CN103701384B - Internal permanent magnet synchronous motor field weakening control method - Google Patents
Internal permanent magnet synchronous motor field weakening control method Download PDFInfo
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Abstract
The invention provides a kind of internal permanent magnet synchronous motor field weakening control method, when non-territory, weak magnetic area, carry out motor speed closed-loop control: der Geschwindigkeitkreis exports the current instruction value for q axle
, the current instruction value of d axle
by
calculate according to MTPA relation;
,
with their actual feedback i
d, i
qcarry out closed-loop control, export the voltage instruction value obtaining d axle and q axle; Difference amplitude limiting processing: judge whether to enter territory, weak magnetic area; When entering territory, weak magnetic area, output voltage amplitude control PI controller control work, output voltage amplitude controls pi regulator to carry out difference amplitude limiting processing and exports Δ i
q; When not entering, output voltage amplitude control PI controller does not work, and its output is 0; When entering territory, weak magnetic area, after the output of der Geschwindigkeitkreis is only used as to be calculated by MTPA, as the current instruction value of d axle; Output and the Δ i of the der Geschwindigkeitkreis of the last bat in weak magnetic area will be entered
qand as the current instruction value of weak magnetic area q axle.
Description
Technical field
The invention belongs to internal permanent magnet synchronous motor field, be applied particularly to the weak magnetics detect of the internal permanent magnet synchronous motor needing large speed adjustable range.
Background technology
Permagnetic synchronous motor is replaced by the DC excitation winding permanent magnet of Wound-rotor type synchronous machine.Its advantage compares with asynchronous machine, and without excitation winding copper loss, have very high power density, therefore electric efficiency is very high, and the inertia of rotor is less, and the structural strength of rotor is also very high.Due to above advantage, present middle low power electric automobile generally all can select permagnetic synchronous motor as the traction electric machine of automobile.
Permagnetic synchronous motor is divided into face to fill formula and built-in two kinds.The permanent magnet of face dress formula motor is arranged on the surface of rotor equably, and therefore its excitation field is also uniform, and the magnetizing inductance on d axle and q direction of principal axis is also identical.And built-in motor is just in time contrary, its excitation field is uneven, and d axle and the magnetizing inductance on q direction of principal axis are not identical yet, and general d axle inductance can be less than q axle inductance.Due to this difference, determine the feature that two kinds of motors are different, the control of face dress formula motor is simple, and weak magnetic is easy to realize, but its Driving Torque is less, and weak magnetic narrow range, general higher than after a bit of scope of rated speed, the magnetic field of permanent magnet will be reduced to the limit, even if increase demagnetization current again, the effect of weak magnetic is also very little, the rotating speed thus motor reaches capacity.Although built-in motor controls can be complicated a lot, weak magnetics detect is very difficult, and it can provide reluctance torque, as long as the parameter of electric machine is reasonable in theory, can reach infinitely great rotating speed, and in reality, good weak magnetics detect can make debugging scope can reach 4 ~ 8 times of fundamental frequency.Therefore, present electric automobile generally uses internal permanent magnet synchronous motor.
The weak magnetic of internal permanent magnet synchronous motor is the difficult point that this motor uses always.The method the most easily realized is computing method of formula, namely according to the parameter of electric machine and operating mode, calculates motor each switching point in weak magnetic area, at different points, calculates reference current and the voltage instruction of motor with diverse ways.But the calculating that the problem of this method is switching point relies on parameter of electric machine accuracy completely, therefore use in reality, due to the switching point and the actual deviation switched that calculate, motor operating mode can be caused to suddenly change, and inverter overcurrent.
Another kind method is according to a large amount of test datas, analyzes each working point of motor, and is stored in the internal memory of electric machine controller by these data, when motor uses, and the real-time track planning the working point of motor by tabling look-up.The problem of this method is, for different motors, all needs to carry out a large amount of tests, does not possess portability.
Present most popular method is negative magnetic linkage current compensational method, and it adds an output voltage vector amplitude and controls on the basis of traditional der Geschwindigkeitkreis and electric current loop.When not entering weak magnetic area, output voltage vector amplitude controls not work, and der Geschwindigkeitkreis obtains total current phasor amplitude command value
then distributed by the electric current of magnetic linkage axle (d axle) and torque axis (q axle), obtain the current instruction value of d axle and q axle two current PI adjusters
current regulator exports the output voltage command value of two axles
after entering weak magnetic area, output voltage vector amplitude controls to start working, and it is by the quadratic sum of the output voltage command value of d axle and q axle two current PI adjusters
with getable maximum output voltage vector value u
smaxcarry out PI adjustment, make the output voltage of electric machine controller remain on linear zone, adjuster exports and compensates d shaft current, makes it move to negative method, thus realizes machine operation and press voltage trace and carry out weak magnetic.
