CN102684580A  Method for controlling permanentmagnet synchronous motor driving system  Google Patents
Method for controlling permanentmagnet synchronous motor driving system Download PDFInfo
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 CN102684580A CN102684580A CN2012101800397A CN201210180039A CN102684580A CN 102684580 A CN102684580 A CN 102684580A CN 2012101800397 A CN2012101800397 A CN 2012101800397A CN 201210180039 A CN201210180039 A CN 201210180039A CN 102684580 A CN102684580 A CN 102684580A
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Abstract
The invention discloses a method for controlling a permanentmagnet synchronous motor (PMSM) driving system. The method for controlling the PMSM driving system is characterized in that a dshaft stator current instruction and a qshaft stator current instruction are obtained according to detected aphase current ia and Bphase current ib of a stator and the actual position angle thetar, actual speed omegar and direct voltage Udc of a rotor, a processor module processes and calculates obtained signals to obtain three control signals Sa, Sb and Sc of an inverter, and accordingly the control of a permanentmagnet synchronous motor is achieved. By means of the method for controlling the PMSM driving system, the torque output capability and highest rotary speed of the permanentmagnet synchronous motor with same current can be effectively improved, and accordingly the control performance of the PMSM driving system is improved.
Description
Technical field
The present invention relates to a kind of electric machine control system, specifically a kind of control method of permagnetic synchronous motor drive system.
Background technology
Permagnetic synchronous motor (being called for short PMSM) has efficient height, high, little, the advantages such as dynamic response fast, speedregulating range width of the big pulsation of torque output of power density, has obtained extensive use in the electric drive system for electric vehicles field at present.
Receive the influence of permanent magnetic material characteristic and permagnetic synchronous motor drive system operating condition; It is constant that the d axle inductance parameters of permagnetic synchronous motor and q axle inductance parameters generally can not keep in the whole service zone; When especially under some working condition of permagnetic synchronous motor drive system, moving; The phenomenon of saturated and cross saturation appears in magnetic circuit easily, causes the nonlinear change of inductance parameters.
Motor speed control comes down to realize that through the control electromagnetic torque under the prerequisite of known motor inductance parameters, the space amplitude and the phase place that change the permanentmagnetic synchronous motor stator current phasor just can be controlled electromagnetic torque.And existing permagnetic synchronous motor drive system is when its core control algolithm of design; Calculate and convenient control in real time in order to simplify; Usually supposition motor inductance parameters immobilizes, or has only considered the saturated influence of single shaft magnetic circuit, and has ignored the influence of the saturated and cross saturation of magnetic circuit between d axle and the q axle; Will certainly directly influence the motor output torque performance, thereby cause the control overall performance of permagnetic synchronous motor drive system to descend.
And the method that usually adopts experiment is improved the output torque performance of permagnetic synchronous motor, needs to gather a large amount of experiment samples, and process is loaded down with trivial details and waste time and energy, and makes the control of permagnetic synchronous motor drive system receive limitation.
Summary of the invention
The present invention is in order to overcome the weak point that prior art exists; A kind of control method of the permagnetic synchronous motor drive system that saves time easy is provided; When the phenomenon of saturated and cross saturation appears in magnetic circuit; Utilization is taken into account magnetic circuit currentorder converter saturated and cross saturation and has been realized control of breakdown torque current ratio and weak magnetic control system; Improve torque fanout capability and maximum speed under the equal electric current of permagnetic synchronous motor effectively, thereby improved the control performance of permagnetic synchronous motor drive system.
