preset amplitude limiting value of the given current of the Q axis;
and performing braking control on the motor according to the first amplitude limiting value and a preset amplitude limiting value, so that the Q-axis current of the motor is between the first amplitude limiting value and the preset amplitude limiting value, and the motor is controlled to operate at a reduced speed.
After determining a predetermined voltage value UrefWhile, the preset voltage value UrefTypically the highest voltage value that can be sustained on the DC bus voltage, e.g. 410V, and then according to the predetermined voltage value UrefAnd the real-time detected voltage value U of the direct current busdcTo determine the first amplitude limit Iqmax1 for the Q-axis set current for controlling the motor 10, since the controller 5 will derive the Q-axis set current I during the calculation processqrefThe Q axis gives a current IqrefIn relation to the torque of the drive motor.
Specifically, the preset voltage value U can be calculatedrefAnd the voltage value U of the direct current busdcIs equal to Uref-UdcThen, the first amplitude limiting value Iqmax1 is calculated according to the difference value based on the following formula:
Iqmax1＝k*Uf＝k*(Uref-Udc) Where k is a predetermined coefficient greater than zeroThe size of (A) can be obtained by earlier experiments.
Further, a preset amplitude limit value Iqmax2 of the Q-axis given current needs to be obtained, where the preset amplitude limit value Iqmax2 is determined by the motor driving circuit during design, that is, specifically related to design parameters of the inverter circuit 8 of the motor driving circuit, and is smaller than the overcurrent protection value of the inverter circuit 8, and may generally be between 0.7 and 0.9 times of the overcurrent protection value, for example, 0.8 times of the overcurrent protection value.
When the motor 10 is subjected to braking control according to the first amplitude limiting value Iqmax1 and the preset amplitude limiting value Iqmax2, specifically, firstly, a difference value between a motor target rotation speed value ω ref and a motor speed estimation value ω est is calculated, and then, a result of the difference value calculation is subjected to PI adjustment to obtain a Q-axis given current initial value Iqref 1; and then, carrying out amplitude limiting on the initial value Iqref1 of the Q-axis given current according to the first amplitude limiting value Iqmax1 and a preset amplitude limiting value Iqmax2 to finally obtain a Q-axis given current value Iqref, participating the Q-axis given current value Iqref in vector transformation operation, finally outputting a modulation signal for controlling the inverter 8, driving the motor to carry out braking operation through the inverter 8, and enabling the Q-axis current Iq to be between the first amplitude limiting value Iqmax1 and the preset amplitude limiting value Iqmax2 during the motor operation, thereby finally achieving the purpose of speed reduction. The vector transformation operation is the existing vector transformation algorithm and is not described in detail.
Specifically, when the amplitude limiting is performed, the motor rotates in the forward direction, -Iqmax1< (Iqref) < (Iqmax 2) according to the difference between the forward rotation and the reverse rotation of the motor; and-Iqmax 2< (Iqref) < (Iqmax 1) when the motor is reversing.
When the controller 5 controls the motor 10 to decelerate, the Q axis gives a current IqrefThe determined motor torque may be in the same direction or opposite to the motor running direction, and if the speed reduction is slow, the motor torque may be always in the same direction as the motor 10 running direction, and the Q axis gives the current IqrefThe operation of the motor 10 is always positively controlled only by the given current I of the Q-axisqrefThe motor torque is small, so that the slow deceleration effect is achieved; if a faster deceleration is desired, the motor torque is in the opposite direction to the motor 10, i.e., the Q axis is givenCurrent IqrefThe braking effect on the motor 10 is achieved, but the Q axis is given current IqrefThe braking torque is not too large, so that the situation that the motor 10 is too high in direction induced electromotive force generated in a power generation state due to the fact that the braking torque is too large, and the motor is damaged or the service life of the motor is shortened due to impact on electrolytic capacitors in the inverter 8 and the filter circuit 7 on the direct current bus is avoided. Therefore, the Q-axis predetermined current value Iqref may be the same or opposite, i.e., positive or negative, with respect to the motor operation during deceleration of the motor 10 in the forward or reverse rotation, such that when the motor 10 is in the forward rotation, a positive Q-axis predetermined current value Iqref indicates that the motor 10 is being accelerated in the forward direction, and when the Q-axis predetermined current value Iqref is negative, indicates that the motor 10 is being braked. During the braking process of the motor 10, the given current value Iqref of the Q axis at this time cannot exceed Iqmax1, since Iqmax1 is set to the preset voltage value UrefAnd the voltage value U of the DC busdcTherefore, the current value Iqref given by the Q shaft of the reverse brake at the moment can be ensured, so that the reverse induced electromotive force generated by the motor is fed back to the direct current bus through the inverter 8 and is not too high, and the inverter 8 in the motor driving circuit and components in the filter circuit 7 are not damaged by overvoltage.
