CN116647159A - Rapid speed reducing method and device for permanent magnet synchronous motor - Google Patents
Rapid speed reducing method and device for permanent magnet synchronous motor Download PDFInfo
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- CN116647159A CN116647159A CN202310660469.7A CN202310660469A CN116647159A CN 116647159 A CN116647159 A CN 116647159A CN 202310660469 A CN202310660469 A CN 202310660469A CN 116647159 A CN116647159 A CN 116647159A
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- 230000001276 controlling effect Effects 0.000 claims description 50
- 230000003313 weakening effect Effects 0.000 claims description 20
- 238000010248 power generation Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 3
- 238000011217 control strategy Methods 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 description 8
- 230000005389 magnetism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
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- 238000012545 processing Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
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- 238000005406 washing Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
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Classifications
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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
- H02P21/36—Arrangements for braking or slowing; Four quadrant control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The application discloses a rapid speed reducing method and device of a permanent magnet synchronous motor, wherein the method comprises the following steps: identifying an operation working area of the permanent magnet synchronous motor based on the operation working condition of the permanent magnet synchronous motor; when the operation working area of the permanent magnet synchronous motor is identified as a weak magnetic area, the D-axis control component value is controlled and regulated by using the bus voltage regulator; when the operation working area of the permanent magnet synchronous motor is identified as a non-weak magnetic area, the control component value of the Q axis is controlled and regulated by utilizing a bus voltage regulator; and after the bus voltage value of the bus capacitor is fed back and regulated based on the D-axis control component value or the Q-axis control component value, when the bus voltage value is monitored to be equal to a preset voltage value, the permanent magnet synchronous motor rapidly decelerates. According to the application, different deceleration control strategies are designed aiming at the operation working conditions of the permanent magnet synchronous motor, so that the bus voltage can be maintained at a fixed high value which can be tolerated by the bus capacitor to rapidly decelerate under the condition of ensuring the safety of the bus capacitor.
Description
Technical Field
The application relates to the technical field of motor brake control, in particular to a rapid speed reducing method and device of a permanent magnet synchronous motor.
Background
In many motor applications, the motor is required to have strong dynamic and static response performance, especially for a high-speed permanent magnet synchronous motor system with large inertia and required deep field weakening, and the rapid speed reduction performance is always a difficult point, such as a drum washing machine application.
The common energy consumption braking requires additional hardware support, and the cost of the system is increased; the short circuit braking has the problem of current impact at the moment of short circuit, and simultaneously can lead to the heating and even demagnetization of the motor; the deceleration slope of the common feedback braking method is influenced by the inertia of the system, and if the deceleration slope of a large inertia system is high, the bus voltage is high, so that danger is easy to cause. If the deceleration slope is reduced, the performance requirements of some applications may not be met, and for some systems with non-fixed moment of inertia (such as washing machine applications), it is difficult to set a suitable deceleration slope, and finally, for safety, only the slowest deceleration slope can be used, thus reducing the dynamic and static performance of the system.
Disclosure of Invention
In order to solve the technical problems, the application provides a rapid speed reducing method and device for a permanent magnet synchronous motor.
Specifically, the technical scheme of the application is as follows:
the application provides a rapid speed reducing method of a permanent magnet synchronous motor, which comprises the following steps:
identifying an operation working area of the permanent magnet synchronous motor based on the operation working condition of the permanent magnet synchronous motor, wherein the operation working area comprises a weak magnetic area and a non-weak magnetic area;
when the operation working area of the permanent magnet synchronous motor is identified as the weak magnetic area, controlling and adjusting a D-axis control component value by utilizing a bus voltage regulator, wherein the D-axis control component value comprises a weak magnetic current value and a weak magnetic voltage value;
when the operation working area of the permanent magnet synchronous motor is identified as the non-weak magnetic area, controlling and adjusting a Q-axis control component value by utilizing the bus voltage regulator, wherein the Q-axis control component comprises a torque current value and a torque voltage value;
and after the bus voltage value of the bus capacitor is fed back and regulated based on the D-axis control component value or the Q-axis control component value, when the bus voltage value is monitored to be equal to a preset voltage value, the permanent magnet synchronous motor rapidly decelerates.
