CN107222145B - Control method, system and the machine readable storage medium of permanent magnet synchronous motor - Google Patents
Control method, system and the machine readable storage medium of permanent magnet synchronous motor Download PDFInfo
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- CN107222145B CN107222145B CN201710625407.7A CN201710625407A CN107222145B CN 107222145 B CN107222145 B CN 107222145B CN 201710625407 A CN201710625407 A CN 201710625407A CN 107222145 B CN107222145 B CN 107222145B
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- 230000003068 static effect Effects 0.000 claims description 7
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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Abstract
The embodiment of the present invention provides the control method, system and machine readable storage medium of a kind of permanent magnet synchronous motor, belongs to permanent magnet synchronous motor control field.The control method of the permanent magnet synchronous motor includes obtaining the corresponding multiple working inductances of multiple electric currents institute of permanent magnet synchronous motor in the operating condition；Selected reference current, and the reference inductance for corresponding to reference current is determined from multiple working inductances；The amendment inductor models for being used to indicate relationship between the inductance and electric current of permanent magnet synchronous motor in the operating condition are established based on initial inductance, with reference to inductance and reference current；And permanent magnet synchronous motor is controlled using amendment inductor models and is worked.Thereby, it is possible to relatively accurately be bonded the variation of inductance parameters of the permanent magnet synchronous motor under actual working state, the validity and accuracy of permanent magnet synchronous motor control are increased.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control technology fields, more particularly to a kind of controlling party of permanent magnet synchronous motor
Method, system and machine readable storage medium.
Background technique
Often design comparison is complicated for the structure of permanent magnet synchronous motor, magnetic circuit be relatively saturated and since the saturation of magnetic circuit is made
With so that the d axis of motor, q axle inductance are not constant；Generally they are become with the difference of the magnetic circuit saturated conditions of motor
Change, so that the accurate acquisition of inductance parameters becomes permanent magnet synchronous motor and is precisely controlled faced a great problem.
The mode of static test is usually used in the related technology to obtain motor inductances, it is one that thus its is obtained
About the inductance constant value of permanent magnet synchronous motor, the constant value can be inputted electric system to carry out motor control by it later.
But present inventor has found in the implementation of the present invention: being controlled using constant inductance to motor
Make there are biggish error, especially permanent magnet synchronous motor use fundamental wave model position-sensorless control when, the variation of inductance parameters
Gap can directly result in the offset of orientation angle again, cause motor control abnormal.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of control method of permanent magnet synchronous motor, system and machine readable storage
Medium is deposited because of constant inductance parameters used in control relative to practical dynamic inductance parameters in the related technology at least to solve
Lead to the technical problem of motor control exception in large change gap.
To achieve the goals above, on the one hand the embodiment of the present invention provides the control method of a kind of permanent magnet synchronous motor, institute
Permanent magnet synchronous motor is stated with the initial inductance under static state, which comprises obtain the permanent magnet synchronous motor in work shape
The corresponding multiple working inductances of multiple electric currents institute under state；Selected reference current, and from the multiple working inductance really
Surely correspond to the reference inductance of the reference current；It is used for based on the initial inductance, with reference to inductance and reference current to establish
Indicate the amendment inductor models of relationship between the inductance and electric current of the permanent magnet synchronous motor in the operating condition；And utilize institute
Amendment inductor models are stated to control the permanent magnet synchronous motor work.
Optionally, the selected reference current includes: that the selection permanent magnet synchronous motor occurs under the working condition
Electric current when power factor maximum is as the reference current.
Optionally, the permanent magnet synchronous motor is configured with the multiple targets for being used to refer to the motor running parameter of multiple grades
Operation interval obtains the corresponding multiple work of multiple electric currents institute of the permanent magnet synchronous motor in the operating condition described
After inductance, this method further include: selected from the multiple target operation section and be respectively intended to instruction higher level and lower
The first object operation interval of the motor running parameter of grade and the second target operation section；The permanent magnet synchronous motor is selected to exist
When distinguishing emergent power factor maximum under the working condition in the first object operation interval and second target operation section
Electric current as the first reference current and the second reference current, and determined from the multiple working inductance and correspond to described the
The first reference inductance and second of one reference current and second reference current refers to inductance；Calculate separately the initial inductance
Inductance is corrected with reference to inductance and the first amendment inductance and second of the second compensation with reference to needed for inductance relative to described first；It is based on
First reference current, the first amendment inductance, the second reference current, second correct inductance and initial inductance to establish described repair
Positive inductance model, and the permanent magnet synchronous motor work is controlled using the amendment inductor models.
