CN114696664A - Motor driving system and control method thereof - Google Patents
Motor driving system and control method thereof Download PDFInfo
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- CN114696664A CN114696664A CN202011563606.8A CN202011563606A CN114696664A CN 114696664 A CN114696664 A CN 114696664A CN 202011563606 A CN202011563606 A CN 202011563606A CN 114696664 A CN114696664 A CN 114696664A
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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Abstract
The invention provides a motor driving system and a control method thereof, wherein the motor driving system comprises a motor speed control unit, an overvoltage protection limiting unit and a motor loss control unit, wherein the motor speed control unit is connected with the overvoltage protection limiting unit and is used for controlling the q-axis current of a motor; the motor speed control unit is connected with the motor loss control unit and used for controlling the d-axis current of the motor; according to the invention, the overvoltage protection limiting unit and the motor loss control unit are arranged to respectively control the q-axis current and the d-axis current of the motor, so that in the braking process of the motor, on one hand, the braking energy is effectively controlled, the direct-current bus voltage is prevented from being continuously increased, on the other hand, the motor loss is increased, the motor feedback energy is consumed, and the direct-current bus voltage overvoltage is prevented; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, so that the circuit structure is simplified, and the cost is saved.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor driving system and a control method thereof.
Background
In recent years, in a driving system of a permanent magnet synchronous motor, a driver adopting a thin film capacitor with a small capacitance value to replace a large electrolytic capacitor on a direct current side is more and more widely applied, and the reliability and the service life of the driving system are improved.
However, in a three-phase motor driving system without electrolytic capacitor, when the motor is in the processes of speed reduction, load shedding and shutdown, the self-inductance voltage generated by the compressor coil can reversely charge the thin film capacitor with small capacitance value, and the thin film capacitor cannot effectively absorb the self-inductance voltage, so that the overvoltage of the voltage of the direct current bus is easily caused, and the power device is damaged.
Generally, in order to prevent the direct current side bus voltage from being over-voltage, a controllable hardware braking circuit is added at two ends of the direct current bus voltage, the scheme has high reliability and is easy to implement, but a switching tube and a braking resistor are additionally required to be added, and the cost of a driving system and the complexity of a hardware system are increased.
Disclosure of Invention
In view of this, the present invention is directed to a motor driving system and a control method thereof, so as to solve the problem that a bus voltage is easily over-voltage during a braking process of a motor in the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a motor driving system comprises a motor speed control unit, an overvoltage protection limiting unit and a motor loss control unit, wherein the motor speed control unit is connected with the overvoltage protection limiting unit and is used for controlling the q-axis current of a motor; the motor speed control unit is connected with the motor loss control unit and used for controlling the d-axis current of the motor; the motor driving system respectively controls q-axis current and d-axis current of the motor by arranging the overvoltage protection limiting unit and the motor loss control unit, so that in the braking process of the motor, on one hand, braking energy is effectively controlled, the situation that the voltage of a direct-current bus is continuously increased is avoided, on the other hand, the motor loss is increased, the feedback energy of the motor is consumed, and the situation that the voltage of the direct-current bus is overvoltage is avoided; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, so that the circuit structure is simplified, and the cost is saved.
The overvoltage protection limiting unit includes: the first subtracter is used for calculating a difference value delta U1 between the overvoltage protection value Udc _ max of the direct current bus and the actual voltage Udc of the direct current bus; the first PI controller is connected with the first subtracter and used for calculating a motor q-axis current compensation value Iq _ lim0 according to a difference value delta U1 between a direct current bus overvoltage protection value Udc _ max and an actual voltage Udc of a direct current bus; the first current limiter is respectively connected with the first PI controller and the motor speed control unit, and is used for processing a q-axis current compensation value Iq _ lim0 of the motor and outputting the q-axis current compensation value Iq _ lim to the motor speed control unit; controlling the q-axis current by the overvoltage protection limiting unit so that when the motor is in an electric mode, Udc < Udc _ max, Iq _ lim output by the overvoltage protection limiting unit continuously increases and is finally limited to a maximum value Iq _ lim _ max; when the motor is in a braking mode, if Udc is larger than Udc _ max, the output Iq _ lim rapidly drops, and is used as a negative limit value to limit q-axis current Iq _ ref, so that the braking energy is effectively controlled, and the direct-current bus voltage is prevented from continuously rising.
