CN114400946B - Complex vector current loop decoupling control method, system and vehicle - Google Patents
Complex vector current loop decoupling control method, system and vehicle Download PDFInfo
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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Abstract
The invention provides a complex vector current loop decoupling control method, a complex vector current loop decoupling control system and a vehicle. The complex vector current loop decoupling control method comprises the following steps: acquiring the current rotating speed of a motor; determining a complex vector acting coefficient corresponding to the current rotating speed according to the current rotating speed; calculating to obtain current deviation, electric angular velocity and proportion term of d axis and current deviation, electric angular velocity and proportion term of q axis; multiplying the current deviation, the electric angular velocity, the proportional term and the complex vector acting coefficient of the d axis to be used as the decoupling term input of the q axis, and multiplying the current deviation, the electric angular velocity, the proportional term and the complex vector acting coefficient of the q axis to be used as the decoupling term input of the d axis; accumulating integral terms, and accumulating integral terms of d-axis and q-axis decoupling terms; limiting the integral of the d axis and the integral of the q axis respectively to obtain an output voltage U of the d axis d And q-axis output voltage U q . The scheme of the invention ensures that the motor has excellent current control capability within the full speed range.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a complex vector current loop decoupling control method, a complex vector current loop decoupling control system and a vehicle.
Background
The motor controller of the new energy vehicle is one of core parts of the new energy vehicle, and the performance of the motor controller directly influences the safety and driving experience of the vehicle. The rapid response and stability of the torque directly affect the driving experience and safety of the vehicle, the torque is directly related to the current, and the response speed and stability of the torque are directly related to the response speed and stability of the current.
The current loop is one of the most core functional modules of the motor controller, the motor control essence is to control the current, and the performance of the current loop directly influences the performance of the motor controller system. At present, a motor of a new energy vehicle is developing towards a high speed, however, the high speed motor brings new challenges to a current loop, strong coupling of the motor is aggravated along with increase of the rotating speed, in order to eliminate coupling between a D axis and a Q axis of the motor, a complex vector current loop is proposed by a person skilled in the art, decoupling between the D axis and the Q axis of the current loop can be perfectly realized in theory, but practical application finds that the complex vector current loop has excellent performance at high speed, and the control effect of current is poor at low speed.
Disclosure of Invention
An object of the present invention is to solve the technical problem that in the prior art, a complex vector current loop is excellent in high-speed performance, and the control effect of current is poor at low speed.
It is a further object of the invention to further improve the stationary current output capability of the motor.
In particular, the invention provides a complex vector current loop decoupling control method, which comprises the following steps:
acquiring the current rotating speed of a motor of a vehicle;
determining a complex vector acting coefficient corresponding to the current rotating speed according to the current rotating speed;
calculating to obtain current deviation, electric angular velocity and proportion term of d axis of the motor, and current deviation, electric angular velocity and proportion term of q axis of the motor;
multiplying the current deviation of the d-axis, the electric angular velocity, the proportional term and the complex vector acting coefficient as the decoupling term input of the q-axis, and multiplying the current deviation of the q-axis, the electric angular velocity, the proportional term and the complex vector acting coefficient as the decoupling term input of the d-axis;
after determining that the condition of normal accumulation of integral terms is met, carrying out normal accumulation on the integral terms, carrying out integral accumulation on the d-axis decoupling terms, and carrying out integral accumulation on the q-axis decoupling terms;
limiting the integral of the d axis and the integral of the q axis respectively to obtain an output voltage U of the d axis d And the output voltage U of the q axis q 。
Optionally, after determining that the condition for normally accumulating the integral term is met, normally accumulating the integral term, and performing integral accumulation on the d-axis decoupling term, and performing integral accumulation on the q-axis decoupling term, where the condition for whether the integral term is normally accumulated is:
judging whether the overmodulation factor of the motor is larger than a preset value or not, and judging whether the current deviation is equal to the output voltage U at the last moment or not d Or the output voltage U q The symbols of (2) are the same;
and if the condition is met, normally accumulating the integral term, otherwise, stopping accumulating the integral term.
Optionally, after stopping accumulating the integral term, accumulating the integral term of the d-axis, and accumulating the integral term of the q-axis.
