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CN118300465A - Motor flux weakening control method and device, electronic equipment and storage medium - Google Patents

Motor flux weakening control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN118300465A
CN118300465A CN202410423548.0A CN202410423548A CN118300465A CN 118300465 A CN118300465 A CN 118300465A CN 202410423548 A CN202410423548 A CN 202410423548A CN 118300465 A CN118300465 A CN 118300465A
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CN
China
Prior art keywords
motor
current
rotating speed
voltage
curve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202410423548.0A
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Chinese (zh)
Inventor
张恒宾
王立盛
吴瀛喆
薛宇翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Gao Aite Automotive Electronics Co ltd
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Shanghai Gao Aite Automotive Electronics Co ltd
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Application filed by Shanghai Gao Aite Automotive Electronics Co ltd filed Critical Shanghai Gao Aite Automotive Electronics Co ltd
Priority to CN202410423548.0A priority Critical patent/CN118300465A/en
Publication of CN118300465A publication Critical patent/CN118300465A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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

Abstract

The application discloses a motor flux weakening control method, a motor flux weakening control device, electronic equipment and a storage medium, and relates to the technical field of vehicles. Wherein the method comprises the following steps: obtaining target torque and current rotating speed of a motor and output voltage of a current regulator in the motor; determining an initial lead angle of a stator current of the motor at a target torque and a current rotating speed based on a pre-established feedforward compensation table; determining a current expected value of the stator current based on the output voltage and the initial lead angle; the motor operation is controlled based on the current demand such that the motor produces a target torque. The technical scheme provided by the application can rapidly respond to the field weakening control of the motor, and can ensure the dynamic performance of the motor in the field weakening state; the parameter robustness of the motor flux weakening control can be improved, and the accuracy of the motor flux weakening control is ensured.

Description

Motor flux weakening control method and device, electronic equipment and storage medium
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and apparatus for controlling field weakening of a motor, an electronic device, and a storage medium.
Background
Permanent magnet synchronous motors are important actuators for automotive electric power steering (Electric Power Steering, EPS) systems. When the vehicle is in working conditions such as emergency obstacle avoidance, the EPS needs the motor to output enough torque in the high-speed running process. However, the magnetic field generated by the permanent magnet is fixed and cannot be adjusted, and when the motor reaches the maximum output voltage of the driver, the motor is limited by the power supply voltage and cannot provide enough torque in the high-speed running process. Therefore, the permanent magnet synchronous motor can be subjected to field weakening control so that the motor generates enough torque in the high-speed running process, and the driving safety is ensured.
In the prior art, the following two methods are generally adopted for the field weakening control of the permanent magnet synchronous motor. The method comprises the following steps: the flux weakening control is realized by adjusting the phase angle of the current space vector, but when the motor reaches a higher rotating speed in a short time, the target current of the flux weakening control changes quickly, the method cannot meet the change speed, and the response has hysteresis and poor dynamic performance. The second method is as follows: and calculating an expected value of the AC-DC shaft current at the corresponding rotating speed according to a limit equation of a voltage limit ellipse and a current limit circle received by the motor during operation, and obtaining the expected maximum torque. However, the method depends on motor parameters, has no parameter robustness and poor weak magnetic control effect. Meanwhile, a permanent magnet synchronous motor controller applied to the industrial field cannot complete complex operation of the method. Therefore, how to quickly and accurately control the field weakening of the permanent magnet synchronous motor becomes a problem to be solved in the field.
Disclosure of Invention
The application provides a method, a device, electronic equipment and a storage medium for controlling the field weakening of a motor, which can rapidly respond to the field weakening control of the motor and can ensure the dynamic performance of the motor in the field weakening state; the parameter robustness of the motor flux weakening control can be improved, and the accuracy of the motor flux weakening control is ensured.
In a first aspect, the present application provides a method for controlling field weakening of a motor, the method comprising:
obtaining target torque and current rotating speed of a motor, and outputting voltage of a current regulator in the motor;
determining an initial lead angle of a stator current of the motor at the target torque and the current rotational speed based on a pre-established feed-forward compensation table;
determining a current desired value of the stator current based on the output voltage and the initial lead angle;
the motor is controlled to operate based on the current desired value so that the motor generates the target torque.
Further, the feedforward compensation table is a relation between torque and rotation speed of the motor in a weak magnetic state and a lead angle corresponding to a current working point.
