CN116995981A - Current-voltage vector amplitude angle control method - Google Patents
Current-voltage vector amplitude angle control method Download PDFInfo
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- CN116995981A CN116995981A CN202311243218.5A CN202311243218A CN116995981A CN 116995981 A CN116995981 A CN 116995981A CN 202311243218 A CN202311243218 A CN 202311243218A CN 116995981 A CN116995981 A CN 116995981A
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- current
- vector
- rotation angle
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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
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a current-voltage vector argument control method, which relates to the technical field of current-voltage vector argument control and improvement methods, and comprises the following steps: synthesizing current vectors of the d-axis current and the q-axis current to obtain the amplitude and the rotation angle of the synthesized vector; and then, regulating the amplitude of the synthesized current vector and controlling the rotation angle, carrying out vector decomposition on the control result to obtain a voltage vector, and thus, carrying out PMSM control. According to the invention, the amplitude and the rotation angle of the current synthesis vector are obtained by using a synthesis vector method, and the decoupling control is carried out on the amplitude and the rotation angle of the synthesis vector, so that the control precision of the system is improved, and the torque fluctuation is reduced; the invention calibrates the power factor angles under different rotating speeds and loads in the system, compensates the difference between the target power factor angle and the actual power factor angle, and improves the rotating speed and the power factor under the weak magnetic working condition.
Description
Technical Field
The invention relates to the technical field of current and voltage vector argument control and improvement methods, in particular to a current and voltage vector argument control method.
Background
At present, the control method of the current-voltage vector amplitude mainly comprises the following steps:
(1) Direct torque control: because the three-phase coupling is strong, the torque is difficult to accurately control, and the phenomena of unstable output torque and torque jitter exist.
(2) FOC magnetic field positioning vector control: according to the method, the current under the ABC axis of the static coordinate system is converted into the current under the d axis and the q axis of the two-phase rotating coordinate system, decoupling of PMSM torque current and exciting current is achieved, and PI adjustment is conducted on the current of the d axis and the current of the q axis respectively. The method has the phenomena of low-speed steering current fluctuation and high-frequency noise in a control system.
According to the invention, the amplitude and the rotation angle of the current synthesized vector are obtained by using a vector synthesis method, decoupling control is carried out on the amplitude and the rotation angle of the synthesized vector, the control precision of system power assistance is improved, and torque fluctuation is reduced; meanwhile, the difference between the target power factor angle and the actual power factor angle is compensated, and the rotating speed and the power factor under the weak magnetic working condition are improved. Therefore, it is necessary to provide a current-voltage vector argument control method to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a current-voltage vector amplitude control method for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a current-voltage vector amplitude control method comprises the following steps: synthesizing current vectors of the d-axis current and the q-axis current to obtain the amplitude and the rotation angle of the synthesized vector;
then, regulating the amplitude of the synthesized current vector and controlling the rotation angle, carrying out vector decomposition on the control result to obtain a voltage vector, and thus carrying out PMSM control;
the resultant current vector is composed of d-axis target currentQ-axis target current->Calculating the synthesized vector amplitude of the target currentAnd target current rotation angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Feedback current from d-axis->Q-axis feedback current +.>Calculating the actual current combination vector amplitude +.>And the actual current rotation angle +.>。
Preferably, the voltage vectors are d-axis voltages respectivelyAnd q-axis voltage>。
Preferably, the current vector magnitude adjustment is based on a target current synthesized vector magnitudeActual current combination vector magnitude +.>Performing current synthesis vector amplitude closed-loop PI regulation to obtain regulated voltage synthesis vector amplitude +.>。
Preferably, the rotation angle control is divided into two parts: rotation angle adjustment and rotation angle compensation, the rotation angle adjustment being rotated by a target currentActual current rotation angle +.>Performing closed-loop PI adjustment of the rotation angle to obtain a rotation angle adjustment value +.>。
Preferably, the rotation angle is compensated by the rotation speedAnd load torque->Looking up a table to obtain a calibrated target power factor angleThe method comprises the steps of carrying out a first treatment on the surface of the At the same time calculate the actual power factor angle +.>By->And->Obtaining rotation angle compensation value->。
Preferably, the decomposition of the voltage vector is performed by the voltage vector magnitudeAnd voltage rotation angle->Obtaining d-axis voltage +.>And q-axis voltage>。
The invention has the technical effects and advantages that:
the method utilizes the vector synthesis method to obtain the amplitude and the rotation angle of the current synthesis vector, and the decoupling control is carried out on the amplitude and the rotation angle of the synthesis vector, so that the control precision of the system is improved, and the torque fluctuation is reduced;
the invention calibrates the power factor angles under different rotating speeds and loads in the system, compensates the difference between the target power factor angle and the actual power factor angle, and improves the rotating speed and the power factor under the weak magnetic working condition.
