CN111756291A - Method for realizing voltage saturation out-of-control inhibition control of new energy automobile permanent magnet synchronous motor controller - Google Patents

Method for realizing voltage saturation out-of-control inhibition control of new energy automobile permanent magnet synchronous motor controller Download PDF

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CN111756291A
CN111756291A CN202010651279.5A CN202010651279A CN111756291A CN 111756291 A CN111756291 A CN 111756291A CN 202010651279 A CN202010651279 A CN 202010651279A CN 111756291 A CN111756291 A CN 111756291A
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voltage
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CN111756291B (en
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肖浩
蒋东晖
刘世猛
王闻宇
王俊
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Dongfeng Electronic Technology Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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
    • 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
    • H02P6/20—Arrangements for starting
    • 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
    • H02P6/34—Modelling or simulation for control purposes
    • 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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  • Power Engineering (AREA)
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Abstract

The invention relates to a method for realizing the control of restraining the voltage saturation out of control by a permanent magnet synchronous motor controller of a new energy automobile, which comprises the steps of setting a voltage utilization rate threshold k; inquiring Idq _ Map according to the Vcu torque command to obtain corresponding d-axis reference current Id _ Map and q-axis reference current Iq _ Map; calculating an adjusting current delta Is according to the current voltage vector amplitude and a control strategy; and calculating to obtain output reference currents Id _ ref and Iq _ ref according to the current motor output power and the adjusting current delta Is. The method for realizing the control of inhibiting the voltage saturation out of control by adopting the new energy automobile permanent magnet synchronous motor controller provides a permanent magnet synchronous motor anti-saturation control strategy, and the strategy is based on the calibration of weak magnetic control, ensures that the inverter output voltage does not saturate when the motor is started to a high speed in a cold state on the premise of ensuring the output torque precision to the maximum extent, and improves the control safety and reliability of the motor.

Description

Method for realizing voltage saturation out-of-control inhibition control of new energy automobile permanent magnet synchronous motor controller
Technical Field
The invention relates to the field of new energy automobiles, in particular to the field of synchronous motor control, and specifically relates to a method for realizing voltage saturation runaway inhibition control of a permanent magnet synchronous motor controller of a new energy automobile.
Background
The energy conservation and emission reduction and low-carbon travel increasingly become the global topic of the 21 st century, the new energy automobile uses secondary energy electric energy as a power source, is environment-friendly in the use process, and gradually becomes a trend for replacing the traditional internal combustion automobile using fossil fuel.
The permanent magnet synchronous motor is used as a main drive motor of a new energy automobile, the speed regulation control of the permanent magnet synchronous motor is always the key point and the difficulty of the control of the new energy automobile, and in order to improve the torque response speed of the motor and the running safety of the whole automobile, a calibration method is generally accepted in the control industry of the permanent magnet synchronous motor, the external characteristics of the motor need to be calibrated in advance, and the current Map generated by calibration is arranged in software engineering. In the long-time calibration process, the motor rotor is in a hot state, the temperature is high, and due to the characteristics of permanent magnet materials, the flux linkage of the rotor permanent magnet has large change along with the temperature, so that when the cold state is started to a high rotating speed, serious safety faults such as output voltage saturation, output torque runaway and the like can occur to the inverter, and the driving safety is influenced.
The traditional measure for solving the problem of high-speed output voltage saturation of the motor is to reserve enough margin as far as possible in the calibration process so as to ensure that the inverter of the motor does not have the voltage saturation phenomenon in the cold state and the hot state, but the method not only increases the calibration workload, but also reduces the output efficiency of the motor to a certain extent.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for realizing the control of restraining the voltage saturation out of control by the permanent magnet synchronous motor controller of the new energy automobile, which has the advantages of good safety, high reliability and wider application range.