Optionally, the motor running parameter includes rotor speed and/or load and the target operation section includes
Selected from one or more of following: high revolving speed area, middle revolving speed area, slow-speed of revolution area, high load region, middle load region, low-load area,
High speed Gao Zaiqu, the area high speed Zhong Zai, the area high speed Di Zai, middling speed Gao Zaiqu, the area middling speed Zhong Zai, the area middling speed Di Zai, low speed Gao Zaiqu,
The area low speed Zhong Zai, the area low speed Di Zai.
Optionally, described based on first reference current, the first amendment inductance, the second reference current, the second amendment electricity
Sense and initial inductance come establish the amendment inductor models include: by first reference current, first amendment inductance, second join
It examines electric current, the second amendment inductance and initial inductance and establishes the amendment inductor models in a manner of linear fit.
Optionally, the initial inductance, with reference to inductance and reference current it is therein one or more under rotating coordinate system
D axis or q axis component parameter.
Optionally, it the method includes d axle inductance Correction and Control sub-step, specifically includes: obtaining the permanent magnet synchronous electric
The corresponding multiple d axis working inductances of multiple stator total currents institute of machine in the operating condition；It is always electric from the multiple stator
The first reference current is selected in stream, and determines that the d axis for corresponding to the reference current refers to from the multiple d axis working inductance
Inductance；It is established based on the d axis with reference to inductance and the first reference current and is used to indicate the permanent magnet synchronous motor in work shape
First amendment inductor models of relationship between d axle inductance under state and stator total current；Utilize the first amendment inductor models
To control the permanent magnet synchronous motor work on d axis.
Optionally, it the method includes q axle inductance Correction and Control sub-step, specifically includes: obtaining the permanent magnet synchronous electric
Machine multiple d shaft currents in the operating condition and q shaft current and corresponding multiple q axis working inductances；From the multiple d axis electricity
D axis reference current and q axis reference current are selected in stream and q shaft current, and determination corresponds to from the multiple q axis working inductance
The q axis of the d axis reference current and q axis reference current refers to inductance；Inductance, d axis reference current and q are referred to based on the q axis
Axis reference current closes to establish to be used to indicate between the q axle inductance and d shaft current of the permanent magnet synchronous motor in the operating condition
The second of system corrects inductor models and is used to indicate the q axle inductance of the permanent magnet synchronous motor in the operating condition and q shaft current
Between relationship third correct inductor models；Using it is described second amendment inductor models and the third amendment inductor models come
The permanent magnet synchronous motor work is controlled on q axis.
Optionally, which comprises the permanent-magnet synchronous is controlled on d axis using the first amendment inductor models
Motor work, and executed under the working condition locating when the permanent magnet synchronous motor is controlled by the first amendment inductor models
The q axle inductance Correction and Control sub-step；Or inductor models are corrected using the second amendment inductor models and the third
To control the permanent magnet synchronous motor work on q axis, and inductor models are corrected by described second in the permanent magnet synchronous motor
The d axle inductance Correction and Control sub-step is executed under working condition locating when third amendment inductor models control.
Optionally, the d axle inductance Correction and Control sub-step be motor be in comprising in following one or more
Working condition when just execute: low-load area, the area high speed Di Zai, the area middling speed Di Zai, the area low speed Di Zai.
On the other hand the embodiment of the present invention provides a kind of control system of permanent magnet synchronous motor, comprising: controller is connected to
Permanent magnet synchronous motor, and the control method for executing above-mentioned permanent magnet synchronous motor.
On the one hand the embodiment of the present invention also provides a kind of machine readable storage medium, store on the machine readable storage medium
There is instruction, which is used for so that machine executes the control method of the above-mentioned permanent magnet synchronous motor of the application.
