CN111555686A - Dynamic flux weakening control method and device applied to permanent magnet synchronous motor - Google Patents
Dynamic flux weakening control method and device applied to permanent magnet synchronous motor Download PDFInfo
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- CN111555686A CN111555686A CN202010265004.8A CN202010265004A CN111555686A CN 111555686 A CN111555686 A CN 111555686A CN 202010265004 A CN202010265004 A CN 202010265004A CN 111555686 A CN111555686 A CN 111555686A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application relates to a dynamic flux weakening control method and device applied to a permanent magnet synchronous motor, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a modulation coefficient of the permanent magnet synchronous motor; if the modulation coefficient is larger than or equal to the modulation threshold, determining the adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient; acquiring a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor; determining a d-axis current value after dynamic flux weakening regulation and a q-axis current value after regulation according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation; determining a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value and a current limiting formula; and determining the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value. Therefore, the problem of field weakening failure caused by that d-axis current and q-axis current after field weakening are out of the voltage limit ellipse can be solved.
Description
Technical Field
The present disclosure relates to the field of motor control, and in particular, to a dynamic flux weakening control method and apparatus applied to a permanent magnet synchronous motor, an electronic device, and a storage medium.
Background
In recent years, new energy electric vehicles have been developed. In the electric vehicle, the most critical part is the power system part, and the most critical part of the power system part is not limited to the two parts of the motor and the electric drive. Permanent Magnet Synchronous Motors (PMSM) gradually replace asynchronous motors by virtue of the characteristics of high power density, high reliability, high efficiency and the like, and are widely applied to electric vehicles. What PMSM has to mention is its flux weakening characteristic.
Because the dc side voltage of the inverter reaches the maximum value and then causes the saturation of the current regulator, in order to obtain a wider speed regulation range and realize constant power speed regulation when the inverter operates at a high speed above the base speed, the flux weakening control of the PMSM is needed. The idea of the PMSM field weakening control is derived from field regulation control of a separately excited direct current motor, when the terminal voltage of the separately excited direct current motor reaches the maximum voltage, the excitation magnetic flux can be changed only by reducing the excitation current of the motor, and the motor can operate at a higher rotating speed at constant power under the condition of ensuring voltage balance. That is, the separately excited dc motor can achieve the purpose of field weakening and speed expansion by reducing the exciting current. For PMSM, excitation magnetomotive force cannot be adjusted due to the generation of permanent magnets, and the purpose of flux weakening and speed expansion can be achieved only by adjusting stator current.
However, in the existing dynamic flux weakening scheme, flux weakening failure occurs because d-axis current and q-axis current after flux weakening are outside a voltage limit ellipse.
Disclosure of Invention
The technical problem that flux weakening failure occurs outside a voltage limit ellipse due to d-axis current and q-axis current after flux weakening is solved.
In order to solve the above technical problem, in one aspect, an embodiment of the present application provides a dynamic flux weakening control method applied to a permanent magnet synchronous motor, where the method includes:
acquiring a modulation coefficient of the permanent magnet synchronous motor, wherein the modulation coefficient is the ratio of a line voltage value at the output end of an inversion unit matched with the permanent magnet synchronous motor to a bus voltage value at the input end of the inversion unit;
if the modulation coefficient is larger than or equal to the modulation threshold, determining the adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient; the PI regulator is matched with the permanent magnet synchronous motor;
acquiring a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor;
determining a d-axis current value after dynamic flux weakening regulation and a q-axis current value after regulation according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation;
determining a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value and a current limiting formula;
and determining the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value.
In another aspect, a dynamic flux weakening device is provided, the device comprising:
the modulation coefficient acquisition module is used for acquiring a modulation coefficient of the permanent magnet synchronous motor, wherein the modulation coefficient is the ratio of the line voltage value of the output end of the inversion unit matched with the permanent magnet synchronous motor to the bus voltage value of the input end of the inversion unit;
the modulation coefficient determining module is used for determining the adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient if the modulation coefficient is larger than or equal to the modulation threshold; the PI regulator is matched with the permanent magnet synchronous motor;
the current d-axis and q-axis current value acquisition module is used for acquiring a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor;
the adjusted d-axis and q-axis current value determining module is used for determining a d-axis current value and an adjusted q-axis current value after dynamic flux weakening adjustment according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation;
the limited d-axis and q-axis current value determining module is used for determining a limited d-axis current value and a limited q-axis current value according to the regulated d-axis current value, the regulated q-axis current value and a current limiting formula;
and the voltage value determining module is used for determining the voltage value output by the inversion unit according to the limited d-axis current value and the limited q-axis current value.
