CN111682810B - Control method of high-voltage high-speed permanent magnet synchronous motor in high-temperature environment - Google Patents
Control method of high-voltage high-speed permanent magnet synchronous motor in high-temperature environment Download PDFInfo
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Classifications
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0086—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for high speeds, e.g. above nominal speed
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a control method of a high-voltage high-speed permanent magnet synchronous motor in a high-temperature environment, which adopts a two-stage topology to convert an input direct current bus voltage into three-phase alternating current for driving the high-speed permanent magnet synchronous motor to operate, wherein the front stage of the two-stage topology is a BUCK converter, the rear stage of the two-stage topology is a three-phase full-bridge inverter, the BUCK converter adopts voltage and current double closed-loop control, the three-phase full-bridge inverter adopts single current loop control, meanwhile, one-stage rotating speed loop control is added, the feedback of a rotating speed loop is the actual rotating speed of the motor, and the output of the rotating speed loop is the input of a voltage loop of the BUCK converter. The invention realizes the control of the rotating speed of the high-speed synchronous motor under high pressure, has better dynamic performance, reduces the power tube loss of the high-speed permanent magnet synchronous motor and the inverter, and is suitable for high-temperature environment.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a control method of a high-speed permanent magnet synchronous motor.
Background
The high-speed permanent magnet synchronous motor has the advantages of good dynamic response performance, high efficiency and the like, a traditional mechanical speed change device in the system is avoided, and the energy density and the efficiency of the system are improved. In some special application fields, such as electric drive systems of armored combat vehicles, the input direct current bus voltage of a motor control system is high, the working environment temperature of a motor is high, and a traditional motor driver based on a three-phase full-bridge inverter is not suitable for the requirement of motor control under the situation. The traditional motor driver based on the three-phase full-bridge inverter cannot freely adjust the voltage of the direct current bus, and the problems of low utilization rate of the voltage of the direct current bus and high motor loss exist when the motor rotation speed is low. Therefore, a control strategy suitable for the high-voltage high-speed permanent magnet synchronous motor at high temperature is proposed and applied.
The traditional motor controller based on the three-phase full-bridge inverter changes direct current into three-phase electricity for driving the motor to operate by controlling the switching time and switching sequence of six power tubes, and has the advantages of simple topological structure and control algorithm, but obvious defects when being applied to the control of a high-speed permanent magnet synchronous motor. The inductance of the high-speed permanent magnet synchronous motor is small, the traditional motor controller based on the three-phase full-bridge inverter cannot adjust the voltage of a direct current bus, and under high voltage, current ripple and harmonic waves generated in a stator of the high-speed permanent magnet synchronous motor by high-voltage PWM waves can be greatly increased, so that the rotation speed and torque of the motor are fluctuated. The motor phase current harmonic wave caused by the high-voltage PWM wave can increase the loss of the motor body, meanwhile, the high voltage can cause the loss of the power tube of the controller to be increased, and the temperature rise caused by the loss can further threaten the safe operation of the motor controller and the high-speed permanent magnet synchronous motor at high temperature.
Disclosure of Invention
In order to solve the technical problems mentioned in the background art, the invention provides a control method of a high-voltage high-speed permanent magnet synchronous motor in a high-temperature environment.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
the control method of the high-voltage high-speed permanent magnet synchronous motor in the high-temperature environment adopts a two-stage topology to convert the input direct current bus voltage into three-phase alternating current for driving the high-speed permanent magnet synchronous motor to operate, wherein the front stage of the two-stage topology is a BUCK converter, the rear stage of the two-stage topology is a three-phase full-bridge inverter, the BUCK converter adopts voltage and current double closed-loop control, the three-phase full-bridge inverter adopts single-current loop control, meanwhile, one-stage rotating speed loop control is added, the feedback of the rotating speed loop is the actual rotating speed of the motor, and the output of the rotating speed loop is the input of a voltage loop of the BUCK converter.