Through the above technical solutions, on the one hand, obtain the working inductance of motor in real time when motor is in running order, and
It selectes the reference current at more typical working condition moment and accordingly with reference to inductance, is determined from there through with reference to selected mode
The working inductance as reference of institute's practical application, it is dry can to effectively eliminate clutter in the motor course of work etc. in the present embodiment
Disturb the influence that factor fluctuates working inductance；On the other hand, met based on this with reference to inductance, initial inductance and reference current foundation
The amendment inductor models of relationship between the inductance and electric current of motor instantaneous operating conditions, finally bring the amendment inductor models into electricity
Thus machine control system simulates the inductance environment of dynamic mapping using amendment inductor models and controls permanent magnet synchronous motor work with this
Make, can relatively accurately be bonded the variation of the inductance parameters under electric machine operation state, and improves permanent magnet synchronous motor control
Accuracy；Another aspect, the implementation of the embodiment of the present invention can be to be carried out with motor work real-time synchronization, enables to be established
Amendment inductor models can be to the instantaneous operating conditions of motor fitting and related, and can also be the case where not making change
It is suitable for the permanent magnet synchronous motor of a variety of different models down, so that the application of the present embodiment has stronger applicability.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the flow diagram of the control method of the permanent magnet synchronous motor of one embodiment of the invention；
Fig. 2 is the flow diagram of the control method of the permanent magnet synchronous motor of another embodiment of the present invention；
Fig. 3 is the stream controlled based on the method for controlling permanent magnet synchronous motor of PWM about d axle inductance of one embodiment of the invention
Journey schematic diagram；
Fig. 4 is the stream controlled based on the method for controlling permanent magnet synchronous motor of PWM about q axle inductance of one embodiment of the invention
Journey schematic diagram；
Fig. 5 is the flow diagram of the method for controlling permanent magnet synchronous motor based on PWM of another embodiment of the present invention；
Fig. 6 is for the seat of each target operation interval range of revolving speed-load provisioned in the permanent magnet synchronous motor in Fig. 5
Mark system divides schematic diagram；
Fig. 7 is the fit line of the d axle inductance correction value and total current using method for controlling permanent magnet synchronous motor shown in fig. 5
The schematic diagram of type figure；
Fig. 8 A is the fitting using the q axle inductance correction value and q shaft current of method for controlling permanent magnet synchronous motor shown in fig. 5
The schematic diagram of line illustration；
Fig. 8 B is the fitting using the q axle inductance correction value and d shaft current of method for controlling permanent magnet synchronous motor shown in fig. 5
The schematic diagram of line illustration.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Referring to it is shown in fig. 1 be one embodiment of the invention permanent magnet synchronous motor control method flow diagram, forever
Magnetic-synchro motor has the initial inductance under static state, and the initial inductance under the static state can be by for example static in the related technology
Test several means and be acquired.Further, the control method the following steps are included:
Step 101: obtaining the corresponding multiple work electricity of the multiple electric currents institute of permanent magnet synchronous motor in the operating condition
Sense；
Wherein, motor inductances are dynamic changes in the motor practical period to work on power, and it is found by the applicant that forever
There are close ties between the current of electric and inductance of magnetic-synchro motor, then work can be obtained by the implementation of step 101
Make the electric current and corresponding inductance under state.
Step 102: selected reference current, and the reference inductance for corresponding to reference current is determined from multiple working inductances；
In the present embodiment, the work as reference of institute's practical application in the present embodiment is determined by reference to selected mode
Make inductance, the influence that the disturbing factors such as the clutter in the motor course of work fluctuate working inductance can be effectively eliminated.Preferably,
Reference current can be under the exemplary operation state point relative to motor work implementation process (such as below in preferred embodiment
When disclosed appearance maximum power factor) current of electric so that can also be used to refer to reference to inductance and reference current
Show typical electric machine operation state.
Step 103: being used to indicate permanent magnet synchronous motor in work to establish based on initial inductance, with reference to inductance and reference current
Make the amendment inductor models of relationship between the inductance and electric current under state；
It should be noted that amendment inductor models can be current of electric and electricity for being bonded and indicating permanent magnet synchronous motor
Maintaining close ties between sense as described above, be based on initial inductance, with reference to acquired in inductance and reference current, still
Inductance indicated by the model, current range should be not limited to specific selected reference current, inductance and its indicated by
The inductance and electric current that can be in a successive range between relationship.
Step 104: controlling permanent magnet synchronous motor using amendment inductor models and work.
In the present embodiment, the inductance environment of dynamic change is simulated using amendment inductor models and permanent-magnet synchronous is controlled with this
Motor work, can relatively accurately be bonded the variation of the inductance parameters under electric machine operation state, and improve permanent magnet synchronous motor
The accuracy of control；On the other hand, the present embodiment can be in motor work when institute real-time perfoming, and can change not making
It is suitable for the permanent magnet synchronous motor of a variety of different models in the case where dynamic, and enables to established amendment inductor models can
To be to be bonded in real time to the working condition of motor and related, the validity and accuracy of motor control are more increased.