Optionally, in the step of determining the complex vector acting coefficient corresponding to the current rotation speed according to the current rotation speed:
when the current rotating speed is smaller than a first preset rotating speed, determining that the complex vector acting coefficient is 0;
when the current rotating speed is larger than a second preset rotating speed, determining that the complex vector acting coefficient is 1;
and when the current rotating speed is larger than or equal to the first preset rotating speed and smaller than or equal to the second preset rotating speed, determining that the complex vector acting coefficient is larger than 0 and smaller than the numerical value in 1.
Optionally, the first preset rotation speed is 18-23% of the maximum rotation speed of the motor; the second preset rotating speed is 28% -33% of the maximum rotating speed of the motor.
Optionally, the complex vector acting coefficient gradually and smoothly transitions from 0 to 1 when the current rotation speed gradually increases from the first preset rotation speed to the second preset rotation speed.
Optionally, the complex vector current loop decoupling control method further includes the following steps:
according to the output voltage U d And the output voltage U q Calculating to obtain a voltage vector U s ；
The voltage vector U s Comparing with a preset vector value;
at the voltage vector U s When the output voltage U is greater than the preset vector value d And the output voltage U q Scaling down to ensure the voltage vector U s Less than the preset vector value.
In particular, the invention also provides a complex vector current loop decoupling control system, which comprises a control device, wherein the control device comprises a memory and a processor, and a control program is stored in the memory, and the control program is used for realizing the complex vector current loop decoupling control method when being executed by the processor.
In particular, the invention also provides a vehicle comprising the complex vector current loop decoupling control system.
According to the scheme of the embodiment of the invention, the current deviation of the d axis, the electric angular velocity, the proportional term and the complex vector action coefficient are multiplied to be used as the input of the decoupling term of the q axis, the current deviation of the q axis, the electric angular velocity, the proportional term and the complex vector action coefficient are multiplied to be used as the input of the decoupling term of the d axis, and after the condition of meeting the normal accumulation of the integral term is determined, the method comprises the following steps ofThe integral term is normally accumulated, the d-axis decoupling term is accumulated in an integral way, the q-axis decoupling term is accumulated in an integral way, and the d-axis integral and the q-axis integral are limited respectively to obtain the d-axis output voltage U d And q-axis output voltage U q The rotating speed of the motor is corresponding to the complex vector acting coefficient, the complex vector acting coefficient participates in the input of decoupling terms of the d axis and the q axis, and the integral of the d axis and the integral of the q axis are limited, so that a complex vector current loop mode is gradually and smoothly entered along with the rising of the rotating speed, and the rapid stable response of a current loop in the full rotating speed range of the motor is realized.
In the prior art, the complex vector current loop is decoupled by introducing the product of current deviation and electric frequency, and the fluctuation of the current deviation is unavoidable due to the precision of a Hall current sensor and the characteristics of a PI regulator, the fluctuation of the current deviation is multiplied by the electric frequency to be a larger value, the fluctuation variable is equivalent to introducing a fluctuation quantity on a current loop channel, the current fluctuation is caused, and the fluctuation is more obvious when the motor runs at a low speed. The embodiment of the invention aims at the problem to process the use of complex vectors, gradually and smoothly enters a complex vector current loop mode along with the rising of the rotating speed, thereby ensuring that the motor has excellent current control capability in the full speed range.
The above, as well as additional objectives, advantages, and features of the present invention will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present invention when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
FIG. 1 shows a schematic flow chart of a complex vector current loop decoupling control method according to one embodiment of the invention;
FIG. 2 shows a schematic block diagram of an electric machine according to one embodiment of the invention;
fig. 3 shows a schematic flow chart of step S500 shown in fig. 1;
fig. 4 shows another schematic flow chart of step S500 shown in fig. 1;
fig. 5 shows a schematic block diagram of a complex vector current loop decoupling control system according to one embodiment of the invention.