In order to achieve the purpose, the method for realizing the control of restraining the voltage saturation runaway of the new energy automobile permanent magnet synchronous motor controller comprises the following steps:
the method for realizing the control of restraining the voltage saturation out of control by the new energy automobile permanent magnet synchronous motor controller is mainly characterized by comprising the following steps of:
(1) setting a voltage utilization rate threshold k;
(2) inquiring Idq _ Map according to the Vcu torque command to obtain corresponding d-axis reference current Id _ Map and q-axis reference current Iq _ Map;
(3) calculating an adjusting current delta Is according to the current voltage vector amplitude and a control strategy;
(4) calculating to obtain output reference currents Id _ ref and Iq _ ref according to the current motor output power and the adjusting current delta Is;
(5) the reference currents Id _ ref and Iq _ ref are input to the current loop, outputting torque.
Preferably, the d-axis reference current and the q-axis reference current of step (2) are calibration current reference values.
Preferably, the magnitude of the current voltage vector in step (3) is
Figure BDA0002575073670000021
Wherein u isdIs d-axis voltage, uqIs the q-axis voltage.
Preferably, the adjustment current Δ Is in step (3) Is generated by PI regulation of a difference between the output voltage vector magnitude and the inverter maximum output reference voltage.
Preferably, the reference currents Id _ ref and Iq _ ref output in step (4) are calculated, specifically:
the output reference currents Id _ ref and Iq _ ref are calculated according to the following equations:
Figure BDA0002575073670000022
in the formula fd(| Pe |) and fq(| Pe |) is the power adjustment coefficient of d-axis and q-axis respectively, according toThe following formula is calculated:
Figure BDA0002575073670000023
the method comprises the steps that Id _ Map and Iq _ Map are reference currents obtained by table lookup of a d axis and a q axis respectively, Pe is output power of a motor, Pe _ Max is peak power of the motor, Pe | is not less than Pe _ Max during calculation, sign (Iq _ Map) represents a sign of the Iq _ Map, if the Iq _ Map is larger than or equal to 0, the sign (Iq _ Map) is equal to 1, and otherwise, the sign is-1.
The method for realizing the control of inhibiting the voltage saturation out of control by adopting the new energy automobile permanent magnet synchronous motor controller provides a permanent magnet synchronous motor anti-saturation control strategy, and the strategy is based on the calibration of weak magnetic control, ensures that the inverter output voltage does not saturate when the motor is started to a high speed in a cold state on the premise of ensuring the output torque precision to the maximum extent, and improves the control safety and reliability of the motor.
Drawings
Fig. 1 is a block diagram of a field weakening control method of a new energy vehicle permanent magnet synchronous motor controller for realizing a method for restraining voltage saturation runaway control.
Fig. 2 Is a schematic diagram of a control box of Δ Is in a method for realizing control for restraining voltage saturation runaway by using the new energy automobile permanent magnet synchronous motor controller.
Fig. 3 is a schematic diagram of current distribution of a permanent magnet synchronous motor of the method for realizing the control of restraining the voltage saturation runaway by the permanent magnet synchronous motor controller of the new energy automobile.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
The method for realizing the control of restraining the voltage saturation out of control by the new energy automobile permanent magnet synchronous motor controller comprises the following steps:
(1) setting a voltage utilization rate threshold k;
(2) inquiring Idq _ Map according to the Vcu torque command to obtain corresponding d-axis reference current Id _ Map and q-axis reference current Iq _ Map;
(3) calculating an adjusting current delta Is according to the current voltage vector amplitude and a control strategy;
(4) calculating to obtain output reference currents Id _ ref and Iq _ ref according to the current motor output power and the adjusting current delta Is;
(5) the reference currents Id _ ref and Iq _ ref are input to the current loop, outputting torque.
As a preferred embodiment of the present invention, the d-axis reference current and the q-axis reference current of step (2) are calibration current reference values.
As a preferred embodiment of the present invention, the magnitude of the present voltage vector of step (3) is
Figure BDA0002575073670000031
Wherein u isdIs d-axis voltage, uqIs the q-axis voltage.
As a preferred embodiment of the present invention, the adjustment current Δ Is in step (3) Is generated by PI regulation of a difference between the vector magnitude of the output voltage and the maximum output reference voltage of the inverter.