Further open and optimization as embodiment illustrated in fig. 1, it is intended to the selected of the reference current in step 102
Disclosure and optimization in mode, can be selection permanent magnet synchronous motor in the operating condition emergent power factor maximum when electricity
Stream is as reference current.
It should be noted that during permanent magnet synchronous motor running, when current of electric is more than a certain range
Afterwards, electric energy can not be then converted into more magnetic energy, can only be converted to thermal energy, that is, there are magnetic circuit saturation and cross saturations etc. to ask
Topic.In this preferred embodiment, established due to relevant to there is maximum power factor moment reference current and with this
The phenomenon that correcting inductor models, can accurately reflecting magnetic circuit saturation, cross saturation in real system, can ensure safer and more effective
Ground controls the work operation of permanent magnet synchronous motor.And it is possible to need to only use measuring device (such as the power analysis of power factor
Instrument) obtain power factor, and power-factor measurement equipment is widely used in industry and electric control field, so that the embodiment of the present invention
Preferred embodiment it is easy to implement.
As the further open and optimization of embodiment illustrated in fig. 1, can be the first reference current, the first amendment electricity
Sense, the second reference current, the second amendment inductance and initial inductance establish amendment inductor models in a manner of linear fit.It needs
It is bright, although relationship between working inductance and electric current in the motor course of work and being not belonging to absolute linear relationship,
Be the inventor of the present application discovered that inductance parameters described in the working inductance model of linear fit and actual inductance parameter more
It is close, it can satisfy the requirement of the precision of permanent magnet synchronous motor control under normal circumstances.It is understood that above-mentioned amendment
The mode of establishing of inductor models is used only as example, and cannot be used to limit the range of the embodiment of the present invention.
The flow diagram of the control method of the permanent magnet synchronous motor of another embodiment of the present invention is shown referring to fig. 2,
The permanent magnet synchronous motor is configured with the multiple target operation sections for being used to refer to the motor running parameter of multiple grades, this method tool
Body includes:
Step 201: obtaining the corresponding multiple work electricity of the multiple electric currents institute of permanent magnet synchronous motor in the operating condition
Sense；
Step 202: the motor for being respectively intended to instruction higher level and lower grade is selected from multiple target operation sections
The first object operation interval of running parameter and the second target operation section；
It more specifically, the motor running parameter includes rotor speed and/or load, and is correspondingly permanent magnet synchronous motor
The target operation section configured can be at least one of following: high revolving speed area, middle revolving speed area, slow-speed of revolution area, high load
Area, middle load region, low-load area, high speed Gao Zaiqu, the area high speed Zhong Zai, the area high speed Di Zai, middling speed Gao Zaiqu, the area middling speed Zhong Zai,
The area middling speed Di Zai, low speed Gao Zaiqu, the area low speed Zhong Zai, the area low speed Di Zai.Further, first object operation interval and the second mesh
Mark operation interval, which can be, to be respectively referred to for high and low load region, high and low revolving speed area etc..
Step 203: work shape of the selection permanent magnet synchronous motor in first object operation interval and the second target operation section
Electric current when distinguishing emergent power factor maximum under state is as the first reference current and the second reference current, and from multiple work
Determine that corresponding to the first of the first reference current and the second reference current refers to inductance with reference to inductance and second in inductance；
Step 204: calculate separately initial inductance relative to first with reference to inductance and second with reference to the of compensation needed for inductance
One amendment inductance and the second amendment inductance；
Step 205: based on the first reference current, the first amendment inductance, the second reference current, the second amendment inductance and initial
Inductance is worked to establish amendment inductor models using inductor models are corrected to control permanent magnet synchronous motor.
In the present embodiment, the work shape by selecting to be in different brackets (such as load, revolving speed of high and low grade)
Electric current and inductance under state have comprehensively considered the entirety of the work operation of motor as electric current selected by model foundation and inductance
State ensures the scope of application and pinpoint accuracy of synthesized amendment inductor models.