The motor speed control unit includes: the second subtracter is used for calculating a difference value delta omega 1 between the target rotating speed omega r _ ref of the motor and the actual rotating speed omega r of the motor; the second PI controller Is connected with the second subtracter and used for calculating a total current Is _ ref according to a difference value delta omega 1 between a target rotating speed omega r _ ref of the motor and an actual rotating speed omega r of the motor; the MTPA controller Is connected with the second PI controller and Is used for carrying out vector decomposition on the total current Is _ ref to obtain a motor q-axis current Iq _ ref0 and a motor d-axis current Id _ ref 0; and a second current limiter connected to the MTPA controller and the first current limiter in the overvoltage protection limiting unit, respectively, and configured to input the motor q-axis current Iq _ ref0 to the second current limiter through the MTPA controller, and input the q-axis current compensation value Iq _ lim to the second current limiter through the first current limiter, and the second current limiter processes the q-axis current Iq _ ref.
The motor loss control unit includes: the third subtracter is used for calculating a difference value delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor; the third PI controller is connected with the third subtracter and used for calculating a d-axis current compensation value delta Id _ ref0 of the motor according to a difference delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor; the third current limiter is connected with the third PI controller and used for processing a d-axis current compensation value delta Id _ ref0 of the motor to obtain a d-axis current compensation value delta Id _ ref; the adder is respectively connected with the third current limiter and the MTPA controller in the motor speed control unit and used for calculating d-axis current Id _ ref; therefore, the d-axis current is controlled by the motor loss control unit, so that when the motor is in an electric mode, the actual rotating speed omega r of the motor is equal to the target rotating speed omega r _ ref of the motor, and the d-axis current compensation value delta Id _ ref is 0; when the motor is in a braking mode, the d-axis current compensation value delta Id _ ref can increase motor loss, and motor feedback energy is consumed, so that overvoltage of direct-current bus voltage is avoided.
A control method of a motor driving system is applied to the motor driving system; the control method comprises the following steps: a control process of the q-axis current and/or a control process of the d-axis current. By controlling the q-axis current and/or the d-axis current of the motor, in the braking process of the motor, on one hand, the braking energy is effectively controlled, the direct-current bus voltage is prevented from being continuously increased, on the other hand, the motor loss is increased, the motor feedback energy is consumed, and the direct-current bus voltage overvoltage is prevented; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, so that the circuit structure is simplified, and the cost is saved.
The q-axis current control process comprises the following steps: a second subtracter calculates a difference value delta omega 1 between the target rotating speed omega r _ ref of the motor and the actual rotating speed omega r of the motor; the second PI controller calculates a total current Is _ ref according to a difference value delta omega 1 between a target rotating speed omega r _ ref of the motor and an actual rotating speed omega r of the motor; the MTPA controller carries out vector decomposition on the total current Is _ ref to obtain a motor q-axis current Iq _ ref 0; the first subtracter calculates a difference value delta U1 between the overvoltage protection value Udc _ max of the direct current bus and the actual voltage Udc of the direct current bus; the first PI controller calculates a motor q-axis current compensation value Iq _ lim0 according to a difference value delta U1 between a direct current bus overvoltage protection value Udc _ max and an actual voltage Udc of a direct current bus; the first current limiter processes a q-axis current compensation value Iq _ lim0 of the motor through a first formula to obtain a q-axis current compensation value Iq _ lim; the MTPA controller inputs the motor q-axis current Iq _ ref0 to the second current limiter, the first current limiter inputs the q-axis current compensation value Iq _ lim to the second current limiter, and the second current limiter obtains the q-axis current Iq _ ref according to the second formula. Wherein the first formula is: if Iq _ lim0 < Iq _ lim _ max, Iq _ lim is Iq _ lim 0; if the Iq _ lim0 is more than or equal to the Iq _ lim _ max, the Iq _ lim is equal to the Iq _ lim _ max; the second formula is: if Iq _ ref0 is more than or equal to Iq _ max, Iq _ ref is equal to Iq _ max; if Iq _ lim < Iq _ ref0 < Iq _ max, Iq _ ref is Iq _ ref 0; if Iq _ ref0 is less than or equal to Iq _ lim, Iq _ ref is equal to Iq _ lim; therefore, in the control process of the q-axis current, the motor speed control unit is matched with the overvoltage protection limiting unit, when the motor is in an electric mode, Udc < Udc _ max, the Iq _ lim output by the overvoltage protection limiting unit continuously increases and is finally limited to the maximum value Iq _ lim _ max; when the motor is in a braking mode, if Udc is larger than Udc _ max, the output Iq _ lim rapidly drops, and is used as a negative limit value to limit q-axis current Iq _ ref, so that the braking energy is effectively controlled, and the direct-current bus voltage is prevented from continuously rising.
