CN111800044B - Stepless depth flux weakening method and system for permanent magnet synchronous motor - Google Patents
Stepless depth flux weakening method and system for permanent magnet synchronous motor Download PDFInfo
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- CN111800044B CN111800044B CN202010698005.1A CN202010698005A CN111800044B CN 111800044 B CN111800044 B CN 111800044B CN 202010698005 A CN202010698005 A CN 202010698005A CN 111800044 B CN111800044 B CN 111800044B
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- 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
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Abstract
The invention discloses a stepless depth flux weakening method and a stepless depth flux weakening system for a permanent magnet synchronous motor, which solve the problem that the characteristics of the permanent magnet synchronous motor cannot be fully exerted in the prior art, expand high-speed strategy, improve the stability of the depth flux weakening, reduce the torque loss in dynamic adjustment, utilize the current after compensating voltage lookup to carry out a voltage feedforward module, and along with the increase of the rotating speed, the stability of the system is increased, the dynamic response can be quickly and stably realized during high-speed flux weakening, the torque loss is very small, the torque loss is avoided, the characteristics of the permanent magnet synchronous motor are fully exerted, the motor is ensured to stably run in a depth flux weakening area, the dynamic response is quick, the robustness is strong, and the operation is simple and easy.
Description
Technical Field
The invention relates to the technical field of electromagnetism, in particular to a stepless depth flux weakening method and a stepless depth flux weakening system for a permanent magnet synchronous motor, which can improve the existing flux weakening strategy, expand high-speed power, improve the stability of depth flux weakening and reduce torque loss in dynamic adjustment.
Background
With the development of national economy and science and technology, the motor plays more and more important roles in various industries. The permanent magnet synchronous motor benefits from a plurality of advantages in the aspects of design, manufacture and control, and is widely applied to various industrial production and living occasions. In addition, the rare earth resources in China are rich, and the application market of the permanent magnet synchronous motor is particularly large in China. The permanent magnet synchronous motor can be divided into a surface-mounted type and a built-in type according to the difference of quadrature-direct axis inductance, and the built-in type permanent magnet synchronous motor (IPMSM) can have a wider speed regulation interval under the condition of weak magnetism, so that the application is wider.
In the control strategy of IPMSM, in order to maximize efficiency and maximize utilization of current capacity, the motor is controlled to operate on a maximum torque to current ratio (MTPA) curve before field weakening, and is limited by a current limit relationship of an upper voltage limit as the motor speed is increased.
The permanent magnet synchronous motor is mostly required to operate in a wide speed range, high requirements are provided for the flux weakening quality, the flux weakening strategy is incomplete, and instability and even out of control of high-speed operation are easily caused. Especially, in the motor with the characteristic current point inside the current circle, the conventional directional flux weakening method is easy to cause the problem of voltage saturation in the vicinity of high-speed external characteristics, and particularly, the system control is unstable during dynamic adjustment.
The conventional flux weakening strategy has the following limitations: 1. the traditional flux weakening strategies are mostly concentrated in the area on the right side of the characteristic current point, the characteristics of the permanent magnet synchronous motor are not fully exerted, for the permanent magnet synchronous motor with a current limit circle larger than the characteristic current point, the power lifting space still exists on the left side of the characteristic current point, the control difficulty is increased when the permanent magnet synchronous motor runs in the area, the unstable factors are increased, instability is easy to occur, and part of flux weakening strategies do not control the area; 2. in an actual system, once a current circle and a voltage ellipse are intersected near a characteristic current point along with the rise of the rotating speed, the voltage ring is easy to lose control, the system stability is increasingly poor, and small disturbance can possibly cause the reverse change of instruction current and actual current to enter an out-of-control state; 3. the traditional flux weakening strategy is usually to avoid flux weakening instability in a torque sacrificing mode in dynamic response, the torque loss is large, and when the voltage utilization rate exceeds the preset voltage utilization rate, the traditional high-speed flux weakening strategy adopts a voltage closed loop to prevent instability, but the problem of torque loss is usually not considered, so that the torque sacrifice is large, and the high-speed power performance is influenced.
Disclosure of Invention
The invention provides a stepless depth flux weakening method for a permanent magnet synchronous motor, which aims to overcome the problem that the characteristics of the permanent magnet synchronous motor cannot be fully exerted in the prior art, and the method fully exerts the characteristics of the permanent magnet synchronous motor, has strong robustness, and is simple and easy to operate.
The invention also solves the problems of large torque loss and easy out-of-control in the prior art, can ensure that the motor stably runs in a deep weak magnetic region, and has the advantages of fast dynamic response, strong robustness and small torque loss.