According to the control device for motor deceleration, the controller acquires a direct current bus voltage value for supplying power to an inverter circuit of a driving motor in real time through the voltage detection module, determines a first amplitude limiting value of Q-axis given current of the control motor according to the direct current bus voltage value and a preset voltage value, acquires a preset amplitude limiting value of the Q-axis given current, and finally performs braking control on the motor according to the first amplitude limiting value and the preset amplitude limiting value, so that the Q-axis current during motor operation is between the first amplitude limiting value and the preset amplitude limiting value, and the motor is controlled to operate in a deceleration mode. Because the first amplitude limit value of the given current of the Q shaft for braking control of the motor is related to the voltage of the direct-current bus detected in real time, in the process of braking and decelerating the motor, the induced electromotive force generated by the motor is fed back to the direct-current bus through the inverter and is not too high, and the device of the circuit on the direct-current bus is prevented from being damaged due to overvoltage. The working reliability of the whole motor driving circuit is improved.
Further, based on an embodiment of the control device for motor deceleration described above, in another embodiment, as shown in fig. 3, the controller 5 further includes:
a position/speed estimation module 51 for estimating the rotor position of the motor to obtain an estimated value θ of the rotor angle of the motor 10estAnd motor speed estimate ωest；
Q axis given current value IqrefA calculation module 52 for calculating a target motor speed ω according to the target motor speed ωrefMotor speed estimated value omegaestCalculating the Q-axis given current value Iqref；
D-axis set current value IdrefA calculation module 53 for calculating a maximum output voltage V of the invertermaxCalculating the D-axis given current value I according to the output voltage amplitude V1 of the inverterdref；
A current control module 54 for setting a current value I according to the Q axisqrefD axis given current value IdrefMotor speed estimated value omegaestDC bus voltage value UdcAnd phase current value I sampled for motor 10u、 Iv、IwThe calculation is performed to obtain a pulse width signal and generate a PWM control signal to the inverter 8 to drive the motor 10 to operate.
Specifically, the motor 10 in the embodiment of the present invention may be a motor without a position sensor, and when the position/speed estimation module 51 determines the rotor angle estimation value θ est and the motor speed estimation value ω est of the motor 10, the above-mentioned functions may be implemented by a flux linkage observation method, specifically, first, the voltage V on the two-phase stationary coordinate system may be used as the referenceα、VβAnd current Iα、IβThe estimated values of the effective magnetic fluxes of the compressor motor in the axial directions of the two-phase stationary coordinate systems α and β are calculated according to the following formula (1):
wherein the content of the first and second substances,
and
the effective flux, V, of the motor in the α and β axial directions, respectivelyαAnd VβVoltage in the direction of the α and β axes, IαAnd IβCurrent in the direction of the α and β axes, R is stator resistance, LqIs the q-axis inductance parameter of the motor.
Then, a rotor angle estimation value θ est of the compressor motor and a motor actual rotation speed value ω est are calculated according to the following equation (2):
wherein, Kp_pllAnd Ki_pllRespectively, a proportional integral parameter, thetaerrAs an estimate of the deviation angle, ωfThe bandwidth of the velocity low pass filter.
Specifically, the Q-axis given current value calculation block 52 includes a superposition unit, a PI regulator, and a second clipping unit. The second amplitude limiting unit is used for limiting the Q-axis given current initial value Iqref1 according to the first amplitude limiting value Iqmax1 and a preset amplitude limiting value Iqmax2, and finally obtaining the Q-axis given current value Iqref. When amplitude limiting is carried out, according to the difference of the forward rotation and reverse rotation of the motor, when the motor rotates forwards, -Iqmax1<＝Iqref<＝Iqmax2(ii) a and-I when the motor is reversedqmax2<＝Iqref<＝Iqmax1。
Specifically, the D-axis given current value calculation module 53 includes a field weakening controller and a first amplitude limiting unit, wherein the field weakening controller is configured to calculate the maximum output voltage Vmax of the inverter 8 and the output voltage amplitude V1 of the inverter 8 to obtain a D-axis given current value initial value Id0, and the first amplitude limiting unit is configured to perform amplitude limiting processing on the D-axis given current value initial value Id0 to obtain a D-axis given current value Idref.
