CN108809188A - Permanent magnet synchronous motor current control method and system - Google Patents
Permanent magnet synchronous motor current control method and system Download PDFInfo
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Abstract
本发明公开了永磁同步电机电流控制方法及系统。所述方法包括对永磁同步电机的电角速度进行实时采样，根据永磁同步电机的机理方程和电角速度，计算永磁同步电机的D轴电流和Q轴电流，对D轴电流和Q轴电流进行坐标变换，从而得到三相反馈电流预估值，对三相反馈电流预估值进行误差校正，将经过误差校正的三相反馈电流预估值作为所需获得的三相反馈电流等步骤；所述系统包括电角度计算模块、电流计算模块、坐标变换模块和误差校正模块。本发明对通过传感器测得的三相反馈电流实测值进行了滤波，无需占用大量计算资源便能快速实现，能够为闭环控制算法提供高精度的三相反馈电流。
The invention discloses a permanent magnet synchronous motor current control method and system. The method includes sampling the electrical angular velocity of the permanent magnet synchronous motor in real time, calculating the D-axis current and the Q-axis current of the permanent magnet synchronous motor according to the mechanism equation and the electrical angular velocity of the permanent magnet synchronous motor, and calculating the D-axis current and the Q-axis current Coordinate transformation is performed to obtain the estimated value of the three-phase feedback current, error correction is performed on the estimated value of the three-phase feedback current, and the estimated value of the three-phase feedback current after error correction is used as the three-phase feedback current to be obtained; The system includes an electrical angle calculation module, a current calculation module, a coordinate transformation module and an error correction module. The invention filters the measured value of the three-phase feedback current measured by the sensor, which can be quickly realized without occupying a large amount of computing resources, and can provide high-precision three-phase feedback current for a closed-loop control algorithm.
Description
技术领域technical field
本发明涉及伺服电机控制技术领域，尤其是永磁同步电机电流控制方法及系统。The invention relates to the technical field of servo motor control, in particular to a current control method and system for a permanent magnet synchronous motor.
背景技术Background technique
永磁同步电机具有体积小、响应快、功率高等优势，在新能源汽车、数控机床以及机器人等设备得到广泛的应用。通过永磁同步电机控制系统(或者驱动器)使用矢量控制方法，可以实现对永磁同步电机工作的精确控制。矢量控制方法的关键步骤是获取反馈电流以供电流控制器实施闭环控制算法，从而实现高精度的电流控制，因此，矢量控制方法的质量与反馈电流的测量精度密切相关。Permanent magnet synchronous motors have the advantages of small size, fast response, and high power, and are widely used in new energy vehicles, CNC machine tools, and robots. The precise control of the operation of the permanent magnet synchronous motor can be realized by using the vector control method of the permanent magnet synchronous motor control system (or driver). The key step of the vector control method is to obtain the feedback current for the current controller to implement the closed-loop control algorithm, so as to achieve high-precision current control. Therefore, the quality of the vector control method is closely related to the measurement accuracy of the feedback current.
现有永磁同步电机的三相反馈电流是通过电流传感器或者霍尔传感器来检测，而电流传感器或霍尔传感器的制造误差将会在检测过程中带来三相反馈电流的检测误差；同时，由于所测得的三相反馈电流是模拟量，需要利用运放电路和AD转换电路等将其转换成相应的数字量才能实现闭环控制算法，转换过程容易引入各种误差以及干扰。上述问题的存在，致使检测到的反馈电流存在较大的偏差，这容易导致电流控制的失效。The three-phase feedback current of the existing permanent magnet synchronous motor is detected by a current sensor or a Hall sensor, and the manufacturing error of the current sensor or the Hall sensor will bring a detection error of the three-phase feedback current during the detection process; at the same time, Since the measured three-phase feedback current is an analog quantity, it needs to be converted into a corresponding digital quantity by using an operational amplifier circuit and an AD conversion circuit to realize the closed-loop control algorithm. The conversion process is easy to introduce various errors and interference. The existence of the above-mentioned problems leads to a large deviation in the detected feedback current, which easily leads to failure of the current control.