In order to achieve the purpose, the invention adopts the following technical scheme:
a stepless depth flux weakening method for a permanent magnet synchronous motor comprises the following steps:
s1: the voltage closed-loop module is used for closed-loop regulating the required voltage compensation amount according to the required voltage utilization rate;
s2: the compensated table look-up voltage is input into a current look-up module for table look-up to obtain a required current point;
s3: the required current point obtained by table lookup is output through the current regulator;
s4: calculating a voltage feedforward compensation quantity by a voltage feedforward unit at a required current point obtained by table lookup;
s5: the output of the current regulator and the voltage feedforward compensation quantity form the final wave-generating voltage.
Preferably, the S1 includes the following steps:
s11: the voltage closed-loop module sets the current bus voltage U according to the required voltage utilization ratedc；
S12: will Ud *And Uq *After the arithmetic square root is solved, the current bus voltage U is setdcPerforming linear operation;
s13: performing PI operation on the linear operation result to obtain a voltage compensation quantity delta Udc；
Wherein, Ud *And Uq *Is the output of the current regulator.
Preferably, the S2 includes the following steps:
s21: weak magnetic current points are calibrated in advance and stored in a program of a current table look-up module;
s22: when the program is running, the current table look-up module looks up the table voltage U according to the compensated tabledcReal, from a lookup table of motor speed Spd and torque request Tor (i)d，iq)；
Wherein Tor represents a motor torque command.
Preferably, the S3 includes the following steps:
s31: the current regulator selects a PI controller;
s32: the current regulator will look up the current (i)d，iq) As a reference input;
s33: the current regulator performs PI operation on the lookup table current and idf and iqf to regulate the output reference voltage (U)d *，Uq *)；
Wherein idf and iqf are DQ axis currents fed back by the motor actually.
Preferably, the S4 includes the following steps:
s41: determining a flux linkage parameter table;
s42: the voltage feedforward unit obtains the reference current (i) according to the table lookupd，lq) Calculating real-time flux linkage psi by combining with flux linkage parameter table calibrated in advancedAnd psiq；
S43: the feedforward voltage calculation unit calculates the feedforward voltage compensation U according to the current rotating speed Spd of the motordC and UqC。
Preferably, the S41 includes the following steps:
s411: calibrating and taking points through a rack;
s412: making a program table by a fitting method or an insertion method;
s413: running the code in real time according to (i)d，iq) And finding out the current magnetic linkage.
Preferably, the calculation method of S43 specifically includes calculating by a PMSM feedforward voltage compensation quantity equation, where the PMSM feedforward voltage compensation quantity equation is:
UdC＝-Spd*2π/60*ψq
UqC＝Spd*2π/60*ψd
wherein, UdC and UqC is feedforward voltage compensation quantity, Spd is current rotating speed of motor, psidAnd psiqIs a real-time flux linkage.
Preferably, the specific calculation method of S5 is as follows: (U)d *，Uq *) And (U)dC，UqC) The sum of which constitutes the final wave voltage (U)d，Uq)。
A stepless depth flux weakening system of a permanent magnet synchronous motor comprises a voltage closed loop module, a current look-up table module, a voltage feedforward unit and a current regulator.
Therefore, the invention has the following beneficial effects:
1. the invention expands high-speed strategy, improves the stability of deep weak magnetism and reduces the torque loss in dynamic adjustment;
2. the current after the compensation voltage is looked up is utilized to carry out a voltage feedforward module, the system stability is improved along with the increase of the rotating speed, the dynamic response can be rapidly and stably carried out during the high-speed flux weakening, the torque loss is small, and the loss of the torque is avoided;
3. the characteristics of the permanent magnet synchronous motor are fully exerted, the motor is ensured to stably run in a deep weak magnetic area, the dynamic response is fast, the robustness is strong, and the operation is simple and easy.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a block diagram of the architecture of the present invention.
Fig. 3 is a functional block diagram of the voltage closed loop module of the present invention.
FIG. 4 is a schematic block diagram of the current lookup module of the present invention.
FIG. 5 is a functional block diagram of the voltage feed forward unit of the present invention.
Fig. 6 is a functional block diagram of the current regulator of the present invention.
Fig. 7 is a functional block diagram of the present embodiment.
In the figure: 1. the device comprises a voltage closed-loop module 2, a current look-up table module 3, a voltage feedforward unit 4 and a current regulator.
Detailed Description
The invention is further described with reference to the following detailed description and accompanying drawings.