Further, the feedforward compensation table is determined by: acquiring electrical parameters of the motor, and constructing an operation space model of the motor based on the electrical parameters; calculating current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the running space model; and calculating the lead angle corresponding to each current working point in the current working track under different required torques, thereby obtaining the feedforward compensation table.
Further, the constructing an operation space model of the motor based on the electrical parameters includes: in a two-phase rotation coordinate system, determining a maximum torque current to MTPA curve, a constant torque curve, a maximum torque voltage to MTPV curve, a voltage limit elliptic curve and a current limit circular curve of the motor based on the electrical parameters, wherein the constant torque curve is a curve corresponding to target required torque in different required torques; and calculating the MTPA curve, the constant torque curve, the MTPV curve, the voltage limit elliptic curve and the current limit circular curve by adopting preset iterative operation to obtain the running space model.
Further, the different required torques include a plurality of required torques; aiming at target required torque, the calculation of the current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the running space model comprises the following steps: dividing a rotating speed interval corresponding to the increase of the rotating speed of the motor from the first rotating speed to the second rotating speed into a plurality of rotating speed stages; solving the operation space model based on an efficiency optimal criterion to obtain a current working track corresponding to the motor in a weak magnetic state in each rotating speed stage; the current working track comprises current working points corresponding to each rotating speed in each rotating speed stage; and carrying out data processing on the current working track corresponding to each rotating speed stage to obtain the current working track corresponding to the target required torque of the motor in the weak magnetic state.
Further, the determining the current expected value of the stator current based on the output voltage and the initial lead angle includes: calculating a phase angle variable of the stator current based on the output voltage; performing data processing on the initial lead angle and the phase angle variable to obtain a target lead angle of the stator current; a current expected value of the stator current is calculated based on the target lead angle.
Further, the calculating the phase angle variable of the stator current based on the output voltage includes: calculating a reference voltage for operation of the motor based on the output voltage; calculating a voltage difference between the reference voltage and a power supply voltage limit of the motor; and regulating the voltage difference through a voltage regulator to obtain the phase angle variable of the stator current.
In a second aspect, the present application provides a field weakening control device for an electric motor, the device comprising:
the data acquisition module is used for acquiring target torque and current rotating speed of the motor and output voltage of a current regulator in the motor;
A feedforward compensation module for determining an initial lead angle of a stator current of the motor at the target torque and the current rotational speed based on a predetermined feedforward compensation table;
a voltage feedback module for determining a current desired value of the stator current based on the output voltage and the initial lead angle;
And the weak magnetic control module is used for controlling the motor to operate based on the current expected value so that the motor generates the target torque.
In a third aspect, the present application provides an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the motor flux weakening control method according to any embodiment of the application.
In a fourth aspect, the present application provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a processor to execute the method for controlling field weakening of a motor according to any embodiment of the present application.
In order to solve the defects of the prior art in the background technology, the embodiment of the application provides a motor flux weakening control method, and the execution of the method can bring the following beneficial effects: the application prepares a feedforward compensation table in advance, adopts a table look-up method to replace iterative computation of a simulation model, can rapidly respond to the field weakening control of the motor, and can also ensure the dynamic performance of the motor in the field weakening state; in order to adjust the error value of the initial lead angle in the feedforward compensation table caused by parameter change and the like, the application calculates the current expected value of the stator current (which can be called as a field weakening control method combining the feedforward compensation table and Proportional-Integral (PI) lead angle adjustment) through the output voltage of the current regulator and the initial lead angle of the stator current, improves the parameter robustness of the field weakening control of the motor and ensures the accuracy of the field weakening control of the motor.
It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged with the processor of the motor flux weakening control device, or may be packaged separately with the processor of the motor flux weakening control device, which is not limited in this application.
