CN114696664B - Motor driving system and control method thereof - Google Patents

Motor driving system and control method thereof Download PDF

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Publication number
CN114696664B
CN114696664B CN202011563606.8A CN202011563606A CN114696664B CN 114696664 B CN114696664 B CN 114696664B CN 202011563606 A CN202011563606 A CN 202011563606A CN 114696664 B CN114696664 B CN 114696664B
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motor
ref
axis current
ref0
rotation speed
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CN114696664A (en
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李超
游剑波
王知恒
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Ningbo Aux Electric Co Ltd
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Ningbo Aux Electric Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

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 is used for controlling 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 on one hand, the braking energy is effectively controlled in the motor braking process, the continuous rising of the voltage of the direct current bus is avoided, on the other hand, the motor loss is increased, the feedback energy of the motor is consumed, and the overvoltage of the voltage of the direct current bus is avoided; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, is beneficial to simplifying a circuit structure and saves cost.

Description

Motor driving system and control method thereof
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 permanent magnet synchronous motor driving system, a driver adopting a thin film capacitor with a small capacitance to replace a large electrolytic capacitor at a direct current side is increasingly widely used, and the reliability and the service life of the driving system are improved.
However, in the three-phase motor driving system without electrolytic capacitor, the self-induced voltage generated by the compressor coil can reversely charge the thin film capacitor with small side of the DC bus in the processes of speed reduction, load reduction and shutdown of the motor, and the thin film capacitor with small capacitance cannot effectively absorb the self-induced voltage, so that the overvoltage of the DC bus is easily caused, and the power device is damaged.
In general, in order to prevent overvoltage of the dc bus voltage, controllable hardware brake circuits are added at two ends of the dc bus voltage, and the scheme has high reliability and is easy to implement, but a switching tube and a brake resistor are additionally added, so that the cost of a driving system and the complexity of the hardware system are increased.
Disclosure of Invention
In view of the above, the present invention is directed to a motor driving system and a control method thereof, so as to solve the problem that in the prior art, the motor is easy to generate overvoltage of bus voltage during braking.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
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 is used for controlling d-axis current of the motor; the motor driving system controls the q-axis current and the d-axis current of the motor respectively by arranging the overvoltage protection limiting unit and the motor loss control unit, so that in the motor braking process, on one hand, braking energy is effectively controlled, the voltage of the direct-current bus is prevented from continuously rising, on the other hand, motor loss is increased, feedback energy of the motor is consumed, and the voltage overvoltage of the direct-current bus is avoided; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, is beneficial to simplifying a circuit structure and saves cost.
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 is 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; the first current limiter is respectively connected with the first PI controller and the motor speed control unit, and is used for processing the 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; thereby controlling the q-axis current by the overvoltage protection limiting unit such that Udc < udc_max, the iq_lim output by the overvoltage protection limiting unit continuously increases and is eventually limited to a maximum value iq_lim_max when the motor is in the electric mode; when the motor is in a braking mode, if Udc is larger than udc_max, the output Iq_lim drops rapidly and serves as a negative limiting value to limit the q-axis current Iq_ref, so that braking energy is effectively controlled, and the continuous rising of the voltage of the direct current bus is avoided.
The motor speed control unit includes: a second subtracter for calculating a difference Δω1 between the motor target rotation speed ωr_ref and the motor actual rotation speed ωr; a second PI controller connected with the second subtracter and used for calculating the total current is_ref according to the difference Deltaω1 between the target rotating speed ωr_ref of the motor and the actual rotating speed ωr 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_ref0; and the second current limiter is respectively connected with the MTPA controller and the first current limiter in the overvoltage protection limiting unit, the q-axis current Iq_ref0 of the motor is input to the second current limiter through the MTPA controller, the q-axis current compensation value Iq_lim is input to the second current limiter through the first current limiter, and the q-axis current Iq_ref is processed by the second current limiter.
The motor loss control unit includes: a third subtracter for calculating a difference Δω2 between the actual motor rotation speed ωr and the target motor rotation speed ωr_ref; the third PI controller is connected with the third subtracter and is used for calculating a d-axis current compensation value DeltaId_ref0 of the motor according to a difference Deltaω2 between the actual rotation speed omega r of the motor and the target rotation speed omega r_ref of the motor; the third current limiter is connected with the third PI controller and is used for processing the d-axis current compensation value delta Id_ref0 of the motor to obtain the 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 is used for calculating d-axis current Id_ref; thereby, the d-axis current is controlled by the motor loss control unit so that the actual motor speed ωr is equal to the target motor speed ωr_ref when the motor is in the electric mode, and the d-axis current compensation value ΔId_ref is 0; when the motor is in a braking mode, the d-axis current compensation value DeltaId_ref increases the motor loss, consumes the feedback energy of the motor, and therefore avoids overvoltage of the direct current bus voltage.
