CN103840732A - Field weakening control method of drive motor - Google Patents
Field weakening control method of drive motor Download PDFInfo
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- CN103840732A CN103840732A CN201410125144.XA CN201410125144A CN103840732A CN 103840732 A CN103840732 A CN 103840732A CN 201410125144 A CN201410125144 A CN 201410125144A CN 103840732 A CN103840732 A CN 103840732A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000003313 weakening effect Effects 0.000 title claims abstract description 14
- 230000002035 prolonged effect Effects 0.000 abstract 2
- 238000010438 heat treatment Methods 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004907 flux Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000005285 magnetism related processes and functions Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a motor control technology, in particular to a field weakening control method of a drive motor, and the field weakening control method is applied to a hybrid electric vehicle or a blade electric vehicle. The method comprises the following steps that (1) a current vector control boundary in a current limiting circle is constructed in a field weakening area under a rotor coordinate system; (2) the actual current vector when the drive motor operates is controlled to be within the current vector area limited by the current vector control boundary. By means of the technical scheme, the drive motor can be made to operate under the high-speed work condition of the whole vehicle, the heating amount of the drive motor is reduced, the motor is controlled to operate in a power reduction area, high-speed field weakening operation time of the motor is increased, overall loss of the motor is lowered, the service life of a motor driving system is prolonged, reliability of hybrid electric vehicles and blade electric vehicles is effectively improved, the continuous operation time of the drive motor under the high-speed overtaking work condition of the vehicles is prolonged, and the driving range of electric vehicles is increased.
Description
Technical field
The present invention relates to a kind of electric machines control technology, relate in particular to a kind of drive motors field weakening control method being applied on hybrid vehicle or pure electric automobile.
Background technology
The common vector control mode of the many employings of drive motors, by coordinate transform by the decoupling zero of stator three-phase, realize the vector control to motor speed and torque, below base speed, carry out Id=0 control or maximum torque per ampere control, magnetic control system adopt motor more than base speed a little less than, in weak magnetic process, Id, Iq border is along the operation of current limitation circle, along with the raising of motor speed, the Space Rotating speed of armature reacting field is also in continuous improve, in the time of the armature voltage value of reaching capacity, the rotating speed of motor is restricted, can not improve again, make rotating speed continue to raise, will make the rated value that the back electromotive force of motor internal can not superelevation motor, back electromotive force is directly proportional to the product of the air-gap flux of motor internal again, make the long-pending constant of rotating speed and magnetic flux, thereby can only make air gap flux linkage reduce to ensure that rotating speed raises.
In order to improve the application performance of drive motors, in the weak magnetic control system of prior art, normally by changing weak magnetic control strategy so that when weak magnetic voltage can be fully used, in the field weakening control method of the disclosed permagnetic synchronous motor of Chinese invention patent application CN102651626A, it obtains direct current instruction by motor speed adjuster, the command value that calculates motor quadrature-axis voltage by the direct-axis voltage command value of motor straight shaft current adjuster output and the maximum voltage value of inverter output, ensures that electric moter voltage reaches maximum etc. between weak magnetic area.But, in the vector control of hybrid vehicle and driving motor of pure electric automobile employing, adopt conventional weak magnetic control system, be in speed regulation process more than base speed, motor is under synchronous rotating frame, resultant current vector running boundary is on current limitation circular arc is long, in high speed operation of motor process, torque current reduces, and the weak magnetoelectricity stream of d-axis increases, and resultant current vector magnitude is larger, motor may operate in peak value Heng Gongshuaiqu, drive motors system is stabilized in high speed processes for a long time, and electric system caloric value is larger, and dynamical system efficiency is on the low side.
Summary of the invention
For solving the deficiencies in the prior art, the invention provides and a kind ofly can reduce under high speed of a motor vehicle operating mode drive motors caloric value to reduce the drive motors field weakening control method of motor overall losses.
For achieving the above object, drive motors field weakening control method of the present invention, comprises the steps:
Step 1, in the territory, weak magnetic area under rotor coordinate, builds the Current Vector Control border that is positioned at current limitation circle;
By build Current Vector Control border in current limitation circle, while making drive motors running, actual current vector is controlled in the current phasor region of Current Vector Control border restriction, reduce the probability that actual current vector under high speed of a motor vehicle operating mode reaches the maximum current limit, reduce the caloric value of drive motors, reduce drive motors overall losses, extended the life-span of drive motors drive system.