In some embodiments, when the operation area of the permanent magnet synchronous motor is identified as the field weakening area, the controlling and adjusting the D-axis control component value by using the bus voltage regulator further includes:
sampling the bus voltage in real time;
calculating a voltage limit value of the Q-axis controller in real time based on the sampled bus voltage compacting value; the calculation formula of the voltage limit value is as follows:wherein v is qlim For the Q-axis voltage limit value, U dc Compacting a value, v, for said bus d The voltage value of the D-axis controller;
based on the voltage limit, a bus voltage regulator is utilized to control and adjust the D-axis control component value.
In some embodiments, prior to said controlling the regulated D-axis control component value by utilizing the bus voltage regulator, comprising:
controlling a slope controller of the permanent magnet synchronous motor by using the bus voltage regulator, and regulating a slope value of the slope controller to a preset slope value;
and controlling a speed regulator to output the weak current value based on the slope value of the slope controller.
In some embodiments, after said adjusting the output bus voltage value based on said D-axis control component value feedback, further comprising:
and if the bus voltage compacting value is not equal to the preset voltage value, controlling and adjusting the D-axis control component value again by using the bus voltage regulator, and then feeding back and adjusting the bus voltage value of the bus capacitor again.
In some embodiments, said adjusting the output bus voltage value based on said D-axis control component value feedback comprises:
inputting the weak current value into a current regulator, and outputting the weak voltage value;
and based on the weak voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
In some embodiments, said adjusting the output bus voltage value based on said D-axis control component value feedback comprises:
and based on the weak magnetic current or the weak magnetic voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
In some embodiments, prior to said controlling the Q-axis control component value by using the bus voltage regulator, comprising:
when the permanent magnet synchronous motor is in a power generation mode, controlling a slope controller of the permanent magnet synchronous motor by using the bus voltage regulator, and regulating a slope value of the slope controller to a preset slope value;
and when the permanent magnet synchronous motor is in a power generation mode, controlling the speed regulator to output the weak current value based on the slope value of the slope controller.
In some embodiments, after said adjusting the output bus voltage value based on said Q-axis control component value feedback, further comprising:
and if the bus voltage compacting value is not equal to the preset voltage value, controlling and adjusting the Q-axis control component value again by using the bus voltage regulator based on the rotating speed value of the permanent magnet synchronous motor, and then feeding back and adjusting the bus voltage value of the bus capacitor again.
In some embodiments, said adjusting the output bus voltage value based on said Q-axis control component value feedback comprises:
inputting the torque current value into a current regulator, and outputting the torque voltage value;
and based on the torque voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
In some embodiments, said adjusting the output bus voltage value based on said Q-axis control component value feedback comprises:
and based on the torque current or the torque voltage value, feeding back and adjusting the bus voltage value of the bus capacitor according to the rotating speed value of the permanent magnet synchronous motor.
On the other hand, the application also provides a rapid speed reducing device of the permanent magnet synchronous motor, which comprises the following components:
the identification module is used for identifying an operation working area of the permanent magnet synchronous motor based on the operation working condition of the permanent magnet synchronous motor, wherein the operation working area comprises a weak magnetic area and a non-weak magnetic area;
the control module is used for controlling and adjusting a D-axis control component value by utilizing a bus voltage regulator when the operation working area of the permanent magnet synchronous motor is identified as the weak magnetic area, wherein the D-axis control component value comprises a weak magnetic current value and a weak magnetic voltage value;
the control module is further used for controlling and adjusting a Q-axis control component value by utilizing the bus voltage regulator when the operation working area of the permanent magnet synchronous motor is identified as the non-weak magnetic area, wherein the Q-axis control component comprises a torque current value and a torque voltage value;
and the feedback module is used for feeding back and adjusting the bus voltage value of the bus capacitor based on the D-axis control component value or the Q-axis control component value, and then rapidly decelerating the permanent magnet synchronous motor when the bus voltage value is monitored to be equal to a preset voltage value.