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 q-axis current and/or a control process of d-axis current. By controlling the q-axis current and/or the d-axis current of the motor, on one hand, the braking energy is effectively controlled in the motor braking process, the continuous rising of the voltage of the direct current bus is avoided, on the other hand, the loss of the motor is increased, the feedback energy of the motor is consumed, and the overvoltage of the voltage of the direct current bus is avoided; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, is beneficial to simplifying a circuit structure and saves cost.
The q-axis current control process includes: the second subtracter calculates a difference Deltaω1 between the target rotation speed omega r_ref of the motor and the actual rotation speed omega r of the motor; the second PI controller calculates the total current is_ref according to the difference Deltaω1 between the target rotation speed ωr_ref of the motor and the actual rotation speed ωr of the motor; the MTPA controller carries out vector decomposition on the total current is_ref to obtain a motor q-axis current Iq_ref0; the first subtracter calculates a difference DeltaU 1 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 the direct current bus; the first current limiter processes the q-axis current compensation value Iq_lim0 of the motor through a first formula to obtain the 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=iq_lim0; if iq_lim0 is greater than or equal to iq_lim_max, iq_lim=iq_lim_max; the second formula is: if iq_ref0 is not less than iq_max, iq_ref=iq_max; if iq_lim < iq_ref0 < iq_max, iq_ref=iq_ref0; if iq_ref0 is less than or equal to iq_lim, iq_ref=iq_lim; thus, in the control process of 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 is smaller than udc_max, iq_lim output by the overvoltage protection limiting unit is continuously increased, and 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 drops rapidly and serves as a negative limiting value to limit the q-axis current Iq_ref, so that braking energy is effectively controlled, and the continuous rising of the voltage of the direct current bus is avoided.
The control process of the d-axis current comprises the following steps: the second subtracter calculates a difference Deltaω1 between the target rotation speed omega r_ref of the motor and the actual rotation speed omega r of the motor; the second PI controller calculates the total current is_ref according to the difference Deltaω1 between the target rotation speed ωr_ref of the motor and the actual rotation speed ωr of the motor; the MTPA controller carries out vector decomposition on the total current is_ref to obtain a motor d-axis current Id_ref0; the third subtracter calculates a difference Deltaω2 between the actual rotation speed omega r of the motor and the target rotation speed omega r_ref of the motor; the third PI controller calculates a d-axis current compensation value DeltaId_ref0 of the motor according to a difference Deltaω2 between the actual rotation speed omega r of the motor and the target rotation speed omega r_ref of the motor; the third current limiter processes the d-axis current compensation value DeltaId_ref0 of the motor through a third formula to obtain the d-axis current compensation value DeltaId_ref; the third current limiter transmits d-axis current compensation value delta Id_ref to the adder, and the MTPA controller transmits motor d-axis current Id_ref0 to the adder; the adder calculates the sum of the motor 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 DeltaId_ref0 is less than or equal to DeltaId_ref_max, deltaId_ref= DeltaId_ref_max; if Δid_ref0 > - Δid_ref_max, Δid_ref= - Δid_ref0; thus, in the control process of 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 motor rotating speed ωr is equal to the target motor rotating speed ωr_ref, and the d-axis current compensation value DeltaId_ref is 0; when the motor is in a braking mode, the d-axis current compensation value DeltaId_ref increases the motor loss, consumes the feedback energy of the motor, and therefore avoids overvoltage of the direct current bus voltage.
The system comprises a motor driving circuit structure, wherein 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 and three lower bridge switching tubes are arranged in the IPM module; the control method includes a parking brake process, the parking brake process including: when the motor speed control unit receives a motor stopping instruction, three upper bridge switching tubes of the IPM module are controlled to be disconnected, and PWM pulses are output to three lower bridge switching tubes; therefore, the three lower bridge switching tubes are conducted according to the duty ratio, so that the inertial mechanical energy of the motor is consumed on the internal resistance of the shorted motor stator coil, the film capacitor can be effectively prevented from being reversely charged, 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 on one hand, braking energy is effectively controlled in a motor braking process, the continuous rising of the voltage of a direct current bus is avoided, on the other hand, motor loss is increased, motor feedback energy is consumed, and the overvoltage of the voltage of the direct current bus is avoided; meanwhile, the motor driving system does not need to additionally increase a hardware braking circuit, is beneficial to simplifying a circuit structure and saves cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a topology diagram of a three-phase electrolytic capacitor-less motor drive system in a motor drive system according to an embodiment of the present invention;
FIG. 2 is a control block diagram of a motor drive system according to an embodiment of the present invention;
Fig. 3 is a schematic circuit diagram of a motor driving system according to an embodiment of the invention during parking braking.