Detailed Description
Fig. 1 shows a schematic flow chart of a complex vector current loop decoupling control method according to one embodiment of the invention. Fig. 2 shows a schematic structural diagram of a motor according to an embodiment of the present invention. As shown in fig. 1 and 2, the complex vector current loop decoupling control method includes:
step S100, obtaining the current rotating speed of a motor of a vehicle;
step S200, determining a complex vector acting coefficient corresponding to the current rotating speed according to the current rotating speed;
step S300, calculating and obtaining current deviation, electric angular velocity and proportion term of d axis of the motor, and current deviation, electric angular velocity and proportion term of q axis of the motor;
step S400, multiplying the current deviation of the d axis, the electric angular velocity, the proportional term and the complex vector action coefficient to be used as the decoupling term input of the q axis, and multiplying the current deviation of the q axis, the electric angular velocity, the proportional term and the complex vector action coefficient to be used as the decoupling term input of the d axis;
step S500, after determining that the condition of normal accumulation of integral items is met, normal accumulation of the integral items is carried out, integral accumulation is carried out on the d-axis decoupling items, and integral accumulation is carried out on the q-axis decoupling items;
step S600, clipping the d-axis integral and the q-axis integral to obtain the d-axis output voltage U d And q-axis output voltage U q 。
According to the scheme of the embodiment of the invention, the current deviation, the electric angular velocity, the proportional term and the complex vector action coefficient of the d-axis are multiplied to be used as the decoupling term input of the q-axis, and the current deviation, the electric angular velocity, the proportional term and the complex vector action coefficient of the q-axis are multiplied to be used as the decoupling term input of the d-axis, and the method is characterized in thatAfter the condition of normal accumulation of integral terms is met, the integral terms are accumulated normally, the decoupling terms of the d axis are accumulated in an integral way, the decoupling terms of the q axis are accumulated in an integral way, and the integral of the d axis and the integral of the q axis are limited respectively to obtain the output voltage U of the d axis d And q-axis output voltage U q The rotating speed of the motor is corresponding to the complex vector acting coefficient, the complex vector acting coefficient participates in the input of decoupling terms of the d axis and the q axis, and the integral of the d axis and the integral of the q axis are limited, so that a complex vector current loop mode is gradually and smoothly entered along with the rising of the rotating speed, and the rapid stable response of a current loop in the full rotating speed range of the motor is realized.
In FIG. 2, where i d ，i q Currents of d and q axes, U d ，U q Voltages of d and q axes, U s Is U (U) d And U q The resultant voltage vector, w, is the rotational electrical angular velocity of the motor. The complex vector current loop decoupling control method can be applied to a permanent magnet synchronous motor and an asynchronous motor.
In step S200, when the current rotation speed is less than the first preset rotation speed, it is determined that the complex vector acting coefficient is 0. And when the current rotating speed is larger than the second preset rotating speed, determining that the complex vector acting coefficient is 1. And when the current rotating speed is larger than or equal to the first preset rotating speed and smaller than or equal to the second preset rotating speed, determining a numerical value in which the complex vector acting coefficient is larger than 0 and smaller than 1. The first preset rotational speed is 18-23% of the maximum rotational speed of the motor, e.g. 18%, 20%, 22% or 23%. The second preset rotational speed is 28% -33% of the maximum rotational speed of the motor, for example 28%, 30%, 32% or 33%. The complex vector acting coefficient gradually and smoothly transitions from 0 to 1 as the current rotational speed gradually increases from the first preset rotational speed to the second preset rotational speed. Thus, it is possible to ensure excellent current control capability at both low speed and high speed.
In step S300, the current deviation of the d-axis and the q-axis, the electrical angular velocity, and the proportional term of the PI controller may be calculated by a calculation method in the prior art, and will not be described herein.
This stepIn S500, the condition for normal accumulation of the integral term is: judging whether the overmodulation factor of the motor is larger than a preset value or not, and judging whether the current deviation is equal to the output voltage U at the last moment or not d Or output voltage U q Is the same as the sign of (a). Fig. 2 shows a schematic flow chart of step S500 shown in fig. 1. As shown in fig. 2, the step S500 includes:
step S510, judging whether the overmodulation factor of the motor is larger than a preset value and whether the current deviation is equal to the output voltage U at the previous moment d The symbols are the same;
step S520, if yes, the integral items are accumulated normally, and if not, the integral items are stopped being accumulated;
in step S530, the d-axis decoupling terms are accumulated in an integral manner.