The description of the second, third and fourth aspects of the present application may refer to the detailed description of the first aspect; moreover, the advantages described in the second aspect, the third aspect and the fourth aspect may refer to the analysis of the advantages of the first aspect, and are not described herein.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
It can be understood that before using the technical solutions disclosed in the embodiments of the present application, the user should be informed and authorized by appropriate ways according to relevant laws and regulations for the type, usage range, usage scenario, etc. of the personal information related to the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a first flow chart of a method for controlling field weakening of a motor according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a second flow chart of a method for controlling field weakening of a motor according to an embodiment of the present application;
fig. 3 is a schematic diagram of double constraint of the permanent magnet synchronous motor in the running process according to the embodiment of the application;
FIG. 4 is a schematic diagram of a current operating point of a finite speed drive system according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a current operating point of an infinite speed drive system according to an embodiment of the present application;
FIG. 6 is a graph showing the d-q axis current response from 0-3200rpm for 0.5s at a rotational speed provided by an embodiment of the present application;
FIG. 7 is a graph showing the d-q axis current response from 3200rpm to 0rpm for 0.5s at a rotational speed according to an embodiment of the present application;
FIG. 8 is a graph of phase contrast of d-q axis current from 0-3200rpm at 0.5s for rotational speed provided by an embodiment of the present application;
FIG. 9 is a graph of phase contrast of d-q axis current from 3200-0rpm at 0.5s for rotational speed provided by an embodiment of the present application;
FIG. 10 is a schematic structural diagram of a field weakening control device for a motor according to an embodiment of the present application;
Fig. 11 is a block diagram of an electronic device for implementing a motor flux weakening control method according to an embodiment of the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," "target," and "original," etc. in the description and claims of the present application and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be capable of executing sequences other than those illustrated or otherwise described. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic flow chart of a motor flux weakening control method according to an embodiment of the present application, where the embodiment is applicable to performing flux weakening control on a motor of a vehicle when the vehicle is in a working condition such as an emergency obstacle avoidance, so that the motor generates enough torque during high-speed running to ensure driving safety. The motor flux weakening control method provided by the embodiment of the application can be implemented by the motor flux weakening control device provided by the embodiment of the application, and the device can be implemented in a software and/or hardware mode and is integrated in electronic equipment for implementing the method. Preferably, the electronic device performing the method may be a microcontroller in a vehicle.
Referring to fig. 1, the method of the present embodiment includes, but is not limited to, the following steps:
s110, acquiring target torque and current rotating speed of the motor and output voltage of a current regulator in the motor.
The motor in this embodiment is a motor configured in a vehicle, and the motor may be a permanent magnet synchronous motor. The current regulator is used to ensure that the current tracks the change in its given voltage and to prevent the charging current from becoming excessive. The target torque is torque required by a motor of the vehicle in order to ensure driving safety when the vehicle is in working conditions such as emergency obstacle avoidance and the like. The current rotating speed refers to the rotating speed of the motor of the vehicle, which is obtained in real time when the vehicle is in working conditions such as emergency obstacle avoidance and the like. The vehicle of the present implementation has a driving assistance system for detecting an environmental scene in which the vehicle is located.
In the embodiment of the application, the driving auxiliary equipment detects the current environment scene of the vehicle in real time through the data acquisition equipment, and when the environment scene is detected to be in collision with an obstacle and the obstacle is needed to be avoided in an emergency, the vehicle microcontroller acquires the target torque of the motor, the current rotating speed in the running process and the output voltage of the current regulator in the motor in real time. The obstacle refers to an object that may cause an obstacle to the running of a vehicle driven by a driver, and includes a front vehicle, a roadblock, a pedestrian, and the like.
S120, determining an initial lead angle of the stator current of the motor under the target torque and the current rotating speed based on a pre-established feedforward compensation table.
In the embodiment of the application, according to the target torque of the motor and the current rotating speed in the running process, the initial lead angle of the stator current under the corresponding torque and rotating speed is searched in a feedforward compensation table and is recorded as beta ref. Wherein the initial lead angle β ref ranges from 0 ° to 90 °.
The feedforward compensation table is the relation between the torque and the rotating speed of the motor in the weak magnetic state and the corresponding lead angle of the current working point. The reason why the feedforward compensation table is formulated in advance is that the actual computing capacity of the microcontroller does not support the completion of the iterative computation in a short time because the iterative computation of the motor operation space model is complex, so that the feedforward compensation table can be formulated in advance and stored in the preset storage unit of the microcontroller; the table look-up method can be adopted to replace iterative computation of the simulation model, so that the weak magnetic control of the motor can be responded quickly. The specific determination of the feed-forward compensation table is explained in detail in the corresponding embodiment of fig. 2.
And S130, determining a current expected value of the stator current based on the output voltage and the initial lead angle.
