CN106936350A - Synchronous permanent-magnet motor steering gear system field weakening control method - Google Patents
Synchronous permanent-magnet motor steering gear system field weakening control method Download PDFInfo
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- CN106936350A CN106936350A CN201710154446.3A CN201710154446A CN106936350A CN 106936350 A CN106936350 A CN 106936350A CN 201710154446 A CN201710154446 A CN 201710154446A CN 106936350 A CN106936350 A CN 106936350A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000003313 weakening effect Effects 0.000 title claims abstract description 11
- 239000000284 extract Substances 0.000 claims abstract description 3
- 230000005520 electrodynamics Effects 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000002347 injection Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- 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
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A kind of synchronous permanent-magnet motor steering gear system field weakening control method, extracts the voltage saturation amount of motor d-axis and quadrature axis, and the current compensation weak magnetic allocation strategy based on Voltage Feedback is compensated to electric current loop, realizes permagnetic synchronous motor weak magnetic speed-up.The characteristics of present invention is disposably consumed for guided missile, realizes weak magnetic speedup of the steering gear system in the case of power is more than needed, improves the high frequency dynamic responding speed of steering gear system.
Description
Technical field
The present invention relates to the motor control technology field of electric steering engine servo-drive system, more particularly to a kind of synchronous permanent-magnet motor
Steering gear system field weakening control method.
Background technology
Nowadays tactical weapon Electrodynamic Rudder System generally uses direct current generator, brshless DC motor as executing agency,
Traditional steering wheel brushless DC motor system position-current double closed-loop adds the control mode of " Pseudo velocity ring ".Traditional maximum turns
Square electric current ratio (id, due to DC side voltage of converter limitation, there is integration saturation, when light load running in=0) control program
Motor speed is rated speed to the maximum, and power has more than needed, for the characteristics of bullet rudder system energy is disposably consumed, now
Power margin be waste, it is impossible to greatest extent using the energy on bullet.
The content of the invention
The present invention provides a kind of synchronous permanent-magnet motor steering gear system field weakening control method, for the spy that guided missile is disposably consumed
Point, realizes weak magnetic speedup of the steering gear system in the case of power is more than needed, improves the high frequency dynamic responding speed of steering gear system.
In order to achieve the above object, the present invention provides a kind of synchronous permanent-magnet motor steering gear system field weakening control method, comprising
Following steps：Extract the voltage saturation amount of motor d-axis and quadrature axis, the current compensation weak magnetic allocation strategy pair based on Voltage Feedback
Electric current loop is compensated, and realizes permagnetic synchronous motor weak magnetic speed-up；
Described motor d-axis and the voltage saturation amount of quadrature axis are：
Wherein, Ud、UqRespectively motor d-axis d axles and motor quadrature axis q shaft currents integrates the voltage to be formed, UdcIt is inversion
Device DC side supply voltage；K is adjustable parameter；
Motor direct-axis current compensation rate：
Motor quadrature axis current compensation rate：
Wherein, isIt is the magnitude of current of speed ring output.
Compared with prior art, the invention has the advantages that：
1st, consider the bullet energy disposably to consume, without the particularity for reclaiming, take full advantage of the energy on bullet.
2nd, the potential of synchronous permanent-magnet motor steering gear system has been excavated, the rotating speed limitation of Electrodynamic Rudder System has been widened.
3rd, electric steering engine taking over seamlessly in normal areas and weak magnetic invariable power region is realized.
4th, bullet Electrodynamic Rudder System energy utilization rate under light load conditions is improved, Electrodynamic Rudder System is improved
Dynamic responding speed.
Brief description of the drawings
Fig. 1 is durface mounted permanent magnet synchronous motor vector current track.
Fig. 2 is Voltage Feedback weak magnetic control block diagram.
Fig. 3 is using the speed waveform after field weakening control method.
Fig. 4 is using the current waveform after field weakening control method.