The problem of negative magnetic linkage current compensational method is, the continuous rising of rotating speed thereupon, the stability degradation of negative magnetic linkage current compensational method.In weak magnetic area, negative magnetic linkage current compensation makes negative current amplitude on d axle
continuous increase, corresponding d shaft voltage
amplitude also increase, make on the contrary
for the trend increased, it is by continuous reduction
in, the ratio shared by q shaft current, namely
reduce q shaft voltage u
q, thus keep
this is that one keeps output voltage to equal u indirectly in fact
smax.On the one hand
the requirement of weak magnetic should be met, on the other hand,
be
function, namely we will pass through
meet output voltage and equal u
smax, namely the current regulator of d axle and q axle is all subject to
impact, be coupled, and when these two aspects requires, be contradiction.Therefore the stability of the method declines with rotating speed, and proportional, integral (PI) controller parameter of output voltage vector amplitude control is due to the constraint of two mentioned above aspects, be very difficult to design, to attempt repeatedly, can only be often integral form (I) by Controller gain variations, if additional proportion (P), system is unstable possibly.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of internal permanent magnet synchronous motor field weakening control method, do not rely on the parameter of electric machine, and improves the stability of a system when regulating.
The present invention for solving the problems of the technologies described above taked technical scheme is: a kind of internal permanent magnet synchronous motor field weakening control method, is characterized in that: it comprises the following steps:
Step one, when non-territory, weak magnetic area, carry out motor speed closed-loop control:
Der Geschwindigkeitkreis exports the current instruction value for torque axis and q axle
the current instruction value of magnetic linkage axle and d axle
by
calculate according to MTPA relation;
with their actual feedback i
d, i
qcarry out closed-loop control, export the voltage instruction value obtaining d axle and q axle
Step 2, difference amplitude limiting processing:
First judge whether to enter territory, weak magnetic area: will
with maximum output voltage u
smaxcompare, difference is
if Δ u<0, illustrate and start to enter territory, weak magnetic area;
As Δ u<0, output voltage amplitude control PI controller control work, output voltage amplitude controls pi regulator to carry out difference amplitude limiting processing to Δ u and exports Δ i
q;
When Δ u >=0, output voltage amplitude control PI controller does not work, and its output is 0;
Step 3, when entering territory, weak magnetic area, the output of der Geschwindigkeitkreis
only be used as calculated by MTPA after, as the current instruction value of d axle; The output of the der Geschwindigkeitkreis entering the last bat in weak magnetic area is designated as
with Δ i
qand as the current instruction value of weak magnetic area q axle
Beneficial effect of the present invention is: utilize this method to carry out weak magnetics detect to internal permanent magnet synchronous motor, do not rely on the parameter of electric machine, and when weak magnetics detect, d axle and q shaft current adjuster are decoupling zeros, the constraints meeting voltage limit ellipse is only responsible for by q shaft current adjuster, d shaft current adjuster is responsible for weak magnetic and the output of response der Geschwindigkeitkreis of rotor permanent magnet, the stability of system is improved, and the PI controller parameter that output voltage vector amplitude controls is very easy to design, even if by P optimum configurations greatly a bit, system is still stablized, same set of PI parameter may be used for multiple electric machine controller.
Accompanying drawing explanation
Fig. 1 is biphase current flat stator voltage vector, stator current vector.
Fig. 2 is rotating speed and weak magnetics detect block diagram.
Fig. 3 is speed waveform when adopting the inventive method.
Stator d axle when Fig. 4 is employing the inventive method and q shaft voltage waveform.
Fig. 5 is speed waveform when adopting the weak magnetic of negative magnetic linkage current compensational method.
In figure: 1: the first comparator, 2: speed regulator, 3:MTPA, 4: the last bat current instruction value of weak magnetic, 5: weak magnetic diverter switch, 6: the second comparators, 7: the three comparators, 8:d shaft current adjuster, 9:q shaft current adjuster, 10: two-phase rotational coordinates is tied to the coordinate converter of three-phase static coordinate system, 11:PWM generation module, 12: three-phase static coordinate system is to the coordinate converter of two-phase rotating coordinate system, 13: motor, 14: speed measuring device, 15: integrator, 16: inversion module, 17: output voltage command value amplitude calculates, 18: maximum output voltage command value, 19: the four comparators, 20: difference amplitude limiting processing, 21: output voltage amplitude controller.