Specifically, determining a current expected value of the stator current based on the output voltage and the initial lead angle includes: based on the output voltage (noted as) Calculating a phase angle variable of the stator current, denoted as delta beta, the phase angle variable delta beta ranging from 0 deg. to 90 deg.; adding the initial lead angle beta ref and the phase angle variable delta beta to obtain a target lead angle of the stator current, which is marked as beta *, wherein the target lead angle beta * ranges from 0 DEG to 90 DEG; calculating a current expected value of the stator current by adopting a preset operation formula based on a target lead angle and a stator current value (i s) when the motor works, and marking asThe phase angle variable is an error value for adjusting an initial lead angle in the feedforward compensation table due to parameter variation and the like.
Further, calculating a phase angle variable of the stator current based on the output voltage includes: calculating a reference voltage for motor operation based on the output voltage; calculating a voltage difference between a modulus of the reference voltage vector and a power supply voltage limit of the motor; the voltage difference is adjusted by a voltage regulator to obtain a phase angle variation of the stator current. Wherein the phase angle variation Δβ may also be referred to as a field weakening increment.
And S140, controlling the motor to operate based on the current expected value so that the motor generates target torque.
In the embodiment of the application, after the current expected value of the stator current is determined, the microcontroller takes the current expected value as the target current to control the motor, so that the motor is in a weak magnetic state and can generate target torque.
According to the technical scheme provided by the embodiment, the target torque and the current rotating speed of the motor and the output voltage of the current regulator in the motor are obtained; determining an initial lead angle of a stator current of the motor at a target torque and a current rotating speed based on a pre-established feedforward compensation table; determining a current expected value of the stator current based on the output voltage and the initial lead angle; the motor operation is controlled based on the current demand such that the motor produces a target torque. The application prepares a feedforward compensation table in advance, adopts a table look-up method to replace iterative computation of a simulation model, can rapidly respond to the field weakening control of the motor, and can also ensure the dynamic performance of the motor in the field weakening state; in order to adjust the error value of the initial lead angle in the feedforward compensation table caused by parameter change and the like, the current expected value of the stator current (namely, the weak magnetic control method combining the feedforward compensation table and PI lead angle adjustment) is calculated through the output voltage of the current regulator and the initial lead angle of the stator current, so that the parameter robustness of the weak magnetic control of the motor is improved, and the accuracy of the weak magnetic control of the motor is ensured.
The method for controlling the field weakening of the motor according to the embodiment of the present application is further described below, and fig. 2 is a schematic diagram of a second flow of the method for controlling the field weakening of the motor according to the embodiment of the present application. The embodiment of the application is optimized based on the embodiments, and is specifically optimized as follows: the present embodiment explains the process of creating the feedforward compensation table in detail.
Referring to fig. 2, the method of the present embodiment includes, but is not limited to, the following steps:
S210, acquiring electrical parameters of the motor, and constructing an operation space model of the motor based on the electrical parameters.
Wherein the electrical parameters may include a phase current maximum, a supply voltage, and a phase voltage maximum, wherein the phase voltage maximum is related to specific values of the parasitic resistance and the supply voltage; and can also include the attribute parameters of the motor, such as flux linkage generated by the permanent magnet, orthogonal axis current, direct axis inductance, stator voltage, orthogonal axis inductance, stator resistance, rotor angular speed, etc. The running space model is used to describe the mobility characteristics of the motor in a two-phase rotating coordinate system.
Specifically, constructing an operational space model of the motor based on the electrical parameters includes: in a two-phase rotation coordinate system (namely a d-q coordinate system), determining a Maximum Torque-to-current ratio (MTPA) curve, a constant Torque curve, a Maximum Torque-to-voltage ratio (Maximum Torque per Voltage, MTPV) curve, a voltage limit elliptic curve and a current limit circular curve of the motor based on electrical parameters, wherein the constant Torque curve is a curve corresponding to target required torques in different required torques; in the working condition process of emergency obstacle avoidance and the like of the vehicle, along with the continuous increase of the motor rotation speed, at least two standard curves corresponding to the motor rotation speed are selected from an MTPA curve, a constant torque curve, an MTPV curve, a voltage limit elliptic curve and a current limit circular curve, and a target curve is calculated by adopting preset iterative operation to obtain an operation space model. Preferably, the preset iteration operation in this embodiment may be newton's iteration method.
The following describes the determination process of the MTPA curve, the constant torque curve, the MTPV curve, the voltage limit elliptic curve and the current limit circular curve:
Under the d-q coordinate coefficient model, the voltage equation of the permanent magnet synchronous motor can be expressed by the formula (1):
Where u d is the stator voltage of the d axis, u q is the stator voltage of the q axis, i d is the direct current, i q is the quadrature current, L d is the direct inductance, L q is the quadrature inductance, R s is the stator resistance, ω e is the motor speed, and ψ f is the flux linkage generated by the permanent magnets.
