CN106452243B - Weak magnetic control system and method of permanent magnet synchronous motor, refrigerator controller and refrigerator - Google Patents
Weak magnetic control system and method of permanent magnet synchronous motor, refrigerator controller and refrigerator Download PDFInfo
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- CN106452243B CN106452243B CN201610948522.3A CN201610948522A CN106452243B CN 106452243 B CN106452243 B CN 106452243B CN 201610948522 A CN201610948522 A CN 201610948522A CN 106452243 B CN106452243 B CN 106452243B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000003313 weakening effect Effects 0.000 claims abstract description 102
- 230000004907 flux Effects 0.000 claims abstract description 71
- 238000001914 filtration Methods 0.000 claims description 31
- 101000841267 Homo sapiens Long chain 3-hydroxyacyl-CoA dehydrogenase Proteins 0.000 claims description 3
- 102100029107 Long chain 3-hydroxyacyl-CoA dehydrogenase Human genes 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 238000013507 mapping Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
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- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a flux weakening control system and method of a permanent magnet synchronous motor, which are used for vector control of the permanent magnet synchronous motordrefAnd q-axis voltage set value VqrefThe current loop control device also comprises a flux weakening angle loop, wherein the flux weakening angle loop calculates a flux weakening angle β according to the output of the current loop and a flux weakening gain K, and determines a d-axis current given value I of a motor in the current loop according to the flux weakening angle β* drefAnd q-axis current set value I* qrefThe angle of (c). The invention can reduce the rotation speed fluctuation of the permanent magnet synchronous motor at the opening weak magnetic frequency point. The invention also provides a refrigerator controller and a refrigerator.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a flux weakening control system and method of a permanent magnet synchronous motor. The invention also relates to a refrigerator controller and a refrigerator.
Background
In a refrigerator system with a permanent magnet synchronous motor adopted by a compressor, the problem of large rotation speed fluctuation near a frequency point of opening weak magnetism generally exists. Limited by the defects in the field of flux weakening control of the permanent magnet synchronous motor in the prior art, and no effective solution to the problem exists in the field.
For the refrigerator system, the frequency point of opening the weak magnetic field is different under different working conditions, and because the refrigerator system is various, the power consumption operation frequency (i.e. the frequency point with the minimum power consumption under a certain working condition) of the refrigerator system can be any frequency point in the operation frequency range of the compressor due to different system structures, volume sizes and operation environments. This requires that the refrigerator system be capable of normal operation at all operating frequency points and that the rotational speed fluctuations be within an allowable range, for example, a range of 10rpm is generally desirable.
Disclosure of Invention
Based on the above situation, the present invention is directed to a flux weakening control system and method for a permanent magnet synchronous motor to reduce the rotation speed fluctuation of the permanent magnet synchronous motor near the flux weakening frequency point. The invention further aims to provide a refrigerator controller and a refrigerator.
The above purpose is realized by the following technical scheme:
according to a first aspect of the present invention, a flux weakening control system for a permanent magnet synchronous motor is used for vector control of the permanent magnet synchronous motor, and comprises a rotation speed loop and a current loop, wherein the output of the rotation speed loop is a given input of the current loop, and the output of the current loop is a d-axis voltage given value VdrefAnd q-axis voltage set value VqrefThe current loop is characterized by further comprising a flux weakening angle loop, wherein the flux weakening angle loop calculates a flux weakening angle β according to the output of the current loop and a flux weakening gain K, and the flux weakening angle loop comprises:
an MTPA module for deriving a lower limit value β of the flux weakening angle β from a maximum torque to current ratio algorithmMTPA。
Preferably, the field weakening angle ring comprises:
a filter module for setting the d-axis voltage of the motor to a given value VdrefAnd q-axis voltage set value VqrefFiltering the root mean square of the signal;
the weak magnetic gain module is used for carrying out proportion adjustment on the voltage of the direct current bus;
the feedback operation module is used for performing feedback operation on the output of the filtering module and the output of the weak magnetic gain module;
and the angle PI adjusting module is used for carrying out PI adjustment on the output of the feedback operation module to obtain a weak magnetic angle β.
Preferably, the field weakening angle ring comprises:
the weak magnetic gain module is used for carrying out proportion adjustment on the voltage of the direct current bus;
the feedback operation module is used for performing feedback operation on the output of the current loop and the output of the weak magnetic gain module;
the angle PI adjusting module is used for carrying out PI adjustment on the output of the feedback operation module to obtain a weak magnetic angle β;
and the filtering module is used for filtering the weak magnetic angle β.
