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CN107896081A - Current control process and device, motor drive control method and device - Google Patents

Current control process and device, motor drive control method and device Download PDF

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Publication number
CN107896081A
CN107896081A CN201711209070.8A CN201711209070A CN107896081A CN 107896081 A CN107896081 A CN 107896081A CN 201711209070 A CN201711209070 A CN 201711209070A CN 107896081 A CN107896081 A CN 107896081A
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China
Prior art keywords
output voltage
value
current
voltage values
shaft
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CN201711209070.8A
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CN107896081B (en
Inventor
李发顺
卓森庆
黄绍敏
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Aux Air Conditioning Co Ltd
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Aux Air Conditioning Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22Current control, e.g. using a current control loop

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention provides a kind of current control process and device, motor drive control method and device, is related to no electrolytic capacitor variable-frequency driving technique field.The current control process and device calculate the first output voltage values according to the input current and presetting current reference value received, slicing operation is carried out to the first output voltage values according to the amplitude limit value that receives again so that it is determined that the second output voltage values, so as to determine the output voltage of regulating current device by the comparison result of the first output voltage values and the second output voltage values;So that the integrator of regulating current device can be initialized when regulating current device is in saturation state, so that regulating current device can be rapidly entered with the fluctuation of amplitude limit value/exit saturation state, in addition, the controlling of the motor drive control method for applying above-mentioned current control process and regulating current device and device to electric current is improved, so as to enhance the stability of motor operating.

Description

Current control process and device, motor drive control method and device
Technical field
The present invention relates to no electrolytic capacitor variable-frequency driving technique field, more particularly to a kind of current control process and device, Motor drive control method and device.
Background technology
With the continuous development of society, the popularity of air-conditioning also more and more higher, and the normal operation of air-conditioning be unable to do without pressure Contract electromechanical machine, is typically now run using no electrolytic capacitor drive system motor.
Traditional current regulator enters saturation state when output reaches amplitude limit, and now integrator computing can cause to satisfy And depth down, only when service condition meets saturation exit criteria, can just saturation state be exited, it is necessary to the long period.And Using the no electrolytic capacitor drive system of the current regulator, without pfc circuit and big electrochemical capacitor as dc-link capacitance, And the less thin-film capacitor of capacity is used, thus to ensure that motor has higher power factor, DC bus-bar voltage is with input electricity There is the fluctuation more than half peak value in pressure, when busbar voltage is relatively low, current regulator is in saturation state, and works as busbar voltage During recovery, current regulator can not be exited quickly under saturation state again, so as to cause current control to be deteriorated, easily be occurred short The current over pulse of time, influence motor overall performance.
The content of the invention
In view of this, the present invention is directed to propose a kind of current control process and device, motor drive control method and device, To solve the above problems.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way:
In a first aspect, the invention provides a kind of current control process, applied to regulating current device, the current regulation Method includes:
The first output voltage values are calculated according to the input current and presetting current reference value received;
Slicing operation is carried out to first output voltage values according to the amplitude limit value received so that it is determined that the second output electricity Pressure value;
Comparison result according to first output voltage values and second output voltage values determines the current regulation The output voltage of device.
Further, the amplitude limit value that the foundation receives carries out slicing operation to first output voltage values so as to really The step of fixed second output voltage values, includes:
When first output voltage values are more than maximum limit amplitude, it is the maximum to determine second output voltage values Amplitude limit value;
When first output voltage values are less than minimum amplitude limit value, it is the minimum to determine second output voltage values Amplitude limit value;
When first output voltage values are more than or equal to minimum amplitude limit value and are less than or equal to maximum limit amplitude, it is determined that Second output voltage values are first output voltage values.
Further, the input current and presetting current reference value that the foundation receives calculate the first output electricity The step of pressure value, includes:
According to the input current and presetting current reference value calculation error value received;
The error amount is integrated according to presetting integral coefficient so as to obtain second voltage value;
The error amount is amplified according to presetting proportionality coefficient so as to obtain first voltage value;
The first output voltage values are calculated according to the second voltage value and the first voltage value.
Further, it is described to be determined according to the comparison result of first output voltage values and second output voltage values The step of output voltage of the regulating current device, includes:
When first output voltage values are equal with second output voltage values, keep the first voltage value constant So that it is determined that the output voltage is second output voltage values;
When first output voltage values and second output voltage values are unequal, according to presetting formula to institute First voltage value is stated to be initialized to obtain integration initial value, and based on the integration initial value and the first voltage After value recalculates first output voltage values, it is electric to the described first output to re-execute the amplitude limit value that the foundation receives Pressure value carries out slicing operation so that it is determined that the step of the second output voltage values.