The permanent magnet synchronous motor is constrained by voltage and current in the operation process, wherein the voltage constraint means that the power supply voltage of the motor end is limited by the power supply voltage of a bus, as shown in a formula (2); the current constraint refers to the maximum current that the motor body can carry, as shown in formula (3).
Where U d is the stator voltage of the d axis, U q is the stator voltage of the q axis, I d is the direct axis current, I q is the quadrature axis current, U max is the maximum value of the phase voltage output from the inverter to the motor end, and I max is the maximum value of the phase current that can be borne by the motor system. Optionally, in order to improve accuracy, in the calculation process of the simulation model, the estimated parasitic resistance needs to be added at the inverter by combining with the actual situation of the test platform, and the output voltage of the inverter is collected as a limiting condition U max of a voltage constraint equation. Substituting equation (1) into equation (2) can yield equation (4), such as:
In the d-q coordinate system, the formula (3) is a circle with an origin as the center and I max as the radius, which is called a current limit circle curve; the formula (4) is that the center point approaches the point along with the increase of the motor rotation speed And ellipses whose major and minor axes decrease with increasing rotation speed are called voltage limit elliptic curves.
Constructing an MTPA curve of the motor based on the attribute parameters of the motor, wherein the MTPA curve can be expressed as a formula (5):
Where p is the pole pair number of the motor, ψ f is the flux linkage generated by the permanent magnet, i d is the direct current, i q is the quadrature current, and L d is the direct inductance.
Constructing a constant torque curve of the motor based on the attribute parameters of the motor, wherein the constant torque curve can be expressed as formula (6):
Wherein T e is the required torque, p is the pole pair number of the motor, ψ f is the flux linkage generated by the permanent magnet, i d is the direct current, i q is the quadrature current, L d is the direct inductance, and L q is the quadrature inductance.
The MTPV curve is a curve formed by maximum points of torque under the limiting condition of a voltage limit ellipse, and can be expressed as a formula (7) by adopting a lagrangian method in combination with conditional extremum solving:
wherein i d is direct current, i q is quadrature current, lambda is Lagrangian factor, p is pole pair number of the motor, ψ f is magnetic chain generated by a permanent magnet, L d is direct inductance, L q is quadrature inductance, R s is stator resistance, omega e is motor rotating speed, and U max is phase voltage maximum value output to a motor end by an inverter.
S220, calculating current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the operation space model.
The current working track comprises a plurality of current working points, and the rotating speed of one motor corresponds to one current working point.
The permanent magnet synchronous motor is simultaneously constrained by a current limit circle and a voltage limit ellipse in the operation process, as shown in fig. 3, in fig. 3 (a)As an infinite speed drive system, in FIG. 3 (b)Is a limited speed drive system. The current operating point will be limited to the inner area of the current limit circle and the voltage limit ellipse, and as the motor speed ω e increases, the voltage limit ellipse decreases, and the current adjustable area decreases accordingly, requiring planning of the current operating point. The application plans the current working point based on the current vector amplitude minimum principle (namely the efficiency optimal principle) required by outputting the same torque, and ensures that the motor has optimal efficiency in the field weakening control stage.
For a limited speed drive system, the current operating point plan is shown in fig. 4. Fig. 4 (a) shows that when the rotation speed is less than the rated rotation speed at the current working current, the intersection point of the MTPA curve and the equal torque line corresponding to the required torque (i.e. the constant torque curve in the figure) is in the overlapping area of the voltage limit ellipse and the current limit circle, and the current working point should be planned on the intersection point a of the MTPA curve and the equal torque line corresponding to the required torque; FIG. 4 (b) shows that as the rotational speed ω e increases, the point A exceeds the range of the voltage limit ellipse, and enters a constant torque zone, and the current point is planned on an equal torque line corresponding to the required torque in a coincident zone satisfying the voltage constraint and the current constraint, and corresponds to the AB segment; fig. 4 (c) shows that as the rotation speed increases, the intersection point of the constant torque curve and the voltage limit ellipse reaches the edge of the current limit circle, and the current operating point corresponding to the maximum output torque of the motor is switched to the intersection point of the current limit circle and the voltage limit ellipse, which is called a field weakening I region. Fig. 4 (d) shows that as the rotational speed increases, the current operating point moves leftwards along the current limit circle until reaching point C, corresponding to segment BC.
