CN114070150B - Method, device and storage medium for improving efficiency and power of permanent magnet synchronous motor - Google Patents
Method, device and storage medium for improving efficiency and power of permanent magnet synchronous motor Download PDFInfo
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- CN114070150B CN114070150B CN202111429328.1A CN202111429328A CN114070150B CN 114070150 B CN114070150 B CN 114070150B CN 202111429328 A CN202111429328 A CN 202111429328A CN 114070150 B CN114070150 B CN 114070150B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or 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
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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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
- 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)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a method, a device and a storage medium for improving the efficiency and the power of a permanent magnet synchronous motor, which comprise the following steps: 1, adopting an overmodulation method to improve the side voltage of a motor stator; 2, switching the switching frequency; 3, judging the modulation mode according to the rotation speed, executing the step 5 when n is more than or equal to THD1, and executing the step 4 when n is less than or equal to THD 2; 4, calculating the duty ratio of the three-phase voltage through the SVPWM module, and executing SVPWM modulation; and 5, performing TSPWM modulation and suppressing the common mode voltage. The invention adopts the modulation mode of combining TSPWM and SVPWM under different rotation speeds, thereby reducing the inverter loss, improving the system efficiency and ensuring that the control performance of the whole system is not affected; meanwhile, in order to improve the torque output capacity of the constant voltage area and the maximum output voltage of the inverter, an overmodulation method applicable to different modulation modes is adopted, the high-speed running performance of the whole vehicle is improved, and the instantaneous overload capacity of the motor is ensured.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control.
Background
The permanent magnet synchronous motor has the characteristics of high power density, high efficiency, high torque-to-current ratio, high reliability and the like, is widely applied to the fields of army and civil dual-purpose equipment and production, and particularly, the field of electric automobiles also provides higher requirements for key performances such as dynamic response speed, torque pulsation, steady state error and the like of a motor system.
Considering the influence of parameter indexes such as switching tube loss, harmonic distortion rate, DC side voltage utilization rate and the like on a motor system, how to improve the system performance in multiple aspects and further achieve the comprehensive optimal effect has great significance.
Patent document CN110707974a discloses a minimum loss control method of a permanent magnet synchronous motor driving system, which considers inverter loss for a permanent magnet synchronous motor and adopts a modulation strategy of DPWM instead of a SVPWM modulation strategy. The method has the following problems: the DPWM modulation strategy adopted in the low-speed section is not considered, so that current harmonic wave is increased, and even torque fluctuation is caused.
Patent document CN201910769066.X discloses a PWM modulation method for an electric automobile motor inverter, and develops an overmodulation strategy of NZPWM on the basis of the PWM modulation method, so that the utilization rate of bus voltage is improved, and the output power of a system is also improved. There is a problem in that the overmodulation strategy is not universal and is not applicable to other modulation schemes TSPWM and SVPWM.
Disclosure of Invention
The invention provides a method, a device and a storage medium for improving the efficiency and the power of a permanent magnet synchronous motor, which aim at improving the working efficiency of a motor system, and adopt a combined modulation mode of TSPWM and SVPWM at different rotating speeds, so that the loss of an inverter is reduced, the efficiency of the system is improved, and the control performance of the whole system is not influenced; in order to improve the torque output capacity of the constant voltage area and the maximum output voltage of the inverter, an overmodulation method applicable to different modulation modes is adopted, the high-speed running performance of the whole vehicle is improved, and the instantaneous overload capacity of the motor is ensured.
The technical scheme of the invention is as follows:
a method for improving efficiency and power of a permanent magnet synchronous motor, comprising the steps of:
And 2, switching the switching frequency.
And 3, judging which modulation mode is adopted according to the rotating speed n, executing the step 5 when n is larger than or equal to TBD1, and executing the step 4 when n is smaller than or equal to TBD 2.
And 4, calculating the duty ratio of the three-phase voltage through the SVPWM module, and executing SVPWM modulation.
And step 5, performing TSPWM modulation and suppressing the common mode voltage.