Second aspect, present invention also offers a kind of motor drive control method, the motor drive control method includes:
Receive the phase current, input voltage, busbar voltage that a circuit parameter collecting unit gathers and transmit;
Motor speed actual value, q shaft currents and d shaft currents are calculated according to the phase current;
Q axles are determined according to the input voltage, the motor speed actual value and presetting motor speed reference value Torque current specified rate;
Using such as preceding claim current control process, the busbar voltage, the q shaft torques given value of current amount and The q shaft currents calculate q shaft voltage specified rates;
Utilize such as preceding claim current control process, the busbar voltage, presetting d shaft torque given value of current amounts And the d shaft currents calculate d shaft voltage specified rates;
According to the q shaft voltages specified rate and d shaft voltages specified rate generation pulse-width signal.
The third aspect, present invention also offers a kind of regulating current device, the regulating current device includes:
Voltage regulation unit, it is defeated for calculating first according to the input current and presetting current reference value that receive Go out magnitude of voltage;
Clipping unit, for carrying out slicing operation to first output voltage values so as to really according to the amplitude limit value received Fixed second output voltage values;
Control unit, determined for the comparison result according to first output voltage values and second output voltage values The output voltage of the regulating current device.
Further, the clipping unit is used for when first output voltage values are more than maximum limit amplitude, determines institute It is the maximum limit amplitude to state the second output voltage values;
The clipping unit is additionally operable to, when first output voltage values are less than minimum amplitude limit value, determine that described second is defeated It is the minimum amplitude limit value to go out magnitude of voltage;
The clipping unit is additionally operable to when first output voltage values are more than or equal to minimum amplitude limit value and are less than or wait When maximum limit amplitude, it is first output voltage values to determine second output voltage values.
Further, the voltage regulation unit is used for according to the input current and presetting current reference received It is worth calculation error value;
The voltage regulation unit is additionally operable to integrate so as to obtain the error amount according to presetting integral coefficient Obtain second voltage value;
The voltage regulation unit is additionally operable to be amplified so as to obtain the error amount according to presetting proportionality coefficient Obtain first voltage value;
The voltage regulation unit is additionally operable to calculate the first output according to the second voltage value and the first voltage value Magnitude of voltage.
Further, described control unit is used for when first output voltage values are equal with second output voltage values When, keep the first voltage value constant so that it is determined that the output voltage is second output voltage values;
Described control unit is additionally operable to, when first output voltage values and second output voltage values are unequal, press The first voltage value is initialized to obtain integration initial value according to presetting formula;
The voltage regulation unit is additionally operable to recalculate institute based on the integration initial value and the first voltage value State the first output voltage values;
The clipping unit is additionally operable to carry out amplitude limit to first output voltage values according to the amplitude limit value received again Computing is so that it is determined that the second output voltage values.
Fourth aspect, present invention also offers a kind of motor drive control device, the motor drive control device includes:
Parameter receiving unit, the phase current for gathering and transmitting for one circuit parameter collecting unit of reception, input voltage, mother Line voltage;
Computing unit, for calculating motor speed actual value, q shaft currents and d shaft currents according to the phase current;
Q shaft torque given value of current amount determining units, for according to the input voltage, the motor speed actual value and Presetting motor speed reference value determines q shaft torque given value of current amounts;
Q shaft voltage specified rate determining units, for being turned using above-mentioned regulating current device, the busbar voltage, the q axles Square given value of current amount and the q shaft currents calculate q shaft voltage specified rates;
D shaft voltage specified rate determining units, for utilizing above-mentioned regulating current device, the busbar voltage, presetting d Shaft torque given value of current amount and the d shaft currents calculate d shaft voltage specified rates;
Pulse-width signal generation unit, for according to the q shaft voltages specified rate and d shaft voltages specified rate generation Pulse-width signal.
Relative to prior art, current control process of the invention and device according to the input current received and are preset Fixed current reference value calculates the first output voltage values, then carries out amplitude limit to the first output voltage values according to the amplitude limit value received Computing is so that it is determined that the second output voltage values, so as to true by the comparison result of the first output voltage values and the second output voltage values Determine the output voltage of regulating current device;Wherein, the comparison result of the first output voltage values and the second output voltage values can react Whether regulating current device is in saturation state, so that can be adjusted when regulating current device is in saturation state to electric current The integrator of regulating device is initialized so that regulating current device can rapidly enter/exit saturation shape with the fluctuation of amplitude limit value State.In addition, motor drive control method provided by the invention and device, by applying above-mentioned current control process and device, make Q shaft voltages specified rate, d shaft voltages specified rate can quick response changed with the fluctuation of busbar voltage, improve to electricity While the controlling of stream, the stability of motor operating is added.