Further, the specific process of the control method is as follows:
motor rotation speed given signal n ref After the difference is made with the motor rotating speed feedback n, BUCK reference voltage V is output through a PI regulator ref ；V ref Output DC voltage V from BUCK converter dc Generating a reference inductance current i through a PI regulator after making a difference ref ；i ref Inductor current i of BUCK converter L After the difference is made, comparing the power tube with a carrier wave through a PI regulator, and outputting the duty ratio of a power tube in the BUCK converter; the three-phase full-bridge inverter adopts single current loop control, and d-axis reference current 0 and d-axis feedback current I d After the difference is made, d-axis voltage U is generated through a PI regulator d Combining three phasesThe modulation ratio M of the bridge inverter is calculated to obtain the q-axis voltage value U q And finally, outputting the switching waveforms of all the power tubes in the three-phase full-bridge inverter through the SVPWM module.
Further, the modulation ratio of the three-phase full-bridge inverter is defined as the ratio of the fundamental amplitude of the output phase voltage of the three-phase full-bridge inverter to the direct current bus voltage of the half three-phase full-bridge inverter.
Further, the method for determining the modulation ratio of the three-phase full-bridge inverter is as follows:
and respectively calculating a modulation ratio M1 for minimizing the total harmonic distortion of the motor phase current and a modulation ratio M2 for minimizing the power tube loss, if the value of M2 is larger than 1, selecting M2 as a final modulation ratio, otherwise, selecting M1 as the final modulation ratio.
The beneficial effects brought by adopting the technical scheme are that:
the invention adopts a high-voltage and high-speed permanent magnet synchronous motor control strategy under a high-temperature environment based on two-stage topology and dynamic regulation of modulation ratio, realizes the dynamic regulation of the DC bus voltage of the three-phase full-bridge inverter by utilizing the front-stage BUCK converter, can be matched with different running states of the motor, and reduces the negative effect of inputting high-voltage DC. The SVPWM modulation ratio in the three-phase full-bridge inverter is optimized, so that the power tube loss of the controller and the body loss of the high-speed permanent magnet synchronous motor are reduced, the system operation efficiency is improved, and the requirement of motor operation at high temperature is met.
Drawings
FIG. 1 is a schematic diagram of a motor control system topology of the present invention;
FIG. 2 is a control loop diagram of the present invention;
FIG. 3 is a diagram showing the relationship between the motor phase current THD and the modulation ratio;
FIG. 4 is a block diagram of a power tube loss calculation according to the present invention;
FIG. 5 is a block diagram of a modulation ratio calculation of the present invention;
description of the reference numerals: n is n ref Setting the rotating speed of the motor; n is motor rotation speed feedback; θ is the motor position sensor output motor position; v (V) ref Is BUCK reference voltage; u (U) dc For BUCK input of DC voltage, V dc Outputting a direct-current voltage for BUCK; i.e ref A reference current is used for a BUCK current loop; i.e L The current is BUCK inductance current; d is the duty ratio of the BUCK power tube; i d Feeding back current for d axis; u (U) d Is the d-axis reference voltage; u (U) q The q-axis reference voltage value; m is the modulation ratio of the three-phase full-bridge inverter.
Detailed Description
The technical scheme of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the topology structure diagram of the motor control system of the invention is that the power supply system is powered by direct current, the voltage of a direct current bus is reduced by a BUCK converter and then is input into a three-phase full-bridge inverter, and the conversion from the direct current of the power supply to the three-phase alternating current running on a driving motor is realized by controlling the switching time and the switching sequence of a power tube, so that the high-speed permanent magnet synchronous motor is driven to run at a given rotating speed.
Under the two-stage topology, the front-stage BUCK converter reduces the high voltage of the direct-current bus to a preset value, and the rear-stage three-phase full-bridge inverter converts the direct-current voltage output by BUCK into alternating current to drive the high-speed permanent magnet synchronous motor to operate according to a given modulation ratio, so that the control and adjustment of the rotating speed of the high-speed permanent magnet synchronous motor are realized.
In the invention, the front-stage BUCK converter adopts voltage and current double closed-loop control, the rear-stage three-phase full-bridge inverter adopts single current loop control, and meanwhile, one-stage rotating speed loop control is added, the feedback of the rotating speed loop is the actual rotating speed of the motor, and the output of the rotating speed loop is the input of the voltage loop of the BUCK converter. Specifically, as shown in fig. 2, the motor rotation speed gives a signal n ref After the difference is made with the motor rotating speed feedback n, BUCK reference voltage V is output through a PI regulator ref ；V ref Output DC voltage V from BUCK converter dc Generating a reference inductance current i through a PI regulator after making a difference ref ；i ref Inductor current i of BUCK converter L After the difference is made, comparing the carrier with a PI regulator, and outputting the duty ratio D of a power tube in the BUCK converter; the three-phase full-bridge inverter adopts single current loop control, and d-axis reference current 0 and d-axis feedback current I d Difference of doingThereafter, the d-axis voltage U is generated by the PI regulator d Then the modulation ratio M of the three-phase full-bridge inverter is combined to calculate the q-axis voltage value U q And finally, outputting the switching waveforms of all the power tubes in the three-phase full-bridge inverter through the SVPWM module.