Specific embodiment
Below according to Fig. 1~Fig. 4, presently preferred embodiments of the present invention is illustrated.
The characteristics of durface mounted permanent magnet synchronous motor (SPMSM) has small volume, quality torque ratio is big, control accuracy is high, it is non-
Often it is adapted to the requirement that modern times aerospace industry is minimized to electric system lightweight, is especially suitable for high-precision electric steering wheel SERVO CONTROL
Field.
The present invention provides a kind of synchronous permanent-magnet motor steering gear system field weakening control method, comprises the steps of：When motor turns
When speed exceedes Rated motor maximum speed, the voltage saturation amount of motor d-axis and quadrature axis is extracted, the electric current based on Voltage Feedback is mended
Repay weak magnetic allocation strategy to compensate electric current loop, realize permagnetic synchronous motor weak magnetic speed-up.
Specifically, weak magnetic speedup of the weak magnetic control thought of permagnetic synchronous motor from DC motor with separate excitation.But
It is that due in permagnetic synchronous motor, rotor field is produced by permanent magnet, magnetic component can only be gone by increase stator d-axis
To simulate the exciting current of separately excited DC machine, so as to realize weak magnetic speedup.
Particularly, durface mounted permanent magnet synchronous motor convex grey subset is close to 1 (ρ=1), therefore is believed that d-axis d axle inductances are equal to
Quadrature axis q axle inductances, Lq=Ld。
Wherein, ω is motor speed；U is DC side voltage of converter；ρ is motor convex grey subset；LdIt is motor d axle equivalent electrics
Sense；LqIt is motor q axle equivalent inductances；idIt is motor d axle equivalent currents；iqIt is motor q axle equivalent currents；ψfIt is motor permanent magnet
Magnetic linkage.
From above formula (1), when terminal voltage of motor reaches the limiting value of inverter output voltage, i.e. u=umax, and
When inductance is held essentially constant with magnetic linkage, want to continue to improve rotating speed, following two modes can be taken：
1st, the direct-axis current i of motor is increasedd, produce d-axis and go magnetic component, and meet Ldid+ψf≥0(id<0)；
2nd, the quadrature axis current i of motor is reducedq。
But the relation of current limitation circle is met due to the phase current of motor, above two method cannot be completely independent to be made
With, i.e., when d-axis degaussing current weight is increased, it is corresponding the need for reduce quadrature axis current component.Both modes cooperate,
Ensure that current of electric vector is operated in current limitation circle, to obtain " weak magnetic " speedup effect.
Wherein, umaxFor the maximum voltage that motor is provided；imaxIt is the maximum current of motor speed ring output；ω turns for motor
Speed.
Formula (2) is the voltage limit ellipse and current limitation equation of a circle of permagnetic synchronous motor vector controlled, it can thus be concluded that arriving
Durface mounted permanent magnet synchronous motor vector current track as shown in figure 1, due to durface mounted permanent magnet synchronization electric steering engine particularity, this
When voltage limit ellipse be changed into voltage limit circle.Illustrated so that given rotating speed instruction exceedes rated speed as an example.When motor from
It is static to start to start, in d shaft currents idUnder=0 control model, rotating speed progressivelyes reach rated speed ω1, now motor operating point
It is the intersection point that figure midpoint A, A point is durface mounted permanent magnet synchronous motor current limitation circle and voltage limit circle, corresponding stator voltage
Limiting value has been reached with electric current.Now, the torque T of motore1For the maximum that motor can be exported under rated speed
Electromagnetic torque, Te1=1.5npψfiq1≥TL, wherein npIt is motor number of pole-pairs, iq1It is the output current of q axles under this rotating speed, TLIt is electricity
Loading moment needed for machine.Due to given rotating speed ω2More than rated speed, if still using id=0 control mode, it is maximum in figure
Torque/electric current intersects in B points than track with voltage limit circle, and now corresponding electromagnetic torque is Te2=1.5npψfiq2<TL, it is defeated
Go out electromagnetic torque less than loading moment, it is impossible to maintain given rotating speed, therefore this operating point and do not exist actually.In order to meet defeated
Go out electromagnetic torque more than on the premise of loading moment, reach given rotating speed, working condition is moved on at C points from B points, into weak magnetic
Control area, now Te3=1.5npψfiq3≥TL.B points are moved on into C points, actually magnetic component is applied with to d axles, so that
Realize " weak magnetic " speedup.When motor operation is in a certain rotational speed omega, current phasor curve when common weak magnetic is controlled can be represented
For：
Now, for a certain given speed ω more than rated speed, motor operation makes in the torque corresponding to C points
Motor can be operated with corresponding maximum output torque.After instruction rotating speed is reached, in the presence of speed control,
Current phasor is moved along the direction that voltage limit circle reduces, i.e., the direction for reducing towards output torque is moved to D points, now defeated
Go out torque Te=TL, output torque is the steady operation point of motor with load torque balance.