Brief description of the drawings
The accompanying drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the current control process described in the embodiment of the present invention.
Fig. 2 is the particular flow sheet of step S101 in Fig. 1.
Fig. 3 is the particular flow sheet of step S102 in Fig. 1.
Fig. 4 is the particular flow sheet of step S103 in Fig. 1.
Fig. 5 is the functional block diagram of the regulating current device described in the embodiment of the present invention.
Fig. 6 is the topology diagram of the regulating current device described in the embodiment of the present invention.
Fig. 7 is the flow chart of the motor drive control method described in the embodiment of the present invention.
Fig. 8 is the particular flow sheet of step S606 in Fig. 7.
Fig. 9 is the functional block diagram of the motor drive control device described in the embodiment of the present invention.
Description of reference numerals:
100- regulating current devices;110- voltage regulation units;120- clipping units;130- control units;200- motors Drive dynamic control device;210- parameter receiving units;220- computing units;230-q shaft torque given value of current amount determining units;240- Q shaft voltage specified rate determining units;250-d shaft voltage specified rate determining units;260- pulse-width signal generation units.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
First embodiment
The embodiments of the invention provide a kind of current control process, for voltage to be adjusted according to input current.Please Refering to Fig. 1, for the flow chart of current control process provided in an embodiment of the present invention.The current control process includes:
Step S101:The first output voltage is calculated according to the input current and presetting current reference value received Value.
Referring to Fig. 2, the particular flow sheet for step S101.Step S101 includes:
Sub-step S1011:According to the input current and presetting current reference value calculation error value received.
Specifically, error amount can be calculated by following formula:
ε=inRef-in
Wherein, ε is error amount, inRefFor presetting current reference value, in is input current.
Sub-step S1012:Error amount is amplified according to presetting proportionality coefficient so as to obtain first voltage value.
Specifically, first voltage value can be calculated by following formula:
out1=Kp
Wherein, out1For first voltage value, KpFor presetting proportionality coefficient.
Sub-step S1013:Error amount is integrated according to presetting integral coefficient so as to obtain second voltage value.
Specifically, second voltage value can be calculated by following formula:
out2=Ki*∫εdt
Wherein, out2For second voltage value, KiFor presetting integral coefficient.
Sub-step S1014:The first output voltage values are calculated according to second voltage value and first voltage value.
Specifically, the first output voltage values can be calculated by following formula:
out0=out1+out2
Wherein, out0For the first output voltage values.
Step S102:Slicing operation is carried out so that it is determined that second is defeated to the first output voltage values according to the amplitude limit value received Go out magnitude of voltage.
Referring to Fig. 3, the particular flow sheet for step S102.Step S102 includes:
Sub-step S1021:Judge whether the first output voltage values are more than maximum limit amplitude, if it is, performing sub-step S1022;If not, performing sub-step S1023.
By judging whether the first output voltage values are more than maximum limit amplitude, it may be determined that whether regulating current device 100 In saturation state.
Sub-step S1022:It is maximum limit amplitude to determine the second output voltage values.
When the first output voltage values are more than maximum limit amplitude, regulating current device 100 is carried out to the first output voltage values Slicing operation so that the second output voltage values are maximum limit amplitude, and the saturation depth of integrator can be avoided to deepen.
Sub-step S1023:Judge whether the first output voltage values are less than minimum amplitude limit value, if it is, performing sub-step S1024;If not, performing sub-step S1025.
By judging whether the first output voltage values are less than minimum amplitude limit value, regulating current device 100 can be equally determined Whether saturation state is in.
Sub-step S1024:It is minimum amplitude limit value to determine the second output voltage values.
When the first output voltage values are less than minimum amplitude limit value, regulating current device 100 is carried out to the first output voltage values Slicing operation so that the second output voltage values are minimum amplitude limit value, and the saturation depth of integrator can be avoided to deepen.
Sub-step S1025:It is the first output voltage values to determine the second output voltage values.
When the first output voltage values are more than or equal to minimum amplitude limit value and are less than or equal to maximum limit amplitude, current regulation Device 100 need not carry out slicing operation, thus the second output voltage values are the first output voltage values.