发明内容Contents of the invention
为了解决上述技术问题，本发明的第一目在于提供永磁同步电机电流控制方法，第二目在于提供永磁同步电机电流控制系统。In order to solve the above technical problems, the first object of the present invention is to provide a permanent magnet synchronous motor current control method, and the second object is to provide a permanent magnet synchronous motor current control system.
本发明所采取的第一技术方案是：The first technical scheme that the present invention takes is:
永磁同步电机电流控制方法，包括以下步骤：A permanent magnet synchronous motor current control method, comprising the following steps:
对永磁同步电机的电角速度进行实时采样；Real-time sampling of the electrical angular velocity of the permanent magnet synchronous motor;
根据永磁同步电机的机理方程和电角速度，计算永磁同步电机的D轴电流和Q轴电流；所述机理方程与永磁同步电机的参数以及工作状态有关；Calculate the D-axis current and the Q-axis current of the permanent magnet synchronous motor according to the mechanism equation and the electrical angular velocity of the permanent magnet synchronous motor; the mechanism equation is related to the parameters and working conditions of the permanent magnet synchronous motor;
对D轴电流和Q轴电流进行坐标变换计算，从而得到三相反馈电流预估值；Perform coordinate transformation calculation on the D-axis current and Q-axis current to obtain the estimated value of the three-phase feedback current;
对三相反馈电流预估值进行误差校正后，将经过误差校正的三相反馈电流预估值作为所需获得的三相反馈电流；After error correction is performed on the estimated value of the three-phase feedback current, the estimated value of the three-phase feedback current after error correction is used as the three-phase feedback current to be obtained;
根据三相反馈电流对磁同步电机进行控制。The magnetic synchronous motor is controlled according to the three-phase feedback current.
进一步地，所述电角速度通过以下步骤获取：Further, the electrical angular velocity is obtained through the following steps:
对永磁同步电机的角速度进行实时采样；Real-time sampling of the angular velocity of the permanent magnet synchronous motor;
根据永磁同步电机的极对数和角速度，计算电角速度。According to the number of pole pairs and the angular velocity of the permanent magnet synchronous motor, the electrical angular velocity is calculated.
进一步地，所述机理方程经过以下处理：以磁链的时间变化率为零为条件的简化。Further, the mechanism equation is processed as follows: Simplification with the condition that the time rate of change of flux linkage is zero.
进一步地，所述D轴电流和Q轴电流通过求解以下方程计算：Further, the D-axis current and Q-axis current are calculated by solving the following equations:
式中，id为D轴电流，iq为Q轴电流，ud为D轴电压，uq为Q轴电压，Ld为D轴电感，Lq为Q轴电感，Rs为定子电阻，ψf为转子磁链，ωe为电角速度。In the formula, i d is the D-axis current, i q is the Q-axis current, u d is the D-axis voltage, u q is the Q-axis voltage, L d is the D-axis inductance, L q is the Q-axis inductance, R s is the stator resistance , ψ f is the rotor flux linkage, ω e is the electrical angular velocity.
进一步地，所述坐标变换通过以下公式进行：Further, the coordinate transformation is performed by the following formula:
式中，为三相反馈电流预估值，为中间参数，为D轴电流和Q轴电流，θ为角度参数。In the formula, is the estimated value of the three-phase feedback current, as an intermediate parameter, is the D-axis current and Q-axis current, and θ is the angle parameter.
进一步地，所述误差校正包括以下步骤：Further, the error correction includes the following steps:
计算三相反馈电流预估值与三相反馈电流实测值的偏差；所述三相反馈电流实测值是通过传感器在该三相反馈电流预估值对应的电角速度的采样时刻测得的；Calculate the deviation between the estimated value of the three-phase feedback current and the measured value of the three-phase feedback current; the measured value of the three-phase feedback current is measured by the sensor at the sampling time of the electrical angular velocity corresponding to the estimated value of the three-phase feedback current;
如果所述偏差在预定范围内，则以该三相反馈电流预估值作为所需获取的三相反馈电流。If the deviation is within a predetermined range, the estimated value of the three-phase feedback current is used as the three-phase feedback current to be obtained.