The detailed contents of the technical proposal of the invention are as follows:
referring to the motor controller system of FIG. 4, to enable the PMSM to operate above base speed, it is necessary toThe flux weakening control is adopted, but the output torque of the motor is reduced, and the output torque of the motor is related to the side voltage of the motor stator. Under the condition that the input voltage of the inverter is fixed, the motor stator side voltage needs to be improved by adopting an overmodulation method in order to improve the torque of the motor. In the scheme of the invention, a modulation factor MI is defined as the ratio of the fundamental wave amplitude of phase voltage to the fundamental wave amplitude of phase voltage of rectangular wave mode:
wherein U is the fundamental amplitude of the phase voltage +.>
u dc Is the voltage of the direct current bus, and the voltage of the direct current bus is equal to the voltage of the direct current bus,
phase voltage fundamental amplitude in rectangular wave mode.
When 0.907<MI<When 0.952, only the amplitude of the voltage vector is corrected, the frequency and phase are not changed, and the reference angle alpha is defined r Alpha is obtained according to the volt-second balance rule or the rule that the fundamental wave amplitude of the output phase voltage is equal to the fundamental wave amplitude of the expected output phase voltage r Relationship of MI, see fig. 5.
As MI continues to increase, the operating region enters the overmodulation II region. In this region, both the mode length and the electrical angle of the voltage vector change, and at the same time, the electrical angular velocity begins to be discontinuous. To achieve a greater degree of volt-second balance around the base vector, the base vector will remain for a period of time known as the hold angle. The hold angle controls the dwell time at the vertices of the hexagon, which is related to the fundamental wave of the desired voltage vector. Alpha h The relation of MI is obtained by looking up a table, see FIG. 6.
When the rotating speed is lower than TBD1, adopting an SVPWM modulation mode, and when the rotating speed is higher than TBD2, switching to a TSPWM modulation mode. The method can reduce the switching loss by 1/3 in a high-speed area, improve the system efficiency, reduce current harmonic waves in a low-speed area, inhibit torque pulsation and ensure the stability and comfort of the whole vehicle system. TBD1 and TBD2 may be obtained by calibration.
In order to further reduce the switching losses, a strategy of varying the switching frequency is adopted. The switching frequency is changed in sections according to the rotating speed, and k1 is adopted as the switching frequency in an initial state; when the rotating speed is larger than TBD3, the switching frequency adopts k2; when the rotating speed is larger than TBD4, the switching frequency is k3. When the rotation speed is reduced from a high rotation speed to TBD5, the switching frequency is k2, and when the rotation speed is further lower than TBD6, the switching frequency is k1.TBD3
The value of TBD6 may be obtained by calibration.
By adopting the technical scheme, the invention has the following advantages:
1. the invention adopts a modulation mode combining TSPWM and SVPWM, so that the inverter loss is reduced, the system efficiency is improved, and the control performance of the whole system is not affected.
2. The invention can be matched with overmodulation algorithms of different modulation modes, improves the utilization rate of bus voltage and increases the output power of the system.
3. The invention can reduce the switching loss by designing the frequency conversion strategy which is adaptive to the modulation mode.
Drawings
Fig. 1 is a flow chart of a method for improving efficiency and power of a permanent magnet synchronous motor.
FIG. 2 is a flow chart of an overmodulation algorithm;
FIG. 3 is a flow chart of a method of varying switching frequency;
FIG. 4 is an overall block diagram of a motor controller system;
FIG. 5 is an illustration of the operational area entering the overmodulation I region r -a graph of MI;
FIG. 6 is an illustration of the operational area entering the overmodulation II region r -a graph of MI.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Example 1:
referring to fig. 1, the method steps for improving the efficiency and power of a permanent magnet synchronous motor are as follows:
first, according to the reference input voltage U α 、U β Calculating the amplitude of the reference voltage vector
Second step, if U s ＞2*U dc Pi, pair U α 、U β Performing clipping
Third step, define
When MI<0.907 does not trigger the overmodulation module, directly enters the linear modulation region. Here 0.907 is based on the time of action according to the zero vector being equal to or longer than 0:
obtain->
Fourth step, if 0.907<MI<0.952 into overmodulation I region, through U α 、U β The angle of the voltage vector is determined. And according to alpha r -relation of MI, finding the reference angle α corresponding to MI r 。
Fifth, dividing into different sectors according to the voltage vector angle, and then recalculating the alpha and beta axis voltages U α * 、U β * 。
Sixth step, if 0.952<MI<1 into overmodulation II zone, through U α 、U β The angle of the voltage vector is determined. Root combiningAccording to alpha h -relation of MI, finding the retention angle α corresponding to MI h . Dividing into different sectors according to voltage vector angle, and then recalculating alpha and beta axis voltages U α * 、U β * 。
Step 2, determining the switching frequency, wherein the specific process is as shown in fig. 3:
first, when power-on initialization is performed, the switching frequency of the carrier wave is k1.