Drawings
Fig. 1 is a block diagram of the current control of the present invention.
FIG. 2 is a schematic diagram of current vector synthesis according to the present invention.
Fig. 3 is a schematic diagram illustrating the voltage vector decomposition of the present invention.
Fig. 4 is a schematic diagram of the current of the three-phase motor according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a current-voltage vector amplitude angle control method as shown in figures 1-4, which respectively corresponds to block diagrams (1), (2) and (3) in figure 1, and synthesizes current vectors of d-axis and q-axis currents to obtain the amplitude and rotation angle of synthesized vectors; then, the amplitude of the synthesized current vector is regulated and the rotation angle is controlled, the vector decomposition is carried out on the control result, and the voltage vectors are obtained by the decomposition, namely the d-axis voltageAnd q-axis voltage>Thereby performing control of the PMSM. The method makes the rotation track of the combined magnetic field of the current become a circular magnetic field as much as possible, and improves the control of the power assisting systemPrecision, torque ripple is reduced.
Current vector synthesis: according to the principle shown in fig. 2, the d-axis target currentQ-axis target current->Calculating the magnitude of the synthesized vector of the target current>And target current rotation angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Feedback current from d-axis->Q-axis feedback current +.>Calculating the actual current combination vector amplitude +.>And the actual current rotation angle +.>. Wherein:
the method comprises the steps of (1),
the method comprises the steps of (2),
the number of the components in the liquid crystal display is 3,
4. The method is to
Current vector magnitude adjustment and rotation angle control:
current vector magnitude adjustment: synthesizing vector magnitude from target currentActual current combination vector magnitude +.>Performing current synthesis vector amplitude closed-loop PI regulation to obtain regulated voltage synthesis vector amplitude +.>. Wherein:
in the middle ofProportional coefficient for the calculation of the magnitude of the voltage synthesis vector, < >>The integration coefficient when calculating for the voltage synthesis vector magnitude.
Rotation angle control: rotation angle control is divided into two parts: rotation angle adjustment and rotation angle compensation.
Rotation angle adjustment: rotated by the target currentActual current rotation angle +.>Performing closed-loop PI adjustment of the rotation angle to obtain a rotation angle adjustment value +.>. Wherein:
in the middle ofProportional coefficient when calculating for rotation angle adjustment value, +.>Integral coefficient when calculating rotation angle adjustment value
And (3) rotation angle compensation: from rotational speedAnd load torque->Looking up a table to obtain a calibrated target power factor angle +.>The method comprises the steps of carrying out a first treatment on the surface of the At the same time calculate the actual power factor angle +.>By->And->Obtaining rotation angle compensation value->Wherein:
in the middle ofFor correction factor +.>Current zero crossing time, ">For the voltage zero crossing time, < >>Is the electrical angle period
Calculating a voltage rotation angle:formula 11.
Voltage vector decomposition: from the magnitude of the voltage vectorAnd voltage rotation angle->According to the principle shown in fig. 3, the d-axis voltage +.>And q-axis voltage>. Wherein:
the invention provides a current-voltage vector argument control method. The steering motor is realized by adopting a three-pair-pole hidden-pole Permanent Magnet Synchronous Motor (PMSM) based on an EPS controller taking TMS320F280049 of TI company as a main MCU, the torque is 4.5 N.m, and the rated rotation speed is 900r/min.