Preferably, the filter module works in the following manner:
wherein,ωcthe cut-off frequency is y (n), the value of this time is filtered, y (n-1) is the value of the previous time is filtered, and X (n) is the value to be filtered.
According to a second aspect of the present invention, a method for performing flux weakening control on a permanent magnet synchronous motor by using the aforementioned flux weakening control system of the permanent magnet synchronous motor comprises the steps of:
calculating a flux weakening angle β according to the output of the current loop and the flux weakening gain K by using the flux weakening angle loop, and determining a d-axis current given value I of a motor in the current loop according to the calculated flux weakening angle β* drefAnd q-axis current set value I* qrefThe angle of (c).
Preferably, the method specifically comprises the steps of:
s10, obtaining a motor rotation speed omega and a motor angle theta;
s20, feeding back the obtained motor rotation speed omega to a rotation speed ring, and performing rotation speed ring PI control;
s30, calculating a weak magnetic angle β according to the output of the current loop and a weak magnetic gain K;
s40, judging whether the flux weakening angle β meets βMTPA<β<βmaxWherein, βMTPAAngle obtained by maximum torque to current ratio algorithm, βmaxIs a given value; if yes, executing step S50, otherwise, executing step S60;
s50, taking the flux weakening angle β as a given value I of d-axis current of the motor* drefAnd q-axis current set value I* qrefThe angle of (d);
s60 at βMTPAOr βmaxAs d-axis current set value I of motor* drefAnd q-axis current set value I* qrefThe angle of (c).
Preferably, in step S10, the motor speed ω and the motor angle θ are estimated using the back electromotive force.
Preferably, in step S30, the step of calculating the field weakening angle β includes:
first, V is obtaineddref、VqrefThen low-pass filtering the root mean square value; direct current bus voltage U with weak magnetic gain KdcPerforming feedback operation on the value subjected to the proportion adjustment and the value subjected to the low-pass filtering, and then performing angle PI adjustment to obtain the weak magnetic angle β;
or, V is first obtaineddref、VqrefThe root mean square value of; direct current bus voltage U with weak magnetic gain KdcAnd performing proportion adjustment, performing feedback operation on the value subjected to proportion adjustment and the root mean square value, then performing angle PI adjustment to obtain the weak magnetic angle β, and then performing low-pass filtering on the weak magnetic angle β.
Preferably, in step S30, the low-pass filtering is implemented by:
wherein,ωcthe cut-off frequency is y (n), the value of this time is filtered, y (n-1) is the value of the previous time is filtered, and X (n) is the value to be filtered.
Preferably, in step S40, βmaxThe value range of (a) is 60-90 degrees.
According to a third aspect of the present invention, a refrigerator controller comprises the field weakening control system of the permanent magnet synchronous motor described above for controlling the motor of the refrigerator compressor.
According to a fourth aspect of the present invention, a refrigerator includes the refrigerator controller described above.
The control system and the control method of the invention obtain the flux weakening angle based on the given values of the d-axis and q-axis voltages of the motor, and further determine the given value I of the d-axis current of the motor in the current loop* drefAnd q-axis current set value I* qrefThe angle of the permanent magnet synchronous motor can reduce the rotation speed fluctuation of the permanent magnet synchronous motor at the opening and weakening magnetic frequency point.
According to the preferred scheme of the invention, the speed of the estimated rotating speed following the actual rotating speed can be accelerated by filtering the given values of the d-axis voltage and the q-axis voltage of the motor or filtering the calculated weak magnetic angle, preferably by increasing the weak magnetic gain and increasing the rotating speed loop parameter, so that the fluctuation of the weak magnetic frequency point can be further reduced.
When the control system and the method are used for the refrigerator controller, the refrigerator controller can drive the compressor to normally operate at the weak magnetic opening frequency point.