The control process of the d-axis current comprises the following steps: a second subtracter calculates a difference value delta omega 1 between the target rotating speed omega r _ ref of the motor and the actual rotating speed omega r of the motor; the second PI controller calculates a total current Is _ ref according to a difference value delta omega 1 between a target rotating speed omega r _ ref of the motor and an actual rotating speed omega r of the motor; the MTPA controller carries out vector decomposition on the total current Is _ ref to obtain a d-axis current Id _ ref0 of the motor; a third subtracter calculates a difference value delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor; the third PI controller calculates a d-axis current compensation value delta Id _ ref0 of the motor according to a difference delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor; the third current limiter processes the d-axis current compensation value delta Id _ ref0 of the motor through a third formula to obtain a d-axis current compensation value delta Id _ ref; the third current limiter transmits a d-axis current compensation value delta Id _ ref to the adder, and the MTPA controller transmits a motor d-axis current Id _ ref0 to the adder; the adder calculates the sum of the d-axis current Id _ ref0 and the d-axis current compensation value DeltaId _ ref to obtain the d-axis current Id _ ref. The third formula is: if Δ Id _ ref0 is not more than Δ Id _ ref _ max, Δ Id _ ref is not less than Δ Id _ ref _ max; if Δ Id _ ref0 > [ Δ Id _ ref _ max, [ Δ Id _ ref ] Δ Id _ ref 0; therefore, in the control process of the d-axis current, the motor speed control unit is matched with the motor loss control unit, when the motor is in an electric mode, the actual rotating speed omega r of the motor is equal to the target rotating speed omega r _ ref of the motor, and the d-axis current compensation value delta Id _ ref is 0; when the motor is in a braking mode, the d-axis current compensation value delta Id _ ref can increase motor loss, and motor feedback energy is consumed, so that overvoltage of direct-current bus voltage is avoided.
The system comprises a motor driving circuit structure, wherein the motor driving circuit structure comprises a three-phase rectifier bridge, a small-capacitance value film capacitor, an IPM module and a permanent magnet synchronous motor, and three upper bridge switch tubes and three lower bridge switch tubes are arranged in the IPM module; the control method includes a parking brake process including: when the motor speed control unit receives a motor stop instruction, the three upper bridge switching tubes of the IPM module are controlled to be disconnected, and PWM pulses are output to the three lower bridge switching tubes at the same time; therefore, the three lower bridge switching tubes are conducted according to the duty ratio, the inertia mechanical energy of the motor is consumed on the internal resistance of the short-circuited motor stator coil, the reverse charging of the film capacitor can be effectively avoided, and the overvoltage of the direct-current bus voltage is prevented.
Compared with the prior art, the motor driving system and the control method thereof have the following advantages:
according to the motor driving system and the control method thereof, the overvoltage protection limiting unit and the motor loss control unit are arranged to respectively control the q-axis current and the d-axis current of the motor, so that in the braking process of the motor, on one hand, the braking energy is effectively controlled, the direct-current bus voltage is prevented from being continuously increased, on the other hand, the motor loss is increased, the motor feedback energy is consumed, and the direct-current bus voltage overvoltage is avoided; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, so that the circuit structure is simplified, and the cost is saved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a topology diagram of a three-phase motor driving system without electrolytic capacitors in a motor driving system according to an embodiment of the present invention;
fig. 2 is a control block diagram of a motor driving system according to an embodiment of the present invention;
fig. 3 is a schematic circuit structure diagram of a motor driving system during parking and braking according to an embodiment of the present invention.