Compared with the prior art, the application has at least one of the following beneficial effects:
1. according to the application, different speed reduction control strategies are designed for the permanent magnet synchronous motor aiming at the working conditions of weak magnetism and non-weak magnetism, so that the bus voltage can be maintained at a fixed high value which can be tolerated by the bus capacitor to quickly reduce the speed under the condition that the bus capacitor is ensured to be safe within the full speed range of the permanent magnet synchronous motor.
2. Aiming at the deep weak magnetic rapid speed reduction working condition, the application provides a strategy that only one D-axis current controller is used for replacing the traditional D-axis current controller and the traditional Q-axis current controller to perform weak magnetic control by utilizing the distribution relation of the voltage limiting circle and the D, Q axis voltage, simplifies the variable quantity controlled simultaneously in the deep weak magnetic control, and brings great convenience to the design of the rapid constant voltage speed reduction control of a weak magnetic region.
Drawings
The above features, technical features, advantages and implementation of the present application will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and easily understood manner.
FIG. 1 is a flow chart of one embodiment of a method for rapid deceleration of a permanent magnet synchronous motor of the present application;
fig. 2 is a flowchart of step S200 in a rapid deceleration method of a permanent magnet synchronous motor according to the present application;
FIG. 3 is a schematic circuit diagram of one embodiment of a method for rapid deceleration of a permanent magnet synchronous motor according to the present application;
FIG. 4 is a schematic circuit diagram of another embodiment of a method for rapid deceleration of a permanent magnet synchronous motor according to the present application;
FIG. 5 is a circuit schematic of yet another embodiment of a method for rapid deceleration of a permanent magnet synchronous motor according to the present application;
FIG. 6 is a circuit schematic of yet another embodiment of a method for rapid deceleration of a permanent magnet synchronous motor according to the present application;
FIG. 7 is a schematic circuit diagram of another embodiment of a method for rapid deceleration of a permanent magnet synchronous motor according to the present application;
fig. 8 is a block diagram of one embodiment of a rapid deceleration device for a permanent magnet synchronous motor of the present application.
Detailed Description
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For simplicity of the drawing, only the parts relevant to the application are schematically shown in each drawing, and they do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In this context, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
It should be noted that, in this embodiment, some technical terms:
vector control: vector control is also called magnetic field orientation control, which is to separately control exciting current and torque current of a three-phase alternating current motor by a rotor magnetic field orientation principle, so that the torque control effect of the three-phase alternating current motor reaches an excellent level similar to that of a direct current motor.
Feedback braking: and the permanent magnet synchronous motor works in a braking mode of reducing speed in a power generation state.
Short circuit braking: and a braking mode of short circuit of the three-phase windings of the permanent magnet synchronous motor.
Energy consumption braking: the power resistors are connected to two ends of the bus capacitor of the inverter to brake.
In one embodiment, referring to fig. 1 of the specification, the method for rapidly decelerating a permanent magnet synchronous motor provided by the application includes:
s100, based on the operation working condition of the permanent magnet synchronous motor, identifying an operation working area of the permanent magnet synchronous motor, wherein the operation working area comprises a weak magnetic area and a non-weak magnetic area.
Specifically, in various application scenarios, it is sometimes required that the permanent magnet synchronous motor operates in a field weakening region and operates at a high frequency; it is sometimes desirable to operate the permanent magnet synchronous motor in a non-flux weakening region at low frequencies.
And S200, when the operation working area of the permanent magnet synchronous motor is identified to be the weak magnetic area, controlling and adjusting a D-axis control component value by utilizing a bus voltage regulator, wherein the D-axis control component value comprises a weak magnetic current value and a weak magnetic voltage value.
Specifically, the maximum voltage which can be output by the Q axis is calculated in real time, the double-loop control of the traditional D axis current control loop and the traditional Q axis current control loop is simplified into single D axis current loop control, and therefore in a weak magnetic area, bus voltage is only influenced by a D axis control component, and a bus voltage regulator can be constructed to control a permanent magnet synchronous motor to quickly reduce speed under fixed bus voltage by controlling the D axis control component.
S300, when the operation working area of the permanent magnet synchronous motor is identified as the non-weak magnetic area, controlling and adjusting a Q-axis control component value by utilizing the bus voltage regulator, wherein the Q-axis control component comprises a torque current value and a torque voltage value.