As shown in fig. 3, a schematic diagram of the relationship between the motor phase current THD (total harmonic distortion) and the modulation ratio value is shown. The output phase voltage F (t) of the three-phase full-bridge inverter can be represented by the SVPWM modulation theory using a dual fourier analysis tool as follows:
in the above-mentioned method, the step of,is a direct current component in the harmonic expression; />Is the fundamental component (when k=1) and the baseband harmonic component, where a 0k And B 0k Are all coefficients; />For the harmonic component of the carrier wave, A m0 And B m0 Are all coefficients; />As side-band harmonic components, A mk And B mk Are all coefficients; m=0, 1,2, &..a wave index variable is modulated for a three phase full bridge inverter; k=0, ±1, ±2,. The three-phase full-bridge inverter carrier index variable; omega 1 Modulating the wave angular frequency for a three-phase full-bridge inverter; omega s Is the carrier angular frequency of the three-phase full-bridge inverter.
The above intermediate frequency is kω 1 +mω s The voltage harmonic amplitudes of (a) are as follows:
in the above, J k () Is a k-order Bessel function; j (J) i () The method is characterized in that the method is an i-order Bessel function, and i is a positive integer; j (J) 0 () Is a 0 th order bessel function.
And calculating the numerical relation between the motor phase voltage THD and the modulation ratio by using software. By definition, the current THD is calculated as follows:
in the above, I 1 The motor phase voltage fundamental wave amplitude value; i.e mk For a frequency of kω 1 +mω s The value of which can be obtained using the following formula:
in the above, U mk The voltage harmonic amplitude of the motor stator phase is; r is R s Phase resistance of a motor stator winding; l is the phase inductance of the stator winding.
As shown in fig. 3, the motor phase current THD gradually decreases as the modulation ratio increases, and then increases with a small amplitude as the modulation ratio increases after the motor phase current THD decreases to the lowest point. According to the formula, the corresponding modulation ratio M value of the motor phase current THD at the lowest under different given rotating speeds can be obtained, and the value is between 1 and 1.15. It can be seen that after the modulation ratio is greater than 1, the improvement of the motor phase current THD is not obvious as the modulation ratio increases, and the numerical relationship between the modulation ratio and the power tube loss should be considered.
As shown in fig. 4, a power tube loss calculation block diagram is shown, power tube parameters under different working conditions are obtained through DATASHEET, and a curve is fitted into a functional relation by using data processing software. And then the loss of the power tube under different modulation ratios is obtained by using a power tube loss calculation formula. The power tube loss is combined with theoretical calculation and simulation, and a power tube loss model is built. The modulation ratio is increased to reduce the voltage of the BUCK output direct current bus, so that the switching loss of the power tube is reduced, and meanwhile, the on-time of the power tube is prolonged due to the fact that the modulation ratio is increased, so that the on-state loss of the power tube is increased. According to the power tube data obtained in the DATASHEET and the function analysis type of the power tube loss and the modulation ratio is established, and the modulation ratio corresponding to the minimum power tube loss can be obtained.
As shown in fig. 5, a block diagram is calculated for the modulation ratio. As can be seen from fig. 3, there is a modulation ratio M1 such that the motor phase current THD takes a minimum value. The modulation ratio M2 at which the power tube loss is minimum is calculated from the flow of fig. 4. When the value of the corresponding modulation ratio M2 is larger than 1 and the power tube loss is minimum, selecting the value as the modulation ratio of the three-phase full-bridge inverter; if the modulation ratio is smaller than 1, the modulation ratio M1 corresponding to the minimum motor phase current THD is adopted as the modulation ratio of the three-phase full-bridge inverter.
The embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by the embodiments, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention.