Description of reference numerals:
1-a first subtractor; 2-a first PI controller; 3-a first current limiter; 4-a second subtractor; 5-a second PI controller; 6-a second current limiter; 7-a third subtractor; 8-a third PI controller; 9-a third current limiter; 10-an adder; 11-upper bridge switching tube; 12-lower bridge switching tube.
Detailed Description
The inventive concepts of the present disclosure will be described hereinafter using terms commonly employed by those skilled in the art to convey the substance of their work to others skilled in the art. These inventive concepts may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to solve the problem that the overvoltage of the bus voltage is easy to occur in the braking process of the motor in the prior art, the embodiment provides a motor driving system and a control method thereof; firstly, please refer to fig. 1, which is a topological diagram of a three-phase electrolytic capacitor-free motor driving system, the system includes a motor driving circuit structure, the motor driving circuit structure includes a three-phase rectifier bridge, a small-capacitance value film capacitor, an IPM module, a permanent magnet synchronous motor, and the like, wherein three upper bridge switching tubes 11 and three lower bridge switching tubes 12 are disposed in the IPM module, the circuit structure is a conventional circuit in the three-phase electrolytic capacitor-free motor, and specific circuit connection conditions and working principles thereof are the prior art, and are not described herein again.
Fig. 2 is a control block diagram of a motor driving system according to an embodiment of the present invention; the system comprises a motor speed control unit, an overvoltage protection limiting unit and a motor loss control unit, wherein the motor speed control unit is connected with the overvoltage protection limiting unit and is used for controlling the q-axis current of the motor and avoiding the overvoltage of the voltage of a direct-current bus; the motor speed control unit is connected with the motor loss control unit and used for controlling d-axis current of the motor and avoiding overvoltage of direct-current bus voltage.
The motor driving system respectively controls q-axis current and d-axis current of the motor through the overvoltage protection limiting unit and the motor loss control unit, so that in the braking process of the motor, on one hand, braking energy is effectively controlled, the situation that the voltage of a direct-current bus is continuously increased is avoided, on the other hand, the motor loss is increased, the feedback energy of the motor is consumed, and the situation that the voltage of the direct-current bus is overvoltage is avoided; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, so that the circuit structure is simplified, and the cost is saved.
For the overvoltage protection limiting unit, the overvoltage protection limiting unit comprises:
the first subtracter 1 is used for calculating a difference value delta U1 between the overvoltage protection value Udc _ max of the direct current bus and the actual voltage Udc of the direct current bus.
The first PI controller 2 is connected with the first subtracter 1 and used for calculating a motor q-axis current compensation value Iq _ lim0 according to a difference value delta U1 between a direct current bus overvoltage protection value Udc _ max and an actual voltage Udc of a direct current bus; the operation process in the first PI controller 2 adopts a conventional algorithm in a conventional three-phase electrolytic capacitor-free motor control system, which is not described herein in detail in view of the prior art.
The first current limiter 3 is connected to the first PI controller 2 and the motor speed control unit, respectively, and the first current limiter 3 processes the q-axis current compensation value Iq _ lim0 of the motor by using the following formula to obtain a q-axis current compensation value Iq _ lim, and outputs the q-axis current compensation value Iq _ lim to the motor speed control unit:
if Iq _ lim0 < Iq _ lim _ max, Iq _ lim is Iq _ lim 0;
if the Iq _ lim0 is more than or equal to Iq _ lim _ max, the Iq _ lim is equal to Iq _ lim _ max;
wherein Iq _ lim is a negative limiting value and is output to the motor speed control unit.
For the motor speed control unit, comprising:
and the second subtracter 4 is used for calculating a difference value delta omega 1 between the target rotating speed omega r _ ref of the motor and the actual rotating speed omega r of the motor.