Drawings
A field weakening control system and method of a permanent magnet synchronous motor according to the present invention will be described below with reference to the accompanying drawings. In the figure:
fig. 1 is a schematic diagram of a field weakening control system of a permanent magnet synchronous motor according to a preferred embodiment of the present invention;
fig. 2 is a control flowchart of a field weakening control method of a permanent magnet synchronous motor according to a preferred embodiment of the present invention;
FIG. 3 is a waveform of the rotational speed of the compressor of the refrigerator without the control method of the present invention;
FIG. 4 is a waveform of the speed of the compressor of the refrigerator after the compressor has been compressed according to the control method of the present invention;
fig. 5 is a waveform diagram of the rotational speed of the compressor of the refrigerator after increasing the field weakening gain and the PI value of the rotational speed loop according to the control method of the present invention.
Detailed Description
The invention provides a field weakening control system of a permanent magnet synchronous motor, which is used for carrying out vector control on the permanent magnet synchronous motor so as to reduce the rotation speed fluctuation of the motor near a field weakening frequency point. As shown in figure 1, the control system comprises a rotating speed loop and a current loop, wherein the output of the rotating speed loop is the given input of the current loop, and the output of the current loop is the d-axis voltage given value VdrefAnd q-axis voltage set value Vqref。
The control system further comprises a PMSM (permanent magnet synchronous motor) 1, an inverter circuit 2, an SVPWM (space vector pulse width modulator) 3, a Park inverter 4, a Clarke converter 5, a Park converter 6 and a rotation speed angle acquisition module 7. Wherein, the permanent magnet synchronous motor 1 has three-phase current I under a three-phase static coordinate systema、IbAnd IcThe current is input into a Clarke converter 5 and converted into a current value I under a two-phase static coordinate systemαAnd Iβ，IαAnd IβThe current is input into a Park converter 6 and converted into a two-phase current value under a rotor rotating coordinate system, namely d-axis feedbackCurrent IdAnd q-axis feedback current IqFor feedback to the current loop for comparison; in the speed loop, a given speed ω*Compared with the feedback rotating speed omega obtained by the rotating speed angle obtaining module 7, the total control current I is obtained after the adjustment of the rotating speed ring PI 9s *Controlling the total current Is *Mapping (for example, according to sine and cosine operations) to d-axis and q-axis by the mapping module 10 to obtain d-axis current given value I* drefAnd q-axis current set value I* qref(ii) a d-axis current set value I* drefAnd d-axis feedback current IdCompared with the prior art, the d-axis voltage given value V is output after being regulated by the current loop PI 11dref(ii) a Given value of q-axis current I* qrefWith q-axis feedback current IqCompared with the prior art, the q-axis voltage given value V is output after being regulated by a current loop PI 11qref(ii) a D-axis voltage given value V under two-phase rotating coordinate systemdrefAnd q-axis voltage set value VqrefAfter being converted by the park inverter 4, the two-phase voltage V under the two-phase static coordinate system is outputαrefAnd VβrefTwo-phase voltage VαrefAnd VβrefThe three-phase voltage V under a static three-phase coordinate system is obtained after the pulse width modulation wave is generated through the regulation of SVPWM 3 and is converted into the three-phase voltage V under the static three-phase coordinate system through the inverter circuit 2a、VbAnd VcTo drive the permanent magnet synchronous motor 1 to work.
The rotation speed and angle obtaining module 7 may employ a position sensor (for example, a hall sensor is implanted inside the motor to detect the position of the rotor, so as to obtain the rotation speed ω and the angle θ of the motor). Preferably, in the present invention, the rotation speed and angle obtaining module 7 employs a position-less sensor to save cost, and specifically, detects back electromotive force of each phase of the motor to estimate the position of the rotor, so as to obtain the motor rotation speed ω and the motor angle θ. And wherein the motor angle θ is input to the park inverter 4 for conversion operation.
On the basis of the above system structure, in order to realize the field weakening control, the control system of the present invention further includes a field weakening angle ring 8, shown in the dotted line box of fig. 1, the field weakening angle ringThe loop 8 is based on the output of the current loop (i.e. d-axis voltage setpoint V)drefAnd q-axis voltage set value Vqref) And calculating a flux weakening angle β by using the flux weakening gain K, and determining a given value I of the current of the d-axis of the motor in the current ring according to the flux weakening angle β* drefAnd q-axis current set value I* qrefThe angle of (c).