Another aspect provides an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, the at least one program, code set, or instruction set is loaded and executed by the processor to implement the execution to implement the dynamic field weakening control method applied to the permanent magnet synchronous motor as described above.
Another aspect provides a storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement execution to implement the dynamic flux weakening control method as applied to a permanent magnet synchronous motor as described above.
By adopting the technical scheme, the embodiment of the application provides a dynamic flux weakening control method and device applied to a permanent magnet synchronous motor, electronic equipment and a storage medium, and the method and the device have the following beneficial effects:
acquiring a modulation coefficient of the permanent magnet synchronous motor, wherein the modulation coefficient is the ratio of a line voltage value at the output end of an inversion unit matched with the permanent magnet synchronous motor to a bus voltage value at the input end of the inversion unit; if the modulation coefficient is larger than or equal to the modulation threshold, determining the adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient; the PI regulator is matched with the permanent magnet synchronous motor; acquiring a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor; determining a d-axis current value after dynamic flux weakening regulation and a q-axis current value after regulation according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation; determining a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value and a current limiting formula; and determining the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value. According to the embodiment of the application, the current d-axis current value and the current q-axis current value can be controlled in the voltage limit ellipse through a dynamic flux weakening track equation and a current limiting formula, so that the problem of flux weakening failure caused by the fact that the d-axis current and the q-axis current after flux weakening are out of the voltage limit ellipse can be solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
fig. 2 is a schematic flowchart of a dynamic flux weakening control method applied to a permanent magnet synchronous motor according to an embodiment of the present application;
fig. 3 is a schematic diagram of a processing procedure of a PI regulator according to an embodiment of the present disclosure
FIG. 4 is a schematic diagram of a dynamic flux weakening current trace provided by an embodiment of the present application;
FIG. 5 is a dynamic flux weakening inlet current trace of 3500rpm/200Nm provided in an embodiment of the present application;
FIG. 6 is a dynamic flux weakening exit current trajectory of 3500rpm/200Nm as provided in the examples of the present application;
FIG. 7 is a dynamic flux weakening inlet current trace of 3500rpm/320Nm as provided in the example of the present application;
FIG. 8 is a dynamic flux weakening exit current trajectory of 3500rpm/200Nm as provided in the examples of the present application;
fig. 9 is a schematic structural diagram of a dynamic flux weakening device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are 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 one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment provided in an embodiment of the present application, including an inverter unit 101, a permanent magnet synchronous motor 102, and a processor 103; the processor 103 includes a PI regulator 1031; the method comprises the steps that a processor 103 obtains a modulation coefficient of a permanent magnet synchronous motor 102, wherein the modulation coefficient is the ratio of a line voltage value of an output end of an inversion unit 101 matched with the permanent magnet synchronous motor 102 to a bus voltage value of an input end of the inversion unit; the processor 103 determines that the modulation factor is greater than or equal to a modulation threshold value, and determines an adjusted modulation factor output by the PI regulator 1031 based on the modulation factor; the PI regulator is matched with the permanent magnet synchronous motor; the processor 103 acquires a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor 102; the processor 103 determines a d-axis current value after dynamic flux weakening regulation and a q-axis current value after regulation according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation; the processor 103 determines a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value and a current limiting formula; the processor 103 determines the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value.
Optionally, the processor 103 may be a terminal, a calculator, or a processing chip with operation and control functions, which is disposed in the permanent magnet synchronous motor 102.
Optionally, data between the processor 103 and the inverter unit 101 may be transmitted through a wired link or may be transmitted through a wireless link. The choice of the type of communication link may depend on the actual application and application environment.
Optionally, the inverter unit 101 is connected to the permanent magnet synchronous motor 102; the processor 103 is connected with the inversion unit 101; the processor 103 is connected to the permanent magnet synchronous motor 102.