本发明所采取的第二技术方案是：The second technical scheme that the present invention takes is:
永磁同步电机电流控制系统，包括：Permanent magnet synchronous motor current control system, including:
电角度计算模块，用于对永磁同步电机的电角速度进行实时采样；The electrical angle calculation module is used for real-time sampling of the electrical angular velocity of the permanent magnet synchronous motor;
电流计算模块，用于根据永磁同步电机的机理方程和电角速度，计算永磁同步电机的D轴电流和Q轴电流；The current calculation module is used to calculate the D-axis current and the Q-axis current of the permanent magnet synchronous motor according to the mechanism equation and the electrical angular velocity of the permanent magnet synchronous motor;
坐标变换模块，用于对D轴电流和Q轴电流进行坐标变换，从而得到三相反馈电流预估值；The coordinate transformation module is used to perform coordinate transformation on the D-axis current and the Q-axis current, so as to obtain the estimated value of the three-phase feedback current;
误差校正模块，用于对三相反馈电流预估值进行误差校正，将经过误差校正的三相反馈电流预估值作为所需获得的三相反馈电流。The error correction module is configured to perform error correction on the estimated value of the three-phase feedback current, and use the estimated value of the three-phase feedback current after error correction as the three-phase feedback current to be obtained.
本发明的有益效果是：本发明方案等效于对通过传感器测得的三相反馈电流实测值进行了滤波，从而减少最终得到的三相反馈电流的误差，使得根据三相反馈电流进行的闭环控制算法可以达到更高的精度。本发明简单高效，无需占用大量计算资源便能快速实现，能够为闭环控制算法提供高精度的三相反馈电流。The beneficial effects of the present invention are: the scheme of the present invention is equivalent to filtering the measured value of the three-phase feedback current measured by the sensor, thereby reducing the error of the finally obtained three-phase feedback current, so that the closed loop based on the three-phase feedback current Control algorithms can achieve higher precision. The invention is simple and efficient, can be realized quickly without occupying a large amount of computing resources, and can provide high-precision three-phase feedback current for a closed-loop control algorithm.
附图说明Description of drawings
图1为本发明实施例1方法的流程图。Fig. 1 is a flow chart of the method of Embodiment 1 of the present invention.
具体实施方式Detailed ways
考虑到通过传感器直接测量三相反馈电流以及进行模数转换的过程中容易引入误差干扰，本发明的思路是将经过滤波后的反馈电流作为所需获得的三相反馈电流，从而供电流控制器实施闭环控制算法。滤波过程中引入电角速度这一参量，由于电角速度的测量精度很高，所以滤波过程也能达到很高的精度。具体地，实施例1的方案是经过一系列的时域上的采样和变换处理从而实现滤波，实施例2的方案是与实施例1相对应的系统方案。Considering the direct measurement of the three-phase feedback current by the sensor and the easy introduction of error interference in the process of analog-to-digital conversion, the idea of the present invention is to use the filtered feedback current as the required three-phase feedback current to supply the current controller Implement a closed-loop control algorithm. The parameter of electrical angular velocity is introduced into the filtering process. Since the measurement accuracy of the electrical angular velocity is very high, the filtering process can also achieve high precision. Specifically, the solution in Embodiment 1 implements filtering through a series of sampling and transformation processes in the time domain, and the solution in Embodiment 2 is a system solution corresponding to Embodiment 1.