In the embodiment of the present invention, the field weakening controller may calculate the D-axis given current value initial value Id0 according to the following equation (3):
wherein, Id0Setting the initial value of current for D axis, KiIn order to integrate the control coefficients of the motor,
V1is the output voltage amplitude, v, of the inverterdIs D-axis voltage, vqIs the Q-axis voltage, VmaxIs the maximum output voltage, V, of the inverter 8dcWhich is the dc bus voltage output by the rectifier 4.
In an embodiment of the present invention, the clipping unit obtains the D-axis given current value according to the following equation (4):
where Idref is the D-axis given current value, IdemagIs the demagnetization current limit value of the motor.
Specifically, the current control module 54 calculates as follows:
u, V, W three-phase current values Iu, Iv and Iw are obtained by sampling the motor 10, Clark conversion is carried out by a three-phase static-two-phase static coordinate conversion unit, and the current I of the motor in the axial direction of the two-phase static coordinate systems α and β is obtained based on the following formula (5)αAnd Iβ
Iα＝Iu
Then according to the rotor angle estimated value thetaestThe real current values Iq and Id of the D axis and the Q axis in the two-phase rotating coordinate system are calculated by the following formula (6) through Park conversion performed by the two-phase stationary-two-phase rotating coordinate conversion unit.
Id＝Iαcosθest+Iβsinθest
Iq＝-Iαsinθest+Iβcosθest(6)
The calculation of the actual current values Iq and Id of the D axis and the Q axis by the Q axis current value and D axis current value calculation units in the current control module 524 is realized by the formula (5) and the formula (6) described above.
Further, the current control module 54 may calculate the Q-axis given voltage value and the D-axis given voltage value according to the following equation (7):
Vd＝Vd0－ωLqIq
Vq＝Vq0+ωLdId+ωKe(7)
wherein Vq is a Q-axis given voltage value, Vd is a D-axis given voltage value, Iqref is a Q-axis given current value, Idref is a D-axis given current value, Iq is a Q-axis current, Id is a D-axis current, Kpd and Kid are respectively D-axis current control proportional gain and integral gain, Kpq and Kiq are respectively Q-axis current control proportional gain and integral gain, omega is a motor rotation speed, Ke is a motor 10 back electromotive force coefficient, Ld and Lq are respectively D-axis and Q-axis inductors, the two parameters can be provided by a motor manufacturer, and specifically can be provided according to the motor manufacturer provided by the motor manufacturerThe rated values are taken from the change graphs of the D axis and the Q axis along with the current,
denotes the integral of x (τ) over time.
Further, in order to further accurately obtain the D-axis inductor Ld and the Q-axis inductor Lq, the current control module 54 is further configured to: the method comprises the steps of obtaining phase current values of motor operation, calling a first Q-axis inductance, a second Q-axis inductance, a first D-axis inductance and a second D-axis inductance which correspond to a prestored first phase current value and a prestored second phase current value respectively, and calculating the Q-axis inductance and the D-axis inductance according to the phase current values, the first phase current value, the second phase current value, the first Q-axis inductance, the second Q-axis inductance, the first D-axis inductance and the second D-axis inductance. Specifically, the phase current signals Iu, Iv, and Iw of the motor 10 acquired by the current sampling unit 9 are obtained, and the three phase currents have the same magnitude and only need to be one of the three phase currents. A graph of a change curve of a D-axis inductance and a Q-axis inductance of a motor provided by a motor manufacturer along with a current is shown in fig. 4, wherein i is a winding current of the motor, i.e., a phase current value, at this time, a first Q-axis inductance Lq1, a second Q-axis inductance Lq2, a first D-axis inductance Ld1 and a second D-axis inductance Ld2 corresponding to a first phase current value i1 and a second phase current value i2 respectively can be prestored through the graph, and the D-axis inductance Ld and the Q-axis inductance Lq corresponding to a currently detected phase current i can be calculated according to the following difference calculation formula:
Ld＝Ld1+(Ld2-Ld1)*(i-i1)/(i2-i1)
Lq＝Lq1+(Lq2-Lq1)*(i-i1)/(i2-i1)
through the formula, the values of the D-axis inductance Ld and the Q-axis inductance Lq corresponding to the current phase current of the motor 10 can be relatively accurately determined.