It should be noted that in actual applications, amplitude limit value is generally determined by busbar voltage.Amplitude of limiting is outLimt, Then maximum limit amplitude is+outLimt, minimum amplitude limit value is-outLimt
So as to work as out0>+outLimtWhen, out'0=+outLimt
Work as out0<-outLimtWhen, out'0=-outLimt
As-outLimt<out0<+outLimtWhen, out'0=out0
Wherein, out'0For the second output voltage values.
Step S103:Comparison result according to the first output voltage values and the second output voltage values determines regulating current device 100 output voltage.
Referring to Fig. 4, the particular flow sheet for step S103.Step S103 includes:
Sub-step S1031:Judge whether the first output voltage values are equal with the second output voltage values, if it is, performing Sub-step S1032;If not, performing sub-step S1033.
Sub-step S1032:Keep first voltage value constant so that it is determined that output voltage is the second output voltage values.
When the first output voltage values are equal with the second output voltage values, show regulating current device 100 it is determined that second Slicing operation is not carried out during output voltage values, i.e., now regulating current device 100 is not in saturation state, thus Do not do any operation to integrator now, keep original second output voltage values constant so that regulating current device 100 it is defeated It is the second output voltage values to go out voltage.
Sub-step S1033:First voltage value is initialized according to presetting formula to obtain integration initial value.
When the first output voltage values and unequal the second output voltage values, show regulating current device 100 it is determined that Slicing operation is carried out during two output voltage values, i.e., now regulating current device 100 is in saturation state, now calculates Initial value is integrated, so that regulating current device 100 can exit saturation state.
Wherein, initial value=amplitude limit value-K is integratedp*(inRef-in)。
Sub-step S1034:First output voltage values are recalculated based on integration initial value and first voltage value.
Original second voltage value is replaced to integrate initial value, so that it is determined that the first new output voltage values.
It should be noted that after the first output voltage values are redefined, also need to re-execute step S102, and successively Carry out subsequent step.
It should also be noted that, in the case where amplitude limit value is constant, due to entering to the integral part of regulating current device 100 Initialization operation is gone so that regulating current device 100 has exited saturation state, thus the second output voltage values redefined Should be equal with the first output voltage values redefined, so as to which the final output voltage values of regulating current device 100 should be with The first new output voltage values are equal.
Second embodiment
The embodiments of the invention provide a kind of regulating current device 100, for voltage to be adjusted according to input current. It should be noted that the regulating current device 100 that the present embodiment is provided, its general principle and caused technique effect and above-mentioned Embodiment is identical, and to briefly describe, the present embodiment part does not refer to part, refers to corresponding contents in the above embodiments.Please Include voltage regulation unit 110, clipping unit 120 and control unit with reference to refering to Fig. 5 and Fig. 6, the regulating current device 100 130。
Wherein, voltage regulation unit 110 is based on according to the input current and presetting current reference value received Calculate the first output voltage values.
Voltage regulation unit 110 is first depending on the input current received and presetting current reference value calculation error Value;Then error amount is amplified according to presetting proportionality coefficient so as to obtain first voltage value;Then according to presetting Integral coefficient error amount is integrated so as to obtain second voltage value;Last foundation second voltage value and first voltage value meter Calculate the first output voltage values.
It is to be appreciated that voltage regulation unit 110 can be used for performing step S101, sub-step S1011, sub-step S1012, Sub-step S1013 and sub-step S1014.
Clipping unit 120 be used to carry out slicing operation to the first output voltage values according to the amplitude limit value that receives so that it is determined that Second output voltage values.
Specifically, clipping unit 120 is used for when the first output voltage values are more than maximum limit amplitude, determines the second output electricity Pressure value is maximum limit amplitude;When the first output voltage values are less than minimum amplitude limit value, it is irreducible minimum to determine the second output voltage values Amplitude;When the first output voltage values are more than or equal to minimum amplitude limit value and are less than or equal to maximum limit amplitude, determine that second is defeated It is the first output voltage values to go out magnitude of voltage.
It is to be appreciated that clipping unit 120 can be used for performing step S102, sub-step S1021, sub-step S1022, sub-step Rapid S1023, sub-step S1024 and sub-step S1025.
Control unit 130 is used to determine that electric current is adjusted according to the comparison result of the first output voltage values and the second output voltage values The output voltage of regulating device 100.
Control unit 130 is used for when the first output voltage values and unequal the second output voltage values, according to presetting Formula is initialized to first voltage value to be based on integration initially in voltage regulation unit 110 to obtain integration initial value After value and first voltage value recalculate the first output voltage values, clipping unit 120 is again according to the amplitude limit value pair received First output voltage values carry out slicing operation so that it is determined that the second output voltage values.
It is to be appreciated that control unit 130 can be used for performing step S103, sub-step S1031, sub-step S1032, sub-step Rapid S1033 and sub-step S1034.