Specifically, if the permanent magnet synchronous motor is in a non-weak magnetic region, the busbar voltage is only affected by the Q-axis component (torque current) in the motor deceleration process (the D-axis current is given to be 0 when the permanent magnet synchronous motor is in the non-weak magnetic region). The torque current is positive, the inverter works in a power supply state at the moment and provides energy for the outside, the torque current is negative, the inverter works in a power generation mode, the energy is reversely poured into the bus capacitor from the motor to cause the bus to pump, and according to the principle, the permanent magnet synchronous motor can be controlled to quickly reduce under the fixed bus voltage by constructing a bus voltage regulator through controlling the Q-axis control component.
And S400, after the bus voltage value of the bus capacitor is adjusted based on the D-axis control component value or the Q-axis control component value in a feedback manner, when the bus voltage value is monitored to be equal to a preset voltage value, the permanent magnet synchronous motor is rapidly decelerated.
Specifically, if the system accelerates the progress of exiting the field weakening, more energy is poured into the bus capacitor, and the bus voltage is increased accordingly, otherwise, the bus voltage is reduced, and finally the purpose of reducing the constant bus voltage is achieved.
In this embodiment, different speed-down control strategies are designed for the permanent magnet synchronous motor according to the working conditions of weak magnetism and non-weak magnetism, so that the bus voltage can be maintained at a fixed high value which can be tolerated by the bus capacitor to quickly speed down under the condition that the bus capacitor is ensured to be safe within the full speed range of the permanent magnet synchronous motor.
In one embodiment, referring to fig. 2 of the present application, on the basis of the embodiment of the foregoing method, step S200, when it is identified that the operation operating area of the permanent magnet synchronous motor is the field weakening area, controls and adjusts the D-axis control component value by using a bus voltage regulator, specifically includes:
s201, sampling the bus voltage in real time;
s202, calculating a voltage limit value of the Q-axis controller in real time based on the sampled bus voltage compacting value; the calculation formula of the voltage limit value is as follows:wherein v is qlim For the Q-axis voltage limit value, U dc Compacting a value, v, for said bus d The voltage value of the D-axis controller;
s203 controls and adjusts the D-axis control component value using the bus voltage regulator based on the voltage limit value.
Specifically, in order to facilitate the control switching between the field weakening region and the non-field weakening region in the deceleration process, the embodiment still maintains the PI regulator of the Q-axis current loop, but in the field weakening region, the given setting of the PI regulator is the maximum value that can be given by the system, that is, the regulator always outputs a calculation formula of the voltage limit value in the field weakening region in a saturated manner, and the calculated forced limit value is calculated.
In this embodiment, for the field weakening region, in the conventional FOC control strategy, the bus voltage is simultaneously affected by the D-axis component (field weakening current) and the Q-axis component (torque current) of the phase current during the motor deceleration. Particularly, the influence degree of the D-axis control component value and the Q-axis control component value on the bus voltage is inconsistent, which brings great difficulty to the control of the bus voltage.
In one embodiment, on the basis of the embodiment of the method, before step S200, that is, before the controlling and adjusting the D-axis control component value by using the bus voltage regulator, the method includes:
controlling a slope controller of the permanent magnet synchronous motor by using the bus voltage regulator, and regulating a slope value of the slope controller to a preset slope value;
and controlling a speed regulator to output the weak current value based on the slope value of the slope controller.
Specifically, the magnitude of the deceleration slope and the bus voltage are in a positive correlation state, and the larger the deceleration slope is, the more energy is reversely poured into the bus capacitor by the permanent magnet synchronous motor control system in a charging mode, so that the larger the bus voltage is; conversely, the smaller the ramp down slope, the smaller the bus voltage.
In this example, for example, referring to fig. 3 of the specification, the bus voltage regulator controls the deceleration slope setting of the slope control module, and the slope control module outputs a rotation speed given value according to the target rotation speed and the rotation speed value fed back by the permanent magnet synchronous motor; the speed regulator outputs a D-axis current given value according to the given value of the rotating speed and the rotating speed value fed back by the permanent magnet synchronous motor; the D-axis current regulator outputs weak magnetic voltage according to the D-axis current given value and the weak magnetic current value Id, and the bus voltage value of the bus capacitor is fed back and regulated by the outputted weak magnetic voltage.