实施例1Example 1
本实施例中，永磁同步电机电流控制方法，如图1所示，包括以下步骤：In this embodiment, the permanent magnet synchronous motor current control method, as shown in Figure 1, includes the following steps:
对永磁同步电机的电角速度进行实时采样；Real-time sampling of the electrical angular velocity of the permanent magnet synchronous motor;
根据永磁同步电机的机理方程和电角速度，计算永磁同步电机的D轴电流和Q轴电流；所述机理方程与永磁同步电机的参数以及工作状态有关；Calculate the D-axis current and the Q-axis current of the permanent magnet synchronous motor according to the mechanism equation and the electrical angular velocity of the permanent magnet synchronous motor; the mechanism equation is related to the parameters and working conditions of the permanent magnet synchronous motor;
对D轴电流和Q轴电流进行坐标变换计算，从而得到三相反馈电流预估值；Perform coordinate transformation calculation on the D-axis current and Q-axis current to obtain the estimated value of the three-phase feedback current;
对三相反馈电流预估值进行误差校正后，将经过误差校正的三相反馈电流预估值作为所需获得的三相反馈电流；After error correction is performed on the estimated value of the three-phase feedback current, the estimated value of the three-phase feedback current after error correction is used as the three-phase feedback current to be obtained;
根据三相反馈电流对磁同步电机进行控制。The magnetic synchronous motor is controlled according to the three-phase feedback current.
永磁同步电机的电角速度是指永磁同步电机转子的电角速度。根据电角速度和机理方程以及一系列变换所得的三相反馈电流预估值是一个不依赖传感器直接测得的计算结果，其经过误差校正步骤后可以作为供电流控制器实施闭环控制算法的三相反馈电流。The electrical angular velocity of the permanent magnet synchronous motor refers to the electrical angular velocity of the rotor of the permanent magnet synchronous motor. The estimated value of the three-phase feedback current obtained according to the electrical angular velocity and the mechanism equation and a series of transformations is a calculation result directly measured without relying on the sensor. After the error correction step, it can be used as the three-phase power supply current controller to implement the closed-loop control algorithm. feedback current.
进一步作为优选的实施方式，所述电角速度通过以下步骤获取：Further as a preferred embodiment, the electrical angular velocity is obtained through the following steps:
对永磁同步电机的角速度进行实时采样；Real-time sampling of the angular velocity of the permanent magnet synchronous motor;
根据永磁同步电机的极对数和角速度，计算电角速度。According to the number of pole pairs and the angular velocity of the permanent magnet synchronous motor, the electrical angular velocity is calculated.
永磁同步电机的角速度是指永磁同步电机转子的角速度。电角速度可以通过角速度计算得到，也就是ωe＝pω，其中ωe为电角速度，ω为角速度，p为永磁同步电机的极对数。其中，角速度ω可以通过常规的方式采样得到，例如以时间T为采样周期，通过位置传感器采集在T内转子转过的角度Δθ，即可计算出角速度 The angular velocity of the permanent magnet synchronous motor refers to the angular velocity of the rotor of the permanent magnet synchronous motor. The electrical angular velocity can be obtained by calculating the angular velocity, that is, ω e =pω, where ω e is the electrical angular velocity, ω is the angular velocity, and p is the number of pole pairs of the permanent magnet synchronous motor. Among them, the angular velocity ω can be obtained by sampling in a conventional way. For example, the time T is used as the sampling period, and the angular velocity can be calculated by collecting the angle Δθ that the rotor rotates within T through the position sensor.
进一步作为优选的实施方式，所述机理方程经过以下处理：以磁链的时间变化率为零为条件的简化。As a further preferred embodiment, the mechanism equation is processed as follows: Simplification on the condition that the time rate of change of flux linkage is zero.