Reference numerals illustrate:
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 below using terms commonly used 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, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order to solve the problem that in the prior art, bus voltage overvoltage is easy to occur in the braking process of a motor, 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 capacitor-less 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 thin film capacitor, an IPM module, a permanent magnet synchronous motor, etc., 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 capacitor-less motor, and the specific circuit connection condition and the working principle are all the prior art and are not described herein.
FIG. 2 is a control block diagram of a motor drive 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 to avoid overvoltage of the voltage of a direct-current bus; the motor speed control unit is connected with the motor loss control unit and is used for controlling d-axis current of the motor and avoiding overvoltage of direct-current bus voltage.
The motor driving system controls the q-axis current and the d-axis current of the motor through the overvoltage protection limiting unit and the motor loss control unit respectively, so that on one hand, braking energy is effectively controlled in the motor braking process, the direct current bus voltage is prevented from rising continuously, on the other hand, motor loss is increased, feedback energy of the motor 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, is beneficial to simplifying a circuit structure and saves cost.
For the overvoltage protection limiting unit, it comprises:
a first subtracter 1 for calculating a difference Δu1 between the dc bus overvoltage protection value udc_max and the actual voltage Udc of the dc bus.
A first PI controller 2, connected to the first subtractor 1, for calculating a motor q-axis current compensation value iq_lim0 according to a difference Δu1 between the dc bus overvoltage protection value udc_max and an actual voltage Udc of the dc bus; the operation process in the first PI controller 2 adopts a conventional algorithm in a conventional three-phase capacitor-less motor control system, and is not described herein in detail in view of the prior art.
The first current limiter 3 is respectively connected with the first PI controller 2 and the motor speed control unit, and the first current limiter 3 processes the q-axis current compensation value iq_lim0 of the motor to obtain the q-axis current compensation value iq_lim and outputs the q-axis current compensation value iq_lim to the motor speed control unit through the following formula:
If iq_lim0 < iq_lim_max, iq_lim=iq_lim0;
If iq_lim0 is greater than or equal to iq_lim_max, iq_lim=iq_lim_max;
wherein iq_lim is a negative limit value and is output to the motor speed control unit.
The motor speed control unit includes:
a second subtracter 4 for calculating a difference Δω1 between the motor target rotation speed ωr_ref and the motor actual rotation speed ωr.
A second PI controller 5 connected to the second subtractor 4 for calculating a total current is_ref based on a difference Δω1 between the motor target rotation speed ωr_ref and the motor actual rotation speed ωr; the operation process in the second PI controller 5 adopts a conventional algorithm in a conventional three-phase capacitor-less motor control system, and is not described herein in detail in view of the prior art.
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_ref0; 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 capacitor-less motor control system, and are not described herein in detail in view of the fact that they are prior art.
The second current limiter 6 is connected to the MTPA controller and the first current limiter 3 in the overvoltage protection limiting unit, respectively, the motor q-axis current iq_ref0 is input to the second current limiter 6 through the MTPA controller, the q-axis current compensation value iq_lim is input to the second current limiter 6 through the first current limiter 3, and the q-axis current iq_ref is processed by the second current limiter 6 by the following formula:
If iq_ref0 is not less than iq_max, iq_ref=iq_max;
if iq_lim < iq_ref0 < iq_max, iq_ref=iq_ref0;
If iq_ref0 is less than or equal to iq_lim, iq_ref=iq_lim.
So that the control process between the motor speed control unit and the overvoltage protection limiting unit is the control process of q-axis current; when the motor is in the electric mode, udc < udc_max, the iq_lim output by the overvoltage protection limiting unit continues to increase, 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 drops rapidly and serves as a negative limiting value to limit the q-axis current Iq_ref, so that braking energy is effectively controlled, and the continuous rising of the voltage of the direct current bus is avoided.
In addition, in the motor braking process, a motor loss control unit is arranged, and a second current limiter 6 in the motor speed control unit is connected with the motor loss control unit and is used for outputting a motor d-axis current Id_ref0 to the motor loss control unit for corresponding processing so as to increase the energy consumed by the motor and avoid overvoltage of a direct current bus voltage.