Theoretic maximum weak magnetic rotating speed is：
After motor exceedes rated speed, for any given instruction rotating speed, one is existed on voltage limit circle
Point, can make motor be operated in peak power output state.
Now, electromagnetic power expression formula is：
Motor operation has when peak power：
It can thus be concluded that during motor maximum power output, current phasor curve is：
Under light load conditions, the voltage saturation amount of motor d-axis and quadrature axis is：
Wherein, Ud、UqRespectively motor d-axis d axles and motor quadrature axis q shaft currents integrates the voltage to be formed, UdcIt is inversion
Device DC side supply voltage；When motor speed exceedes specified maximum speed, d, q shaft voltage will break through DC side voltage of converter
Limitation, i.e. Uq 2+Ud 2-Udc 2>0, now voltage saturation amount is S=-k ((Uq 2+Ud 2)/Udc 2), and electric current loop is compensated；k
It is adjustable parameter, parameter k should be chosen according to object actual conditions, the bigger weak magnetic control effect of k values selection is better in principle.
But due to the presence of current limitation circle, k value values are excessive will to make system unstable, the too small weak magnetic DeGrain of k value values；
When motor speed is less than specified maximum speed, d, q shaft voltage are not up to DC side voltage of converter maximum, i.e. Uq 2+Ud 2-
Udc 2≤ 0, then voltage saturation amount is S=0, electric current loop is not compensated.
In order to make full use of the energy on bullet, current compensation strategy is as follows：
Motor direct-axis current compensation rate：
Motor quadrature axis current compensation rate：
Wherein, isIt is the magnitude of current of speed ring output.
This Current Assignment Strategy, has taken into account maximum torque per ampere control (id=0) controlled with weak magnetic.It is simultaneously fully sharp
With the energy on bullet, the rich power under light load condition is used for weak magnetic and is controlled with the maximum speed of lifting motor, it is ensured that
Real-time switching of the steering gear system under two kinds of operating modes.