Fig. 3 shows another schematic flow chart of step S500 shown in fig. 1. As shown in fig. 3, the step S500 further includes:
step S510', judging whether the overmodulation factor of the motor is larger than a preset value and whether the current deviation is equal to the output voltage U at the previous moment q The symbols are the same;
step S520', if yes, the integral items are accumulated normally, and if not, the integral items are stopped being accumulated;
step S530', performing integral accumulation on the q-axis decoupling term.
In step S600, the d-axis output voltage U d To normally accumulate the sum of the integral term and the integral summation of the decoupling term on the d axis, the output voltage U on the q axis q The sum of the integral sums for the decoupling term for the q-axis is normally accumulated for the integral term.
According to the scheme of the embodiment of the invention, the complex vector current loop in the prior art is decoupled due to the fact that the product of the current deviation and the electric frequency is introduced, and due to the accuracy of the Hall current sensor and the characteristics of the PI regulator, the fluctuation of the current deviation is inevitably generated, the fluctuation of the current deviation is multiplied by the electric frequency to be a larger value, the fluctuation variable is equivalent to the fluctuation quantity introduced into a current loop channel, the current fluctuation is caused, and the fluctuation is more obvious when the motor runs at a low speed. The embodiment of the invention aims at the problem to process the use of complex vectors, gradually and smoothly enters a complex vector current loop mode along with the rising of the rotating speed, thereby ensuring that the motor has excellent current control capability in the full speed range.
In particular, the present invention further provides a complex vector current loop decoupling control system 100, which comprises a control device, wherein the control device comprises a memory and a processor, and a control program is stored in the memory, and the control program is used for implementing the complex vector current loop decoupling control method according to the foregoing when executed by the processor.
Specifically, as shown in fig. 4, the complex vector current loop decoupling control system 100 includes a complex vector switching module 110, a conventional PI regulator module 120, a complex vector decoupling module 130, an integral clipping module 140, and an output voltage clipping module 150.
The complex vector switching module 110 is to realize smooth switching of complex vectors, and ensure excellent current control capability at both low and high speeds. The input of the complex vector switching module is the rotating speed, and the output is the complex vector acting coefficient. And when the current rotating speed is smaller than the first preset rotating speed, determining that the complex vector acting coefficient is 0. And when the current rotating speed is larger than the second preset rotating speed, determining that the complex vector acting coefficient is 1. And when the current rotating speed is larger than or equal to the first preset rotating speed and smaller than or equal to the second preset rotating speed, determining a numerical value in which the complex vector acting coefficient is larger than 0 and smaller than 1. The first preset rotational speed is 18-23% of the maximum rotational speed of the motor, e.g. 18%, 20%, 22% or 23%. The second preset rotational speed is 28% -33% of the maximum rotational speed of the motor, for example 28%, 30%, 32% or 33%. The complex vector acting coefficient gradually and smoothly transitions from 0 to 1 as the current rotational speed gradually increases from the first preset rotational speed to the second preset rotational speed.
The conventional PI regulator module 120 is a common PI controller, and includes proportional and integral control, and obtains output voltages of d-axis and q-axis by proportional and integral operations on current deviations of d-axis and q-axis, respectively.
The complex vector decoupling module 130 implements d-axis and q-axis current loop decoupling. Wherein the product of the current deviation of the d-axis, the electrical angular velocity, the ratio and the complex vector coefficient is input as a decoupling term of the q-axis. The product of the current deviation of the q axis, the electrical angular velocity, the ratio and the complex vector coefficient is input as a decoupling term of the d axis.
The integral clipping module 140 can prevent the current regulator from entering deep saturation, the quality of clipping directly affects the performance of current regulator desaturation, which affects the overshoot of current and system safety. The embodiment of the invention aims at the integral amplitude limiting processing mode of the d-axis current loop as follows: when the overmodulation factor of the motor is larger than a preset value and the output voltage U is output at the last moment d When the current deviation sign of the d axis is the same, the integration is not carried out, and otherwise, the integration is normally carried out. The integral clipping processing mode for the q-axis current loop is as follows: when the overmodulation factor of the motor is larger than a preset value and the output voltage U is output at the last moment q When the sign of the current deviation is the same as that of the q axis, the current deviation is not integrated any more, and otherwise, the current deviation is normally integrated.
