KR20160141942A - Method for controlling motor - Google Patents

Method for controlling motor Download PDF

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KR20160141942A
KR20160141942A KR1020150077585A KR20150077585A KR20160141942A KR 20160141942 A KR20160141942 A KR 20160141942A KR 1020150077585 A KR1020150077585 A KR 1020150077585A KR 20150077585 A KR20150077585 A KR 20150077585A KR 20160141942 A KR20160141942 A KR 20160141942A
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speed
current
torque
operation mode
motor
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KR1020150077585A
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KR101693427B1 (en
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이은우
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엘에스산전 주식회사
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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
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The present invention relates to a motor control method. According to an embodiment of the present invention, the motor control method comprises the following steps of: measuring current speed and current torque of a motor; comparing the current speed with predetermined reference speed and comparing the current torque with predetermined reference torque to determine a driving mode of the motor; and controlling driving of the motor in accordance with the determined driving mode. According to the present invention, a driving mode of an IPMSM can be accurately determined in accordance with speed and torque of the IPMSM.

Description

[0001] METHOD FOR CONTROLLING MOTOR [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control method, and more particularly, to a control method of an Interior Permanent Magnet Synchronous Machine (IPMSM).

The permanent magnet type synchronous motor is advantageous in that the output torque per unit volume is larger than that of the induction motor and the efficiency is excellent. However, there is a disadvantage that the permanent magnet used in the permanent magnet type synchronous motor is expensive, and that the inverter is used because it can not be operated by directly turning on the commercial power source. However, there is no need to add an additional inverter when the inverter is already used for the induction motor operation. Recently, as the price of the permanent magnet has been decreasing, a permanent magnet type synchronous motor .

The permanent magnet type synchronous motor is divided into a surface mount type permanent magnet synchronous motor and a recessed permanent magnet synchronous motor depending on the position of the permanent magnet in the rotor. In the case of embedded permanent magnet synchronous motor (IPMSM), it is possible to use the reluctance torque generated by the difference of the inductance of the D axis and the Q axis in addition to the magnetic torque. When the reluctance torque is used, Can be generated.

In addition, when the IPMSM is operating at high speed, a larger torque can be used by increasing the current in the D axis to a negative value. This operation is called "field weakening operation". If the product of the D-axis inductance of the IPMSM and the rated current is larger than the counter electromotive force constant, the infinite weak field operation is possible. In order to perform the infinite weak field operation, the IPMSM is operated in the maximum torque per- It is necessary to operate.

An object of the present invention is to provide an electric motor control method for accurately determining an operation mode of an IPMSM in accordance with the speed and torque of a recessed permanent magnet synchronous motor (IPMSM).

It is another object of the present invention to provide an electric motor control method capable of realizing weak field operation control including MTPV operation of an IPMSM in real time.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to an aspect of the present invention, there is provided an electric motor control method comprising: measuring a current speed and a current torque of a motor; comparing the current speed with a predetermined reference speed; comparing the current torque with a predetermined reference torque Determining an operation mode of the electric motor, and controlling the operation of the electric motor in accordance with the determined operation mode.

According to the present invention as described above, the operation mode of the IPMSM can be accurately determined according to the speed and torque of the IPMSM.

According to the present invention, there is an advantage that the weak field operation control including the MTPV operation of the IPMSM can be performed in real time.

1 is a view for explaining a weak field driving method of a motor according to a related art.
2 is a graph showing the magnitude of the torque that can be generated according to the speed of the IPMSM and the operation mode.
3 is a graph showing trajectories of D-axis current and Q-axis current according to the operation mode of IPMSM.
4 is a flowchart of an electric motor control method according to an embodiment of the present invention.
5 is a detailed flowchart of step 404 of FIG.

The above and other objects, features, and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, which are not intended to limit the scope of the present invention. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to denote the same or similar elements.

1 is a block diagram for explaining a weak field operating method of an electric motor according to the prior art.

Referring to FIG. 1, a permanent magnet synchronous motor 102 according to the related art is supplied with a drive current by an inverter controlled by a PWM control circuit 112 to be switched. The angle? Of the rotor included in the permanent magnet synchronous motor 102 is measured through the position sensor 104 and the speed? Of the rotor is measured by the speed detector 114 do. Further, the measured angle [theta] is transmitted to the conversion unit 108 and the measured speed [omega] is transmitted to the weak field control unit 106, respectively.