As limitation of the invention, described Current Vector Control border is the corresponding current phasor restriction of the current limitation circular arc string between weak magnetic starting point and peak speed voltage limit circle and current limitation circle intersection point.By this of Current Vector Control border specifically arranged, guaranteeing that drive motors has satisfactory rotating speed simultaneously, making electric machine phase current is 91% of the weak magnetic control electric current processed of tradition, motor moves efficient district and accounts for 75% left and right in whole service region, improve motor operational efficiency, strengthen the reliability of drive motors high-speed cruising, ensured motor useful life.
As limitation of the invention, described step 2 comprises the following steps;
Step a, obtains actual current vector Is and phase angle β;
Step b, the amplitude of the amplitude to the actual current vector Is under the β of phase angle and the borderline bound current vector of Current Vector Control Is1 is compared;
If when the amplitude of actual current vector Is is not more than the amplitude of bound current vector Is1, controls drive motors and turn round with actual current vector Is; If when the amplitude of actual current vector Is is greater than the amplitude of bound current vector Is1, controls drive motors and turn round with bound current vector Is1.
In sum, adopt technical scheme of the present invention, can make drive motors move under car load high-speed working condition, and reduce the caloric value of drive motors, control motor operates in and falls power district, improve the motor high speed weak magnetic field operation time, and reduce motor overall losses, extend the motor driven systems life-span, effectively raise hybrid vehicle and pure electric automobile reliability, increase vehicle high-speed and overtake other vehicles the drive motors continuous working period under operating mode, and increase electric automobile continual mileage.
Brief description of the drawings
Below in conjunction with the drawings and the specific embodiments, the present invention is done further to describe in detail:
Fig. 1 is the weak magnetic control current locus schematic diagram processed of the embodiment of the present invention;
Fig. 2 is embodiment of the present invention method flow diagram.
Embodiment
The present embodiment relates to a kind of drive motors field weakening control method, arrange as the drive motors structure of permagnetic synchronous motor based on existing, the method is mainly the improvement in the time that weak magnetic control is processed to drive motors, its overall design philosophy mainly comprises two steps: step 1, in territory, weak magnetic area under rotor coordinate, build the Current Vector Control border that is positioned at current limitation circle; Step 2, in the current phasor region that the actual current vector while controlling drive motors running limits in Current Vector Control border.
The present invention will be described for clearer, as follows by the whole operating mode of drive motors is described in detail as follows.
In method flow diagram as shown in Figure 2, can find out, before step 1 as described above, need to whether need weak magnetic control system to judge to drive motors, this judgement can adopt existing method to realize, as in the present embodiment: first gather resolver rotor angle location signal, the cosine and sine signal of corner converts 16 railway digital signals to by ADI decoding chip, calculates ω=d θ/dt by master chip TC1782, calculates motor angular velocity; Then solve feedback voltage E, specifically pass through A/D conversion value assignment to measured value E(n), adopt incremental numeral PI to regulate algorithm, obtain Δ E by the deviation of nearest 5 sampled values, wherein, and E(k)=E(k-1)+Δ E.Next carries out weak magnetic judgement, in this deterministic process, and relatively E(k) and Umax, if E(k)≤Umax, motor enters permanent power control mode, and permagnetic synchronous motor starts weak magnetic on the contrary.
A little less than to the present embodiment before magnetic control process prescription processed, need to the territory, weak magnetic area under rotor coordinate in, build the Current Vector Control border that is positioned at current limitation circle; In the present embodiment, Current Vector Control border is the corresponding current phasor restriction of the current limitation circular arc string between weak magnetic starting point and peak speed voltage limit circle and current limitation circle intersection point.