3rd embodiment
The embodiments of the invention provide a kind of motor drive control method, is run for motor.It should be noted that The motor drive control method that the present embodiment is provided, its general principle and caused technique effect are identical with above-described embodiment, To briefly describe, the present embodiment part does not refer to part, refers to corresponding contents in the above embodiments.Referring to Fig. 7, Fig. 7 A kind of flow chart of the motor drive control method provided for present pre-ferred embodiments.
Step S701:Receive the phase current, input voltage, busbar voltage that a circuit parameter collecting unit gathers and transmit.
Gather and transmit it is to be appreciated that phase current, input voltage, busbar voltage are circuit parameter acquisition module; In addition, in the present embodiment, inputting to the phase current of motor includes u phase currents iuAnd v phase currents iv
Step S702:Motor speed actual value, q shaft currents and d shaft currents are calculated according to phase current.
Pass through u phase currents i firstuAnd v phase currents ivCalculate w phase currents iw
iw=-iu-iv
Then u phase currents i is passed throughu, v phase currents ivAnd w phase currents iwCalculate α shaft currents and β shaft currents, formula are as follows It is shown:
iα=iu
Then the calculation formula of q shaft currents is:
iq=iβcosθ-iαsinθ
The calculation formula of d shaft currents is:
id=iαcosθ+iβsinθ
Wherein, θ is the angle of the rotor permanent magnet magnetic linkage of motor 130, can be drawn by traditional position estimation algorithm, and it is counted Calculation process is as follows:
It is first depending on d axis components and q axis components that following formula calculate counter electromotive force:
Wherein, estimated angle and the error of actual angle
Then the angle of the rotor permanent magnet magnetic linkage of motor 130 is calculated by following formula:
θ (n)=θ (n-1)+Δ θ
Then motor speed actual value can be calculated by following formula:
Step S703:Q axles are determined according to input voltage, motor speed actual value and presetting motor speed reference value Torque current specified rate.
First, torque current is determined according to rotary speed actual value, presetting motor speed reference value, following formula can be passed through Torque current is calculated:
IT_Ref=Kp1*(Wr_Ref-Wr)+Ki1*∫(Wr_Ref-Wr)dt
Wherein, IT_RefFor torque current, Wr_RefFor presetting motor speed reference value, WrFor motor speed actual value, Kp1For the first presetting proportionality coefficient, Ki1For presetting first integral coefficient.
Then, determine that torque current changes waveform according to input voltage, ripple can be changed to torque current by following formula Shape is calculated:
Wherein, K is presetting normalization coefficient, IT_WaveformChange waveform for torque current.
Finally, q shaft torque given value of current amounts are determined according to torque current, torque current change waveform, following calculation can be passed through Formula is to calculating:
Iq_Ref=IT_Ref*IT_Waveform
Wherein, Iq_RefFor q shaft torque given value of current amounts.
Step S704:The current control process of first embodiment offer, busbar voltage, q shaft torque given value of current amounts are provided And q shaft currents calculate q shaft voltage specified rates.
It should be noted that amplitude limit value in the first embodiment is determined by the busbar voltage in the present embodiment, specifically Ground, busbar voltage meet following formula with amplitude limit value:
Q shaft torque given value of current amounts are current reference value presetting in first embodiment, and q shaft currents are first real The input current in example is applied, q shaft voltages specified rate is the output voltage in first embodiment.
Step S705:Current control process, busbar voltage, the presetting d shaft torques electricity provided using first embodiment Flow specified rate and d shaft currents calculate d shaft voltage specified rates.
Similarly, busbar voltage meets following formula with amplitude limit value:
D shaft torque given value of current amounts are current reference value presetting in first embodiment, and d shaft currents are first real The input current in example is applied, d shaft voltages specified rate is the output voltage in first embodiment.
Step S706:According to q shaft voltages specified rate and d shaft voltages specified rate generation pulse-width signal.
It please join figure and read Fig. 8, be step S706 sub-step flow chart.Step S706 includes:
Sub-step S7061:Three-phase output pulse width is calculated based on q shaft voltages specified rate and d shaft voltages specified rate.
uα=udcosθ-uqsinθ
uβ=udsinθ+uqcosθ
uu=uα
Wherein, uu、uv、uwThe respectively three-phase output pulse width of motor.
Sub-step S7062:Calculate the target voltage values of U, V, W three-phase respectively based on three-phase output pulse width and busbar voltage.