In this embodiment, after entering a constant voltage deceleration link in the field weakening region, the bus voltage regulator controls the magnitude of the bus voltage by controlling the deceleration slope, if the bus voltage does not reach a preset value, the bus voltage regulator increases the slope setting of the slope controller, at this time, the given rotation speed of the system speed loop will approach the preset rotation speed faster, at this time, after passing through the speed controller at the later stage of the bus voltage regulator, the system accelerates the progress of exiting the field weakening, more energy will be poured into the bus capacitor, the bus voltage will rise accordingly, otherwise, the deceleration slope will decrease, and the bus voltage will drop; finally, the purpose of constant bus voltage speed reduction is achieved.
In one embodiment, based on the embodiment of the method, the feedback adjusting the output bus voltage value based on the D-axis control component value of S400 includes:
inputting the weak current value into a current regulator, and outputting the weak voltage value;
and based on the weak voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
Specifically, in this example, as described above, the purpose of controlling the bus voltage is achieved by controlling the deceleration slope in the weak magnetic state, or by controlling the magnitude of the weak magnetic current, so that the bus voltage regulator may also be configured to directly control the weak magnetic current, and after entering the constant voltage deceleration link in the weak magnetic region, the bus voltage regulator may control the magnitude of the bus voltage by controlling the weak magnetic current: and after the weak current value is input into the current regulator, outputting a weak voltage value, and feeding back and regulating the bus voltage value of the bus capacitor according to the weak voltage.
In one embodiment, based on the embodiment of the method, the feedback adjusting the output bus voltage value based on the D-axis control component value of S400 includes:
and based on the weak magnetic current or the weak magnetic voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
Specifically, the bus voltage regulator directly controls the weak current or directly controls the weak voltage to realize the purpose of controlling the bus voltage. In the foregoing description, the final output of the D-axis control component is controlled to be the D-axis voltage, so that the bus voltage regulator can also be constructed to directly control the D-axis voltage, and after entering the constant voltage deceleration link in the field weakening region, the bus voltage regulator can control the magnitude of the bus voltage by controlling the D-axis voltage Ud.
In this embodiment, for example, referring to fig. 4 of the specification, the bus voltage regulator directly controls the D-axis current regulator to output the weak magnetic voltage by transmitting the D-axis current set value to the D-axis current regulator, and the output weak magnetic voltage is used to feedback and regulate the bus voltage value of the bus capacitor; referring to fig. 5 of the specification, the bus voltage regulator directly controls and outputs the weak magnetic voltage, and the bus voltage value of the bus capacitor is fed back and regulated by the outputted weak magnetic voltage.
In one embodiment, on the basis of the embodiment of the method, after S400, that is, after the feedback adjustment of the output bus voltage value based on the D-axis control component value, the method further includes:
and if the bus voltage compacting value is not equal to the preset voltage value, controlling and adjusting the D-axis control component value again by using the bus voltage regulator, and then feeding back and adjusting the bus voltage value of the bus capacitor again.
Specifically, in this embodiment, as described above, after the D-axis control component value is controlled and adjusted by the bus voltage regulator, whether the real-time value of the bus voltage is equal to the preset voltage value is monitored, if the bus voltage does not reach the preset value, the bus voltage regulator increases the given value of the weak magnetic current, because the weak magnetic current is negative, the absolute value of the outputted weak magnetic current is reduced, the system accelerates the process of exiting the weak magnetic, more energy is poured into the bus capacitor, and the bus voltage is increased accordingly; or the bus voltage regulator can increase the given value of Ud, the larger Ud is, the permanent magnet synchronous motor can accelerate to withdraw from weak magnetism, more energy can be poured into the bus capacitor, and the bus voltage can rise.
Otherwise, the bus voltage regulator can reduce the given value of the weak magnetic current, or the bus voltage regulator can reduce the given value of Ud, the bus voltage is reduced, and finally the purpose of constant bus voltage speed reduction is achieved.