Specifically, as shown in Figure 1, ellipse corresponding to base speed ω 1 rotating speed is maximum voltage limit ellipse, this maximum voltage limit is oval is weak magnetic starting point with the intersection point A of current limitation circle in ac-dc axis coordinate system the second quadrant, this point coordinates can be determined by base speed ω 1 corresponding voltage horicycle equation and current limitation equation of a circle simultaneous, pass through x
2+ y
2=Ismax
2solve, in its result, get x and be bear, y is that positive point is A point, is expressed as in the present embodiment (x
a, y
a).
The current phasor string AB that A point and B point line form is Current Vector Control border in the present embodiment, and the chord length equation on this control border is: y-y
a=(y
a-y
b) * (x-x
a)/(x
a-x
b).
By the chord length equation on the above-mentioned control border obtaining, in the time that drive motors turns round, the actual current vector of drive motors is controlled in the current phasor region of this chord length restriction.
Its concrete steps comprise step a, obtain actual current vector Is and phase angle β, and what it was concrete can regulate the calculating of carrying out current phasor Is by Negotiation speed PI, regulates the electrical degree of obtaining current phasor advance angle q axle, namely phase angle β by the PI of Voltage loop.
Step b, the amplitude of amplitude to the actual current vector Is under the β of phase angle and the borderline bound current vector of Current Vector Control Is1 is compared, it is concrete, taking the straight line that represents actual current vector Is in Fig. 1 as example, due to any time current phasor all pass through initial point, the linear equation that represents actual current vector Is is: y=ax, wherein, a is negative value.Linear equation and the chord length equation of simultaneous actual current vector Is, try to achieve the intersection point (x of actual current vector and chord length
c, y
c
Now, the amplitude of bound current vector Is1 is:
.
The amplitude of actual current vector Is is:
.
If when the amplitude of actual current vector Is is not more than the amplitude of bound current vector Is1, be that in Fig. 1, actual current vector Is is positioned at control borderline region, represent the straight line of actual current vector Is and control border string without intersection point, now, with Id, Iq output corresponding to actual current vector Is; If actual current vector Is is positioned at while controlling the interval that AB circular arc that border string AB and current limitation justify surrounds, now the amplitude of actual current vector Is is greater than the amplitude of bound current vector Is1, with (x
c, y
c) corresponding current phasor, namely according to bound current vector Is1, by Id=Is1 × sin β, Iq=Is1 × cos β, Id and Iq are calculated to rear output.
As above be to the schematically illustrating of innovation of the present invention, in the subsequent control of Id, Iq output, can regulate calculating Ud by PI by Id and Iq, Uq, and then solve U by park inverse transformation
α, U
β, to resolve by SVPWM, final You Liu road control impuls, converts busbar voltage to target voltage PWM ripple by IGBT, and then controls motor operation.
By evidence under motor nominal load, employing current phasor restriction string is that the strategy of AB straight line is controlled electric machine phase current, for 91% of common weak magnetic control electric current processed, motor moves efficient district (more than 80%) and accounts for 75% left and right in whole service region, improve motor operational efficiency, strengthen high speed operation of motor reliability, ensured motor useful life.
Claims (3)
1. a drive motors field weakening control method, is characterized in that the method comprises the steps:
Step 1, in the territory, weak magnetic area under rotor coordinate, builds the Current Vector Control border that is positioned at current limitation circle;
Step 2, in the current phasor region that the actual current vector while controlling drive motors running limits in Current Vector Control border.
2. drive motors field weakening control method according to claim 1, is characterized in that: described Current Vector Control border is the corresponding current phasor restriction of the current limitation circular arc string between weak magnetic starting point and peak speed voltage limit circle and current limitation circle intersection point.