In the dynamic operation process, the modulation coefficient fluctuates along with the fluctuation, if the modulation coefficient exceeds the tolerable upper limit, the current regulator in the inverter unit is saturated, the current regulator in the inverter is saturated, and is adjusted to a weak magnetic current which is not larger, so that the weak magnetic failure is caused, and in order to avoid that the modulation coefficient reaches the tolerable upper limit, a dynamic weak magnetic control method applied to the permanent magnet synchronous motor needs to be designed. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 2, the method may include:
s201, obtaining a modulation coefficient of the permanent magnet synchronous motor, wherein the modulation coefficient is the ratio of a line voltage value at the output end of an inversion unit matched with the permanent magnet synchronous motor to a bus voltage value at the input end of the inversion unit;
optionally, the inverter unit is connected to the permanent magnet synchronous motor, and the inverter unit is also referred to as an inverter. Optionally, the inverter unit is configured to convert the bus voltage at the input end into a line voltage at the output end, and to supply the line voltage at the output end to the permanent magnet synchronous motor. The bus voltage is direct current voltage, and the line voltage of the output end is alternating current voltage. The inversion unit is connected with the permanent magnet synchronous motor or arranged in the permanent magnet synchronous motor.
S202, judging whether the modulation coefficient is larger than or equal to a modulation threshold value, if so, turning to S203;
in an alternative embodiment, the modulation threshold is a modulation factor determined when the rising speed of the rotation speed of the permanent magnet synchronous motor is equal to or greater than a first speed threshold or the falling speed of the bus voltage value is equal to or greater than a second speed threshold. Optionally, the modulation threshold is an artificially set modulation coefficient, and the modulation coefficient is an empirical value determined when a rising speed of the rotation speed of the permanent magnet synchronous motor is greater than or equal to a first speed threshold or a falling speed of the bus voltage value is greater than or equal to a second speed threshold.
S203, determining the adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient; the PI regulator is matched with the permanent magnet synchronous motor;
referring to fig. 3, fig. 3 is a schematic processing process diagram of a PI regulator according to an embodiment of the present disclosure, and as shown in fig. 3, a proportional-integral adjustment is performed through a modulation factor fed back by a control system, where a set value is 1, a maximum limit h is 0, and a minimum limit l is-1.
When the modulation coefficient is smaller than 1, a positive value is adjusted through proportional integral, after the limit value is passed, the output adjustment coefficient PIout is 0, when the modulation coefficient is larger than 1, the output adjustment coefficient PIout is negative, and the maximum limit value is-1.
S204, acquiring the current d-axis current value and the current q-axis current value of the permanent magnet synchronous motor;
in an alternative embodiment, the current d-axis current value and the current q-axis current value of the permanent magnet synchronous motor are obtained through a torque ammeter.
S205, determining a d-axis current value and a q-axis current value after dynamic flux weakening regulation according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation;
in an alternative embodiment, the dynamic flux weakening trajectory equation is:
Isd*＝Isd+(Isd+Imag)*Ploht，Isq*＝Isq+Isq*Ploht；
isd is the current d-axis current value, and Isq is the current q-axis current value; isd*For adjusted d-axis current values, Isq*For the adjusted q-axis current value, Imag is the characteristic current value of the motor,
plout is the adjusted modulation factor output by the PI regulator based on the modulation factor.
In the embodiment of the application, the dynamic flux weakening trajectory equation is a trajectory equation from a current point to a characteristic current point in a DQ coordinate system.
S206, determining a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value and a current limiting formula;
in an alternative embodiment, the current limit equation is:
isd2 is the limited d-axis current value, and Isq2 is the limited q-axis current value; imax is a limit current value of the permanent magnet synchronous motor.
And S207, determining the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value.
In an alternative embodiment, the duty ratio of the phase voltage output by the inverter unit is determined according to the limited d-axis current value and the limited q-axis current value.
In an alternative embodiment, the inverter unit comprises a control unit for receiving the determined duty ratio of the phase voltage of the output and then outputting the phase voltage corresponding thereto according to the determined duty ratio of the phase voltage of the output. The control unit may be a chip and an integrated circuit matched with the chip, a current regulator and the like.
In an alternative embodiment, the inverter unit comprises a control unit for receiving the determined voltage value of the output and then outputting the corresponding phase voltage according to the determined voltage value of the output. The control unit may be a chip and an integrated circuit matched with the chip, a current regulator and the like.
Referring to fig. 4, fig. 4 is a schematic diagram of a dynamic flux weakening current track according to an embodiment of the present application, as shown in fig. 4:
the dotted line is the current track direction of the existing dynamic flux weakening, scheme 201 is to ensure that Id (d-axis current value) is unchanged, Iq (q-axis current value) is reduced, the track moves to the d-axis, scheme 202 is to ensure that the current amplitude (total current value determined based on the d-axis current value and the q-axis current value) is unchanged, the track moves to the d-axis, and scheme 203 is to move to the characteristic current point on the d-axis.