机理方程是描述永磁同步电机工作的方程，在dq坐标系下，永磁同步电机的机理方程为：The mechanism equation is the equation describing the work of the permanent magnet synchronous motor. In the dq coordinate system, the mechanism equation of the permanent magnet synchronous motor is:
式中id和iq分别为D轴电流和Q轴电流，ud和uq分别为D轴电压和Q轴电压，Ld和Lq分别为D轴电感和Q轴电感，ψd和ψq分别为D轴磁链和Q轴磁链，Rs为定子电阻，ψf为转子磁链，ωe为电角速度。以上各量中“D轴和Q轴”是指定子的对应各物理量在D轴和Q轴上的分量。其中，id和iq是要求解的结果，ud、uq、ψd和ψq可以测量得到，Ld、Lq、ψf和Rs与永磁同步电机有关，可以查阅其说明书或者测量得到。 In the formula, i d and i q are D-axis current and Q-axis current respectively, u d and u q are D-axis voltage and Q-axis voltage respectively, L d and L q are D-axis inductance and Q-axis inductance respectively, ψ d and ψ q are the D-axis flux linkage and Q-axis flux linkage respectively, R s is the stator resistance, ψ f is the rotor flux linkage, and ω e is the electrical angular velocity. "D-axis and Q-axis" in the above quantities refer to the components of the corresponding physical quantities on the D-axis and Q-axis of the designator. Among them, i d and i q are the results to be solved, u d , u q , ψ d and ψ q can be measured, L d , L q , ψ f and R s are related to the permanent magnet synchronous motor, you can refer to its manual or measured.
考虑到永磁同步电机在常规状态下运行时磁链变化相对较小，也就是考虑这一条件后，可以将机理方程简化为 Considering that the change of flux linkage of permanent magnet synchronous motor is relatively small when it is running in normal state, that is After considering this condition, the mechanism equation can be simplified as
进一步作为优选的实施方式，所述D轴电流和Q轴电流通过求解以下方程计算：Further as a preferred embodiment, the D-axis current and the Q-axis current are calculated by solving the following equations:
式中，id为D轴电流，iq为Q轴电流，ud为D轴电压，uq为Q轴电压，Ld为D轴电感，Lq为Q轴电感，Rs为定子电阻，ψf为转子磁链，ωe为电角速度。In the formula, i d is the D-axis current, i q is the Q-axis current, u d is the D-axis voltage, u q is the Q-axis voltage, L d is the D-axis inductance, L q is the Q-axis inductance, R s is the stator resistance , ψ f is the rotor flux linkage, ω e is the electrical angular velocity.
通过求解这一简化后的机理方程，便能得到D轴电流id和Q轴电流iq。By solving this simplified mechanism equation, the D -axis current id and Q-axis current i q can be obtained.
进一步作为优选的实施方式，所述坐标变换通过以下公式进行：Further as a preferred embodiment, the coordinate transformation is performed by the following formula:
式中，为三相反馈电流预估值，为中间参数，为D轴电流和Q轴电流，θ为角度参数。其中θ的具体数值可以根据实际应用环境自行定义。In the formula, is the estimated value of the three-phase feedback current, as an intermediate parameter, is the D-axis current and Q-axis current, and θ is the angle parameter. The specific value of θ can be defined according to the actual application environment.
进一步作为优选的实施方式，所述误差校正包括以下步骤：Further as a preferred embodiment, the error correction includes the following steps:
计算三相反馈电流预估值与三相反馈电流实测值的偏差；所述三相反馈电流实测值是通过传感器在该三相反馈电流预估值对应的电角速度的采样时刻测得的；Calculate the deviation between the estimated value of the three-phase feedback current and the measured value of the three-phase feedback current; the measured value of the three-phase feedback current is measured by the sensor at the sampling time of the electrical angular velocity corresponding to the estimated value of the three-phase feedback current;
如果所述偏差在预定范围内，则以该三相反馈电流预估值作为所需获取的三相反馈电流。If the deviation is within a predetermined range, the estimated value of the three-phase feedback current is used as the three-phase feedback current to be obtained.