Embodiment
Below in conjunction with instantiation and accompanying drawing, the present invention will be further described.
When internal permanent magnet synchronous motor operates in high speed scope, the ratio of the pressure drop that motor stator resistance produces shared by stator voltage is negligible, and now the steady state voltage equation of motor can be described by formula 1.
u
d＝-ωL
qi
q
u
q＝ω(L
di
d+ψ
f)(1)，
Wherein u
d, u
qfor d axle and q spindle motor stator voltage, ω is motor electrical angle speed, L
d, L
qfor motor d axle and q axle magnetizing inductance, ψ
ffor p-m rotor magnetic linkage.
Because the output voltage maximum of electric machine controller is by the restriction of busbar voltage, formula 2 need be met.
U
smaxfor electric machine controller maximum output voltage vector magnitude, when carrying out Frequency conversion control, maximum u can be obtained
smax, for
u
dcfor the busbar voltage of electric machine controller.
By formula 1 and formula 2 simultaneous, obtain formula 3.
Found out by formula 1, when stable state, u
d, u
qbe respectively with d axle and the q axle magnetic linkage L of motor
di
d+ ψ
f, L
qi
qthe back electromotive force produced balances each other.And back electromotive force and motor electrical angle speed omega in direct ratio, along with the rotating speed of motor constantly raises, back electromotive force ω (L
di
d+ ψ
f), ω L
qi
qcan increase thereupon.When reaching certain rotating speed, the maximum voltage of the output of electric machine controller has been not enough to balance back electromotive force, and motor speed can not continue to increase.Rotating speed to motor improves further, just must carry out weak magnetic to motor, namely while ω increases, reduces d axle magnetic linkage L
di
d+ ψ
fwith q axle magnetic linkage L
qi
q.
Formula 3 is actually the equation of an ellipse and inside thereof, and we claim this oval for voltage limit is oval, and this ellipse is with the increase of ω, and the increasing extent comprised is little.Its illustrates the constraint by this ellipse of the d axle of motor and q shaft voltage, can only therein with on limit, and with the raising of rotating speed, this constraint is more and more stronger.
As shown in Figure 1, with variable i
dfor d axle, i
qfor q axle, do current planar coordinate system.Before not entering weak magnetic area, in order to make full use of the reluctance torque of internal permanent magnet synchronous motor, we carry out maximum torque per ampere control (MTPA-MaximumTorqueperAmper) to motor, and the working point of motor is on MTPA curve.The torque needed when us is T
etime, T
ecurve and MTPA curve will meet at A point, this illustrate motor be just operated in A point.If now motor speed ω < ω
1, then motor control and run by the constraint of voltage.
As ω=ω
1time, voltage limit ellipse also meets at A point.If increase rotating speed again, the output voltage of electric machine controller will start the constraint by voltage limit ellipse, and rotating speed can not continue raising.
If we can by the current phasor of motor
move on to B point by A point, then voltage limit ellipse can reduce further, and rotating speed also brings up to ω
2.At this moment due to i
dnegative is more, i
qreduce, reduce d axle magnetic linkage L
di
d+ ψ
fwith q axle magnetic linkage L
qi
q, namely carried out weak magnetic.
The invention provides a kind of internal permanent magnet synchronous motor field weakening control method, comprise the following steps:
Step one, when non-territory, weak magnetic area, carry out motor speed closed-loop control:
Der Geschwindigkeitkreis exports the current instruction value for torque axis and q axle
the current instruction value of magnetic linkage axle and d axle
by
calculate according to MTPA relation;
with their actual feedback i
d, i
qcarry out closed-loop control, export the voltage instruction value obtaining d axle and q axle
Step 2, difference amplitude limiting processing:
First judge whether to enter territory, weak magnetic area: will
with maximum output voltage u
smaxcompare, difference is
if Δ u<0, illustrate and start to enter territory, weak magnetic area;
As Δ u<0, output voltage amplitude control PI controller control work, output voltage amplitude controls pi regulator to carry out difference amplitude limiting processing to Δ u and exports Δ i
q;
When Δ u >=0, output voltage amplitude control PI controller does not work, and its output is 0;
Step 3, when entering territory, weak magnetic area, the output of der Geschwindigkeitkreis
only be used as calculated by MTPA after, as the current instruction value of d axle; The output of the der Geschwindigkeitkreis entering the last bat in weak magnetic area is designated as
with Δ i
qand as the current instruction value of weak magnetic area q axle
First the present invention carries out motor speed closed-loop control, but der Geschwindigkeitkreis exports the current instruction value for torque axis and q axle
instead of I
s, and d shaft current command value
directly by
calculate according to MTPA relation.