The second step, when the rotating speed rises to TBD3, the switching frequency is switched to k2; the rotational speed continues to rise beyond TBD4 and the switching frequency switches to k3.
Third, when the rotating speed is reduced to TBD5, the switching frequency is switched to k2; when the rotation speed continues to decrease below TBD6, the switching frequency is switched to k1.
And 3, judging which modulation mode is adopted, wherein the specific steps are as follows:
when the rotating speed is higher than TBD1, the method can effectively inhibit common-mode voltage by adopting a TSPWM modulation mode.
Second, when the rotational speed is lower than TBD2, conventional SVPWM is used.
In the above steps, TBD1, TBD2, TBD3, TBD4, TBD5, TBD6 are the first, second, third, fourth, fifth, and sixth rotation speed thresholds, respectively, the values are obtained by calibration, TBD6< TBD3< TBD5< TBD4, for example, TBD6 may take a value of about 400Rpm, TBD3 may take a value of about 500Rpm, TBD5 may take a value of about 6000Rpm, and TBD4 may take a value of about 6300 Rpm.
In the above steps, k1, k2 and k3 are the first, second and third switching frequencies, k1< k2< k3, the smaller the switching frequency, the smaller the loss, but if the switching frequency is small at high speed, the current harmonic content increases and conversely the efficiency of the motor system is reduced.
And 4, executing SVPWM modulation.
Specifically, the duty ratio of the three-phase voltage is calculated by the SVPWM module, and the algorithm may be a general SVPWM algorithm, which is not described herein.
Step 5, performing TSPWM modulation, specifically as follows:
in the first step, the first step is to provide,will reference voltage U α * 、U β * Factoring into three axes, three variables x, y, z are defined.
Second, U is set α * 、U β * Performing coordinate inverse transformation to obtain U A ，U B ，U C A, B, C is defined as
And thirdly, defining N=A+B+C, and obtaining the sector number where the reference voltage vector is located.
Fourth, defining voltage component mu of adjacent coordinate axes of reference voltage vector in xyz coordinate system l 、μ r The correspondence with N is as follows:
| |
1 | 2 | 3 | 4 | 5 | 6 |
| μ l | -y | x | -z | y | -x | z |
| μ r | x | -y | x | -z | y | -x |
fifth step, three-phase PWM duty ratio T in different sectors a 、T b 、T c Obtained by the following table.
Sixth step, T is carried out a 、T b 、T c And sending the signal to the bottom PWM generating unit.
Example 2
The embodiment is an apparatus for improving efficiency and power of a permanent magnet synchronous motor, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the method for improving efficiency and power of a permanent magnet synchronous motor according to the previous embodiment is implemented.
Example 3
The present embodiment is a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for improving efficiency and power of a permanent magnet synchronous motor described in the foregoing embodiment.
In the foregoing specification, the gist of the present invention has been described by referring to specific examples. However, various modifications and changes can be made without departing from the gist of the present invention as set forth in the claims. The drawings described in the present specification are to be regarded as illustrative rather than restrictive. Accordingly, the scope of the gist of the present invention should be determined by the claims and their legal equivalents or entities, not by the examples described only. Any steps set forth in any method or process claims in this specification may be performed in any order or combination of orders and are not limited to the exemplary specific order set forth in the claims.