The second PI controller 5 Is connected with the second subtracter 4 and used for calculating a total current Is _ ref according to a difference value delta omega 1 between a target rotating speed omega r _ ref of the motor and an actual rotating speed omega r of the motor; the operation process in the second PI controller 5 adopts a conventional algorithm in a conventional three-phase electrolytic capacitor-free motor control system, which is not described herein in detail in view of the prior art.
The MTPA controller Is connected with the second PI controller 5 and used for carrying out vector decomposition on the total current Is _ ref to obtain a motor q-axis current Iq _ ref0 and a motor d-axis current Id _ ref 0; the operation process of the MTPA controller and the vector decomposition algorithm of the motor current are both conventional algorithms in a conventional three-phase electrolytic capacitor-free motor control system, and are not described herein in detail in view of the prior art.
A second current limiter 6 connected to the MTPA controller and the first current limiter 3 in the overvoltage protection limiting unit, respectively, for inputting a q-axis current Iq _ ref0 of the motor to the second current limiter 6 through the MTPA controller, and inputting a q-axis current compensation value Iq _ lim to the second current limiter 6 through the first current limiter 3, wherein the second current limiter 6 processes the q-axis current Iq _ ref according to the following formula:
if Iq _ ref0 is more than or equal to Iq _ max, Iq _ ref is equal to Iq _ max;
if Iq _ lim < Iq _ ref0 < Iq _ max, Iq _ ref is Iq _ ref 0;
if Iq _ ref0 is less than or equal to Iq _ lim, Iq _ ref is equal to Iq _ lim.
Thereby, as for the control process between the motor speed control unit and the overvoltage protection limiting unit, the control process is the control process of the q-axis current; when the motor is in the electric mode, Udc < Udc _ max, the output Iq _ lim of the overvoltage protection limiting unit continuously increases and is finally limited to the maximum value Iq _ lim _ max; when the motor is in a braking mode, if Udc is larger than Udc _ max, the output Iq _ lim is rapidly reduced and used as a negative limiting value to limit q-axis current Iq _ ref, so that the braking energy is effectively controlled, and the direct-current bus voltage is prevented from being continuously increased.
In addition, in the motor braking process, the motor loss control unit is arranged, and the second current limiter 6 in the motor speed control unit is connected with the motor loss control unit and used for outputting the d-axis current Id _ ref0 of the motor to the motor loss control unit to perform corresponding processing so as to increase the energy consumed by the motor and avoid overvoltage of the direct-current bus voltage.
For the motor loss control unit, comprising:
and the third subtracter 7 is used for calculating a difference value delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor.
The third PI controller 8 is connected with the third subtracter 7 and used for calculating a d-axis current compensation value delta Id _ ref0 of the motor according to a difference delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor; the operation process in the third PI controller 8 adopts a conventional algorithm in a conventional three-phase electrolytic capacitor-free motor control system, which is not described herein in detail in view of the prior art.
A third current limiter 9 connected to the third PI controller 8, wherein the third current limiter 9 processes the d-axis current compensation value Δ Id _ ref0 of the motor according to the following formula to obtain the d-axis current compensation value Δ Id _ ref:
if Δ Id _ ref0 is less than or equal to Δ Id _ ref _ max, Δ Id _ ref is Δ Id _ ref _ max;
if Δ Id _ ref0 > "Δ Id _ ref _ max, Δ Id _ ref is Δ Id _ ref 0.
The adder 10 is respectively connected with the third current limiter 9 and the MTPA controller in the motor speed control unit; the third current limiter 9 supplies a d-axis current compensation value Δ Id _ ref to the adder 10, the MTPA controller supplies a motor d-axis current Id _ ref0 to the adder 10, and the adder 10 is used to calculate the d-axis current Id _ ref, specifically, the sum Id _ ref of the motor d-axis current Id _ ref0 and the d-axis current compensation value Δ Id _ ref.
Thus, for the control process between the motor speed control unit and the motor loss control unit, the control process is a control process of d-axis current, when the motor is in the electric mode, the actual rotating speed ω r of the motor is equal to the target rotating speed ω r _ ref of the motor, and the d-axis current compensation value Δ Id _ ref is 0; when the motor is in a braking mode, the d-axis current compensation value delta Id _ ref can increase motor loss, and motor feedback energy is consumed, so that overvoltage of direct-current bus voltage is avoided.