After the Q-axis given voltage value Vq and the D-axis given voltage value Vd are obtained, the angle estimation value theta of the motor rotor can be obtainedestAnd carrying out Park inverse transformation on Vq and Vd through a two-phase rotation-two-phase static coordinate conversion unit to obtain voltage values V α and V β on a fixed coordinate system, wherein a specific transformation formula (8) is as follows:
where θ is the rotor angle of the motor 10, the rotor angle estimate θ est may be used.
Further, Clark inverse transformation can be performed by the two-phase static-three-phase static coordinate conversion unit according to the voltage values V α and V β on the fixed coordinate system to obtain three-phase voltages Vu, Vv and Vw, and the specific transformation formula (9) is as follows:
Vu＝Vα
then the duty ratio calculation unit can calculate the three-phase voltage Vu and V according to the DC bus voltage UdcvAnd performing duty ratio calculation on the Vw to obtain duty ratio control signals, namely three-phase duty ratios Du, Dv and Dw, wherein a specific calculation formula (10) is as follows:
Du＝(Vu+0.5Vdc)/Vdc
Dv＝(Vv+0.5Vdc)/Vdc
Dw＝(Vw+0.5Vdc)/Vdc(10)
wherein Udc is a dc bus voltage.
The three-phase duty signal includes three-way pulse width signals, such as the duty signals Du1, Du2, and Du3 corresponding to the duty Du of one phase at different times in fig. 3, and finally generates corresponding three-way PWM control signals to the three-way switching tubes (S1, S3, S5) of the upper arm of the inverter 8 through the triangular carrier signal generated by the timer in the arithmetic control unit, while the three-way switching tubes (S2, S4, S6) of the lower arm are corresponding complementary three-way PWM control signals, so that the three-phase duty signal includes six-way PWM control signals actually, and finally controls the six-way switching tubes of the inverter 8 according to the six-way PWM control signals corresponding to the three-phase duty Du, Dv, and Dw, so as to realize the driving operation of the motor 10.
An embodiment of the present invention also provides a motor driving circuit, which includes the above control device for motor deceleration.
Embodiments of the present invention also provide a computer program product comprising program instructions that, when executed by a controller, enable the controller to implement any of the above-described embodiments of the control method for motor deceleration.
Embodiments of the present invention also provide a storage medium having computer readable instructions stored thereon, which when executed by a controller, enable the controller to perform any of the above-described embodiments of the control method for motor deceleration.
Those skilled in the art can understand that all or part of the steps in the method for implementing the above embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a (may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description herein, references to the description of the terms "first embodiment," "second embodiment," "example," etc., mean that a particular method, apparatus, or feature described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, methods, apparatuses, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. A control method for motor deceleration is applied to a motor driving circuit, the motor driving circuit comprises a rectifying circuit, a filter circuit and an inverter circuit, and the control method is characterized by comprising the following steps:
acquiring a direct current bus voltage value for supplying power to the inverter circuit;
determining a first amplitude limiting value of a given current of a Q shaft of a control motor according to the voltage value of the direct-current bus and a preset voltage value;
acquiring a preset amplitude limiting value of the Q-axis given current;
and performing braking control on the motor according to the first amplitude limiting value and the preset amplitude limiting value, so that the Q-axis current of the motor is between the first amplitude limiting value and the preset amplitude limiting value, and the motor is controlled to operate at a reduced speed.
2. The control method of claim 1, wherein determining a first limit value for controlling a Q-axis set current of the motor according to the dc bus voltage value and a preset voltage value comprises:
calculating a difference value between the preset voltage value and the direct current bus voltage value;
and calculating a first amplitude limiting value k x Uf of the given current of the Q shaft according to the difference, wherein Uf is the difference, and k is a preset coefficient larger than zero.