As shown in Fig. 2 a kind of synchronous permanent-magnet motor steering gear system field weakening control method that the present invention is provided is by traditional speed
Degree-current double closed-loop is controlled, and is constituted with reference to the current compensation weak magnetic allocation strategy based on Voltage Feedback.Wherein, speed regulator
Input be rotating speed deviation ωr-ωf, ωrIt is rotary speed instruction, ωfIt is speed feedback, speed regulator is output as current phasor
is；The input of weak magnetic controller is current phasor is, output motor direct-axis current compensation rate B_idWith motor quadrature axis current compensation rate
B_iq；The input q shaft current instructions of q shaft currents adjuster, output q axle equivalent voltages Uq；D shaft currents adjuster input d shaft currents refer to
Order, output d axle equivalent voltages Ud；Park inverse transform modules are used to realize that two-phase rotating coordinate system turns to two-phase rest frame
Change, by d axle equivalent voltages UdWith q axle equivalent voltages UqIt is converted into α, β shaft voltage Uα、Uβ；SVPWM (space vector) module passes through
SVPWM algorithms are calculated power tube switching sequence；Three-phase inverter is opened for receiving the power tube that SVPWM algorithms are calculated
Sequential is closed, preferable magnetic linkage circle is approached to order about permagnetic synchronous motor (PMSM), form rotating excitation field；Permagnetic synchronous motor body
(PMSM) the three-phase control voltage (electric current) of three-phase inverter output is received, can be by needed for respective sensor output real work
Electric current, voltage, rotating speed, position, moment information；Rotary transformer is position sensor, for gathering turning for permagnetic synchronous motor
Sub- positional information (magnitude of current), and output speed information (magnitude of current) after can processing；Clack (3/2) conversion module is used to realize
Three-phase rotating coordinate system is changed to two-phase rotating coordinate system, by a, b, c three-phase current ia、ib、icIt is converted into α, β shaft current iα、iβ；
Park conversion modules are by α, β shaft current iα、iβBe converted to d shaft currents idWith q shaft currents iq.Speed regulator and current regulator
Closed loop feedback control is carried out using conventional PID controller.
In control system for permanent-magnet synchronous motor, current regulator generally uses PID controller, due to the presence for integrating,
Current phasor easily reaches saturation, influences control efficiency.For driving essence from motor, the main cause that integration saturation is produced is
Because inverter has limiting voltage, limited by busbar voltage.Therefore, in order to solve this problem, the application removes d-axis
Magnetoelectricity stream idBuilt with motor DC busbar voltage and contacted, voltage output difference is injected into electric current loop as current feedback
Row weak magnetic is controlled, it is to avoid the situation that current regulator integrates saturation occur.As shown in Fig. 2 by DC side voltage of converter Udc's
Virtual value makes the difference with the output voltage of current regulator, and below rated speed, motor terminal voltage is not up to what inverter was provided
Limiting voltage, using maximum torque per ampere control for surface-mount type (id=0) obtain maximum electromagnetic torque.As rotating speed continues
Rise, the reference voltage U of current regulator outputdAnd UqGradually accumulation increases, and goes beyond the limit of voltage, and now Voltage Feedback is entered
Line function treatment produces negative current injection d axles to compensate, hence into weak magnetic field operation area.
In one particular embodiment of the present invention, it is the permagnetic synchronous motor of 6000rpm for specified maximum speed, applies
Plus No Load Start, 0.05s loads 3N.m, initial given rotating speed 1500rpm, the instruction of 0.1s speedups to 7000rpm.Such as Fig. 3 and
Shown in Fig. 4, using weak magnetic allocation strategy after, motor operation breaks through maximum speed after 0.1s, and d shaft currents are changed into through overcompensation
Negative value, realizes the breakthrough of maximum speed, and two kinds of switchings of mode of operation are smoothed, and rate curve does not fluctuate substantially.
Compared with prior art, the invention has the advantages that：
1st, consider the bullet energy disposably to consume, without the particularity for reclaiming, take full advantage of the energy on bullet.
2nd, the potential of synchronous permanent-magnet motor steering gear system has been excavated, the rotating speed limitation of Electrodynamic Rudder System has been widened.
3rd, electric steering engine taking over seamlessly in normal areas and weak magnetic invariable power region is realized.