Specifically, the target voltage values of U, V, W three-phase are calculated by following formula respectively:
Wherein, UU-N、UV-N、UU-NThe respectively target voltage values of U, V, W three-phase.
Sub-step S7063:Target voltage values and the second presetting triangle wave amplitude based on U, V, W three-phase calculate respectively U, the fiducial value of V, W three-phase.
Specifically, the fiducial value of U, V, W three-phase is calculated by following formula:
CompU=A*uU-N/udc
CompV=A*uV-N/udc
CompW=A*uW-N/udc
Wherein, CompU, CompV, CompW are respectively the fiducial value of U, V, W three-phase, and A is the second presetting triangle wave amplitude Value.
Sub-step S7064:Judge whether the fiducial value of U, V, W three-phase is more than the second triangle wave amplitude respectively, if it is, Perform sub-step S7065;If it is not, then perform sub-step S7066.
CompU>A
CompV>A
Judge whether CompU, CompV, CompW meet CompW>A.
Sub-step S7065:Determine that the value that pulse-width signal corresponds to phase is 1.
Meet CompU for example, working as>During A, PWM_U=1;When meeting CompV>During A, PWM_V=1;When meeting CompW>A When, PWM_W=1.
Wherein, PWM_U, PWM_V and PWM_W are respectively the output of pulse-width signal U, V, W three-phase.
Sub-step S7066:Determine that the value that pulse-width signal corresponds to phase is 0.
For example, when meeting CompU≤A, PWM_U=0;When meeting CompV≤A, PWM_V=0;When meeting CompW During≤A, PWM_W=0.
Fourth embodiment
The embodiments of the invention provide a kind of motor drive control device 200, is run for motor.Need what is illustrated It is the motor drive control device 200 that the present embodiment is provided, its general principle and caused technique effect and above-described embodiment Identical, to briefly describe, the present embodiment part does not refer to part, refers to corresponding contents in the above embodiments.Refer to figure 9, Fig. 9 be a kind of functional block diagram for motor drive control device 200 that present pre-ferred embodiments provide.Motor driving control Device 200 processed includes parameter receiving unit 210, computing unit 220, q shaft torque given value of current amounts determining unit 230, q shaft voltages Specified rate determining unit 240, d shaft voltage specified rates determining unit 250 and pulse-width signal generation unit 260.
Wherein, parameter receiving unit 210 is used to receive phase current, the input that a circuit parameter collecting unit is gathered and transmitted Voltage, busbar voltage.
It is to be appreciated that parameter receiving unit 210 can be used for performing step S701.
Computing unit 220 is used to calculate motor speed actual value, q shaft currents and d shaft currents according to phase current.
It is to be appreciated that computing unit 220 can be used for performing step S702.
Q shaft torque given value of current amounts determining unit 230 is used for according to input voltage, motor speed actual value and presetting Motor speed reference value determine q shaft torque given value of current amounts.
It is to be appreciated that q shaft torque given value of current amounts determining unit 230 can be used for performing step S703.
Q shaft voltage specified rates determining unit 240 is used for regulating current device 100, the bus provided using second embodiment Voltage, q shaft torque given value of current amounts and q shaft currents calculate q shaft voltage specified rates.
It is to be appreciated that q shaft voltage specified rates determining unit 240 can be used for performing step S704.
D shaft voltage specified rates determining unit 250 is used for regulating current device 100, the bus provided using second embodiment Voltage, presetting d shaft torque given value of current amounts and d shaft currents calculate d shaft voltage specified rates.
It is to be appreciated that d shaft voltage specified rates determining unit 250 can be used for performing step S705.
Pulse-width signal generation unit 260 is used to adjust according to q shaft voltages specified rate and d shaft voltages specified rate generation pulsewidth Signal processed.
It is to be appreciated that pulse-width signal generation unit 260 can be used for performing step S706.
In summary, current control process of the invention and device are according to the input current and presetting electricity received Flow reference value and calculate the first output voltage values, then according to the amplitude limit value that receives the first output voltage values are carried out slicing operation from And the second output voltage values are determined, so as to determine electric current by the comparison result of the first output voltage values and the second output voltage values The output voltage of adjusting means;Wherein, the comparison result of the first output voltage values and the second output voltage values can kinetic current tune Whether regulating device is in saturation state, so that can be to regulating current device when regulating current device is in saturation state Integrator initialized so that regulating current device can rapidly enter with the fluctuation of amplitude limit value/exit saturation state.This Outside, motor drive control method and device provided by the invention, filled by the above-mentioned current control process of application and current regulation Put so that q shaft voltages specified rate, d shaft voltages specified rate can quick response changed with the fluctuation of busbar voltage, improve While to the controlling of electric current, the stability of motor operating is added.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.