Preferably, the field weakening angle ring 8 may comprise:
a filtering module 82, configured to perform low-pass filtering on the voltage value actually required by the operation of the motor, before filtering, root mean square operation should be performed through the root mean square module 81 to obtain a voltage amplitudeVdrefGiven value of d-axis voltage, VqrefA given value for q-axis voltage;
a weak magnetic gain module 84 for DC bus voltage UdcThe proportion adjustment is carried out, and the used proportion coefficient, namely weak magnetic gain K, reflects the voltage utilization rate;
a feedback operation module 83, configured to perform a feedback operation on an output of the filtering module 82 and an output of the magnetic weakening gain module 84;
an angle PI adjustment module 85, configured to perform PI adjustment on the output of the feedback operation module 83 to obtain a flux weakening angle β, for example
The weak magnetic angle ring 8 with the structure mainly aims at the estimated d-axis and q-axis voltage given values V of the motordref、VqrefThe root mean square is filtered to filter out high-frequency clutter so as to reduce the rotation speed fluctuation near the opening weak magnetic frequency point of the motor.
Alternatively, in the weak magnetic angle loop, the calculated weak magnetic angle β may be filtered to filter out high frequency noise, that is, the filtering module is disposed downstream of the angle PI adjustment module 85, which may also achieve the purpose of the present invention.
Preferably, the filtering module 82 works in the following manner:
wherein,ωcthe cut-off frequency is y (n), the value of this time is filtered, y (n-1) is the value of the previous time is filtered, and X (n) is the value to be filtered.
Preferably, the field weakening angle ring 8 further comprises:
an MTPA module (i.e., maximum torque to current ratio module) 86 for deriving a lower limit value β for the flux weakening angle β based on a maximum torque to current ratio algorithmMTPA。
Preferably, after the flux weakening angle ring 8 calculates the flux weakening angle β, whether the flux weakening angle satisfies βMTPA<β<βmaxWherein, βmaxThe current is a given value, the value range of the given value is 60-90 degrees for example, if the current is satisfied, the flux weakening angle β is used as the given value I of the d-axis current of the motor* drefAnd q-axis current set value I* qrefI.e. for obtaining I through a mapping operation in the mapping module 10* drefAnd I* qrefOtherwise, β are respectively usedMTPA(at β)<βMTPAIn case of) or βmax(at β)>βmaxIn the case of) as a motor d-axis current setpoint I* drefAnd q-axis current set value I* qrefThe angle of (c).
By adopting the control system with the structure, the rotating speed fluctuation of the permanent magnet synchronous motor near the opening flux weakening frequency point can be effectively reduced.
The second aspect of the invention provides a flux weakening control method of a permanent magnet synchronous motor, which corresponds to the flux weakening control system and is used for carrying out vector control on the permanent magnet synchronous motor so as to reduce the rotation speed fluctuation of the motor near the flux weakening frequency point.
The flux weakening control method mainly comprises the steps of utilizing the flux weakening angle ring to calculate a flux weakening angle β according to the output and flux weakening gain of the current ring, and determining a motor d-axis current given value I in the current ring according to the calculated flux weakening angle β* drefAnd q-axis current set value I* qrefThe angle of (c).
Preferably, as shown in fig. 2, the method of the present invention specifically comprises the steps of:
s10, acquiring (preferably estimating by a current loop, such as estimating according to back electromotive force) the motor speed omega and the motor angle theta;
s20, feeding back the obtained motor rotation speed omega to a rotation speed ring, and performing rotation speed ring PI control;
s30, obtaining a given value V of the voltage of the d axis and the q axis of the motor according to the output of the current loop (for example, the estimated given value V of the voltage of the d axis and the q axis of the motor)dref、Vqref) And the flux weakening gain K calculates the flux weakening angle β;
s40, judging whether the flux weakening angle β meets βMTPA<β<βmaxWherein, βMTPAAngle obtained by maximum torque to current ratio algorithm, βmaxIs a given value; if yes, executing step S50, otherwise, executing step S60;
s50, taking the flux weakening angle β as a given value I of d-axis current of the motor* drefAnd q-axis current set value I* qrefThe angle of (d);
s60 at βMTPA(at β)<βMTPAIn case of) or βmax(at β)>βmaxIn the case of) as a motor d-axis current setpoint I* drefAnd q-axis current set value I* qrefThe angle of (c).
After step S50 or step S60, current loop PI control is performed.
Preferably, in step S10, the motor speed ω and the motor angle θ are estimated using the back electromotive force.