3. drive motors field weakening control method according to claim 1 and 2, is characterized in that: described step 2 comprises the following steps;
Step a, obtains actual current vector Is and phase angle β;
Step b, the amplitude of the amplitude to the actual current vector Is under the β of phase angle and the borderline bound current vector of Current Vector Control Is1 is compared;
If when the amplitude of actual current vector Is is not more than the amplitude of bound current vector Is1, controls drive motors and turn round with actual current vector Is; If when the amplitude of actual current vector Is is greater than the amplitude of bound current vector Is1, controls drive motors and turn round with bound current vector Is1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410125144.XA CN103840732B (en) | 2014-03-31 | 2014-03-31 | Drive motors field weakening control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410125144.XA CN103840732B (en) | 2014-03-31 | 2014-03-31 | Drive motors field weakening control method |
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| CN103840732A true CN103840732A (en) | 2014-06-04 |
| CN103840732B CN103840732B (en) | 2016-03-02 |
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| CN201410125144.XA Expired - Fee Related CN103840732B (en) | 2014-03-31 | 2014-03-31 | Drive motors field weakening control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016029840A1 (en) * | 2014-08-29 | 2016-03-03 | 伊顿公司 | Method for accelerating v/f controlled induction motor in weak magnetic region |
| CN107472079A (en) * | 2017-08-21 | 2017-12-15 | 奇瑞汽车股份有限公司 | A kind of electric automobile max. speed intelligent control method and system |
| CN112009273A (en) * | 2019-05-29 | 2020-12-01 | 长城汽车股份有限公司 | Power determination method and device and vehicle |
| CN112532140A (en) * | 2020-11-03 | 2021-03-19 | 宁波央腾汽车电子有限公司 | Motor field weakening out-of-control protection method |
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| CN101567655A (en) * | 2008-04-24 | 2009-10-28 | 迈为电子技术（上海）有限公司 | Control method of IPM electromotor for driving electric motor car |
| JP2010148198A (en) * | 2008-12-17 | 2010-07-01 | Hitachi Industrial Equipment Systems Co Ltd | Control device of synchronous motor |
| CN102651626A (en) * | 2012-04-24 | 2012-08-29 | 北京交通大学 | Weak magnetic control method for permanent magnet synchronous motor |
| US20130257324A1 (en) * | 2012-03-30 | 2013-10-03 | Kabushiki Kaisha Toshiba | Motor control device |
-
2014
- 2014-03-31 CN CN201410125144.XA patent/CN103840732B/en not_active Expired - Fee Related
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| CN101567655A (en) * | 2008-04-24 | 2009-10-28 | 迈为电子技术（上海）有限公司 | Control method of IPM electromotor for driving electric motor car |
| JP2010148198A (en) * | 2008-12-17 | 2010-07-01 | Hitachi Industrial Equipment Systems Co Ltd | Control device of synchronous motor |
| US20130257324A1 (en) * | 2012-03-30 | 2013-10-03 | Kabushiki Kaisha Toshiba | Motor control device |
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Non-Patent Citations (1)
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| 王成元 等: "《现代电机控制技术》", 31 January 2009 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016029840A1 (en) * | 2014-08-29 | 2016-03-03 | 伊顿公司 | Method for accelerating v/f controlled induction motor in weak magnetic region |
| CN105450119A (en) * | 2014-08-29 | 2016-03-30 | 伊顿公司 | V/f controlled induction motor acceleration method in flux weakening region |
| CN105450119B (en) * | 2014-08-29 | 2018-08-10 | 伊顿公司 | Accelerated method of the induction machine of V/f controls in weak magnetic area |
| US10340776B2 (en) | 2014-08-29 | 2019-07-02 | Eaton Intelligent Power Limited | Acceleration method for V/F controlled induction motor in flux-weakening region |
| CN107472079A (en) * | 2017-08-21 | 2017-12-15 | 奇瑞汽车股份有限公司 | A kind of electric automobile max. speed intelligent control method and system |
| CN107472079B (en) * | 2017-08-21 | 2020-04-17 | 奇瑞新能源汽车技术有限公司 | Intelligent control method and system for maximum speed of electric automobile |
| CN112009273A (en) * | 2019-05-29 | 2020-12-01 | 长城汽车股份有限公司 | Power determination method and device and vehicle |
| CN112009273B (en) * | 2019-05-29 | 2022-05-06 | 长城汽车股份有限公司 | Power determination method and device and vehicle |
| CN112532140A (en) * | 2020-11-03 | 2021-03-19 | 宁波央腾汽车电子有限公司 | Motor field weakening out-of-control protection method |
| CN112532140B (en) * | 2020-11-03 | 2022-05-27 | 宁波央腾汽车电子有限公司 | Motor field weakening out-of-control protection method |
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| CN103840732B (en) | 2016-03-02 |
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