As a preferred embodiment of the present invention, the reference currents Id _ ref and Iq _ ref calculated and output in step (4) specifically include:
the output reference currents Id _ ref and Iq _ ref are calculated according to the following equations:
Figure BDA0002575073670000032
in the formula fd(| Pe |) and fq(| Pe |) is the power adjustment coefficient of d axle and q axle respectively, calculates according to the following formula and obtains:
Figure BDA0002575073670000033
the method comprises the steps that Id _ Map and Iq _ Map are reference currents obtained by table lookup of a d axis and a q axis respectively, Pe is output power of a motor, Pe _ Max is peak power of the motor, Pe | is not less than Pe _ Max during calculation, sign (Iq _ Map) represents a sign of the Iq _ Map, if the Iq _ Map is larger than or equal to 0, the sign (Iq _ Map) is equal to 1, and otherwise, the sign is-1.
In the specific implementation manner of the invention, the flux weakening control of the conventional calibration method permanent magnet synchronous motor is to calibrate and acquire a maximum torque current ratio curve at a low speed stage, as shown in fig. 3, when the motor runs at a low speed, the output torque lookup table current is optimized along the maximum torque current ratio curve (OBA curve) until a limit current circle boundary is reached or a peak torque is reached, at a medium-high speed stage, the torque optimization is optimized along the maximum torque current ratio curve at a low torque until a limit ellipse boundary is reached, then the optimization is calibrated along a limit voltage ellipse until a target torque (OBC curve) is reached, and after the high speed stage is reached, the optimization is directly performed along the limit voltage ellipse to the target torque (DEFA curve)2Curve) is shown.
After calibration, the current Map is fixed, the current Map is inquired according to a torque command sent by a vehicle controller, a specified torque current reference value is output, however, under the influence of the material characteristics of a permanent magnet, the rotor flux linkage is reduced by about 5% -10% on average under the temperature rise of 100 ℃, the phenomenon of inverter voltage saturation can be caused when a motor is started to a high rotating speed at a cold state, even the motor is out of control in serious conditions, and safety accidents can be caused.
A control method for restraining voltage saturation out of control of a permanent magnet synchronous motor controller of a new energy automobile can ensure that d-axis reference current and q-axis reference current are calibration current reference values when the motor is operated in a non-saturation region; after voltage saturation, d-axis and q-axis reference currents can be dynamically adjusted, and voltage closed-loop desaturation is realized on the premise of ensuring output torque precision to the maximum extent.
According to the stable state mathematical model of the IPMSM, the output voltage and the moment equation are as follows:
Figure BDA0002575073670000041
Figure BDA0002575073670000042
wherein:
Figure BDA0002575073670000043
in the formula: u. ofd、uq、id、iq、
Figure BDA0002575073670000044
Stator dq axis voltage, current and flux linkage; l isd、Lq、RsDq axis inductance and stator resistance, respectively;
Figure BDA0002575073670000045
is a permanent magnet flux linkage, Te、ωeThe electromagnetic torque and the rotor motor angular speed are respectively, and p is the number of pole pairs of the motor.
By adopting Space Vector Pulse Width Modulation (SVPWM), the output voltage of the inverter meets the following requirements:
Figure BDA0002575073670000051
k is the maximum voltage utilization rate of the system, and as can be seen from the formula (4), the output voltage of the inverter is subjected to the voltage u of the direct-current busdcAnd after the saturation voltage is reached, the inverter no longer has the capability of regulating the output current.
Under the influence of the material characteristics of the permanent magnet, the flux linkage of the rotor is averagely reduced by about 5-10% under the temperature rise of the rotor at 100 ℃, and according to the formula (1), the phenomenon that the voltage of the inverter is saturated when the motor is started to a high rotating speed in a cold state can be caused, and even the motor is out of control in severe cases, so that safety accidents are caused. The weak magnetic control block diagram of the invention is shown in figure 1.