Due to permanent magnet synchronous motor it is more be based on PWM (Pulse Width Modulation, pulse width modulation)
Control system is implemented to complete, so that in the application of inventive embodiments, initial inductance described in foregoing embodiments, work
Inductance, multiple electric currents and therein one or more of reference current are the d axis or q axis component parameter under rotating coordinate system.And
In view of this, the embodiment of the present invention also discloses an embodiment of the method for controlling permanent magnet synchronous motor based on PWM in this, specifically
As illustrated in FIG. 3 is the implementation steps about present invention method in terms of d axle inductance, and the following steps are included:
Step 301: obtaining the corresponding multiple d of multiple stator total currents institute of permanent magnet synchronous motor in the operating condition
Axis working inductance；
Step 302: selecting the first reference current from multiple stator total currents, and determined from multiple d axis working inductances
D axis corresponding to reference current refers to inductance；
Step 303: being established based on d axis with reference to inductance and the first reference current and be used to indicate permanent magnet synchronous motor and working
First amendment inductor models of relationship between d axle inductance under state and stator total current；
Step 304: being worked using the first amendment inductor models to control permanent magnet synchronous motor on d axis.
In the present embodiment, it is contemplated that d axle inductance and the degree of association of stator total current are larger, it is possible to select stator total
The foundation that electric current is implemented as the control in the present embodiment in terms of d axle inductance.It is highly preferred that in order to eliminate q axle inductance to d axis
The interference of inductance can be selection implementation steps 301-304 in case of a low load, because of the q of the motor in low-load
Shaft current is smaller and d axle inductance suffered by interference it is also smaller.
Due to being controlled in the course of work implemented in motor PWM, wave of fluctuation of the motor inductances on d axis relative to q axis
Move it is lower, so the implementation steps about present invention method in terms of d axle inductance as shown in Figure 4, and including following
Step:
Step 401: obtaining permanent magnet synchronous motor multiple d shaft currents in the operating condition and q shaft current and corresponding
Multiple q axis working inductances；
Step 402: selecting d axis reference current and q axis reference current from multiple d shaft currents and q shaft current, and from multiple
Determine that the q axis for corresponding to d axis reference current and q axis reference current refers to inductance in q axis working inductance；
Step 403: establishing that be used to indicate permanent magnetism same with reference to inductance, d axis reference current and q axis reference current based on q axis
The second of relationship corrects inductor models and is used to indicate permanent magnetism between the q axle inductance and d shaft current of step motor in the operating condition
The third of relationship corrects inductor models between the q axle inductance and q shaft current of synchronous motor in the operating condition；
Step 404: controlling permanent magnet synchronous electric on q axis using the second amendment inductor models and third amendment inductor models
Machine work.
In the present embodiment, it is contemplated that q axle inductance and the degree of association of d shaft current component and q shaft current component are larger, so
The foundation for needing selected d shaft current component and q shaft current component to implement as the control in the present embodiment in terms of q axle inductance.
As another embodiment of the present invention, and the further optimization to Fig. 3 and embodiment illustrated in fig. 4, it can be
After step 301-304 implementation, implementation steps again are substituted under the working condition of system in the case where d axle inductance defines
401-404；It is also possible to after step 401-404 is implemented, and the work of system is substituted into the case where q axle inductance defines
Make under state implementation steps 301-304 again.As a result, inductance being fitted on a direction using rotating coordinate system
Model is in the case where substituting into after electric system, then removes the inductance submodel under the other direction of fitting electric machine operation state,
It can ensure the accuracy of the inductance submodel under acquired other direction.