Fig. 3 is a schematic circuit structure diagram of a motor driving system during shutdown braking according to an embodiment of the present invention; the control method of the motor drive system includes a parking brake process including: when the motor speed control unit receives a motor stop instruction, the three upper bridge switching tubes of the IPM module are controlled to be disconnected, PWM pulses are output to the three lower bridge switching tubes at the same time, and the three lower bridge switching tubes are conducted according to duty ratios, so that the inertia mechanical energy of the motor is consumed in the internal resistance of a motor stator coil in short circuit, the reverse charging of a film capacitor can be effectively avoided, and the overvoltage of the voltage of a direct current bus is prevented.
It should be noted that the specific english names used by the individual components in the present application are all conventional and commonly used in the art; for example: IPM is an abbreviation of Intelligent Power Module, called as an Intelligent Power Module in Chinese, and belongs to a conventional Module in the prior art; MTPA is maximum torque current ratio control, and belongs to the conventional permanent magnet synchronous motor vector control technology; pwm (pulse Width modulation), which is a pulse Width modulation in the prior art, is a pulse with an adjustable duty cycle.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A motor driving system is characterized by comprising a motor speed control unit, an overvoltage protection limiting unit and a motor loss control unit, wherein the motor speed control unit is connected with the overvoltage protection limiting unit and used for controlling the q-axis current of a motor; and the motor speed control unit is connected with the motor loss control unit and is used for controlling the d-axis current of the motor.
2. A motor drive system in accordance with claim 1, wherein said overvoltage protection limiting unit comprises:
the first subtracter (1) is used for calculating a difference value delta U1 between the overvoltage protection value Udc _ max of the direct current bus and the actual voltage Udc of the direct current bus;
the first PI controller (2) is connected with the first subtracter (1) and used for calculating a motor q-axis current compensation value Iq _ lim0 according to a difference value delta U1 between a direct current bus overvoltage protection value Udc _ max and an actual voltage Udc of the direct current bus;
and the first current limiter (3) is respectively connected with the first PI controller (2) and the motor speed control unit and is used for processing a q-axis current compensation value Iq _ lim0 of the motor and outputting the q-axis current compensation value Iq _ lim to the motor speed control unit.
3. A motor drive system in accordance with claim 1, wherein said motor speed control unit comprises:
the second subtracter (4) is used for calculating a difference value delta omega 1 between the target rotating speed omega r _ ref of the motor and the actual rotating speed omega r of the motor;
the second PI controller (5) Is connected with the second subtracter (4) and used for calculating a total current Is _ ref according to a difference value delta omega 1 between a target rotating speed omega r _ ref of the motor and an actual rotating speed omega r of the motor;
the MTPA controller Is connected with the second PI controller (5) and Is used for carrying out vector decomposition on the total current Is _ ref to obtain a motor q-axis current Iq _ ref0 and a motor d-axis current Id _ ref 0;
and the second current limiter (6) is respectively connected with the MTPA controller and the first current limiter (3) in the overvoltage protection limiting unit.
4. A motor drive system in accordance with claim 1, wherein said motor loss control unit comprises:
a third subtracter (7) for calculating a difference value delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor;
the third PI controller (8) is connected with the third subtracter (7) and is used for calculating a d-axis current compensation value delta Id _ ref0 of the motor according to a difference delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor;
the third current limiter (9) is connected with the third PI controller (8) and is used for processing a d-axis current compensation value delta Id _ ref0 of the motor to obtain a d-axis current compensation value delta Id _ ref;
and an adder (10) connected to the third current limiter (9) and the MTPA controller in the motor speed control unit, respectively, for calculating the d-axis current Id _ ref.
5. A control method of a motor drive system, characterized in that the control method is applied to a motor drive system according to any one of claims 1 to 4; the control method comprises the following steps: a control process of the q-axis current and/or a control process of the d-axis current.