with their actual feedback i
d, i
qcarry out closed-loop control, export the voltage instruction value obtaining d axle and q axle
in addition the present invention also comprises an output voltage amplitude control, but the output of this control is to q shaft current command value
regulate, and control to have no effect to d shaft current.The process that output voltage amplitude controls is, will
and u
smaxcompare, difference is
if during Δ u>=0, the proportional-plus-integral controller that output voltage amplitude controls does not work, and its output is 0, if during Δ u<0, explanation starts to enter territory, weak magnetic area, proportional, integral (PI) the controller control work that output voltage amplitude controls.Like this be treated as difference amplitude limiting processing, object makes PI controller before carrying out weak magnetics detect be zero initial condition, and when weak magnetics detect starts, pi regulator can play a role at once.Output voltage amplitude controls pi regulator and exports Δ i
qbe added with q axle command value, obtain the current instruction value of final weak magnetic area q axle
After entering weak magnetic area, the output of der Geschwindigkeitkreis
be not re-used as the command value of q shaft current adjuster, and be only used as calculated by MTPA after, as the command value of d shaft current.Now the current instruction value of q axle is enter the last bat in weak magnetic area
be designated as
with Δ i
qand, namely
until again go out weak magnetic area, when getting back on MTPA curve, the output of der Geschwindigkeitkreis
just be re-used as the command value of q shaft current adjuster.So, q shaft current command value is on the basis of electric current before weak magnetic, is constantly reduced to 0, and its adjuster exports
also be constantly narrow down to 0, meet the constraint of voltage limit ellipse with this; And due to the output of der Geschwindigkeitkreis
continuous increase,
also constantly to move to negative direction, namely move to the left side in Fig. 1.By this weak magnetics detect, the working point of motor just moves to B point by A point, and in this process, do not rely on the parameter of electric machine, and when weak magnetics detect, d axle and q shaft current adjuster are decoupling zeros, the constraints meeting voltage limit ellipse is only responsible for by q shaft current adjuster, d shaft current adjuster is responsible for weak magnetic and the output of response der Geschwindigkeitkreis of rotor permanent magnet, the stability of system is improved, and proportional, integral (PI) controller parameter that output voltage vector amplitude controls is very easy to design, even if by P optimum configurations greatly a bit, system is still stablized, same set of PI parameter may be used for multiple electric machine controller.
Concrete enforcement as shown in Figure 2, the output three-phase current i of frequency converter
a, i
b, i
cobtained by current detecting equipment, by this three-phase current i
a, i
b, i
csend into three-phase static coordinate system in the coordinate converter 12 of two-phase rotating coordinate system, by three-phase current i
a, i
b, i
cbe converted to d axle actual current i in the rotated coordinate system
dwith q axle actual current i
q.The rotational speed omega of motor 13 is obtained by speed measuring device 14, the motor 13 instruction rotational speed omega of ω and controller
*compared by the first comparator 1, the relatively rear speed difference obtained of the first comparator 1, after speed regulator 2, obtains current instruction value
meanwhile,
after MTPA3 calculates, obtain d shaft current command value
when not entering weak magnetic area, weak magnetic diverter switch 5 is closed on A point, namely selects
for the command value of q shaft current adjuster; After entering weak magnetic area, weak magnetic diverter switch 5 is closed on B point, namely selects the last bat current instruction value of weak magnetic
for a part for the command value of q shaft current adjuster.The voltage instruction value of d axle and q axle
carry out output voltage amplitude and calculate 17, will
and u
smaxsend into the 4th comparator 19, difference is
if during Δ u>=0, surface does not also enter weak magnetic area, the output exporting difference amplitude limiting processing 20 is 0, if during Δ u<0, illustrate and start to enter territory, weak magnetic area, output voltage amplitude controller 21 is started working, and output voltage amplitude controller exports Δ i
qwith q axle command value
be added, obtain final q shaft current command value
q shaft current command value passes through the second comparator 6, with q axle actual current i
qcompare, when not entering weak magnetic area, q shaft current command value is
after entering weak magnetic area be
the output of the second comparator 6 is delivered in q shaft current adjuster 9, and the output of q shaft current adjuster 9 is the q shaft voltage reference of motor 13
in like manner d shaft current command value
by the 3rd comparator 7, with d axle actual current i
dcompare, the output of the 3rd comparator 7 is delivered in d shaft current adjuster 8, and the output of d shaft current adjuster 8 is the d shaft voltage reference of motor 13
rotational speed omega carries out integration by integrator 15, obtains the space angle of rotor flux
by the reference of d shaft voltage
the reference of q shaft voltage
the space angle of rotor flux
deliver to the coordinate converter 10 that two-phase rotational coordinates is tied to three-phase static coordinate system, obtain the three-phase voltage reference control voltage under three-phase static coordinate system
controller, will by pwm pulse generation module 11
become driving pulse, control the inversion module 16 of frequency converter.