3. The control method of claim 1, wherein said obtaining a preset clipping value for said Q-axis given current comprises:
acquiring an overcurrent protection value of the inverter circuit;
and determining the preset amplitude limit value according to the overcurrent protection value.
4. The control method according to claim 1, wherein the brake control of the motor according to the first limit value and the preset limit value includes:
calculating the difference between the target rotating speed value of the motor and the estimated motor speed value;
performing PI regulation on the difference calculation result to obtain an initial value of the Q-axis given current;
carrying out amplitude limiting on the initial value of the Q-axis given current according to the first amplitude limiting value and the preset amplitude limiting value to obtain a Q-axis given current value;
and participating in vector transformation operation according to the Q-axis given current value to generate the modulation signal for driving the inverter circuit so as to control the braking operation of the motor.
5. The control method of claim 4, wherein said clipping said initial value of Q-axis given current according to said first clipping value and said preset clipping value comprises:
in the case of forward rotation of the motor, -Iqmax1 [ ═ Iqref [ - ] Iqmax 2;
-Iqmax2< ═ Iqref < ═ Iqmax1 with the motor rotating in reverse; wherein Iqmax1 is the first clipping value, Iqmax2 is the preset clipping value, and Iqref is the Q-axis given current value.
6. The utility model provides a controlling means for motor speed reduction, is applied to motor drive circuit, motor drive circuit includes rectifier circuit, filter circuit and inverter circuit, controlling means is used for output control inverter circuit's modulation signal to control motor operation, its characterized in that, controlling means includes:
the voltage detection module is used for detecting the voltage value of a direct current bus supplying power to the inverter circuit;
a controller connected with the voltage detection module and the inverter circuit, the controller configured to:
acquiring the voltage value of the direct current bus from the voltage detection module;
determining a first amplitude limiting value of a given current of a Q shaft of a control motor according to the voltage value of the direct-current bus and a preset voltage value;
acquiring a preset amplitude limiting value of the Q-axis given current;
and performing braking control on the motor according to the first amplitude limiting value and the preset amplitude limiting value, so that the Q-axis current of the motor is between the first amplitude limiting value and the preset amplitude limiting value, and the motor is controlled to operate at a reduced speed.
7. The control apparatus for decelerating a motor according to claim 6, wherein said control when determining a first limit value for a given current of the Q-axis of the control motor based on said dc bus voltage value and a preset voltage value is configured to:
calculating a difference value between the preset voltage value and the direct current bus voltage value;
and calculating a first amplitude limiting value k x Uf of the given current of the Q shaft according to the difference, wherein Uf is the difference, and k is a preset coefficient larger than zero.
8. The control method of claim 6, wherein said obtaining a preset limit value for said Q-axis given current is configured to:
acquiring an overcurrent protection value of the inverter circuit;
and determining the preset amplitude limit value according to the overcurrent protection value.
9. The control apparatus for motor deceleration according to claim 6, wherein said control when braking-controlling the motor in accordance with the first limit value and the preset limit value is configured to:
calculating the difference between the target rotating speed value of the motor and the estimated motor speed value;
performing PI regulation on the difference calculation result to obtain an initial value of the Q-axis given current;
carrying out amplitude limiting on the initial value of the Q-axis given current according to the first amplitude limiting value and the preset amplitude limiting value to obtain a Q-axis given current value;
and participating in vector transformation operation according to the Q-axis given current value to generate the modulation signal for driving the inverter circuit so as to control the braking operation of the motor.
10. The control apparatus for decelerating a motor according to claim 9, wherein said limiting the initial value of the Q-axis given current according to the first limit value and the preset limit value comprises:
in the case of forward rotation of the motor, -Iqmax1 [ ═ Iqref [ - ] Iqmax 2;
-Iqmax2< ═ Iqref < ═ Iqmax1 with the motor rotating in reverse, where Iqmax1 is the first limiter value, Iqmax2 is the preset limiter value, and Iqref is the Q-axis given current value.
11. A motor drive circuit comprising a rectifier circuit, a filter circuit and an inverter circuit, characterized by further comprising a control device for motor deceleration according to any one of claims 6 to 10.
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| CN111927798A (en) * | 2020-10-12 | 2020-11-13 | 天津飞旋科技有限公司 | Magnetic suspension molecular pump deceleration control method and device |
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