The motor loss control unit includes:
A third subtractor 7 for calculating a difference Δω2 between the motor actual rotation speed ωr and the motor target rotation speed ωr_ref.
A third PI controller 8, connected to the third subtractor 7, for calculating a motor d-axis current compensation value Δid_ref0 from a difference Δω2 between the motor actual rotation speed ωr and the motor target rotation speed ωr_ref; the operation process in the third PI controller 8 adopts a conventional algorithm in a conventional three-phase capacitor-less motor control system, and is not described herein in detail in view of the prior art.
The third current limiter 9 is connected to the third PI controller 8, and the third current limiter 9 processes the d-axis current compensation value Δid_ref0 of the motor to obtain the d-axis current compensation value Δid_ref by the following formula:
If DeltaId_ref0 is less than or equal to DeltaId_ref_max, deltaId_ref= DeltaId_ref_max;
if Δid_ref0 > - Δid_ref_max, Δid_ref= Δid_ref0.
Adder 10, which is connected with third current limiter 9 and MTPA controller in motor speed control unit; the third current limiter 9 sends a d-axis current compensation value Δid_ref to the adder 10, the MTPA controller sends a motor d-axis current id_ref0 to the adder 10, and the adder 10 is used for calculating the d-axis current id_ref0, specifically, calculating a sum id_ref of the motor d-axis current id_ref0 and the d-axis current compensation value Δid_ref.
Thus, for the control process between the motor speed control unit and the motor loss control unit, the d-axis current control process is that when the motor is in the electric mode, the actual motor speed ωr is equal to the target motor speed ωr_ref, and the d-axis current compensation value Δid_ref is 0; when the motor is in a braking mode, the d-axis current compensation value DeltaId_ref increases the motor loss, consumes the feedback energy of the motor, and therefore avoids overvoltage of the direct current bus voltage.
FIG. 3 is a schematic circuit diagram of a motor driving system according to an embodiment of the present invention during parking brake; 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, three upper bridge switching tubes of the IPM module are controlled to be disconnected, PWM pulses are output to three lower bridge switching tubes, and the three lower bridge switching tubes are conducted according to the duty ratio, so that the motor inertia mechanical energy is consumed on the internal resistance of a shorted motor stator coil, the film capacitor can be effectively prevented from being reversely charged, and the overvoltage of the direct current bus voltage is prevented.
Wherein, the specific English names adopted by the individual components in the application are all common and common names in the field; for example: IPM is INTELLIGENT POWER MODULE abbreviation, chinese called intelligent power module, belonging to the prior art conventional module; MTPA is maximum torque current ratio control, and belongs to the conventional permanent magnet synchronous motor vector control technology; PWM (Pulse Width Modulation), pulse width modulation in the prior art, is a duty cycle adjustable pulse.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (7)

1. The 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 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 is used for controlling d-axis current of the motor;
the overvoltage protection limiting unit includes:
a first subtracter (1) for calculating a difference DeltaU 1 between the DC bus overvoltage protection value udc_max and the actual voltage Udc of the DC bus;
A first PI controller (2) 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;
a first current limiter (3) which is respectively connected with the first PI controller (2) and the motor speed control unit, and is used for processing the motor q-axis current compensation value Iq_lim0 and outputting the q-axis current compensation value Iq_lim to the motor speed control unit;
the motor speed control unit includes:
a second subtracter (4) for calculating a difference Deltaω1 between the motor target rotation speed ωr_ref and the motor actual rotation speed ωr;
A second PI controller (5) connected with the second subtracter (4) and used for calculating the total current is_ref according to the difference Deltaω1 between the target rotating speed omega r_ref of the motor and the 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_ref0;
The second current limiter (6) is respectively connected with the MTPA controller and the first current limiter (3) in the overvoltage protection limiting unit;
The motor loss control unit includes:
a third subtracter (7) for calculating a difference Deltaω2 between the motor actual rotation speed ωr and the motor target rotation speed ωr_ref;
a third PI controller (8) connected with a third subtracter (7) and used for calculating a motor d-axis current compensation value DeltaId_ref0 according to a difference Deltaω2 between the actual motor rotation speed omega r and the target motor rotation speed omega r_ref;
The third current limiter (9) is connected with the third PI controller (8) and is used for processing the d-axis current compensation value DeltaId_ref0 of the motor to obtain the d-axis current compensation value DeltaId_ref;
and the adder (10) is respectively connected with the third current limiter (9) and the MTPA controller in the motor speed control unit and is used for calculating d-axis current Id_ref.