Preferably, in step S30, the step of calculating the field weakening angle β may include:
first, V is obtaineddref、VqrefThen low-pass filtering the root mean square value; direct current bus voltage U with weak magnetic gain KdcAnd performing proportion adjustment, performing feedback operation on the value subjected to proportion adjustment and the value subjected to low-pass filtering, and then performing angle PI adjustment to obtain the weak magnetic angle β.
Or alternatively, in step S30, the step of calculating the field weakening angle β may also include:
first, V is obtaineddref、VqrefThe root mean square value of; direct current bus voltage U with weak magnetic gain KdcAnd performing proportion adjustment, performing feedback operation on the value subjected to proportion adjustment and the root mean square value, then performing angle PI adjustment to obtain the weak magnetic angle β, and then performing low-pass filtering on the weak magnetic angle β.
Preferably, in step S30, the low-pass filtering is implemented by:
wherein,ωcthe cut-off frequency is y (n), the value of this time is filtered, y (n-1) is the value of the previous time is filtered, and X (n) is the value to be filtered.
Preferably, in step S40, βmaxThe value range of (a) is 60-90 degrees.
On the basis of the above work, the third aspect of the present invention provides a refrigerator controller, which comprises the field weakening control system of the permanent magnet synchronous motor, and is used for controlling the motor of the refrigerator compressor.
A fourth aspect of the present invention provides a refrigerator comprising the refrigerator controller described above.
The beneficial effects of the control system and the control method of the invention on the refrigerator controller are described in the following by combining specific examples.
Referring first to fig. 3, there is shown a waveform of the rotational speed of the compressor of the refrigerator without the control method of the present invention (i.e., without any improvement in the prior art). It can be clearly seen that the fluctuation of the rotation speed around the opening and weakening magnetic frequency point (around 3650 rpm) in the working condition reaches 150 rpm. If the power consumption frequency point of the matched refrigerator system under a certain working condition is just near 61Hz, the vibration of the compressor of the refrigerator is abnormal, and the normal operation cannot be realized.
Referring to fig. 4, it shows a waveform diagram of the rotational speed of the compressor of the refrigerator obtained by filtering the estimated d and q axis voltage set values of the motor under the same working condition as that of fig. 3. Wherein the low-pass filtering is implemented in the manner described in the foregoing. It can be seen that the rotation speed fluctuation at the opening and weakening magnetic frequency point at this time is within the range of 10rpm as the rotation speed fluctuation at the other frequency points. Because the fluctuation of the rotating speed is within the normal allowable range, the refrigerator controller can drive the compressor to operate at any operating frequency point, and the matching range of the refrigerator controller is greatly expanded.
In particular, referring again to fig. 5, which shows a rotational speed waveform diagram, compared to the rotational speed waveform diagram of fig. 4, the change in control is: the rotating speed acceleration and the flux weakening gain are increased, and the rotating speed loop parameters are increased, so that the speed of the estimated rotating speed following the actual rotating speed is increased, and the rotating speed fluctuation at the flux weakening frequency point is further reduced. It is evident from the figure that the speed ramp-up is very fast, also the time required to ramp-up from about 3200rpm to about 4200rpm is greatly reduced, and the whole curve is very smooth, there is almost no fluctuation in the speed, and the tracking speed is fast, thus fully satisfying the requirements.
The control system and the control method of the invention obtain the flux weakening angle based on the given values of the d-axis and q-axis voltages of the motor, and further determine the given value I of the d-axis current of the motor in the current loop* drefAnd q-axis current set value I* qrefThe angle of the permanent magnet synchronous motor can reduce the rotation speed fluctuation of the permanent magnet synchronous motor at the opening and weakening magnetic frequency point.
Furthermore, the optimal scheme of the control system and the method of the invention can accelerate the speed of the estimated rotating speed following the actual rotating speed by filtering the estimated d and q shaft voltage given values of the motor, preferably increasing the flux weakening gain and increasing the rotating speed loop parameter, thereby reducing the fluctuation of the flux weakening frequency point, reducing the rotating speed fluctuation from 150rpm to within 10rpm, and enabling the refrigerator controller to drive the compressor to normally operate at the flux weakening frequency point.
Therefore, the control system and the control method solve the following technical problems: (1) the problem that the compressor is driven by a refrigerator controller to have large rotation speed fluctuation at a weak magnetic frequency point is solved; (2) the problem that a refrigerator controller cannot be matched with a refrigerator system with a power consumption frequency point just being an opening weak magnetic frequency point is solved.