The weak field control unit 106 generates the D axis current command i d * and the Q axis current command i q * in consideration of the torque command T * and the speed of the rotor input from the outside , The conversion unit 108 converts the D axis current command i d * and the Q axis current command i q * into the U phase current command i u * and the V phase current command i v *, respectively .

The U phase current command i u * and the V phase current command i v * output from the converter 108 are converted into three phase voltages V u *, V v * and V w * And the PWM control circuit 112 outputs a switching signal for driving the inverter based on the input three-phase voltages V u *, V v *, and V w *.

1, the D-axis current command i d * and the Q-axis current command i q * for operating the permanent magnet synchronous motor 102 in the weak field mode according to the related art are supplied from the outside Is determined by the input torque command T * and the speed of the rotor [omega]. However, in the prior art, since the MTPV mode is not considered at all during the weak field operation of the permanent magnet type synchronous motor 102, there is a disadvantage that it is difficult to use a larger torque in the weak field operation. Further, in the prior art, the voltage drop due to the stator resistance is not considered in the weak field operation of the permanent magnet type synchronous motor 102, which makes it difficult to control the field weakening more accurately.

2 is a graph showing the magnitude of torque that can be generated according to the speed of the IPMSM and the operation mode.

As in the case of the torque curve 202 of FIG. 2, the IPMSM which does not perform the MTPA (Maximum Torque Per Ampere) operation and the weak field (FW) operation has the smallest torque region. Also, in the case of the IPMSM that performs only the MTPA operation like the torque curve 204, the torque value is higher than the torque curve 202 at the beginning, but the torque does not occur after 1000 rpm. It is also possible to have a much wider torque region than the torque curve 202 or the torque curve 204 for an IPMSM that performs MTPA operation using the maximum D axis current command, such as the torque curve 206.

Also, as in the torque curve 208 of FIG. 2, the IPMSM performing the weak field operation has a relatively larger torque region. At this time, when the case 210 involving the MTPV operation is compared with the case 212 Indicating a wider torque region.

Meanwhile, the magnitude of the torque of the IPMSM shown in FIG. 2 can be expressed as follows.

Figure pat00001

Equation 1 in T e is the torque generated in the IPMSM, λ f is the magnetic flux density of a rotor of IPMSM [Wb], L d is D-axis inductance, L q is Q-axis inductance, i d is a D-axis current, and i q represents the Q-axis current, respectively.

3 is a graph showing trajectories of the D-axis current and the Q-axis current according to the operation mode of the IPMSM.

During operation of the IPMSM, the D-axis current (i d ) and the Q-axis current (i q ) are used to utilize the reluctance torque. 3 shows a current limit curve 302 and a voltage limit curve 306, 308 and 310, respectively, due to the rated current of the inverter, the electric current of the motor, and the speed of the rotor, along with the trajectory of the current during operation of the IPMSM have. In Figure 3, the voltage limiting curve 308 is smaller when the speed of the rotor is greater than the voltage limiting curve 306 when the rotor speed is lower.

3 shows an MTPA operation curve 310 and a weak field operation curve 312 of the IPMSM, respectively. As shown in FIG. 3, the IPMSM controls the operation in which the maximum torque per unit current can be obtained in the constant torque operation region (only the current limit curve affects the IPMSM drive), that is, along the MTPA operation curve 310 do.

Thereafter, when the MTPA operation curve 310 meets the voltage limit curve 308, the constant torque operation is terminated and the weak field operating region (the region where both the voltage limit curve and the current limit curve affect the IPMSM drive) is started. The IPMSM is thus controlled along the weak field operation curve 312.

3, when the IPMSM operates in the weak field operation mode, when the MTPV operation is not accompanied (314), the Q-axis current of the IPMSM becomes zero, and the torque of the IPMSM becomes zero. However, when the IPMSM is operated in the weak field operation mode, if the MTPV operation is accompanied (316), the IPMSM can generate additional torque in the latter half of the weak field operation, thereby widening the entire torque region.

Accordingly, in the present invention, in order to accurately control the IPMSM to operate in the MTPA operation mode, the weak field operation mode, and the MTPV operation mode as shown in FIG. 3, the current speed and the current torque of the IPMSM are compared with the reference speed and the reference torque, To determine the operation mode of the IPMSM.