Claims (10)

1. a kind of current control process, it is characterised in that applied to a current regulator, the current control process includes:
The first output voltage values are calculated according to the input current and presetting current reference value received;
Slicing operation is carried out so that it is determined that the second output voltage values to first output voltage values according to the amplitude limit value received;
Comparison result according to first output voltage values and second output voltage values determines the current regulator Output voltage.
2. current control process according to claim 1, it is characterised in that the amplitude limit value that the foundation receives is to described First output voltage values carry out slicing operation so that it is determined that including the step of the second output voltage values:
When first output voltage values are more than maximum limit amplitude, it is the maximum amplitude limit to determine second output voltage values Value;
When first output voltage values are less than minimum amplitude limit value, it is the minimum amplitude limit to determine second output voltage values Value;
When first output voltage values are more than or equal to minimum amplitude limit value and are less than or equal to maximum limit amplitude, it is determined that described Second output voltage values are first output voltage values.
3. current control process according to claim 1, it is characterised in that input current that the foundation receives and Presetting current reference value, which calculates the step of the first output voltage values, to be included:
According to the input current and presetting current reference value calculation error value received;
The error amount is amplified according to presetting proportionality coefficient so as to obtain first voltage value;
The error amount is integrated according to presetting integral coefficient so as to obtain second voltage value;
The first output voltage values are calculated according to the second voltage value and the first voltage value.
4. current control process according to claim 3, it is characterised in that it is described according to first output voltage values with The step of comparison result of second output voltage values determines the output voltage of the regulating current device includes:
When first output voltage values are equal with second output voltage values, keep the first voltage value it is constant so as to It is second output voltage values to determine the output voltage;
When first output voltage values and second output voltage values are unequal, according to presetting formula to described the One magnitude of voltage is initialized to obtain integration initial value, and based on the integration initial value and the first voltage value weight After newly calculating first output voltage values, amplitude limit value that the foundation receives is re-executed to first output voltage values Slicing operation is carried out so that it is determined that the step of the second output voltage values.
5. a kind of motor drive control method, it is characterised in that the motor drive control method includes:
Receive the phase current, input voltage, busbar voltage that a circuit parameter collecting unit gathers and transmit;
Motor speed actual value, q shaft currents and d shaft currents are calculated according to the phase current;
Q shaft torques are determined according to the input voltage, the motor speed actual value and presetting motor speed reference value Given value of current amount;
Utilize the current control process as described in any one in claim 1-4, the busbar voltage, q shaft torques electricity Flow specified rate and the q shaft currents calculate q shaft voltage specified rates, wherein, q shaft torque given value of current amount is presetting electric current Reference value, q shaft currents are input current, and q shaft voltages specified rate is output voltage, and busbar voltage is proportional to amplitude limit value;
Turned using the current control process as described in any one in claim 1-4, the busbar voltage, presetting d axles Square given value of current amount and the d shaft currents calculate d shaft voltage specified rates, wherein, q shaft torque given value of current amount is presetting Current reference value, d shaft currents are input current, and d shaft voltages specified rate is output voltage, and busbar voltage is proportional to amplitude limit value;
According to the q shaft voltages specified rate and d shaft voltages specified rate generation pulse-width signal.
6. a kind of regulating current device, it is characterised in that applied to a current regulator, the regulating current device includes:
Voltage regulation unit, for calculating the first output electricity according to the input current and presetting current reference value that receive Pressure value;
Clipping unit, for carrying out slicing operation to first output voltage values according to the amplitude limit value that receives so that it is determined that the Two output voltage values;
Control unit, described in being determined according to the comparison result of first output voltage values and second output voltage values The output voltage of regulating current device.
7. regulating current device according to claim 6, it is characterised in that the clipping unit is used for when described first is defeated When going out magnitude of voltage and being more than maximum limit amplitude, it is the maximum limit amplitude to determine second output voltage values;
The clipping unit is additionally operable to when first output voltage values are less than minimum amplitude limit value, determines the second output electricity Pressure value is the minimum amplitude limit value;
The clipping unit is additionally operable to when first output voltage values are more than or equal to minimum amplitude limit value and less than or equal to most During big amplitude limit value, it is first output voltage values to determine second output voltage values.
8. regulating current device according to claim 6, it is characterised in that the voltage regulation unit is used for according to reception The input current arrived and presetting current reference value calculation error value;
The voltage regulation unit is additionally operable to integrate the error amount according to presetting integral coefficient so as to obtain Two magnitudes of voltage;
The voltage regulation unit is additionally operable to be amplified the error amount according to presetting proportionality coefficient so as to obtain One magnitude of voltage;
The voltage regulation unit is additionally operable to calculate the first output voltage according to the second voltage value and the first voltage value Value.