In order to further illustrate the embodiment of the present invention, referring to Fig. 5 show another embodiment of the present invention based on PWM
Method for controlling permanent magnet synchronous motor flow diagram, comprising the following steps:
Step 501: obtaining the d axle inductance value L that static method is testedd0With q axle inductance value Lq0；
Step 502: being based on the Ld0And Lq0, build using vector controlled and the position Sensorless Control of fundamental wave model
Target electric-control system；
Step 503: being required according to target electric-control system, determine the low regime, middling speed area and high velocity of target electric-control system
Velocity interval determines the underloading, middle load and heavily loaded loading range of target electric-control system；Wherein, present invention relates particularly to work
Interval range marks in revolving speed as shown in FIG. 6-load coordinate system；
Step 504: connection power analyzer；
Step 505: adjustment target electric-control system, so that it is operated in low speed light loading district, (region a) keeps revolving speed and load constant
It is fixed, finely tune L used in electric-control systemdSize, observe power analyzer on show power factor (PF) variation, determine power factor (PF) most
Corresponding d axle inductance value L when bigda, record LdaAnd Ld0Between poor Δ Lda, and record current value i at this timedaAnd iqa, meter
It calculates
Step 506: adjustment target electric-control system, so that it is operated in high speed light loading area, (region b) keeps revolving speed and load constant
It is fixed, finely tune L used in electric-control systemdSize, observe power analyzer on show power factor (PF) variation, determine power factor (PF) most
L when bigdValue Ldb, record the LdbAnd Ld0Between poor Δ Ldb, and record current value i at this timedbAnd iqb, calculate
Step 507: the data according to recorded in step 505 and step 506 are fitted d axle inductance correction value Δ LdWith it is total
Electric current isBetween relation line Δ Ld(is)；
Step 508: by Ld0+ΔLd(is) it is used as actual d axle inductance, substitute into electric-control system；
Step 509: adjustment target electric-control system, so that it is operated in low-speed heave-load area, (region c) keeps revolving speed and load constant
It is fixed, adjust L used in electric-control systemqSize, observe power analyzer on show power factor (PF) variation, determine power factor (PF) most
L when bigqValue Lqc, record the LqcAnd Lq0Between poor Δ Lqc, and record electric current i at this timedcAnd iqc；
Step 510: adjustment target electric-control system, so that it is operated in high speed light loading area, (region e) keeps revolving speed and load constant
It is fixed, adjust L used in electric-control systemqSize, observe power analyzer on show power factor (PF) variation, determine power factor (PF) most
L when bigqValue Lqe, record the LqeAnd Lq0Between poor Δ Lqe, and record electric current i at this timedeAnd iqe；
Step 511: adjustment target it is automatically controlled operate in high-speed overload area (region f), keep revolving speed and load it is constant, adjustment electricity
The size of Lq used in control system observes the power factor (PF) variation shown on power analyzer, L when determining power factor (PF) maximumq's
Value Lqf, record the LqfAnd Lq0Between poor Δ Lqf, and record electric current i at this timedfAnd iqf；
Step 512: the data recorded according to step 509-511 are fitted first part's correction value of q axle inductance parameter respectively
ΔLq1With idBetween relation line and second part correction value Δ Lq2With iqBetween relation line；
Step 513: by Lq0+ΔLq1(iq)+ΔLq2(id) it is used as actual q axle inductance, substitute into electric-control system.
In order to further illustrate the above method, in step 507, the approximating method of d axle inductance correction value and total current be by
Straight line fitting, relationship signal is as shown in fig. 7, i.e. d axle inductance and total current are in linear approximate relationship.By coordinate points (isa,Δ
Lda) and (isb,ΔLda) substitute into respectively, linear equation can be solved with isFor abscissa, Δ LdFor the straight line Δ L of ordinated
(is), the actual modified inductance value of band is Ld0+ΔLd(is)。
In step 512, q axle inductance is simultaneously by idAnd iqInfluence, actual relationship is not only non-linear, and exist compared with
Strong cross saturation phenomenon, but on overall relation, the increase of q shaft current will enhance the saturation of q axis magnetic circuit, d axis weak magnetoelectricity stream
Increase the saturation that can reduce q axis magnetic circuit to a certain degree, establish the relational expression of q axle inductance and d shaft current, q shaft current respectively accordingly,
It illustrates such as Fig. 8 A and 8B.
According to an embodiment of the invention, in step 512, the first part correction value Δ L of q axle inductance parameterq1With iqIt
Between relation line approximating method be straight line fitting, take region c record value Δ LqcAnd iqc, ignore idc.By coordinate points (iqc, Δ
Lqc) solve the straight line Δ L of zero crossingq1(iq).It illustrates as shown in Figure 8 A.
In step 512, the second part correction value Δ L of q axle inductance parameter q axle inductance parameterq1With idBetween relationship
Fit approach is straight line fitting, firstly, the value Δ L for taking region e to recordqeAnd ide, ignore iqe, obtain coordinate points (ide, Δ Lqe)；
Secondly, the value Δ L for taking region f to recordqf, idfAnd iqf, ignore iqf, obtain coordinate points (idf, Δ Lqf).Seek the flat of e point and f point
Equal coordinate points ((ide+idf)/2, (Δ Lqf+ΔLqe)/2), release the straight line Δ L of zero crossingq1(id) signal it is as shown in Figure 8 B.