The output voltage limiting module 150 is used for limiting the voltage vector U s When the output voltage is greater than the preset vector value, the output voltage U d And output voltage U q Is scaled down in the same proportion to ensure the voltage vector U s Less than a preset vector value.
In particular, the invention also provides a vehicle comprising the complex vector current loop decoupling control system.
By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been shown and described in detail herein, many other variations or modifications of the general principles of the invention may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.
Claims (9)
1. The decoupling control method of the complex vector current loop is characterized by comprising the following steps of:
acquiring the current rotating speed of a motor of a vehicle;
determining a complex vector acting coefficient corresponding to the current rotating speed according to the current rotating speed;
calculating to obtain current deviation, electric angular velocity and proportion term of d axis of the motor, and current deviation, electric angular velocity and proportion term of q axis of the motor;
multiplying the current deviation of the d-axis, the electric angular velocity, the proportional term and the complex vector acting coefficient as the decoupling term input of the q-axis, and multiplying the current deviation of the q-axis, the electric angular velocity, the proportional term and the complex vector acting coefficient as the decoupling term input of the d-axis;
after determining that the condition of normal accumulation of integral terms is met, carrying out normal accumulation on the integral terms, carrying out integral accumulation on the d-axis decoupling terms, and carrying out integral accumulation on the q-axis decoupling terms;
limiting the integral of the d axis and the integral of the q axis respectively to obtain an output voltage U of the d axis d And the output voltage U of the q axis q The method comprises the steps of carrying out a first treatment on the surface of the Output voltage U of d axis d To normally accumulate the sum of the integral term and the integral summation of the decoupling term on the d axis, the output voltage U on the q axis q The sum of the integral sums for the decoupling term for the q-axis is normally accumulated for the integral term.
2. The complex vector current loop decoupling control method according to claim 1, wherein after determining that a condition for normally accumulating integral terms is satisfied, the condition for normally accumulating the integral terms, and for integrating and accumulating the d-axis decoupling terms, and for integrating and accumulating the q-axis decoupling terms, is:
judging whether the overmodulation factor of the motor is larger than a preset value or not, and judging whether the current deviation is equal to the output voltage U at the last moment or not d Or the output voltage U q The symbols of (2) are the same;
and if the condition is met, normally accumulating the integral term, otherwise, stopping accumulating the integral term.
3. The complex vector current loop decoupling control method of claim 2, wherein after stopping the accumulating of the integral term, the d-axis decoupling term is accumulated in an integral manner, and the q-axis decoupling term is accumulated in an integral manner.
4. A complex vector current loop decoupling control method as claimed in any one of claims 1 to 3, wherein in said step of determining a corresponding complex vector contribution factor at a current rotational speed from said current rotational speed:
when the current rotating speed is smaller than a first preset rotating speed, determining that the complex vector acting coefficient is 0;
when the current rotating speed is larger than a second preset rotating speed, determining that the complex vector acting coefficient is 1;
and when the current rotating speed is larger than or equal to the first preset rotating speed and smaller than or equal to the second preset rotating speed, determining that the complex vector acting coefficient is larger than 0 and smaller than the numerical value in 1.
5. The complex vector current loop decoupling control method of claim 4, wherein said first preset rotational speed is 18-23% of a maximum rotational speed of said motor; the second preset rotating speed is 28% -33% of the maximum rotating speed of the motor.
6. The complex vector current loop decoupling control method of claim 4, wherein said complex vector contribution coefficient gradually transitions smoothly from 0 to 1 as said current rotational speed gradually increases from said first preset rotational speed to said second preset rotational speed.
7. A complex vector current loop decoupling control method as claimed in any one of claims 1-3, further comprising the steps of:
according to the output voltage U d And the output voltage U q Calculating to obtain a voltage vector U s ；
The voltage vector U s Comparing with a preset vector value;
at the voltage vector U s When the output voltage U is greater than the preset vector value d And the output voltage U q Scaling down to ensure the voltage vector U s Less than the preset vector value.
8. A complex vector current loop decoupling control system, comprising a control device, the control device comprising a memory and a processor, the memory having a control program stored therein, the control program when executed by the processor being configured to implement the complex vector current loop decoupling control method of any one of claims 1-7.
9. A vehicle comprising the complex vector current loop decoupling control system of claim 8.
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