For an infinite speed drive system, the current operating point schedule is shown in fig. 5. An infinite speed drive system has a field II weakening, i.e., an MTPV control region. The ABC segment control is consistent with the limited speed driving system, and fig. 5 (C) shows that after the current working point reaches the point C, the current point corresponding to the maximum output torque of the motor is switched to the intersection point of the MTPV curve and the voltage limit ellipse, and enters the field weakening II control. Fig. 5 (d) shows that as the rotational speed increases, the current operating point always approaches the center O point of the voltage limiting ellipse along the MTPV curve, corresponding to the CO segment.
Specifically, the different required torques include a plurality of required torques; aiming at the target required torque, calculating current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the operation space model, wherein the current working tracks comprise: dividing a rotating speed interval corresponding to the increase of the rotating speed of the motor from the first rotating speed to the second rotating speed into a plurality of rotating speed stages; solving an operation space model based on an efficiency optimal criterion to obtain a current working track corresponding to the weak magnetic state of the motor in each rotating speed stage; the current working track comprises current working points corresponding to each rotating speed in each rotating speed stage; and carrying out data processing on the current working tracks corresponding to each rotating speed stage to obtain the current working track corresponding to the target required torque of the motor in the weak magnetic state.
S230, calculating the lead angles corresponding to all the current working points in the current working track under different required torques, so as to obtain a feedforward compensation table.
In the embodiment of the application, the current working points corresponding to the rotating speeds under different required torques are calculated through the operation space model, and then the lead angles under different rotating speeds are calculated to form the feedforward compensation table. The lead angle can be calculated by the formula (8):
Where β ref ′ denotes the lead angle, i d is the direct current, and i q is the quadrature current.
According to the technical scheme provided by the embodiment, the electric parameters of the motor are acquired, and an operation space model of the motor is constructed based on the electric parameters; then calculating current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the operation space model; and finally, calculating the lead angles corresponding to all the current working points in the current working track under different required torques, thereby obtaining a feedforward compensation table. The feedforward compensation table prepared in advance can replace iterative calculation of a simulation model; when the vehicle is in working conditions such as emergency obstacle avoidance, the weak magnetic control of the motor can be responded quickly, and the dynamic performance of the motor in the weak magnetic state can be ensured.
In the practical application scene of the application, experimental verification is carried out on the effect of the application based on the surface-mounted permanent magnet synchronous motor, and the MTPA control of the surface-mounted permanent magnet synchronous motor is i d =0 control. After the motor is started, the generator provides a rotating speed increased from 0rpm (revolution/minute) to 3200rpm for 0.5s, the rotating speed is kept stable for a certain time, the rotating speed is reduced to 0rpm, the d-q axis current is dynamically changed according to a weak magnetic control method of feedforward compensation combined with PI lead angle adjustment and a weak magnetic control method of PI lead angle adjustment respectively, and the current response and the phase angle are compared correspondingly, as shown in fig. 6 to 9.
FIG. 6 is a graph showing the d-q axis current response from 0 to 3200rpm at a rotation speed of 0.5s, and FIG. 7 is a graph showing the d-q axis current response from 3200 to 0rpm at a rotation speed of 0.5 s. By comparing the d-q axis current responses, the weak magnetic control method for adjusting the lead angle relative to the PI can be seen, and the current response dynamic performance and accuracy of the weak magnetic control method for adjusting the lead angle by combining feedforward compensation and PI are obviously improved: in the process of increasing the rotating speed and entering the field weakening control, the actual current response curve is closer to the target current response curve, the dynamic performance of the control system is obviously improved, and the actual current response is more accurate; in the process of exiting the flux weakening control by reducing the rotating speed, the problem of slow target current response of the lead angle flux weakening control method is obviously improved, the current track planning is more reasonable, and the control precision is improved.
FIG. 8 is a phase-contrast plot of d-q axis current from 0-3200rpm at a speed of 0.5s, and FIG. 9 is a phase-contrast plot of d-q axis current from 3200-0rpm at a speed of 0.5 s. By comparing the d-q axis current phases, the weak magnetic control method for adjusting the lead angle relative to the PI can be seen, and the dynamic response performance of the weak magnetic control method for adjusting the lead angle by combining feedforward compensation and PI is obviously enhanced: in the process of increasing the rotating speed and entering the field weakening control, the feedback current phase is closer to the target current phase, and the control is accurate; in the process of exiting the flux weakening control after the rotation speed is reduced, the current response speed is improved, the track planning is more reasonable, the phase track is still better, and the control is accurate.