6. The control method of a motor drive system according to claim 5, wherein the control process of the q-axis current includes:
a second subtracter (4) calculates a difference value delta omega 1 between the target rotating speed omega r _ ref of the motor and the actual rotating speed omega r of the motor;
the second PI controller (5) calculates a total current Is _ ref according to a difference value delta omega 1 between a target rotating speed omega r _ ref of the motor and an actual rotating speed omega r of the motor;
the MTPA controller carries out vector decomposition on the total current Is _ ref to obtain a motor q-axis current Iq _ ref 0;
a first subtracter (1) calculates a difference value delta U1 between a direct current bus overvoltage protection value Udc _ max and an actual voltage Udc of a direct current bus;
the first PI controller (2) calculates a motor q-axis current compensation value Iq _ lim0 according to a difference value delta U1 between a direct current bus overvoltage protection value Udc _ max and an actual voltage Udc of a direct current bus;
the first current limiter (3) processes a motor q-axis current compensation value Iq _ lim0 through a first formula to obtain a q-axis current compensation value Iq _ lim;
the MTPA controller inputs a motor q-axis current Iq _ ref0 to the second current limiter (6), the first current limiter (3) inputs a q-axis current compensation value Iq _ lim to the second current limiter (6), and the second current limiter (6) obtains the q-axis current Iq _ ref according to a second formula.
7. The control method of a motor drive system according to claim 6, wherein the first formula is:
if Iq _ lim0 < Iq _ lim _ max, Iq _ lim is Iq _ lim 0;
if the Iq _ lim0 is more than or equal to the Iq _ lim _ max, the Iq _ lim is equal to the Iq _ lim _ max;
the second formula is:
if Iq _ ref0 is more than or equal to Iq _ max, Iq _ ref is equal to Iq _ max;
if Iq _ lim < Iq _ ref0 < Iq _ max, Iq _ ref is Iq _ ref 0;
if Iq _ ref0 is less than or equal to Iq _ lim, Iq _ ref is equal to Iq _ lim.
8. The control method of a motor drive system according to claim 5, wherein the control process of the d-axis current includes:
a second subtracter (4) calculates a difference value delta omega 1 between the target rotating speed omega r _ ref of the motor and the actual rotating speed omega r of the motor;
the second PI controller (5) calculates a total current Is _ ref according to a difference value delta omega 1 between a target rotating speed omega r _ ref of the motor and an actual rotating speed omega r of the motor;
the MTPA controller carries out vector decomposition on the total current Is _ ref to obtain a d-axis current Id _ ref0 of the motor;
a third subtracter (7) calculates a difference value delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor;
the third PI controller (8) calculates a d-axis current compensation value delta Id _ ref0 of the motor according to a difference delta omega 2 between the actual rotating speed omega r of the motor and the target rotating speed omega r _ ref of the motor;
the third current limiter (9) processes the d-axis current compensation value delta Id _ ref0 of the motor through a third formula to obtain a d-axis current compensation value delta Id _ ref;
the third current limiter (9) transmits a d-axis current compensation value delta Id _ ref to the adder (10), and the MTPA controller transmits a motor d-axis current Id _ ref0 to the adder (10); the adder (10) calculates the sum of the d-axis current Id _ ref0 and the d-axis current compensation value DeltaId _ ref of the motor to obtain a d-axis current Id _ ref.
9. The control method of a motor drive system according to claim 8, wherein the third formula is:
if Δ Id _ ref0 is not more than Δ Id _ ref _ max, Δ Id _ ref is not less than Δ Id _ ref _ max;
if Δ Id _ ref0 > "Δ Id _ ref _ max, Δ Id _ ref is Δ Id _ ref 0.
10. The control method of a motor driving system according to claim 5, wherein the system comprises a motor driving circuit structure, the motor driving circuit structure comprises a three-phase rectifier bridge, a small-capacitance thin film capacitor, an IPM module and a permanent magnet synchronous motor, and three upper bridge switching tubes (11) and three lower bridge switching tubes (12) are arranged in the IPM module; the control method includes a parking brake process including: when the motor speed control unit receives a motor stop instruction, the three upper bridge switching tubes of the IPM module are controlled to be disconnected, and PWM pulses are output to the three lower bridge switching tubes at the same time.
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