2. A control method of a motor drive system, characterized in that the control method is applied to a motor drive system according to claim 1; the control method comprises the following steps: a control process of q-axis current and/or a control process of d-axis current.
3. A control method of a motor drive system according to claim 2, wherein the q-axis current control process includes:
A second subtracter (4) calculates a difference Deltaω1 between the motor target rotation speed omega r_ref and the motor actual rotation speed omega r;
The second PI controller (5) calculates the total current is_ref according to the difference delta omega 1 between the target rotation speed omega r_ref of the motor and the actual rotation 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_ref0;
the first subtracter (1) calculates a difference DeltaU 1 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) 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 the direct current bus;
The first current limiter (3) processes the q-axis current compensation value Iq_lim0 of the motor through a first formula to obtain the q-axis current compensation value Iq_lim;
The MTPA controller inputs the q-axis current Iq_ref0 of the motor to the second current limiter (6), the first current limiter (3) inputs the 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.
4. A control method of a motor drive system according to claim 3, wherein the first formula is:
If iq_lim0 < iq_lim_max, iq_lim=iq_lim0;
If iq_lim0 is greater than or equal to iq_lim_max, iq_lim=iq_lim_max;
The second formula is:
If iq_ref0 is not less than iq_max, iq_ref=iq_max;
If iq_lim < iq_ref0 < iq_max, iq_ref=iq_ref0;
if iq_ref0 is less than or equal to iq_lim, iq_ref=iq_lim.
5. A control method of a motor drive system according to claim 2, wherein the control process of the d-axis current includes:
A second subtracter (4) calculates a difference Deltaω1 between the motor target rotation speed omega r_ref and the motor actual rotation speed omega r;
The second PI controller (5) calculates the total current is_ref according to the difference delta omega 1 between the target rotation speed omega r_ref of the motor and the actual rotation speed omega r of the motor;
The MTPA controller carries out vector decomposition on the total current is_ref to obtain a motor d-axis current Id_ref0;
a third subtracter (7) calculates a difference Deltaω2 between the actual motor rotation speed ωr and the target motor rotation speed ωr_ref;
The third PI controller (8) calculates a d-axis current compensation value DeltaId_ref0 of the motor according to a difference Deltaω2 between the actual rotation speed omega r of the motor and the target rotation speed omega r_ref of the motor;
the third current limiter (9) processes the d-axis current compensation value DeltaId_ref0 of the motor through a third formula to obtain the d-axis current compensation value DeltaId_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); an adder (10) calculates the sum of the motor d-axis current Id_ref0 and the d-axis current compensation value DeltaId_ref to obtain the d-axis current Id_ref.
6. The control method of a motor drive system according to claim 5, wherein the third formula is:
If DeltaId_ref0 is less than or equal to DeltaId_ref_max, deltaId_ref= DeltaId_ref_max;
If Δid_ref0 > - Δid_ref_max, Δid_ref= Δid_ref0.
7. The control method of a motor driving system according to claim 2, wherein the system comprises a motor driving circuit structure, the motor driving circuit structure comprises a three-phase rectifier bridge, a small-capacity 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, the parking brake process including: when the motor speed control unit receives a motor stop instruction, three upper bridge switching tubes of the IPM module are controlled to be disconnected, and PWM pulses are output to three lower bridge switching tubes.
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CN204794030U (en) * 2015-06-17 2015-11-18 广东美的制冷设备有限公司 Overvoltage protector and do not have electrolytic capacitor motor drive system
CN106330039A (en) * 2016-10-24 2017-01-11 东南大学 Permanent magnet synchronous motor control algorithm of small-capacity thin-film capacitor transducer system
CN106505527A (en) * 2016-12-19 2017-03-15 广东美的制冷设备有限公司 Motor drive protection device, over-voltage protection method and transducer air conditioning
WO2018099187A1 (en) * 2016-11-30 2018-06-07 广东美的制冷设备有限公司 Control method and control device for motor drive system and variable-frequency air conditioner

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CN104934943A (en) * 2015-06-17 2015-09-23 广东美的制冷设备有限公司 Overvoltage protection device, overvoltage protection method and electrolytic-capacitor-free motor driving system
CN204794030U (en) * 2015-06-17 2015-11-18 广东美的制冷设备有限公司 Overvoltage protector and do not have electrolytic capacitor motor drive system
CN106330039A (en) * 2016-10-24 2017-01-11 东南大学 Permanent magnet synchronous motor control algorithm of small-capacity thin-film capacitor transducer system
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