通过误差校正步骤可以判断计算所得的三相反馈电流预估值与三相反馈电流实测值的偏差是否超过预定范围，如果没有超过，那么表明计算得到的三相反馈电流预估值是真实有效的，可以作为供电流控制器实施闭环控制算法的三相反馈电流，否则应该舍弃，可以在下一时刻重新执行本实施例方法来得到新的三相反馈电流预估值。通过误差校正步骤决定是否将当前三相反馈电流预估值作为所需获得的三相反馈电流，相当于对通过传感器测得的三相反馈电流实测值进行了滤波，从而减少最终得到的三相反馈电流的误差。其中，三相反馈电流预估值是根据电角速度计算得到的，因此，用来进行偏差计算的三相反馈电流实测值的采样时刻应该与该电角速度的采样时刻相同。Through the error correction step, it can be judged whether the deviation between the calculated estimated value of the three-phase feedback current and the measured value of the three-phase feedback current exceeds the predetermined range. If not, it indicates that the calculated estimated value of the three-phase feedback current is true and effective , can be used as the three-phase feedback current for the current controller to implement the closed-loop control algorithm, otherwise it should be discarded, and the method of this embodiment can be re-executed at the next moment to obtain a new estimated value of the three-phase feedback current. Determine whether to use the current three-phase feedback current estimated value as the three-phase feedback current to be obtained through the error correction step, which is equivalent to filtering the measured value of the three-phase feedback current measured by the sensor, thereby reducing the final three-phase feedback current The error of the feedback current. Among them, the estimated value of the three-phase feedback current is calculated according to the electrical angular velocity, therefore, the sampling time of the measured value of the three-phase feedback current used for deviation calculation should be the same as the sampling time of the electrical angular velocity.
所述偏差可以通过以下公式计算得到：其中为三相反馈电流预估值，ia，ib，ic为三相反馈电流预估值，Δa，Δb，Δc分别为各相电流的偏差。误差校正的条件可以为预定范围ρ可以根据永磁同步电机的额定功率来决定，例如对于额定功率为10kw的电机，ρ＝1A；额定功率为450w的电机，ρ＝0.1A。The deviation can be calculated by the following formula: in is the estimated value of the three-phase feedback current, ia, ib, and ic are the estimated values of the three-phase feedback current, Δ a , Δ b , and Δ c are the deviations of the currents of each phase. The condition for error correction can be The predetermined range ρ can be determined according to the rated power of the permanent magnet synchronous motor, for example, for a motor with a rated power of 10kw, ρ=1A; for a motor with a rated power of 450w, ρ=0.1A.
实施例2Example 2
本实施例中，永磁同步电机电流控制系统，包括：In this embodiment, the permanent magnet synchronous motor current control system includes:
电角度计算模块，用于对永磁同步电机的电角速度进行实时采样；The electrical angle calculation module is used for real-time sampling of the electrical angular velocity of the permanent magnet synchronous motor;
电流计算模块，用于根据永磁同步电机的机理方程和电角速度，计算永磁同步电机的D轴电流和Q轴电流；The current calculation module is used to calculate the D-axis current and the Q-axis current of the permanent magnet synchronous motor according to the mechanism equation and the electrical angular velocity of the permanent magnet synchronous motor;
坐标变换模块，用于对D轴电流和Q轴电流进行坐标变换，从而得到三相反馈电流预估值；The coordinate transformation module is used to perform coordinate transformation on the D-axis current and the Q-axis current, so as to obtain the estimated value of the three-phase feedback current;
误差校正模块，用于对三相反馈电流预估值进行误差校正，将经过误差校正的三相反馈电流预估值作为所需获得的三相反馈电流。The error correction module is configured to perform error correction on the estimated value of the three-phase feedback current, and use the estimated value of the three-phase feedback current after error correction as the three-phase feedback current to be obtained.
上述各模块可以是由存储器、处理器、传感器以及其他必要的控制和转换电路组成的功能模块。通过上述永磁同步电机电流控制系统，可以实现实施例1所述永磁同步电机电流控制方法。Each of the above-mentioned modules may be a functional module composed of a memory, a processor, a sensor, and other necessary control and conversion circuits. Through the above permanent magnet synchronous motor current control system, the permanent magnet synchronous motor current control method described in Embodiment 1 can be realized.
本发明以上是对本发明的较佳实施进行了具体说明，但对本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做作出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。The present invention has been specifically described above for the preferred implementation of the present invention, but the invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations without violating the spirit of the present invention. Or replacement, these equivalent modifications or replacements are all included within the scope defined by the claims of the present application.
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