4 is a flowchart of an electric motor control method according to an embodiment of the present invention.

Referring to FIG. 4, the current speed and the current torque of the motor are measured (402). Hereinafter, the current speed of the motor means the speed (? R ) of the rotor included in the motor. The current torque of the motor means the magnitude (T e ) of the torque generated by the motor.

Next, the current speed of the electric motor is compared with a predetermined reference speed, and the current mode of the electric motor is determined by comparing the current torque of the electric motor with a predetermined reference torque (404). In one embodiment of the present invention, the reference velocity may include a first reference velocity, a second reference velocity, and a third reference velocity. The first reference speed means a speed when the constant torque operation of the motor is terminated and the second reference speed means a speed when the MTPA operation of the motor is terminated. The third reference speed means the speed at which the MTPV operation of the motor starts.

FIG. 5 shows a detailed flowchart of step 404 of FIG.

Prior to the comparison process as shown in FIG. 5, the first reference speed, the second reference speed, and the third reference speed are respectively determined for comparison with the current speed of the electric motor.

First, the D-axis current and the Q-axis current can be expressed by the following formula when MTPA operation is performed.

Figure pat00002

Figure pat00003

If the D axis current I dm and the Q axis current I qm of Equations (2) and (3) are respectively substituted into Equation (1), the maximum torque generated in the IPMSM during the MTPA operation is expressed as Can be calculated.

Figure pat00004

The first reference speed? RM corresponds to the voltage limit curve 306 in FIG. 3 at the speed at which the MTPA operation of the electric motor, that is, the constant torque operation, ends, and is defined as follows.

Figure pat00005

The second reference speed? RC is the speed at which the MTPA operation of the motor is terminated and the weak field operation is started. As the speed of the motor increases, the voltage limit curve 308 becomes smaller, ). ≪ / RTI > That is, a denotes the second reference speed (ω rC) voltage limit curve 308, the second reference speed (ω rC) in Figure 3 is defined as follows:

Figure pat00006

V m In Equation 6 shows the current voltage during driving of the electric motor.

Third reference speed (ω rV) is substituted into the speed, MTPV curve 316 and the current limit circle 302, the voltage limit, then the point obtained that meets the conditions in Figure 3 when the MTPV operation of the electric motor is started Can be obtained. 3, MTPV curve 316 is a set of points at which a constant torque curve (e.g., 318) and a voltage limit curve (e.g., 310) meet.

In general, for any function f (x, y) = 0, the slope at the point (x, y) is calculated using the partial derivatives as follows.

Figure pat00007

Applying the partial derivative of [Equation 7] to the torque expression shown in [Equation 1] is as follows.

Figure pat00008

Also, applying the partial derivative of [Equation 7] to the voltage limiting curve expression shown in [Equation 5] is as follows.

Figure pat00009

Since the MTPV curve 316 is a point at which a constant torque curve (for example, 318) and a voltage limit curve (for example, 310) meet, equations (8) and (9) .

Figure pat00010

The curve expressed by Equation (10) converges to a specific curve as? R becomes larger, which is expressed as follows.

Figure pat00011

In Equation (11), the current limitation condition (

Figure pat00012
), The following quadratic equation appears, and the D-axis current can be obtained by solving the quadratic equation.

Figure pat00013

Solving Equation (12), the D-axis current (i dV ) can be obtained as follows. The D-axis current can obtain only one solution effective from the two solutions using the negative condition.

Figure pat00014

The Q-axis current (i qV ) is obtained by substituting the D-axis current obtained by the formula (13) into the current restriction condition, and then the D-axis current and the Q-axis current are substituted into the voltage restriction condition. ω rV ).

Figure pat00015

In Equation (14), the final value of the third reference speed? RV takes a larger value among the two solutions as shown in Equation (15).

Figure pat00016

In one embodiment of the present invention, the first reference speed? RM , the second reference speed? RC , and the third reference speed? RV are determined according to the above procedure, and the determined reference speed and the current speed .

Also, in one embodiment of the present invention, the reference torque is determined as follows for comparison with the current torque of the electric motor.

In order to determine the reference torque T eb , the MTPA conditions such as [Equation 16] and the voltage restriction conditions such as [Equation 17] are used.

Figure pat00017

Figure pat00018

(19) can be obtained by substituting i d 'defined as in (18) into (16).