In one embodiment, on the basis of the embodiment of the method, before step S300, that is, before the Q-axis control component value is controlled by using the bus voltage regulator, the method includes:
when the permanent magnet synchronous motor is in a power generation mode, controlling a slope controller of the permanent magnet synchronous motor by using the bus voltage regulator, and regulating a slope value of the slope controller to a preset slope value;
and when the permanent magnet synchronous motor is in a power generation mode, controlling the speed regulator to output the weak current value based on the slope value of the slope controller.
Specifically, in this embodiment, when the permanent magnet synchronous motor is in the power generation mode, the magnitude of the deceleration slope and the magnitude of the bus voltage are in a positive correlation state, and the larger the deceleration slope, the more energy will be reversely poured into the bus capacitor by the permanent magnet synchronous motor control system in a charging manner, so the larger the bus voltage will be; conversely, the smaller the ramp down slope, the smaller the bus voltage.
In one embodiment, based on the embodiment of the method, S400, the adjusting the output bus voltage value based on the Q-axis control component value feedback includes:
inputting the torque current value into a current regulator, and outputting the torque voltage value;
and based on the torque voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
Specifically, in this embodiment, as described above, when the permanent magnet synchronous motor is in the non-weak magnetic region, the D-axis current is given to be 0, and at this time, the system may be controlled to be in the power generation mode or the electric mode by controlling the Q-axis current, after entering the constant voltage speed reduction link in the non-weak magnetic region, the bus voltage control link replaces the speed ring to control the Q-axis current to achieve the purpose of controlling the bus voltage, and after inputting the torque current value into the current regulator, the current regulator outputs the torque voltage value; and based on the torque voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
In one embodiment, based on the embodiment of the method, S400, the adjusting the output bus voltage value based on the Q-axis control component value feedback includes:
and based on the torque current or the torque voltage value, feeding back and adjusting the bus voltage value of the bus capacitor according to the rotating speed value of the permanent magnet synchronous motor.
Specifically, the bus voltage regulator directly controls the torque current or directly controls the torque voltage to realize the purpose of controlling the bus voltage. In the foregoing description, the final output of the Q-axis control component is controlled to be the Q-axis voltage, so that the bus voltage regulator can also be constructed to directly control the Q-axis voltage, and after entering the constant voltage deceleration link in the non-flux-weakening region, the bus voltage regulator can control the magnitude of the bus voltage by controlling the Q-axis voltage Uq.
In this embodiment, for example, referring to fig. 6 of the specification, the bus voltage regulator directly controls the QD axis current regulator to output a torque voltage by transmitting a Q axis current set value to the Q axis current regulator, and feedback-adjusts a bus voltage value of the bus capacitor by the output torque voltage; referring to fig. 7 of the specification, the bus voltage regulator directly controls the output torque voltage, and the bus voltage value of the bus capacitor is feedback-regulated by the output torque voltage.
In one embodiment, on the basis of the embodiment of the method, after S400, that is, after the feedback adjustment of the output bus voltage value based on the Q-axis control component value, the method further includes:
and if the bus voltage compacting value is not equal to the preset voltage value, controlling and adjusting the Q-axis control component value again by using the bus voltage regulator based on the rotating speed value of the permanent magnet synchronous motor, and then feeding back and adjusting the bus voltage value of the bus capacitor again.
Specifically, in this embodiment, as described above, after the Q-axis control component value is controlled and adjusted by the bus voltage regulator, whether the real-time bus voltage value is equal to the preset voltage value is monitored.
Controlling the regulated torque current value with a bus voltage regulator: assuming that the motor speed is positive, if the bus voltage does not reach the preset value, the bus voltage regulator will decrease the given value of Iq, when the given value of Iq is negative, the system is in the generation mode, where the bus voltage increases. Otherwise, the output of Iq is increased, and the bus voltage is reduced; assuming that the motor speed is negative (inversion interval), if the bus voltage does not reach the preset value, the bus voltage regulator will increase the given value of Iq, where Iq is positive, and the system is in power generation mode, where the bus voltage increases. Otherwise, the Iq output is reduced, and the bus voltage is reduced.