9. regulating current device according to claim 6, it is characterised in that described control unit is used for when described first is defeated Go out magnitude of voltage it is equal with second output voltage values when, keep the first voltage value constant so that it is determined that the output voltage For second output voltage values;
Described control unit is additionally operable to when first output voltage values and second output voltage values are unequal, according to pre- The formula of setting is initialized to the first voltage value to obtain integration initial value;
The voltage regulation unit is additionally operable to recalculate described the based on the integration initial value and the first voltage value One output voltage values;
The clipping unit is additionally operable to carry out slicing operation to first output voltage values according to the amplitude limit value received again So that it is determined that the second output voltage values.
10. a kind of motor drive control device, it is characterised in that the motor drive control device includes:
Parameter receiving unit, phase current, input voltage, the bus electricity for gathering and transmitting for receiving a circuit parameter collecting unit Pressure;
Computing unit, for calculating motor speed actual value, q shaft currents and d shaft currents according to the phase current;
Q shaft torque given value of current amount determining units, for according to the input voltage, the motor speed actual value and default Fixed motor speed reference value determines q shaft torque given value of current amounts;
Q shaft voltage specified rate determining units, for using as described in any one in claim 6-9 regulating current device, The busbar voltage, the q shaft torques given value of current amount and the q shaft currents calculate q shaft voltage specified rates, wherein, q axles turn Square given value of current amount is presetting current reference value, and q shaft currents are input current, and q shaft voltages specified rate is output voltage, female Line voltage is proportional to amplitude limit value;
D shaft voltage specified rate determining units, for using as described in any one in claim 6-9 regulating current device, The busbar voltage, presetting d shaft torque given value of current amounts and the d shaft currents calculate d shaft voltage specified rates, wherein, q Shaft torque given value of current amount is presetting current reference value, and d shaft currents are input current, and d shaft voltages specified rate is output electricity Pressure, busbar voltage are proportional to amplitude limit value;
Pulse-width signal generation unit, for according to the q shaft voltages specified rate and d shaft voltages specified rate generation pulsewidth Modulated signal.
CN201711209070.8A 2017-11-27 2017-11-27 Current adjusting method and device and motor drive control method and device Active CN107896081B (en)

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CN108880378A (en) * 2018-07-04 2018-11-23 宁波工程学院 Start control method based on the permanent magnet synchronous motor for assuming method of multiblade coordinates
CN112398372A (en) * 2019-08-13 2021-02-23 华大半导体(成都)有限公司 Method for flux-weakening control
CN112650346A (en) * 2020-12-23 2021-04-13 黑龙江宇奇科技有限公司 Closed-loop control method for output current of meridian therapeutic apparatus
CN113839605A (en) * 2020-06-23 2021-12-24 苏州宝时得电动工具有限公司 Motor rotating speed control method and device
CN114123925A (en) * 2020-08-26 2022-03-01 美的威灵电机技术(上海)有限公司 Motor current control method, control device, motor system and storage medium

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CN105634358A (en) * 2016-03-17 2016-06-01 华南理工大学 Flux-weakening control method of permanent magnet synchronous motor and driving control device
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Publication number Priority date Publication date Assignee Title
CN108880378A (en) * 2018-07-04 2018-11-23 宁波工程学院 Start control method based on the permanent magnet synchronous motor for assuming method of multiblade coordinates
CN108880378B (en) * 2018-07-04 2021-04-06 宁波工程学院 Start-up control method of permanent magnet synchronous motor based on assumed rotating coordinate method
CN112398372A (en) * 2019-08-13 2021-02-23 华大半导体(成都)有限公司 Method for flux-weakening control
CN112398372B (en) * 2019-08-13 2022-11-11 华大半导体(成都)有限公司 Method for flux-weakening control
CN113839605A (en) * 2020-06-23 2021-12-24 苏州宝时得电动工具有限公司 Motor rotating speed control method and device
CN113839605B (en) * 2020-06-23 2024-03-15 苏州宝时得电动工具有限公司 Motor rotation speed control method and device
CN114123925A (en) * 2020-08-26 2022-03-01 美的威灵电机技术(上海)有限公司 Motor current control method, control device, motor system and storage medium
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CN112650346A (en) * 2020-12-23 2021-04-13 黑龙江宇奇科技有限公司 Closed-loop control method for output current of meridian therapeutic apparatus

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