Invention effect: for one 4 to pole internal permanent magnet synchronous motor, Rated motor rotating speed is 3000r/min, breakdown torque 180Nm.We add the load of 150Nm to motor, and allow motor start rapidly.As shown in Figure 3, motor can accelerate to the 4000r/min of setting like a cork, and this process rotating speed response is rapid, and accelerate steadily, have the speed overshoot that very little after having accelerated, then stabilization of speed is at 4000r/min.Fig. 4 is d axle stator voltage Vd and the q axle stator voltage Vq of motor, and after 1.5s enters weak magnetic area, Vd amplitude continues to increase, but speedup slows down, this is because start the weak magnetic of d axle magnetic linkage; Vq amplitude starts to reduce, this is because q shaft current command value reduces, q axle magnetic linkage also starts weak magnetic.Accelerated when 2s, electric machine controller does not need to provide accelerating torque, and torque is reduced to 180Nm, and the weak magnetic amplitude of motor also weakens thereupon, Vd and Vq thinks that positive direction increases.Fig. 5 adopts negative magnetic linkage current compensational method, speed conditions time under the same conditions, visible when accelerating to 3700r/min, motor cannot continue to accelerate again, speed drops near 3500r/min and starts fluctuation, and this is because the weak magnetics detect of the method starts instability, cannot continue weak magnetic.
Claims (1)
1. an internal permanent magnet synchronous motor field weakening control method, is characterized in that: it comprises the following steps:
Step one, when non-territory, weak magnetic area, carry out motor speed closed-loop control:
Der Geschwindigkeitkreis exports the current instruction value for torque axis and q axle
the current instruction value of magnetic linkage axle and d axle
by
calculate according to MTPA relation;
with their actual feedback i
d, i
qcarry out closed-loop control, export the voltage instruction value obtaining d axle and q axle
Step 2, difference amplitude limiting processing:
First judge whether to enter territory, weak magnetic area: will
with maximum output voltage u
smaxcompare, difference is
if Δ u<0, illustrate and start to enter territory, weak magnetic area;
As Δ u<0, output voltage amplitude control PI controller control work, output voltage amplitude controls pi regulator to carry out difference amplitude limiting processing to Δ u and exports Δ i
q;
When Δ u >=0, output voltage amplitude control PI controller does not work, and its output is 0;
Step 3, when entering territory, weak magnetic area, the output of der Geschwindigkeitkreis
only be used as calculated by MTPA after, as the current instruction value of d axle; The output of the der Geschwindigkeitkreis entering the last bat in weak magnetic area is designated as
with Δ i
qand as the current instruction value of weak magnetic area q axle
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| CN102386816A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method and device for controlling weak magnetism of permanent magnet synchronous motor |
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| JP4655871B2 (en) * | 2005-10-19 | 2011-03-23 | 株式会社日立製作所 | Field weakening vector control device and module for permanent magnet synchronous motor |
| JP4082444B1 (en) * | 2006-10-19 | 2008-04-30 | 三菱電機株式会社 | Vector controller for permanent magnet synchronous motor |
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|---|---|---|---|---|
| CN101764567A (en) * | 2010-01-29 | 2010-06-30 | 合肥阳光电源有限公司 | Composite vector control method for permanent magnet synchronous wind generator |
| CN102386816A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method and device for controlling weak magnetism of permanent magnet synchronous motor |
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| 基于电压极限椭圆梯度下降法的永磁同步电机弱磁控制的研究;徐涛等;《煤矿机电》;20120430(第4期);第18-23页 * |
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