Example 1:
the embodiment provides a stepless depth flux weakening method for a permanent magnet synchronous motor, which specifically comprises the following steps as shown in fig. 1:
s1: the voltage closed-loop module is used for closed-loop regulating the required voltage compensation amount according to the required voltage utilization rate;
s2: the compensated table look-up voltage is input into a current look-up module for table look-up to obtain a required current point;
s3: the required current point obtained by table lookup is output through the current regulator;
s4: calculating a voltage feedforward compensation quantity by a voltage feedforward unit at a required current point obtained by table lookup;
s5: the output of the current regulator and the voltage feedforward compensation quantity form the final wave-generating voltage.
Example 2:
the embodiment provides a stepless depth flux weakening method for a permanent magnet synchronous motor, which comprises the following steps as shown in fig. 3-7:
s1: the voltage closed-loop module is used for closed-loop regulating the required voltage compensation amount according to the required voltage utilization rate;
wherein, S1 includes the following steps:
s11: the voltage closed-loop module sets the current bus voltage U according to the required voltage utilization ratedc；
S12: will Ud *And Uq *After the arithmetic square root is solved, the current bus voltage U is setdcPerforming linear operation;
s13: performing PI operation on the linear operation result to obtain a voltage compensation quantity delta Udc；
Wherein, Ud *And Uq *Is the output of the current regulator.
S2: and inputting the compensated table lookup voltage into a current table lookup module for table lookup to obtain the required current point.
Wherein, S2 includes the following steps:
s21: weak magnetic current points are calibrated in advance and stored in a program of a current table look-up module;
s22: when the program is running, the current table look-up module looks up the table voltage U according to the compensated tabledcReal, from a lookup table of motor speed Spd and torque request Tor (i)d，iq)；
Wherein Tor represents a motor torque command.
S3: the desired current point obtained by table lookup is passed through a current regulator to obtain an output.
Wherein, S3 includes the following steps:
s31: the current regulator selects a PI controller;
s32: the current regulator will look up the current (i)d，iq) As a reference input;
s33: the current regulator performs PI operation on the lookup table current and idf and iqf to regulate the output reference voltage (U)d *，Uq *)；
Wherein idf and iqf are DQ axis currents fed back by the motor actually.
S4: and calculating the voltage feedforward compensation quantity by the voltage feedforward unit at the required current point obtained by table lookup.
Preferably, the S4 includes the following steps:
s41: determining a flux linkage parameter table;
s42: the voltage feedforward unit obtains the reference current (i) according to the table lookupd，iq) Calculating real-time flux linkage psi by combining with flux linkage parameter table calibrated in advancedAnd psiq；
S43: the feedforward voltage calculation unit calculates the feedforward voltage compensation U according to the current rotating speed Spd of the motordC and UqC。
Wherein, S41 includes the following steps:
s411: calibrating and taking points through a rack;
s412: making a program table by a fitting method or an insertion method;
s413: running the code in real time according to (i)d，iq) And finding out the current magnetic linkage.
The calculation method of S43 specifically includes calculating through a PMSM feedforward voltage compensation quantity equation, where the PMSM feedforward voltage compensation quantity equation is:
UdC＝-Spd*2π/60*ψq
UqC＝Spd*2π/60*ψd
wherein, UdC and UqC is feedforward voltage compensation quantity, Spd is current rotating speed of the motor, psidAnd psiqIs a real-time flux linkage.
S5: the output of the current regulator and the voltage feedforward compensation quantity form final wave-generating voltage;
the specific calculation method of S5 is as follows: (U)d *，Uq *) And (U)dC，UqC) The sum of which constitutes the final wave voltage (U)d，Uq)。
The invention also correspondingly provides a stepless depth flux weakening system of the permanent magnet synchronous motor, which comprises a voltage closed-loop module 1, a current look-up table module 2, a voltage feedforward unit 3, a current regulator 4 and two summers, wherein the voltage closed-loop module 1 is connected with the two summers, the voltage closed-loop module 1 is connected with the current look-up table module 2 through one summer, the current look-up table module 2 is also connected with the voltage feedforward unit 3 and the current regulator 4, and the current regulator 4 is connected with the other summer, as shown in figure 2.
The above embodiments are described in detail for the purpose of further illustrating the present invention and should not be construed as limiting the scope of the present invention, and the skilled engineer can make insubstantial modifications and variations of the present invention based on the above disclosure.