The invention realizes that the fluctuation of each frequency point is in the allowable range within the normal running rotating speed range of the compressor driven by the refrigerator controller, solves the problem that the refrigerator system with the power consumption frequency just equal to the opening and weakening magnetic frequency point under certain working conditions and certain environments cannot be matched, and improves the application range of the refrigerator controller.
The refrigerator provided by the invention has stable work, and even if the compressor runs at the opening and weakening magnetic frequency point, the rotating speed fluctuation can not occur.
Those skilled in the art will readily appreciate that the above-described preferred embodiments may be freely combined, superimposed, without conflict.
It will be understood that the embodiments described above are illustrative only and not restrictive, and that various obvious and equivalent modifications and substitutions for details described herein may be made by those skilled in the art without departing from the basic principles of the invention.
Claims (12)
1. A flux weakening control system of a permanent magnet synchronous motor is used for carrying out vector control on the permanent magnet synchronous motor and comprises a rotating speed loop and a current loop, wherein the output of the rotating speed loop is the given input of the current loop, and the output of the current loop is the given d-axis voltage value VdrefAnd q-axis voltage set value VqrefThe current loop control device is characterized by further comprising a flux weakening angle loop, wherein the flux weakening angle loop calculates a flux weakening angle β according to the output of the current loop and a flux weakening gain K, and determines a given value I of a d-axis current of a motor in the current loop according to the flux weakening angle β* drefAnd q-axis current set value I* qrefThe flux weakening angle ring comprises:
an MTPA module for deriving a lower limit value β of the flux weakening angle β from a maximum torque to current ratio algorithmMTPA。
2. The field weakening control system of a permanent magnet synchronous motor according to claim 1, wherein said field weakening angle ring comprises:
a filter module for setting the d-axis voltage of the motor to a given value VdrefAnd q-axis voltage set value VqrefFiltering the root mean square of the signal;
the weak magnetic gain module is used for carrying out proportion adjustment on the voltage of the direct current bus;
the feedback operation module is used for performing feedback operation on the output of the filtering module and the output of the weak magnetic gain module;
and the angle PI adjusting module is used for carrying out PI adjustment on the output of the feedback operation module to obtain a weak magnetic angle β.
3. The field weakening control system of a permanent magnet synchronous motor according to claim 1, wherein said field weakening angle ring comprises:
the weak magnetic gain module is used for carrying out proportion adjustment on the voltage of the direct current bus;
the feedback operation module is used for performing feedback operation on the output of the current loop and the output of the weak magnetic gain module;
the angle PI adjusting module is used for carrying out PI adjustment on the output of the feedback operation module to obtain a weak magnetic angle β;
and the filtering module is used for filtering the weak magnetic angle β.
4. The flux weakening control system of a permanent magnet synchronous motor according to claim 2 or 3, wherein the filter module operates in a manner that:
wherein,ωcthe cut-off frequency is y (n), the value of this time is filtered, y (n-1) is the value of the previous time is filtered, and X (n) is the value to be filtered.
5. A method for flux weakening control of a permanent magnet synchronous motor using a flux weakening control system of a permanent magnet synchronous motor according to any one of claims 1 to 4, comprising the steps of:
calculating a flux weakening angle β according to the output of the current loop and the flux weakening gain K by using the flux weakening angle loop, and determining a d-axis current given value I of a motor in the current loop according to the calculated flux weakening angle β* drefAnd q-axis current set value I* qrefThe angle of (c).
6. The method according to claim 5, characterized in that it comprises in particular the steps of:
s10, obtaining a motor rotation speed omega and a motor angle theta;
s20, feeding back the obtained motor rotation speed omega to a rotation speed ring, and performing rotation speed ring PI control;
s30, calculating a weak magnetic angle β according to the output of the current loop and a weak magnetic gain K;
s40, judging whether the flux weakening angle β meets βMTPA<β<βmaxWherein, βMTPAAngle obtained by maximum torque to current ratio algorithm, βmaxIs a given value; if yes, executing step S50, otherwise, executing step S60;
s50, taking the flux weakening angle β as a given value I of d-axis current of the motor* drefAnd q-axis current set value I* qrefThe angle of (d);
s60 at βMTPAOr βmaxAs d-axis current set value I of motor* drefAnd q-axis current settingValue I* qrefThe angle of (c).