Claims (7)
1. A method for improving efficiency and power of a permanent magnet synchronous motor, comprising the steps of:
step 1, overmodulation method is adopted for reference input voltage U α 、U β Modulating, namely improving the side voltage of a motor stator;
step 2, switching the switching frequency;
step 2.1, powering up and initializing, wherein the switching frequency of a carrier wave is k1;
step 2.2, when the rotating speed is increased to TBD3, switching frequency is switched to k2; the rotating speed continues to rise above TBD4, and the switching frequency is switched to k3;
step 2.3, when the rotating speed is reduced to TBD5, switching frequency is switched to k2; when the rotating speed is continuously reduced to TBD6, the switching frequency is switched to k1;
the TBD3, TBD4, TBD5 and TBD6 are respectively a third rotating speed threshold value, a fourth rotating speed threshold value, a fifth rotating speed threshold value and a sixth rotating speed threshold value, wherein the values are obtained through calibration, and TBD6 is smaller than TBD3 is smaller than TBD5 is smaller than TBD4; k1, k2 and k3 are first, second and third switching frequencies, k1< k2< k3;
step 3, judging the modulation mode according to the rotating speed n, executing step 5 when n is larger than or equal to TBD1, and executing step 4 when n is smaller than or equal to TBD2, wherein TBD1 and TBD2 are the first rotating speed threshold value and the second rotating speed threshold value;
step 4, calculating the duty ratio of the three-phase voltage through an SVPWM module, and executing SVPWM modulation;
and step 5, performing TSPWM modulation and suppressing the common mode voltage.
2. The method for improving efficiency and power of a permanent magnet synchronous motor according to claim 1, wherein said step 1 comprises: the modulation factor MI is defined as the ratio of the fundamental wave amplitude of the phase voltage to the fundamental wave amplitude of the phase voltage in the rectangular wave mode:
where U is the fundamental amplitude of the phase voltage, U dc Is the DC bus voltage, ">
Phase voltage fundamental amplitude in rectangular wave mode;
step 1.1, according to the reference input voltage U α 、U β Calculating the amplitude of the reference voltage vector
Step 1.2, if U s >2*U dc Pi, pair U α 、U β Performing clipping
Wherein U is dc Pi is the fundamental amplitude of the phase voltage in rectangular wave mode;
step 1.3, defining a modulation factor
Wherein u is dc Is the DC bus voltage, ">
Phase voltage fundamental amplitude in rectangular wave mode;
when MI is less than 0.907, the over-modulation module is not triggered, and the linear modulation area is directly accessed;
step 1.4, if 0.907<MI<0.952 into overmodulation I region, through U α 、U β Determining the angle of the voltage vector and according to alpha r -relation of MI, finding the reference angle α corresponding to MI r ；
Step 1.5, dividing the voltage vector angle into different sectors, and recalculating alpha and beta axis reference voltages U α * 、U β * ；
Step 1.6, if 0.952<MI<1 into overmodulation II zone, through U α 、U β Determining the angle of the voltage vector and according to alpha h -relation of MI, finding the retention angle α corresponding to MI h Dividing the voltage vector angle into different sectors, and recalculating the alpha and beta axis voltages U α * 、U β * 。
3. The method for improving efficiency and power of a permanent magnet synchronous motor according to claim 1 or 2, wherein said step 5 of performing tswm modulation comprises:
step 5.1, recalculating the reference voltage U α * 、U β * Decomposition onto three axes, defining three variables x, y, z
Wherein u is dc Is the DC bus voltage;
step 5.2, U is α * 、U β * Performing coordinate inverse transformation to obtain U A ，U B ，U C A, B, C is defined as
Step 5.3, defining N=A+B+C, and obtaining the sector number where the reference voltage vector is located;
step 5.4, defining the voltage component μ of the reference voltage vector on the adjacent coordinate axis in the xyz coordinate system l 、μ r And N;
step 5.5, obtaining three-phase PWM duty ratio T in different sectors a 、T b 、T c ；
Step 5.6, T a 、T b 、T c And sending the signal to the bottom PWM generating unit.
4. A method for improving efficiency and power of a permanent magnet synchronous motor according to claim 3, characterized in that in step 5.4, the voltage component μ is l 、μ r The correspondence with N is as follows:
。
5. a method for improving efficiency and power of a permanent magnet synchronous motor according to claim 3, wherein in step 5.5, the three-phase PWM duty cycle T in different sectors a 、T b 、T c Is obtained by the following table:
。
6. an apparatus for improving efficiency and power of a permanent magnet synchronous motor, comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, implements a method for improving efficiency and power of a permanent magnet synchronous motor as claimed in any one of claims 1-5.
7. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for improving efficiency and power of a permanent magnet synchronous motor of any of claims 1 to 5.
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Address after: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee after: Deep Blue Automotive Technology Co.,Ltd. Address before: 401133 room 208, 2 house, 39 Yonghe Road, Yu Zui Town, Jiangbei District, Chongqing Patentee before: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. |