Wherein, in step 512, the q shaft current that motor works in the case where the e of region is had ignored, is because of the q axis under light duty
Electric current is smaller and can be ignored.
About the implementation of foregoing embodiments method, the cooperation that hardware or processor are combined in the form of automatically controlled software can be
It realizes, correspondingly, the embodiment of the present invention provides a kind of machine readable storage medium, be stored on the machine readable storage medium
Instruction, the instruction are used for so that machine executes the above-mentioned method of the application.It will be appreciated by those skilled in the art that realizing above-mentioned reality
Applying all or part of the steps in a method is that relevant hardware can be instructed to complete by program, which is stored in one
In a storage medium, including some instructions are used so that single-chip microcontroller, chip or processor (processor) execution the application are each
The all or part of the steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
About the implementation of foregoing embodiments method, it can also be by controller and to complete, in view of this, the present invention is implemented
Example also provides a kind of control system of permanent magnet synchronous motor, which includes the controller for being connected to permanent magnet synchronous motor, the control
Device processed can execute the control method of above-mentioned permanent magnet synchronous motor.
The more specific technical side of controller and machine readable storage medium provided by the embodiments of the present invention
Case and technical effect are referred to the description of embodiment of the method above, and not in this to go forth for identical content.And institute in method
Corresponding electronic/electrical gas module or unit can be used to realize in the step of relating to.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (11)
1. a kind of control method of permanent magnet synchronous motor, the permanent magnet synchronous motor has the initial inductance under static state, feature
It is, which comprises
Obtain the corresponding multiple working inductances of multiple electric currents institute of the permanent magnet synchronous motor in the operating condition；
Select electric current of the permanent magnet synchronous motor under the working condition when emergent power factor maximum as with reference to electricity
Stream, and the reference inductance for corresponding to the reference current is determined from the multiple working inductance；
The permanent magnet synchronous motor is used to indicate in work shape based on the initial inductance, with reference to inductance and reference current to establish
The amendment inductor models of relationship between inductance and electric current under state；And
The permanent magnet synchronous motor work is controlled using the amendment inductor models.
2. the control method of permanent magnet synchronous motor according to claim 1, the permanent magnet synchronous motor is configured with and is used to refer to
Show multiple target operation sections of the motor running parameter of multiple grades, which is characterized in that obtain the permanent-magnet synchronous described
After the corresponding multiple working inductances of multiple electric currents institute of motor in the operating condition, this method further include:
The motor running parameter for being respectively intended to instruction higher level and lower grade is selected from the multiple target operation section
First object operation interval and the second target operation section；
Select the permanent magnet synchronous motor in the work shape of the first object operation interval and second target operation section
Electric current when distinguishing emergent power factor maximum under state is as the first reference current and the second reference current, and from the multiple
Determine that correspond to the first of first reference current and second reference current joins with reference to inductance and second in working inductance
Examine inductance；
It calculates separately the initial inductance and is repaired relative to described first with reference to the first of inductance and the second compensation with reference to needed for inductance
Positive inductance and the second amendment inductance；
It is built based on first reference current, the first amendment inductance, the second reference current, the second amendment inductance and initial inductance
The amendment inductor models are found, and control the permanent magnet synchronous motor work using the amendment inductor models.
3. the control method of permanent magnet synchronous motor according to claim 2, which is characterized in that the motor running parameter packet
Include selected from one or more of following containing rotor speed and/or load and the target operation section: high revolving speed area,
Middle revolving speed area, slow-speed of revolution area, high load region, middle load region, low-load area, high speed Gao Zaiqu, the area high speed Zhong Zai, the low load of high speed
Area, middling speed Gao Zaiqu, the area middling speed Zhong Zai, the area middling speed Di Zai, low speed Gao Zaiqu, the area low speed Zhong Zai, the area low speed Di Zai.
4. the control method of permanent magnet synchronous motor according to claim 2, which is characterized in that described based on first ginseng
Electric current, the first amendment inductance, the second reference current, the second amendment inductance and initial inductance are examined to establish the amendment inductor models
Include:
By first reference current, the first amendment inductance, the second reference current, the second amendment inductance and initial inductance with linear
The mode of fitting establishes the amendment inductor models.
5. the control method of permanent magnet synchronous motor described in any one of -4 according to claim 1, which is characterized in that described initial
Inductance with reference to therein one or more of inductance and reference current is the d axis or q axis component parameter under rotating coordinate system.