Controlling the regulated torque voltage value with a bus voltage regulator: if the bus voltage does not reach the preset value, the bus voltage regulator reduces the given value of Uq, and when the given value of Uq is smaller than the motor counter-potential amplitude at the rotating speed, the inverter is in a power generation control mode, and the bus voltage is increased. Otherwise, the output of Uq is increased and the bus voltage is reduced. Assuming that the motor speed is negative (inversion interval), if the bus voltage does not reach the preset value, the bus voltage regulator will increase the given value of Uq (where Uq itself is negative), when the absolute value of Uq is less than the motor counter-potential amplitude at this rotational speed, the system is in power generation mode, where the bus voltage increases. Otherwise, the Uq output is reduced, and the bus voltage is reduced.
Based on the same technical concept, referring to fig. 8 of the specification, the application also provides an operation condition of the permanent magnet synchronous motor, which comprises the following steps:
the identification module 10 is used for identifying an operation working area of the permanent magnet synchronous motor based on the operation working condition of the permanent magnet synchronous motor, wherein the operation working area comprises a weak magnetic area and a non-weak magnetic area;
the control module 20 is configured to control and adjust a D-axis control component value by using a bus voltage regulator when the operation working area of the permanent magnet synchronous motor is identified as the field weakening area, where the D-axis control component value includes a field weakening current value and a field weakening voltage value;
the control module 20 is further configured to control and adjust a Q-axis control component value by using the bus voltage regulator when the operation operating region of the permanent magnet synchronous motor is identified as the non-flux weakening region, where the Q-axis control component includes a torque current value and a torque voltage value;
a feedback module 30 for feedback-adjusting a bus voltage value of the bus capacitor based on the D-axis control component value or the Q-axis control component value;
and the speed reducing module 40 is configured to perform rapid speed reduction on the permanent magnet synchronous motor when the bus voltage value is monitored to be equal to a preset voltage value after the bus voltage value of the bus capacitor is adjusted based on the D-axis control component value or the Q-axis control component value.
The rapid deceleration device of the permanent magnet synchronous motor and the rapid deceleration method of the permanent magnet synchronous motor have the same technical conception, the technical details of the two embodiments can be mutually applicable, and the repetition is reduced, so that the repeated description is omitted.
It will be apparent to those skilled in the art that the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described embodiments of the apparatus are exemplary only, and exemplary, the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, exemplary, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (11)
1. A method for rapidly decelerating a permanent magnet synchronous motor, comprising:
identifying an operation working area of the permanent magnet synchronous motor based on the operation working condition of the permanent magnet synchronous motor, wherein the operation working area comprises a weak magnetic area and a non-weak magnetic area;
when the operation working area of the permanent magnet synchronous motor is identified as the weak magnetic area, controlling and adjusting a D-axis control component value by utilizing a bus voltage regulator, wherein the D-axis control component value comprises a weak magnetic current value and a weak magnetic voltage value;
when the operation working area of the permanent magnet synchronous motor is identified as the non-weak magnetic area, controlling and adjusting a Q-axis control component value by utilizing the bus voltage regulator, wherein the Q-axis control component comprises a torque current value and a torque voltage value;
and after the bus voltage value of the bus capacitor is fed back and regulated based on the D-axis control component value or the Q-axis control component value, when the bus voltage value is monitored to be equal to a preset voltage value, the permanent magnet synchronous motor rapidly decelerates.
2. The method of claim 1, wherein when the operation area of the permanent magnet synchronous motor is identified as the field weakening area, the method further comprises controlling and adjusting the D-axis control component value by using a bus voltage regulator, and further comprising:
sampling the bus voltage in real time;
based onSampling a bus voltage compacting value, and calculating a voltage limit value of the Q-axis controller in real time; the calculation formula of the voltage limit value is as follows:wherein v is qlim For the Q-axis voltage limit value, U dc Compacting a value, v, for said bus d The voltage value of the D-axis controller;
based on the voltage limit value, the bus voltage regulator is utilized to control the regulation of the D-axis control component value.