Figure pat00019

Figure pat00020

Substituting i d 'defined in [Equation 18] into Equation 17 results in the same result as Equation 20.

Figure pat00021

(20) is summarized as Equation (21). Equation 21 computes the roots using a Newton method with a quadratic polynomial, and uses positive values among the two real roots.

Figure pat00022

The D-axis current i d can be calculated by calculating the Q-axis current (i q ) and substituting it into the equation (22).

Figure pat00023

The reference torque T eb can be determined by substituting the calculated D-axis current i d and Q-axis current i q into the equation (1).

Referring again to FIG. 5, in step 404 of FIG. 4, the current speed? R of the electric motor is divided into a first reference speed? RM , a second reference speed? RC , compared to the (ω rV), and compared to the current torque (T b) the reference torque (T eb) determined as above, the electric motor and determines the operation mode of the electric motor.

As shown in FIG. 5, first, the current speed is compared with the first reference speed (502). If the current speed is smaller than the first reference speed, the operation mode of the motor is determined as the MTPA operation mode (510).

If the current speed is greater than the first reference speed as a result of the comparison at step 502, the current speed is compared with the second reference speed at step 504. If the current speed is greater than the second reference speed in step 504, the current speed is compared with the third reference speed in step 508; otherwise, the current torque is compared with the reference torque in step 506.

If the current torque is greater than the reference torque in step 506, the operation mode of the electric motor is determined as the MTPA operation mode 510. [ If the current torque is smaller than the reference torque in step 506, the operation mode of the electric motor is determined as the weak field operation mode 512. [

If the current speed is smaller than the third reference speed in step 508, the operation mode of the electric motor is determined as the weak field operation mode 512. [ If the current speed is greater than the third reference speed in step 508, the operation mode of the motor is determined as the MTPV operation mode 514. [

Referring again to FIG. 4, the operation of the electric motor is controlled according to the operation mode determined in step 404 (406). In an embodiment of the present invention, step 406 may include generating a D-axis current command and a Q-axis current command to be input to the motor when the determined operation mode is the weak field operation mode or the MTPV operation mode.

When calculating the current command in the weak field operation mode or MTPV operation mode, the torque command (T e ) and the voltage limit curve can be concatenated to obtain the solution as follows. The Q-axis current is canceled by using the voltage limiting curve and the torque expression of Equation (1), as shown in Equation (23).

Figure pat00024

(23) can be summarized as shown in Equation (24).

Figure pat00025

(24) is summarized as the following equation (25).

Figure pat00026

The quadratic polynomial in (25) can be solved by the Newton's method to obtain the D-axis current command (i d ). The Q-axis current command ( iq ) can be obtained by substituting the D-axis current (i d ) into the equation (1). Thus obtained D-axis current command (i d) and the Q-axis current command (i q) can be used to control the motor to operate in field-weakening operation mode or operation mode MTPV.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, But the present invention is not limited thereto.

Claims (6)