7. The method of claim 6, wherein in step S10, the motor speed ω and the motor angle θ are estimated by using the back electromotive force.
8. The method of claim 6, wherein in the step S30, the step of calculating the field weakening angle β comprises:
first, V is obtaineddref、VqrefThen low-pass filtering the root mean square value; direct current bus voltage U with weak magnetic gain KdcPerforming feedback operation on the value subjected to the proportion adjustment and the value subjected to the low-pass filtering, and then performing angle PI adjustment to obtain the weak magnetic angle β;
or, V is first obtaineddref、VqrefThe root mean square value of; direct current bus voltage U with weak magnetic gain KdcAnd performing proportion adjustment, performing feedback operation on the value subjected to proportion adjustment and the root mean square value, then performing angle PI adjustment to obtain the weak magnetic angle β, and then performing low-pass filtering on the weak magnetic angle β.
9. The method according to claim 8, wherein in step S30, the low-pass filtering is implemented by:
wherein,ωcthe cut-off frequency is y (n), the value of this time is filtered, y (n-1) is the value of the previous time is filtered, and X (n) is the value to be filtered.
10. The method of claim 6, wherein in step S40, βmaxHas a value range of60～90°。
11. A refrigerator controller comprising the field weakening control system of a permanent magnet synchronous motor according to any one of claims 1 to 4 for controlling a motor of a compressor of a refrigerator.
12. A refrigerator characterized by comprising the refrigerator controller of claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610948522.3A CN106452243B (en) | 2016-10-26 | 2016-10-26 | Weak magnetic control system and method of permanent magnet synchronous motor, refrigerator controller and refrigerator |
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| CN201610948522.3A CN106452243B (en) | 2016-10-26 | 2016-10-26 | Weak magnetic control system and method of permanent magnet synchronous motor, refrigerator controller and refrigerator |
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| CN106452243A CN106452243A (en) | 2017-02-22 |
| CN106452243B true CN106452243B (en) | 2018-11-30 |
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| CN107395085B (en) * | 2017-07-14 | 2020-09-11 | 阳光电源股份有限公司 | Weak magnetic control method and controller of permanent magnet synchronous motor |
| CN107332485B (en) * | 2017-07-14 | 2020-09-11 | 阳光电源股份有限公司 | Weak magnetic control method and controller of permanent magnet synchronous motor |
| CN109150042B (en) * | 2018-07-23 | 2020-04-28 | 同济大学 | Surface permanent magnet synchronous motor feedforward decoupling flux-weakening control method |
| CN109302109B (en) * | 2018-09-18 | 2020-09-22 | 北方工业大学 | Flux weakening control method and control device for permanent magnet synchronous motor |
| CN109617483B (en) * | 2018-12-21 | 2020-10-02 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Torque control method for permanent magnet synchronous motor |
| CN110518849B (en) * | 2019-09-04 | 2020-12-01 | 北京理工大学 | A vector oriented control method for maximum torque current ratio voltage of permanent magnet synchronous motor |
| CN110995084A (en) * | 2019-10-28 | 2020-04-10 | 珠海格力电器股份有限公司 | Reluctance motor control method and device, storage medium and reluctance motor |
| CN111262493B (en) * | 2020-02-18 | 2023-08-29 | 松下电器机电（中国）有限公司 | Constant-power dust collector and motor control method thereof |
| CN112332728A (en) * | 2020-11-23 | 2021-02-05 | 上海新时达机器人有限公司 | Flux weakening control system and method |
| CN112740537B (en) * | 2020-12-24 | 2023-02-17 | 深圳市英威腾电气股份有限公司 | MTPA control method, device, system and equipment of permanent magnet synchronous motor |
| CN114320919B (en) * | 2021-12-31 | 2024-08-09 | 青岛海尔空调电子有限公司 | Air conditioner and compressor control method thereof |
| CN115242139A (en) * | 2022-08-10 | 2022-10-25 | 上海赢双电机有限公司 | Drive control system of stepping motor |
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| CN103595323A (en) * | 2013-11-20 | 2014-02-19 | 天津大学 | Current control method for improving output torque of permanent magnet synchronous motor overmodulation area |
| CN105763118A (en) * | 2016-04-08 | 2016-07-13 | 合肥工业大学 | EPS control method for improving hand touch of steering wheel rapidly manipulated by driver |
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