When the rotating speed of the motor increases or the voltage decreases, the voltage limit circle decreases, as shown in the direction of decreasing the voltage limit ellipse in fig. 3, the position of the center point of the voltage limit ellipse is the characteristic current point (-Imag,0) on the d-axis, so that the optimal track direction of the field weakening of the permanent magnet synchronous motor is directed to the characteristic current point in the dynamic process, as shown in the scheme 203 in fig. 3. Although the scheme 201 and the scheme 202 can play a certain flux weakening role, the flux weakening response speed is slower than that of the scheme 203, and the scheme 203 is the optimal scheme in the dynamic change process of the working condition of the motor.
When the voltage limit ellipse is reduced to be within the voltage limit ellipse 1 in fig. 3, the current after the field weakening of the scheme 201 is outside the voltage limit ellipse 1, so that field weakening failure is caused. In addition, the current track of the scheme 201 with weak magnetism is not in the direction of the characteristic current point, and the response speed is slow.
When the voltage limit ellipse is reduced to be within the voltage limit ellipse 2 in fig. 3, the current after the field weakening of the scheme 202 is outside the voltage limit ellipse 2, so that field weakening failure is caused. In addition, the current track of the scheme 202 with weak magnetism is not in the direction of the characteristic current point, and the response speed is slow.
For testing the dynamic flux weakening function, the bus voltage is adjusted on a semi-physical simulation (HIL) rack to achieve the purpose of adjusting the voltage limit ellipse, please refer to fig. 5, where fig. 5 is a dynamic flux weakening current trajectory of 3500rpm/200Nm provided in the embodiment of the present application, and is test data of the dynamic flux weakening of 3500rpm/200Nm, and when the voltage limit ellipse is reduced, the current trajectories of Id (d-axis current) and Iq (q-axis current value) move to the characteristic current point.
When the bus voltage is recovered, the current limit circle is increased, and the Id/Iq current trajectory is recovered to the normal position from the characteristic current point, please refer to fig. 6, where fig. 6 is a dynamic weak magnetic exit current trajectory of 3500rpm/200Nm provided in the embodiment of the present application.
Referring to fig. 7, fig. 7 is a dynamic flux weakening entrance current trajectory of 3500rpm/320Nm provided in the embodiments of the present application. FIG. 7 shows dynamic field weakening test data at 3500rpm/320Nm, in which current trajectories of Id (d-axis current) and Iq (q-axis current) are shifted to characteristic current points when the voltage limit ellipse is reduced.
When the bus voltage is recovered, the current limit circle is increased, and the Id/Iq current trajectory is recovered to the normal position from the characteristic current point, please refer to fig. 8, where fig. 8 is a dynamic flux weakening exit current trajectory of 3500rpm/200Nm provided in the embodiment of the present application.
The following table 1 is a table of 3500rpm/200Nm dynamic field weakening entering and exiting current trajectory, and it can be seen from the table that when the voltage limit ellipse is reduced, the current trajectory moves to the characteristic current point (the characteristic current of the test motor in the present invention is 564A), and when the voltage limit ellipse is recovered, the current returns to normal.