Fig. 10 is a schematic structural diagram of a field weakening control device for a motor according to an embodiment of the present application, as shown in fig. 10, the device 300 may include:
a data acquisition module 310, configured to acquire a target torque and a current rotation speed of a motor, and an output voltage of a current regulator in the motor;
A feed-forward compensation module 320 for determining an initial lead angle of a stator current of the motor at the target torque and the current rotational speed based on a predetermined feed-forward compensation table;
a voltage feedback module 330 for determining a current desired value of the stator current based on the output voltage and the initial lead angle;
a field weakening control module 340 for controlling the motor operation based on the current desired value such that the motor generates the target torque.
Optionally, the feedforward compensation table is a relation between torque and rotation speed of the motor in a weak magnetic state and a lead angle corresponding to a current working point.
Further, the weak magnetic control device of the motor may further include: a feedforward compensation table making module;
The feedforward compensation table making module is used for obtaining electrical parameters of the motor and constructing an operation space model of the motor based on the electrical parameters; calculating current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the running space model; and calculating the lead angle corresponding to each current working point in the current working track under different required torques, thereby obtaining the feedforward compensation table.
Further, the feedforward compensation table formulation module may specifically include: the operation space model building unit and the current working track calculating unit;
The operation space model building unit is used for determining a maximum torque current ratio (MTPA) curve, a constant torque curve, a maximum torque voltage ratio (MTPV) curve, a voltage limit elliptic curve and a current limit circular curve of the motor based on the electrical parameters in a two-phase rotation coordinate system, wherein the constant torque curve is a curve corresponding to target required torques in different required torques; and calculating the MTPA curve, the constant torque curve, the MTPV curve, the voltage limit elliptic curve and the current limit circular curve by adopting preset iterative operation to obtain the running space model.
Optionally, the different required torques include a plurality of required torques;
The current working track calculation unit is used for dividing a rotating speed interval corresponding to the increase of the rotating speed of the motor from the first rotating speed to the second rotating speed into a plurality of rotating speed stages according to the target required torque; solving the operation space model based on an efficiency optimal criterion to obtain a current working track corresponding to the motor in a weak magnetic state in each rotating speed stage; the current working track comprises current working points corresponding to each rotating speed in each rotating speed stage; and carrying out data processing on the current working track corresponding to each rotating speed stage to obtain the current working track corresponding to the target required torque of the motor in the weak magnetic state.
Further, the voltage feedback module 330 may be specifically configured to: calculating a phase angle variable of the stator current based on the output voltage; performing data processing on the initial lead angle and the phase angle variable to obtain a target lead angle of the stator current; a current expected value of the stator current is calculated based on the target lead angle.
Further, the voltage feedback module 330 may be further specifically configured to: calculating a reference voltage for operation of the motor based on the output voltage; calculating a voltage difference between the reference voltage and a power supply voltage limit of the motor; and regulating the voltage difference through a voltage regulator to obtain the phase angle variable of the stator current.
The motor flux weakening control device provided by the embodiment can be applied to the motor flux weakening control method provided by any embodiment, and has corresponding functions and beneficial effects.
Fig. 11 is a block diagram of an electronic device for implementing a motor flux weakening control method according to an embodiment of the application. The electronic device 410 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 11, the electronic device 410 includes at least one processor 411, and a memory, such as a Read Only Memory (ROM) 412, a Random Access Memory (RAM) 413, etc., communicatively connected to the at least one processor 411, wherein the memory stores a computer program executable by the at least one processor, and the processor 411 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 412 or the computer program loaded from the storage unit 418 into the Random Access Memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 may also be stored. The processor 411, the ROM412, and the RAM 413 are connected to each other through a bus 414. An input/output (I/O) interface 415 is also connected to bus 414.
Various components in the electronic device 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the various methods and processes described above, such as the motor field weakening control method.
In some embodiments, the motor flux weakening control method may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 410 via the ROM 412 and/or the communication unit 419. When a computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the motor flux weakening control method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the motor flux weakening control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server) or that includes a middleware component (e.g., an application server) or that includes a front-end component through which a user can interact with an implementation of the systems and techniques described here, or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. For example, one skilled in the art may use the various forms of flow shown above to reorder, add, or delete steps; the steps recited in the present application may be performed in parallel, sequentially or in a different order, and are not limited herein as long as the desired results of the technical solution of the present application can be achieved.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.