As shown in fig. 1, the EPS system collects three-phase motor currents of the steering motor at each control period、/>、/>And rotor angle->The d-axis feedback current of the motor is obtained through Clark and Park conversion>Q-axis feedback current +.>. Meanwhile, the EPS system collects a hand force value of a driver through a torque sensor>Combining the boost curve and the vehicle speed ∈ ->Obtaining q-axis target current->The method comprises the steps of carrying out a first treatment on the surface of the EPS real-time detection and calculation of load torque +.>And motor speed->Obtaining d-axis target current according to T-n curve of motor>。
The EPS controller synthesizes current vectors according to the formulas 1, 2, 3 and 4 to obtain the target current synthesized vector amplitudeTarget current rotation angle +.>Actual current composite vector magnitude +.>Actual current lead angle->。
Will be aligned according to the formulas 5 and 6And->Performing current vector amplitude closed-loop PI regulation to obtain output voltage synthesized vector amplitude +.>。
According to formula 7, formula 8And->Performing rotation angle closed-loop PI adjustment to obtain rotation angle adjustment value +.>。
The controller collects the time interval of zero crossing points of the A-phase voltage from negative to positive as an electrical angle period T, and records the time of zero crossing point of the A-phase currentAnd zero crossing point of A phase voltage->。
Obtaining the actual power factor angle according to 10The method comprises the steps of carrying out a first treatment on the surface of the From the motor speed->And load torque->Obtaining a nominal target power factor angle according to table 1>。
Calculating a rotation angle compensation value according to 9。
Obtaining a voltage rotation angle from 11。
Vector the voltage according to equations 12 and 13Decomposition into d-axis voltage->And q-axis voltage>. For->、/>And performing Park inverse transformation, calculating a three-phase PWM duty ratio through an SVPWM algorithm, outputting the three-phase PWM duty ratio to a three-phase bridge inverter, and driving a steering motor to operate.
TABLE 1 Power factor Meter for steering motor
Note that: the rated torque of the steering motor is 4.5 N.m, and the rated rotating speed is 900r/min.
Effect of practical use
The power-assisted steering debugging is carried out on the rack, the actual measured three-phase motor current is shown in the attached figure 4, the control precision of the system is improved, and the torque fluctuation is reduced.
Claims (6)
1. A current-voltage vector amplitude control method is characterized in that: the method comprises the following steps: synthesizing current vectors of the d-axis current and the q-axis current to obtain the amplitude and the rotation angle of the synthesized vector;
then, regulating the amplitude of the synthesized current vector and controlling the rotation angle, carrying out vector decomposition on the control result to obtain a voltage vector, and thus carrying out PMSM control;
the resultant current vector is composed of d-axis target currentQ-axis target current->Calculating the magnitude of the synthesized vector of the target current>And target current rotation angle +.>The method comprises the steps of carrying out a first treatment on the surface of the Feedback current from d-axis->Q-axis feedback current +.>Calculating the actual current combination vector amplitude +.>And the actual current rotation angle +.>。
2. The method for controlling the amplitude angle of a current-voltage vector according to claim 1, wherein: the voltage vectors are d-axis voltages respectivelyAnd q-axis voltage>。
3. The method for controlling the amplitude angle of a current-voltage vector according to claim 1, wherein: the current vector amplitude is regulated byTarget current composite vector magnitudeActual current combination vector magnitude +.>Performing current synthesis vector amplitude closed-loop PI regulation to obtain regulated voltage synthesis vector amplitude +.>。
4. The method for controlling the amplitude angle of a current-voltage vector according to claim 1, wherein: the rotation angle control is divided into two parts: rotation angle adjustment and rotation angle compensation, the rotation angle adjustment being rotated by a target currentActual current rotation angle +.>Performing closed-loop PI adjustment of the rotation angle to obtain a rotation angle adjustment value +.>。
5. The method for controlling the amplitude angle of a current-voltage vector according to claim 4, wherein: the rotation angle is compensated by the rotation speedAnd load torque->Looking up a table to obtain a calibrated target power factor angle +.>The method comprises the steps of carrying out a first treatment on the surface of the At the same time calculate the actual power factor angleBy->And->Obtaining rotation angle compensation value->。
6. The method for controlling the amplitude angle of the current-voltage vector according to claim 2, wherein: the decomposition of the voltage vector is determined by the voltage vector amplitudeAnd voltage rotation angle->Obtaining d-axis voltage +.>And q-axis voltage>。
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| CN202311243218.5A CN116995981B (en) | 2023-09-26 | 2023-09-26 | Current-voltage vector amplitude angle control method |
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Cited By (1)
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| CN117544066A (en) * | 2024-01-09 | 2024-02-09 | 天津德星智能科技有限公司 | Half-locked-rotor protection method for steering motor in EPS system |
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| CN116995981B (en) | 2023-12-12 |
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