TABLE 13500 rpm/200Nm DYNAMIC WEAK MAGNETIC INTAKE-OUTLET CURRENT TRACKING TABLE
| Serial number | Id (normalized) | Iq (normalized) | Id (physical value A) | Iq (physical value A) |
| 1 | -0.6723 | 1.1184 | -237 | 394 |
| 2 | -0.8325 | 0.8598 | -293 | 303 |
| 3 | -1.1058 | 0.6213 | -390 | 219 |
| 4 | -1.2984 | 0.4138 | -458 | 146 |
| 5 | -1.3712 | 0.301 | -484 | 106 |
| 6 | -1.4746 | 0.1721 | -520 | 60 |
| 7 | -1.5791 | 0.0248 | -557 | 8 |
| 8 | -1.5791 | 0.0198 | -557 | 6 |
| 9 | -1.4906 | 0.1888 | -526 | 66 |
| 10 | -1.3791 | 0.2788 | -486 | 98 |
| 11 | -1.2735 | 0.4153 | -449 | 146 |
| 12 | -1.1156 | 0.6446 | -393 | 227 |
| 13 | -0.871 | 0.8512 | -307 | 300 |
| 14 | -0.6718 | 1.1181 | -237 | 394 |
Table 2 below is a table of 3500rpm/320Nm dynamic field weakening entry and exit current trajectories, and it can be seen from the table that when the voltage limit circle is reduced, the current trajectory moves to the characteristic current point (the characteristic current of the test motor in the present invention is 564A), and when the voltage limit ellipse is restored, the current returns to normal. Normalized value-material value/base
Table 2 below is a table of 3500rpm/320Nm dynamic weak magnetic entry and exit current traces
| Serial number | Id (normalized) | Iq (normalized) | Id (physical value A) | Iq (physical value A) |
| 1 | -1.2 | 1.5957 | -424 | 563 |
| 2 | -1.351 | 1.1307 | -477 | 399 |
| 3 | -1.3992 | 0.858 | -494 | 303 |
| 4 | -1.4808 | 0.5973 | -523 | 211 |
| 5 | -1.5459 | 0.3366 | -546 | 119 |
| 6 | -1.5913 | 0.2082 | -562 | 73 |
| 7 | -1.5791 | 0.0248 | -557 | 9 |
| 8 | -1.5964 | 0.029 | -564 | 10 |
| 9 | -1.5677 | 0.1783 | -553 | 63 |
| 10 | -1.4715 | 0.4697 | -519 | 166 |
| 11 | -1.4627 | 0.6034 | -516 | 213 |
| 12 | -1.44 | 0.8513 | -508 | 301 |
| 13 | -1.297 | 1.1516 | -458 | 407 |
| 14 | -1.2 | 1.596 | -424 | 563 |
The experiments result in that the dynamic flux weakening scheme designed in the application can correctly and reasonably adjust the current track in the dynamic change process of the voltage limit ellipse, and the optimal flux weakening control is realized.
In the embodiment of the application, in the dynamic change process, no matter how the voltage limit ellipse changes, the weak magnetic current moves according to the characteristic current direction, and the current after weak magnetic can be ensured to be within the voltage limit ellipse. Therefore, the problem of field weakening failure caused by d-axis current and q-axis current outside the voltage limit ellipse after field weakening can be solved.
An embodiment of the present application further provides a dynamic flux weakening device applied to a permanent magnet synchronous motor, please refer to fig. 9, fig. 9 is a schematic structural diagram of the dynamic flux weakening device provided in the embodiment of the present application, and as shown in fig. 9, the device may include:
a modulation coefficient obtaining module 901, configured to obtain a modulation coefficient of the permanent magnet synchronous motor, where the modulation coefficient is a ratio of a line voltage value at an output end of an inverter unit matched with the permanent magnet synchronous motor to a bus voltage value at an input end of the inverter unit;
a modulation coefficient determining module 902, configured to determine, based on the modulation coefficient, an adjusted modulation coefficient output by the PI regulator if the modulation coefficient is greater than or equal to the modulation threshold; the PI regulator is matched with the permanent magnet synchronous motor;
a current obtaining module 903, configured to obtain a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor;
an adjusting current determining module 904, configured to determine a d-axis current value and an adjusted q-axis current value after dynamic flux weakening adjustment according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value, and a dynamic flux weakening trajectory equation;
a limited current determining module 905, configured to determine a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value, and a current limiting formula;
and a voltage determining module 906, configured to determine a voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
Embodiments of the present application further provide an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, the at least one program, code set, or instruction set is loaded and executed by the processor to implement the execution to implement the above-mentioned dynamic flux weakening control method applied to the permanent magnet synchronous motor.
Embodiments of the present application also provide a storage medium having at least one instruction, at least one program, code set, or instruction set stored therein, where the at least one instruction, the at least one program, code set, or instruction set is loaded and executed by a processor to implement the execution to implement the above-mentioned dynamic flux weakening control method applied to a permanent magnet synchronous motor.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
As can be seen from the embodiments of the dynamic flux weakening control method, device, electronic device, and storage medium applied to the permanent magnet synchronous motor provided in the present application, the modulation coefficient of the permanent magnet synchronous motor is obtained in the present application, and the modulation coefficient is a ratio of a line voltage value at an output end of an inverter unit matched with the permanent magnet synchronous motor to a bus voltage value at an input end of the inverter unit; if the modulation coefficient is larger than or equal to the modulation threshold, determining the adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient; the PI regulator is matched with the permanent magnet synchronous motor; acquiring a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor; determining a d-axis current value after dynamic flux weakening regulation and a q-axis current value after regulation according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation; determining a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value and a current limiting formula; and determining the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value. According to the embodiment of the application, the current d-axis current value and the current q-axis current value can be controlled in the voltage limit ellipse through a dynamic flux weakening track equation and a current limiting formula, so that the problem of flux weakening failure caused by the fact that the d-axis current and the q-axis current after flux weakening are out of the voltage limit ellipse can be solved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (10)
1. A dynamic flux weakening control method applied to a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a modulation coefficient of the permanent magnet synchronous motor, wherein the modulation coefficient is the ratio of a line voltage value at the output end of an inversion unit matched with the permanent magnet synchronous motor to a bus voltage value at the input end of the inversion unit;
if the modulation coefficient is larger than or equal to a modulation threshold, determining an adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient; the PI regulator is matched with the permanent magnet synchronous motor;
acquiring a current d-axis current value and a current q-axis current value of the permanent magnet synchronous motor;
determining a d-axis current value and a q-axis current value after dynamic flux weakening regulation according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation;
determining a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value and a current limiting formula;
and determining the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value.