Claims (10)

1. A method for field weakening control of an electric machine, the method comprising:
obtaining target torque and current rotating speed of a motor, and outputting voltage of a current regulator in the motor;
determining an initial lead angle of a stator current of the motor at the target torque and the current rotational speed based on a pre-established feed-forward compensation table;
determining a current desired value of the stator current based on the output voltage and the initial lead angle;
the motor is controlled to operate based on the current desired value so that the motor generates the target torque.
2. The method for controlling field weakening of a motor according to claim 1 wherein the feedforward compensation table is a relation between torque and rotation speed of the motor in a field weakening state and a lead angle corresponding to a current operating point.
3. The motor flux weakening control method according to claim 1, wherein the feedforward compensation table is determined by:
acquiring electrical parameters of the motor, and constructing an operation space model of the motor based on the electrical parameters;
calculating current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the running space model;
and calculating the lead angle corresponding to each current working point in the current working track under different required torques, thereby obtaining the feedforward compensation table.
4. The motor flux weakening control method according to claim 3, wherein the constructing an operation space model of the motor based on the electrical parameter comprises:
In a two-phase rotation coordinate system, determining a maximum torque current to MTPA curve, a constant torque curve, a maximum torque voltage to MTPV curve, a voltage limit elliptic curve and a current limit circular curve of the motor based on the electrical parameters, wherein the constant torque curve is a curve corresponding to target required torque in different required torques;
and calculating the MTPA curve, the constant torque curve, the MTPV curve, the voltage limit elliptic curve and the current limit circular curve by adopting preset iterative operation to obtain the running space model.
5. The motor flux weakening control method according to claim 3, wherein the different required torques include a plurality of required torques; aiming at target required torque, the calculation of the current working tracks corresponding to different required torques of the motor in a weak magnetic state based on the running space model comprises the following steps:
Dividing a rotating speed interval corresponding to the increase of the rotating speed of the motor from the first rotating speed to the second rotating speed into a plurality of rotating speed stages;
Solving the operation space model based on an efficiency optimal criterion to obtain a current working track corresponding to the motor in a weak magnetic state in each rotating speed stage; the current working track comprises current working points corresponding to each rotating speed in each rotating speed stage;
and carrying out data processing on the current working track corresponding to each rotating speed stage to obtain the current working track corresponding to the target required torque of the motor in the weak magnetic state.
6. The motor flux weakening control method according to claim 1, wherein the determining the current desired value of the stator current based on the output voltage and the initial lead angle comprises:
calculating a phase angle variable of the stator current based on the output voltage;
Performing data processing on the initial lead angle and the phase angle variable to obtain a target lead angle of the stator current;
a current expected value of the stator current is calculated based on the target lead angle.
7. The motor flux weakening control method according to claim 6, wherein said calculating a phase angle variation of said stator current based on said output voltage comprises:
calculating a reference voltage for operation of the motor based on the output voltage;
calculating a voltage difference between the reference voltage and a power supply voltage limit of the motor;
And regulating the voltage difference through a voltage regulator to obtain the phase angle variable of the stator current.
8. A field weakening control device for an electric motor, the device comprising:
the data acquisition module is used for acquiring target torque and current rotating speed of the motor and output voltage of a current regulator in the motor;
A feedforward compensation module for determining an initial lead angle of a stator current of the motor at the target torque and the current rotational speed based on a predetermined feedforward compensation table;
a voltage feedback module for determining a current desired value of the stator current based on the output voltage and the initial lead angle;
And the weak magnetic control module is used for controlling the motor to operate based on the current expected value so that the motor generates the target torque.
9. An electronic device, the electronic device comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the motor flux weakening control method according to any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the motor flux weakening control method of any one of claims 1 to 7 when executed.
CN202410423548.0A 2024-04-09 2024-04-09 Motor flux weakening control method and device, electronic equipment and storage medium Pending CN118300465A (en)

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Application Number Priority Date Filing Date Title
CN202410423548.0A CN118300465A (en) 2024-04-09 2024-04-09 Motor flux weakening control method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410423548.0A CN118300465A (en) 2024-04-09 2024-04-09 Motor flux weakening control method and device, electronic equipment and storage medium

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CN118300465A true CN118300465A (en) 2024-07-05

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Country Link
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