3. A method for rapid deceleration of a permanent magnet synchronous motor according to claim 1, comprising, prior to said controlling the D-axis control component value by using a bus voltage regulator:
controlling a slope controller of the permanent magnet synchronous motor by using the bus voltage regulator, and regulating a slope value of the slope controller to a preset slope value;
and controlling a speed regulator to output the weak current value based on the slope value of the slope controller.
4. The method for rapid deceleration of a permanent magnet synchronous motor according to claim 1, further comprising, after said feedback adjusting the output bus voltage value based on said D-axis control component value:
and if the bus voltage compacting value is not equal to the preset voltage value, controlling and adjusting the D-axis control component value again by using the bus voltage regulator, and then feeding back and adjusting the bus voltage value of the bus capacitor again.
5. The method for rapid deceleration of a permanent magnet synchronous motor according to claim 1, wherein said feedback adjusting the output bus voltage value based on said D-axis control component value comprises:
inputting the weak current value into a current regulator, and outputting the weak voltage value;
and based on the weak voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
6. The method for rapid deceleration of a permanent magnet synchronous motor according to any of claims 1-5, wherein said feedback adjusting the output bus voltage value based on said D-axis control component value comprises:
and based on the weak current value or the weak voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
7. A method for rapid deceleration of a permanent magnet synchronous motor according to claim 1, comprising, prior to said controlling the Q-axis control component value by using a bus voltage regulator:
when the permanent magnet synchronous motor is in a power generation mode, controlling a slope controller of the permanent magnet synchronous motor by using the bus voltage regulator, and regulating a slope value of the slope controller to a preset slope value;
and when the permanent magnet synchronous motor is in a power generation mode, controlling the speed regulator to output the weak current value based on the slope value of the slope controller.
8. The method for rapid deceleration of a permanent magnet synchronous motor according to claim 1, further comprising, after said adjusting the output bus voltage value based on said Q-axis control component value feedback:
and if the bus voltage compacting value is not equal to the preset voltage value, controlling and adjusting the Q-axis control component value again by using the bus voltage regulator based on the rotating speed value of the permanent magnet synchronous motor, and then feeding back and adjusting the bus voltage value of the bus capacitor again.
9. The method for rapid deceleration of a permanent magnet synchronous motor according to claim 1, wherein said adjusting the output bus voltage value based on said Q-axis control component value feedback comprises:
inputting the torque current value into a current regulator, and outputting the torque voltage value;
and based on the torque voltage value, feeding back and adjusting the bus voltage value of the bus capacitor.
10. The method for rapid deceleration of a permanent magnet synchronous motor according to any of claims 1, 7-9, wherein said adjusting the output bus voltage value based on said Q-axis control component value feedback comprises:
and based on the torque current value or the torque voltage value, feeding back and adjusting the bus voltage value of the bus capacitor according to the rotating speed value of the permanent magnet synchronous motor.
11. A rapid deceleration device for a permanent magnet synchronous motor, comprising:
the identification module is used for identifying an operation working area of the permanent magnet synchronous motor based on the operation working condition of the permanent magnet synchronous motor, wherein the operation working area comprises a weak magnetic area and a non-weak magnetic area;
the control module is used for controlling and adjusting a D-axis control component value by utilizing a bus voltage regulator when the operation working area of the permanent magnet synchronous motor is identified as the weak magnetic area, wherein the D-axis control component value comprises a weak magnetic current value and a weak magnetic voltage value;
the control module is further used for controlling and adjusting a Q-axis control component value by utilizing the bus voltage regulator when the operation working area of the permanent magnet synchronous motor is identified as the non-weak magnetic area, wherein the Q-axis control component comprises a torque current value and a torque voltage value;
the feedback module is used for feeding back and adjusting the bus voltage value of the bus capacitor based on the D-axis control component value or the Q-axis control component value;
and the speed reducing module is used for feeding back and adjusting the bus voltage value of the bus capacitor based on the D-axis control component value or the Q-axis control component value, and then rapidly reducing the speed of the permanent magnet synchronous motor when the bus voltage value is monitored to be equal to a preset voltage value.
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