Claims (3)
1. A control method of a high-voltage high-speed permanent magnet synchronous motor in a high-temperature environment is characterized by comprising the following steps of: the method comprises the steps that input direct current bus voltage is converted into three-phase alternating current for driving a high-speed permanent magnet synchronous motor to operate by adopting a two-stage topology, wherein the front stage of the two-stage topology is a BUCK converter, the rear stage of the two-stage topology is a three-phase full-bridge inverter, the BUCK converter adopts voltage and current double closed-loop control, one-stage rotating speed loop control is added at the same time, feedback of the rotating speed loop is the actual rotating speed of the motor, and output of the rotating speed loop is input of a voltage loop of the BUCK converter;
the three-phase full-bridge inverter adopts single-current loop control, namely only one of a d-axis current loop and a q-axis current loop in vector control; d-axis reference current 0 and d-axis feedback current I d After the difference is made, d-axis voltage U is generated through a PI regulator d Then the modulation ratio M of the three-phase full-bridge inverter is combined to calculate the q-axis voltage value U q ；
The method for determining the modulation ratio of the three-phase full-bridge inverter comprises the following steps:
and respectively calculating a modulation ratio M1 for minimizing the total harmonic distortion of the motor phase current and a modulation ratio M2 for minimizing the power tube loss, if the value of M2 is larger than 1, selecting M2 as a final modulation ratio, otherwise, selecting M1 as the final modulation ratio.
2. The method for controlling the high-voltage and high-speed permanent magnet synchronous motor in the high-temperature environment according to claim 1, wherein the method comprises the following steps: the control method comprises the following specific processes:
motor rotation speed given signal n ref After the difference is made with the motor rotating speed feedback n, BUCK reference voltage V is output through a PI regulator ref ；V ref Output DC voltage V from BUCK converter dc Generating a reference inductance current i through a PI regulator after making a difference ref ；i ref Inductor current i of BUCK converter L After the difference is made, comparing the power tube with a carrier wave through a PI regulator, and outputting the duty ratio of a power tube in the BUCK converter; and finally, outputting the switching waveform of each power tube in the three-phase full-bridge inverter through the SVPWM module.
3. The method for controlling the high-voltage and high-speed permanent magnet synchronous motor in the high-temperature environment according to claim 2, wherein the method comprises the following steps: the modulation ratio of the three-phase full-bridge inverter is defined as the ratio of the fundamental amplitude of the output phase voltage of the three-phase full-bridge inverter to the direct current bus voltage of one half of the three-phase full-bridge inverter.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101529714A (en) * | 2006-10-19 | 2009-09-09 | 三菱电机株式会社 | Vector controller of permanent magnet synchronous motor |
| CN101931353A (en) * | 2010-01-29 | 2010-12-29 | 梁伟 | Control method for brushless direct current motor for automotive air conditioning fan |
| EP3068036A1 (en) * | 2015-03-10 | 2016-09-14 | LSIS Co., Ltd. | Inverter for supplying load-adaptive boost voltage |
| CN106655913A (en) * | 2016-12-22 | 2017-05-10 | 哈尔滨工业大学 | Three-phase inverter topology structure with adjustable DC bus voltage and method of adopting structure to realize dynamic DC bus voltage adjustment |
| CN106655949A (en) * | 2016-11-18 | 2017-05-10 | 深圳市道通智能航空技术有限公司 | Control system and control method of permanent magnetic synchronous motor, and unmanned aerial vehicle |
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- 2020-05-06 CN CN202010371727.6A patent/CN111682810B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101529714A (en) * | 2006-10-19 | 2009-09-09 | 三菱电机株式会社 | Vector controller of permanent magnet synchronous motor |
| CN101931353A (en) * | 2010-01-29 | 2010-12-29 | 梁伟 | Control method for brushless direct current motor for automotive air conditioning fan |
| EP3068036A1 (en) * | 2015-03-10 | 2016-09-14 | LSIS Co., Ltd. | Inverter for supplying load-adaptive boost voltage |
| CN106655949A (en) * | 2016-11-18 | 2017-05-10 | 深圳市道通智能航空技术有限公司 | Control system and control method of permanent magnetic synchronous motor, and unmanned aerial vehicle |
| CN106655913A (en) * | 2016-12-22 | 2017-05-10 | 哈尔滨工业大学 | Three-phase inverter topology structure with adjustable DC bus voltage and method of adopting structure to realize dynamic DC bus voltage adjustment |
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