4th, bullet Electrodynamic Rudder System energy utilization rate under light load conditions is improved, Electrodynamic Rudder System is improved
Dynamic responding speed.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for of the invention
Various modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (1)
1. a kind of synchronous permanent-magnet motor steering gear system field weakening control method, it is characterised in that comprise the steps of：Extract motor straight
The voltage saturation amount of axle and quadrature axis, the current compensation weak magnetic allocation strategy based on Voltage Feedback is compensated to electric current loop, is realized
Permagnetic synchronous motor weak magnetic speed-up；
Described motor d-axis and the voltage saturation amount of quadrature axis are：
Wherein, Ud、UqRespectively motor d-axis d axles and motor quadrature axis q shaft currents integrates the voltage to be formed, UdcFor inverter is straight
Stream side supply voltage；K is adjustable parameter；
Motor direct-axis current compensation rate：
Motor quadrature axis current compensation rate：
Wherein, isIt is the magnitude of current of motor speed ring output.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108282122A (en) * | 2018-02-13 | 2018-07-13 | 哈尔滨工业大学 | A kind of permanent magnet synchronous motor weak magnetism speed expansion method of high dynamic response |
| CN108988719A (en) * | 2018-08-16 | 2018-12-11 | 上海航天控制技术研究所 | A kind of online weak magnetic control management strategy of aircraft electrical servo system |
| CN109067277A (en) * | 2018-08-16 | 2018-12-21 | 上海航天控制技术研究所 | Optimal field weakening control method based on springing electric rudder system safety |
| CN110474588A (en) * | 2019-09-19 | 2019-11-19 | 四川虹美智能科技有限公司 | A kind of control method and device of motor |
| CN110677088A (en) * | 2019-09-19 | 2020-01-10 | 南京越博动力系统股份有限公司 | Control method and control device of permanent magnet synchronous motor |
| CN111262486A (en) * | 2018-11-30 | 2020-06-09 | 中车时代电动汽车股份有限公司 | Permanent magnet synchronous motor control method |
| CN113037158A (en) * | 2021-03-01 | 2021-06-25 | 潍柴动力股份有限公司 | AC-DC axis decoupling control method and device for permanent magnet synchronous motor electric driving system |
| CN113746388A (en) * | 2020-05-15 | 2021-12-03 | 比亚迪股份有限公司 | Sliding mode control method and system for permanent magnet linear synchronous motor control system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108282122A (en) * | 2018-02-13 | 2018-07-13 | 哈尔滨工业大学 | A kind of permanent magnet synchronous motor weak magnetism speed expansion method of high dynamic response |
| CN108988719A (en) * | 2018-08-16 | 2018-12-11 | 上海航天控制技术研究所 | A kind of online weak magnetic control management strategy of aircraft electrical servo system |
| CN109067277A (en) * | 2018-08-16 | 2018-12-21 | 上海航天控制技术研究所 | Optimal field weakening control method based on springing electric rudder system safety |
| CN109067277B (en) * | 2018-08-16 | 2021-08-10 | 上海航天控制技术研究所 | Optimal weak magnetic control method based on safety of elastic electric rudder system |
| CN108988719B (en) * | 2018-08-16 | 2021-10-15 | 上海航天控制技术研究所 | Online weak magnetic control management strategy for electric servo system of aircraft |
| CN111262486A (en) * | 2018-11-30 | 2020-06-09 | 中车时代电动汽车股份有限公司 | Permanent magnet synchronous motor control method |
| CN111262486B (en) * | 2018-11-30 | 2021-11-16 | 中车时代电动汽车股份有限公司 | Permanent magnet synchronous motor control method |
| CN110474588A (en) * | 2019-09-19 | 2019-11-19 | 四川虹美智能科技有限公司 | A kind of control method and device of motor |
| CN110677088A (en) * | 2019-09-19 | 2020-01-10 | 南京越博动力系统股份有限公司 | Control method and control device of permanent magnet synchronous motor |
| CN113746388A (en) * | 2020-05-15 | 2021-12-03 | 比亚迪股份有限公司 | Sliding mode control method and system for permanent magnet linear synchronous motor control system |
| CN113037158A (en) * | 2021-03-01 | 2021-06-25 | 潍柴动力股份有限公司 | AC-DC axis decoupling control method and device for permanent magnet synchronous motor electric driving system |
| CN113037158B (en) * | 2021-03-01 | 2023-04-18 | 潍柴动力股份有限公司 | AC-DC shaft decoupling control method and device for permanent magnet synchronous motor electric driving system |
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