2. The dynamic flux weakening control method applied to the permanent magnet synchronous motor according to claim 1, wherein the dynamic flux weakening trajectory equation is as follows:
Isd*＝Isd+(Isd+Imag)*Plout，Isq*＝Isq+Isq*Plout；
isd is the current d-axis current value, and Isq is the current q-axis current value; isd*For the adjusted d-axis current value, Isq is the adjusted q-axis current value, Imag is the motor characteristic current value,
plout is the adjusted modulation factor output by the PI regulator based on the modulation factor.
3. The dynamic flux weakening method as claimed in claim 1, wherein said current limiting formula is:
isd2 is the limited d-axis current value, and Isq2 is the limited q-axis current value; imax is a limit current value of the permanent magnet synchronous motor.
4. The dynamic flux weakening control method applied to a permanent magnet synchronous motor according to claim 1, wherein the modulation threshold is a modulation factor determined when a rising speed of a rotation speed of the permanent magnet synchronous motor is equal to or greater than a first speed threshold or a falling speed of the bus voltage value is equal to or greater than a second speed threshold.
5. The dynamic flux weakening control method applied to the permanent magnet synchronous motor according to claim 1, wherein the determining the voltage value output by the inverter unit according to the limited d-axis current and the limited q-axis current comprises:
and determining the duty ratio of the phase voltage output by the inverter unit according to the limited d-axis current value and the limited q-axis current value.
6. The dynamic flux weakening control method applied to the permanent magnet synchronous motor according to claim 1, wherein said obtaining the current d-axis current value and the current q-axis current value of the permanent magnet synchronous motor comprises:
and acquiring the current d-axis current value and the current q-axis current value of the permanent magnet synchronous motor through a torque ammeter.
7. The dynamic flux weakening control method applied to the permanent magnet synchronous motor according to claim 7, wherein the inverter unit is connected with the permanent magnet synchronous motor or the inverter unit is disposed in the permanent magnet synchronous motor.
8. A dynamic flux weakening control device applied to a permanent magnet synchronous motor is characterized by comprising:
the modulation coefficient acquisition module is used for acquiring a modulation coefficient of the permanent magnet synchronous motor, wherein the modulation coefficient is the ratio of the line voltage value of the output end of the inversion unit matched with the permanent magnet synchronous motor to the bus voltage value of the input end of the inversion unit;
the modulation coefficient determining module is used for determining the adjusted modulation coefficient output by the PI adjuster based on the modulation coefficient if the modulation coefficient is larger than or equal to the modulation threshold; the PI regulator is matched with the permanent magnet synchronous motor;
the current acquisition module is used for acquiring the current d-axis current value and the current q-axis current value of the permanent magnet synchronous motor;
the adjusting current determining module is used for determining a d-axis current value after dynamic flux weakening adjustment and an adjusted q-axis current value according to the modulated modulation coefficient, the current d-axis current value, the current q-axis current value and a dynamic flux weakening trajectory equation;
a limiting current determining module, configured to determine a limited d-axis current value and a limited q-axis current value according to the adjusted d-axis current value, the adjusted q-axis current value, and a current limiting formula;
and the voltage determining module is used for determining the voltage value output by the inverter unit according to the limited d-axis current value and the limited q-axis current value.
9. An electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the execution to implement the dynamic field weakening control method applied to a permanent magnet synchronous motor according to any one of claims 1-6.
10. A storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the execution to implement the dynamic field weakening control method as claimed in any one of claims 1 to 6 applied to a permanent magnet synchronous machine.
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