Claims (5)
1. A stepless depth flux weakening method for a permanent magnet synchronous motor is characterized by comprising the following steps:
s1: the voltage closed-loop module is used for closed-loop regulating the required voltage compensation amount according to the required voltage utilization rate;
the S1 includes the steps of:
s11: the voltage closed-loop module sets the current bus voltage Udc according to the required voltage utilization rate;
s12: will Ud *And Uq *Linear operation is carried out on the obtained arithmetic square root and the set current bus voltage Udc;
s13: performing PI operation on the linear operation result to obtain a voltage compensation quantity;
wherein, Ud *And Uq *Is the output of the current regulator;
s2: the compensated table look-up voltage is input into a current look-up module for table look-up to obtain a required current point;
the S2 includes the steps of:
s21: weak magnetic current points are calibrated in advance and stored in a program of a current table look-up module;
s22: when the program is running, the current table look-up module looks up the table voltage U according to the compensated tabledcReal, from a lookup table of motor speed Spd and torque request Tor (i)d，iq)；
Wherein Tor represents a motor torque command;
s3: the required current point obtained by table lookup is output through the current regulator;
s4: calculating a voltage feedforward compensation quantity by a voltage feedforward unit at a required current point obtained by table lookup;
the S4 includes the steps of:
s41: determining a flux linkage parameter table;
s42: the voltage feedforward unit obtains the reference current (i) according to the table lookupd，iq) Calculating real-time flux linkage psi by combining with flux linkage parameter table calibrated in advancedAnd psiq；
S43: the feedforward voltage calculation unit calculates the feedforward voltage compensation U according to the current rotating speed Spd of the motor through a PMSM feedforward voltage compensation equationdC and UqC；
The PMSM feedforward voltage compensation equation in the step S43 is:
UdC＝-Spd*2π/60*ψq
UqC＝Spd*2π/60*ψd
wherein, UdC and UqC is feedforward voltage compensation quantity, Spd is current rotating speed of motor, psidAnd psiqIs a real-time flux linkage; s5: the output of the current regulator and the voltage feedforward compensation quantity form the final wave-generating voltage.
2. The stepless depth flux weakening method for the permanent magnet synchronous motor according to claim 1, wherein the step S3 comprises the following steps:
s31: the current regulator selects a PI controller;
s32: the current regulator will look up the current (i)d，iq) As a reference input;
s33: the current regulator performs PI operation on the lookup table current and idf and iqf to regulate the output reference voltage (U)d *，Uq *)；
Wherein idf and iqf are DQ axis currents fed back by the motor actually.
3. The stepless depth flux weakening method for the permanent magnet synchronous motor according to claim 1, wherein the step S41 comprises the following steps:
s411: calibrating and taking points through a rack;
s412: making a program table by a fitting method or an insertion method;
s413: running the code in real time according to (i)d，iq) And finding out the current magnetic linkage.
4. The stepless depth flux weakening method for the permanent magnet synchronous motor as claimed in claim 1, wherein the specific calculation method of S5 is as follows: (U)d *，Uq *) And (U)dC，UqC) The sum of which constitutes the final wave voltage (U)d，Uq)。
5. A stepless depth flux weakening system of a permanent magnet synchronous motor adopts the stepless depth flux weakening method of the permanent magnet synchronous motor according to any one of claims 1 to 4, and is characterized by comprising a voltage closed loop module, a current lookup table module, a voltage feedforward unit and a current regulator.
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| CN110545057A (en) * | 2019-08-12 | 2019-12-06 | 北京交通大学 | feedforward voltage compensation based compensation method for compensating parameters below basic speed of permanent magnet synchronous motor |
| CN110581680A (en) * | 2019-11-11 | 2019-12-17 | 南京埃斯顿自动化股份有限公司 | Vector control and flux weakening method and system of embedded permanent magnet synchronous motor |
| CN110635740A (en) * | 2019-11-08 | 2019-12-31 | 浙江工业大学 | Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy |
| CN110752795A (en) * | 2019-11-01 | 2020-02-04 | 中国第一汽车股份有限公司 | Derating control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109831132A (en) * | 2019-01-23 | 2019-05-31 | 上海肖可雷电子科技有限公司 | A kind of field weakening control method of permanent magnet synchronous motor |
| CN110545057A (en) * | 2019-08-12 | 2019-12-06 | 北京交通大学 | feedforward voltage compensation based compensation method for compensating parameters below basic speed of permanent magnet synchronous motor |
| CN110752795A (en) * | 2019-11-01 | 2020-02-04 | 中国第一汽车股份有限公司 | Derating control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor |
| CN110635740A (en) * | 2019-11-08 | 2019-12-31 | 浙江工业大学 | Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy |
| CN110581680A (en) * | 2019-11-11 | 2019-12-17 | 南京埃斯顿自动化股份有限公司 | Vector control and flux weakening method and system of embedded permanent magnet synchronous motor |
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