6. the control method of permanent magnet synchronous motor according to claim 5, which is characterized in that the method includes d axis electricity
Feel Correction and Control sub-step, specifically include:
Obtain the corresponding multiple d axis work electricity of the multiple stator total currents institute of the permanent magnet synchronous motor in the operating condition
Sense；
The first reference current is selected from the multiple stator total current, and is determined and corresponded to from the multiple d axis working inductance
Inductance is referred in the d axis of the reference current；
It is established based on the d axis with reference to inductance and the first reference current and is used to indicate the permanent magnet synchronous motor in working condition
Under d axle inductance and stator total current between relationship first amendment inductor models；
It is worked using the first amendment inductor models to control the permanent magnet synchronous motor on d axis.
7. the control method of permanent magnet synchronous motor according to claim 6, which is characterized in that the method includes q axis electricity
Feel Correction and Control sub-step, specifically include:
Obtain the permanent magnet synchronous motor multiple d shaft currents in the operating condition and q shaft current and corresponding multiple q axis works
Make inductance；
Select d axis reference current and q axis reference current from the multiple d shaft current and q shaft current, and from the multiple q axis
Determine that the q axis for corresponding to the d axis reference current and q axis reference current refers to inductance in working inductance；
The permanent magnet synchronous electric is used to indicate to establish with reference to inductance, d axis reference current and q axis reference current based on the q axis
The second of relationship corrects inductor models and is used to indicate the permanent magnetism between the q axle inductance and d shaft current of machine in the operating condition
The third of relationship corrects inductor models between the q axle inductance and q shaft current of synchronous motor in the operating condition；
The permanent magnet synchronous electric is controlled on q axis using the second amendment inductor models and third amendment inductor models
Machine work.
8. the control method of permanent magnet synchronous motor according to claim 7, which is characterized in that the described method includes:
It is worked using the first amendment inductor models to control the permanent magnet synchronous motor on d axis, and same in the permanent magnetism
The q axle inductance Correction and Control sub-step is executed under step motor working condition locating when being controlled by the first amendment inductor models
Suddenly；Or
The permanent magnet synchronous electric is controlled on q axis using the second amendment inductor models and third amendment inductor models
Machine work, and when the permanent magnet synchronous motor is controlled by the second amendment inductor models and third amendment inductor models
The d axle inductance Correction and Control sub-step is executed under locating working condition.
9. the control method of permanent magnet synchronous motor according to claim 6, which is characterized in that the d axle inductance amendment control
System step is the just execution when motor is in comprising one or more the working condition in following: low-load area, height
The area Su Dizai, the area middling speed Di Zai, the area low speed Di Zai.
10. a kind of control system of permanent magnet synchronous motor characterized by comprising
Controller is connected to permanent magnet synchronous motor, and for executing permanent-magnet synchronous described in any one of the claims 1-9
The control method of motor.
11. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Execute the control method of permanent magnet synchronous motor described in any one of the application the claims 1-9.
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| CN201710625407.7A CN107222145B (en) | 2017-07-27 | 2017-07-27 | Control method, system and the machine readable storage medium of permanent magnet synchronous motor |
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| CN201710625407.7A CN107222145B (en) | 2017-07-27 | 2017-07-27 | Control method, system and the machine readable storage medium of permanent magnet synchronous motor |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102761307A (en) * | 2012-02-23 | 2012-10-31 | 珠海格力电器股份有限公司 | Motor control method and device and household appliance |
| CN104201960A (en) * | 2014-08-01 | 2014-12-10 | 浙江西子富沃德电机有限公司 | Maximum torque current ratio control method for permanent-magnet synchronous reluctance motor |
| CN105099326A (en) * | 2014-05-06 | 2015-11-25 | Abb技术有限公司 | Frequency converter parameter optimization |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4561105B2 (en) * | 2004-01-21 | 2010-10-13 | 株式会社ジェイテクト | Motor control device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102761307A (en) * | 2012-02-23 | 2012-10-31 | 珠海格力电器股份有限公司 | Motor control method and device and household appliance |
| CN105099326A (en) * | 2014-05-06 | 2015-11-25 | Abb技术有限公司 | Frequency converter parameter optimization |
| CN104201960A (en) * | 2014-08-01 | 2014-12-10 | 浙江西子富沃德电机有限公司 | Maximum torque current ratio control method for permanent-magnet synchronous reluctance motor |
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