In the control block diagram, Te is a motor control output torque command, Id _ Map and Iq _ Map are reference current commands obtained by table look-up of a d axis and a q axis respectively, Id _ ref and Iq _ ref are final input control reference values of the d axis and the q axis respectively, Id _ fbk and Iq _ fbk are feedback current values of the d axis and the q axis respectively, ud and uq are output reference voltages of the d axis and the q axis respectively, and Theta _ ref is rotor position information.
Wherein:
Figure BDA0002575073670000052
sign (Iq _ Map) represents the sign of Iq _ Map, and if Iq _ Map is greater than or equal to 0, sign (Iq _ Map) is equal to 1, otherwise, sign is-1.
Δ Is obtained by the control of fig. 2. As can be seen from the figure, the delta Is generated by the difference between the vector amplitude of the output voltage and the maximum output voltage of the given inverter after the PI regulation, when the reference amplitude of the output voltage Is
Figure BDA0002575073670000053
Greater than a set maximum allowed output voltage amplitude
Figure BDA0002575073670000054
At this time, the output voltage is saturated.
F in formula (5)d(| Pe |) and fq(| Pe |) is the power adjustment coefficient of d axle and q axle respectively, calculates according to the following formula and obtains:
Figure BDA0002575073670000055
in the formula (6), Pe is the output power of the motor, Pe _ Max is the peak power of the motor, and Pe is equal to or less than Pe _ Max during calculation.
The saturation suppression control method comprises the following steps:
1. in the unsaturated region (such as the OA curve shown in FIG. 3), the reference currents of d and q axes can be ensured to be the reference values of the calibration current when the motor operates in the unsaturated region;
2. a low-power output voltage saturation region (such as a DE curve shown in fig. 3), wherein the q-axis current of the region is far smaller than the d-axis current, and the equal torque curve shows that the ratio of the maximum torque current to the left q-axis current of the curve to the d-axis current is smaller, the slope of the equal torque curve is smaller, namely the influence of the reduced q-axis current on the output torque precision is larger, and the influence of the increased reverse weak magnetic current on the torque output precision is not large, so that the reverse d-axis current is increased by adopting a larger proportion, and the current track moves to the left when the voltage is saturated;
3. in a medium-power output voltage saturation region (shown as an EF curve in fig. 3), the weight of increasing d-axis current and decreasing q-axis current in the opposite direction is equivalent, so that when the voltage is saturated, a current track moves towards the lower left, and the accuracy of output torque is ensured;
4. in the peak power output voltage saturation region (shown in fig. 3 as the FA2 curve), since it is not obvious to desaturate by increasing the d-axis current reversely, the d-axis current may even increase after exceeding the G point (short circuit current point), and the saturation degree of the inverter output voltage is further deepened, the q-axis current is reduced to desaturate obviously, so that the q-axis current is reduced in a larger proportion, and the current trajectory moves downward when the voltage is saturated.
The invention discloses a method for realizing the control of restraining the voltage saturation out of control by a new energy automobile permanent magnet synchronous motor controller, which comprises the following steps:
1. setting a voltage utilization rate threshold k for entering a suppression voltage saturation control method;
2. inquiring Idq _ Map according to the Vcu torque command to obtain corresponding Id _ Map and Iq _ Map;
3. according to the current voltage vector magnitude
Figure BDA0002575073670000061
And the control algorithm shown in FIG. 2 obtains the adjustment current Δ Is;
4. obtaining final outputs Id _ ref and Iq _ ref according to the current motor output power and the delta Is and a formula (5);
the output reference currents Id _ ref and Iq _ ref finally enter the current loop, outputting torque.
The invention takes a permanent magnet synchronous motor with the turning point rotating speed of 4000rpm, the highest rotating speed of 12000rpm, the peak value torque of 300N and the peak value power of 150kW as a specific embodiment, and takes a driving system with the maximum input current of 500A of a controller as an example (500A ensures that the motor can output the peak value torque).