Measuring a current speed and a current torque of the electric motor;
Comparing the current speed with a predetermined reference speed and comparing the current torque with a predetermined reference torque to determine an operation mode of the electric motor; And
And controlling the operation of the electric motor according to the determined operation mode
The motor control method comprising:
The method according to claim 1,
The reference speed
A first reference speed that is a speed at which the constant torque operation of the electric motor ends;
A second reference speed that is a speed at which the MTPA operation of the motor ends; And
And a third reference speed which is a speed at which the MTPV operation of the motor starts
Motor control method.
3. The method of claim 2,
The step of determining the operation mode of the electric motor
When the current speed is greater than the first reference speed, the current speed is less than the second reference speed, and the current torque is less than the reference torque; or
If the current speed is greater than the first reference speed, the current speed is greater than the second reference speed, and the current speed is less than the third reference speed
And determining the operation mode of the electric motor as a weak field operation mode
Motor control method.
3. The method of claim 2,
The step of determining the operation mode of the electric motor
If the current speed is greater than the first reference speed, the current speed is greater than the second reference speed, and the current speed is greater than the third reference speed
And determining an operation mode of the electric motor as an MTPV operation mode
Motor control method.
3. The method of claim 2,
The step of determining the operation mode of the electric motor
When the current speed is less than the first reference speed; or
If the current speed is greater than the first reference speed, the current speed is less than the second reference speed, and the current torque is greater than the reference torque
And determining an operation mode of the electric motor as an MTPA operation mode
Motor control method.
The method according to claim 1,
The step of controlling the operation of the electric motor
And generating a D-axis current command and a Q-axis current command to be input to the motor when the determined operation mode is the weak field operation mode or the MTPV operation mode
Motor control method.
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CN107959452A (en) * 2017-12-05 2018-04-24 湖南大学 A kind of operating current of permanent magnet synchronous motor determines method and device
CN108390612A (en) * 2018-03-13 2018-08-10 江西精骏电控技术有限公司 A kind of field weakening control method of the permanent magnet synchronous motor based on lookup table mode
CN109286346A (en) * 2017-07-20 2019-01-29 南通杰夫电气有限公司 Permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function
CN109412481A (en) * 2018-10-31 2019-03-01 天津工业大学 Electric car permanent magnet synchronous motor current feed-forward-Voltage Feedback field weakening control method
CN110581680A (en) * 2019-11-11 2019-12-17 南京埃斯顿自动化股份有限公司 Vector control and flux weakening method and system of embedded permanent magnet synchronous motor
CN111082728A (en) * 2019-12-11 2020-04-28 珠海格力电器股份有限公司 Control method and control system for low-speed full-load starting of oil pump motor
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CN111682814A (en) * 2020-06-09 2020-09-18 广州小鹏汽车科技有限公司 Method and device for determining external characteristic parameters of motor system, electronic equipment and medium
CN112234896A (en) * 2020-09-22 2021-01-15 武汉光庭信息技术股份有限公司 MTPV compensation method and system for driving permanent magnet synchronous motor
WO2021031685A1 (en) * 2019-08-21 2021-02-25 中车永济电机有限公司 Control modulation method for high power direct drive permanent magnet synchronous motor
CN112468033A (en) * 2020-12-21 2021-03-09 哈尔滨工业大学 Permanent magnet synchronous motor maximum power control current track searching method and online control method
WO2022134751A1 (en) * 2020-12-21 2022-06-30 哈尔滨工业大学 Current trajectory searching method based on maximum power optimal control and full-speed domain efficiency optimal control of permanent magnet synchronous motor
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CN109286346A (en) * 2017-07-20 2019-01-29 南通杰夫电气有限公司 Permanent magnet synchronous motor MTPA control method based on the fitting of unitary linear function
CN107959452A (en) * 2017-12-05 2018-04-24 湖南大学 A kind of operating current of permanent magnet synchronous motor determines method and device
CN107959452B (en) * 2017-12-05 2019-08-20 湖南大学 A kind of operating current of permanent magnet synchronous motor determines method and device
CN108390612A (en) * 2018-03-13 2018-08-10 江西精骏电控技术有限公司 A kind of field weakening control method of the permanent magnet synchronous motor based on lookup table mode
CN108390612B (en) * 2018-03-13 2022-03-11 江西精骏电控技术有限公司 Permanent magnet synchronous motor flux weakening control method based on table lookup mode
CN109412481B (en) * 2018-10-31 2021-10-26 天津工业大学 Current feedforward-voltage feedback flux-weakening control method for permanent magnet synchronous motor of electric automobile
CN109412481A (en) * 2018-10-31 2019-03-01 天津工业大学 Electric car permanent magnet synchronous motor current feed-forward-Voltage Feedback field weakening control method
CN111245317A (en) * 2018-11-28 2020-06-05 安徽美芝精密制造有限公司 Control method of motor, air conditioner and computer readable storage medium
WO2021031685A1 (en) * 2019-08-21 2021-02-25 中车永济电机有限公司 Control modulation method for high power direct drive permanent magnet synchronous motor
CN110581680A (en) * 2019-11-11 2019-12-17 南京埃斯顿自动化股份有限公司 Vector control and flux weakening method and system of embedded permanent magnet synchronous motor
CN111082728A (en) * 2019-12-11 2020-04-28 珠海格力电器股份有限公司 Control method and control system for low-speed full-load starting of oil pump motor
CN111682814A (en) * 2020-06-09 2020-09-18 广州小鹏汽车科技有限公司 Method and device for determining external characteristic parameters of motor system, electronic equipment and medium
CN112234896A (en) * 2020-09-22 2021-01-15 武汉光庭信息技术股份有限公司 MTPV compensation method and system for driving permanent magnet synchronous motor
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