The first step is as follows: setting a calibration voltage utilization rate, wherein in order to ensure the dynamic following performance, the bus voltage utilization rate is set to be 92%, namely the amplitude of the output voltage is 185 v;
the second step is that: calibrating the external characteristics of the motor according to a traditional calibration weak magnetic control method, and arranging the calibrated Idq _ Map into a software project;
the third step: setting a voltage utilization rate k of an entering anti-desaturation control strategy, wherein the voltage utilization rate k is set to be slightly higher than a calibrated voltage utilization rate to prevent false triggering, and setting a value of k to 0.95, namely triggering the anti-desaturation control strategy when the amplitude of the detected output phase voltage exceeds 192 v;
the fourth step: when the electric control system operates, inquiring Idq _ Map according to a torque command sent by Vcu to obtain Id _ Map and Iq _ Map;
the fifth step: obtaining the magnitude of the voltage vector according to the control strategy shown in FIG. 1
Figure BDA0002575073670000062
Automatically generating to obtain an adjusting current delta Is according to the control strategy shown in FIG. 2;
and a sixth step: obtaining final outputs Id _ ref and Iq _ ref according to the current motor output power and the delta Is and formulas (5) and (6);
the seventh step: the output reference currents Id _ ref and Iq _ ref finally enter the current loop, outputting torque.
The method for realizing the control of inhibiting the voltage saturation out of control by adopting the new energy automobile permanent magnet synchronous motor controller provides a permanent magnet synchronous motor anti-saturation control strategy, and the strategy is based on the calibration of weak magnetic control, ensures that the inverter output voltage does not saturate when the motor is started to a high speed in a cold state on the premise of ensuring the output torque precision to the maximum extent, and improves the control safety and reliability of the motor.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims (5)

1. A method for realizing voltage saturation runaway inhibition control of a new energy automobile permanent magnet synchronous motor controller is characterized by comprising the following steps:
(1) setting a voltage utilization rate threshold k;
(2) inquiring Idq _ Map according to the Vcu torque command to obtain corresponding d-axis reference current Id _ Map and q-axis reference current Iq _ Map;
(3) calculating an adjusting current delta Is according to the current voltage vector amplitude and a control strategy;
(4) calculating to obtain output reference currents Id _ ref and Iq _ ref according to the current motor output power and the adjusting current delta Is;
(5) the reference currents Id _ ref and Iq _ ref are input to the current loop, outputting torque.
2. The method for realizing the control for restraining the voltage saturation runaway by the PMSM controller of the new energy automobile according to claim 1, wherein the d-axis reference current and the q-axis reference current in the step (2) are calibrated current reference values.
3. The method for realizing the control for restraining the voltage saturation runaway by the PMSM controller of the new energy automobile according to claim 1, wherein the current voltage vector amplitude of the step (3) is
Figure FDA0002575073660000011
Wherein u isdIs d-axis voltage, uqIs the q-axis voltage.
4. The method for realizing the control for restraining the voltage saturation runaway by the PMSM controller of the new energy automobile according to claim 1, wherein the adjusting current delta Is generated by the difference between the output voltage vector amplitude and the maximum output reference voltage of the inverter through PI regulation in the step (3).
5. The method for realizing the voltage saturation runaway suppression control by the PMSM controller of the new energy automobile according to claim 1, wherein the step (4) of calculating the output reference currents Id _ ref and Iq _ ref specifically comprises the following steps:
the output reference currents Id _ ref and Iq _ ref are calculated according to the following equations:
Figure FDA0002575073660000012
in the formula fd(| Pe |) and fq(| Pe |) is the power adjustment coefficient of d axle and q axle respectively, calculates according to the following formula and obtains:
Figure FDA0002575073660000013
the method comprises the steps that Id _ Map and Iq _ Map are reference currents obtained by table lookup of a d axis and a q axis respectively, Pe is output power of a motor, Pe _ Max is peak power of the motor, Pe | is not less than Pe _ Max during calculation, sign (Iq _ Map) represents a sign of the Iq _ Map, if the Iq _ Map is larger than or equal to 0, the sign (Iq _ Map) is equal to 1, and otherwise, the sign is-1.
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