The present invention adopts following technical scheme for the technical solution problem:
The control method of a kind of permagnetic synchronous motor drive system of the present invention, the composition of said permagnetic synchronous motor drive system comprises: inverter, permagnetic synchronous motor, voltage sensor, current sensor, position transducer and processor module; Be characterized in that said control method undertaken by following process:
Step 1, acquisition stator a phase current i
_{a}With stator b phase current i
_{b}, rotor physical location angle θ
_{r}, actual speed ω
_{r}And direct voltage U
_{Dc}:
According to by said current sensor senses to stator a phase current i
_{a}With stator b phase current i
_{b}And according to by the detected rotor physical location angle θ of said position transducer
_{r}, utilize formula (1) to obtain the actual d shaft current i of stator under the rotor synchronous rotating frame respectively
_{d}With q shaft current i
_{q},
Said actual speed ω
_{r}Be to utilize said rotor physical location angle θ
_{r}Speed calculation module in the said processor module of process obtains, direct voltage U
_{Dc}Be to adopt voltage sensor to obtain;
Step 2, with the direct voltage U that obtains in the step 1
_{Dc}, actual speed ω
_{r}, the actual d shaft current i of stator
_{d}With q shaft current i
_{q}Send into the currentorder converter of taking into account the saturated and cross saturation of magnetic circuit of said processor module, obtain the instruction of d axle stator current
Instruct with q axle stator current
A, said permagnetic synchronous motor drive system are according to the given speed of setting
With said actual speed ω
_{r}Speed pi regulator through said processor module obtains the stator current instruction
B, utilize the d shaft current i of permagnetic synchronous motor
_{d}With q shaft current i
_{q}Obtain d axle inductance L
_{d}(i
_{d}, i
_{q}) and q axle inductance L
_{q}(i
_{d}, i
_{q});
The stator current vector i of c, the said permagnetic synchronous motor of definition
_{s}With the q axle clamp angle under the said rotor synchronous rotating frame be the β angle, the size of choosing said β angle is respectively β
^{(1)}, β
^{(2)}... β
^{(x)}, and add x index n for said x β angle, obtain x group d axle stator current instruction group
With q axle stator current instruction group
Expression formula is suc as formula shown in (2):
In the formula (2): abs () representes ABS function, and n is a positive integer, and the β angle is 0 ° to 90 °;
D, utilize formula (3) to obtain breakdown torque current ratio control Rule of judgment
In the formula (3): ψ
_{f}The magnetic linkage that in stator winding, produces for the permanent magnet fundamental wave magnetic field;
Choose said breakdown torque current ratio control Rule of judgment
The pairing index n of the maximum of result of calculation is as the first index n
_{1}
Utilize formula (4) to obtain weak magnetic control system Rule of judgment
Choose said weak magnetic control system Rule of judgment
The pairing index n of the minimum value of result of calculation is as the second index n
_{2}
F) through the more said first index n
_{1}With the said second index n
_{2}Value size, choose higher value as the 3rd index m; Realize the switching between control of breakdown torque current ratio and the said weak magnetic control system, choose said the 3rd index m and adjacent index m1 and the pairing d axle of m+1 stator current instruction group
With q axle stator current instruction group
And said d axle stator current instruction group
With q axle stator current instruction group
Pairing breakdown torque current ratio control Rule of judgment
Or weak magnetic control system Rule of judgment
Utilize formula (5) to obtain the instruction of d axle stator current
Instruct with q axle stator current
If m=1 or m=x, then d axle stator current instruction
and q axle stator current instruction
obtains according to formula (6):
Step 3, utilize d axle stator current instruction
Instruct with q axle stator current
And rotor physical location angle θ
_{r}Obtain the control signal of said inverter:
A, according to the instruction of said d axle stator current
Instruct with q axle stator current
The d shaft current i actual with said stator
_{d}With q shaft current i
_{q}Current PI adjuster through said processor module obtains the instruction of stator d shaft voltage
Instruct with the q shaft voltage
B, according to the instruction of said stator d shaft voltage
Instruct with the q shaft voltage
And said rotor physical location angle θ
_{r}, obtain three control signal Sa, Sb and Sc of said inverter through the PWM modulation module of said processor module, thereby utilize three control signal Sa, Sb and the Sc of said inverter to realize said Control of PMSM.
Compared with present technology, beneficial effect of the present invention is embodied in:
1, the present invention is taking into account under the influence of the saturated and cross saturation of magnetic circuit; Control of breakdown torque current ratio and the weak magnetic control system that magnetic circuit currentorder converter saturated and cross saturation is realized the permagnetic synchronous motor drive system taken into account in utilization; Need not a large amount of experimentations, can guarantee that the permagnetic synchronous motor drive system efficiently moves.
2, the present invention is taking into account under the influence of the saturated and cross saturation of magnetic circuit; Adopt breakdown torque current ratio control Rule of judgment and weak magnetic control system Rule of judgment; Thereby realize need not to find the solution the equation of higher degree, can obtain the complicated formulas that permagnetic synchronous motor drive system d axle stator current instruction
and q axle stator current instruct
have been avoided existing in the existing control method and derive and calculating.
3, the present invention only need be through comparing the first index n
_{1}With the said second index n
_{2}Value size, just can realize the switching between control of breakdown torque current ratio and the said weak magnetic control system, simplified the handoff procedure of control of permagnetic synchronous motor drive system breakdown torque current ratio and weak magnetic control system.
Description of drawings:
Fig. 1 is the structural representation of permagnetic synchronous motor drive system of the present invention;
Fig. 2 takes into account the currentorder transformer configuration sketch map of the saturated and cross saturation of magnetic circuit for the present invention;
Fig. 3 is rotor synchronous rotating frame of the present invention and stator current vector i
_{s}Space phase figure;
Fig. 4 is the result of calculation sketch map of breakdown torque current ratio control Rule of judgment of the present invention
;
Fig. 5 is the result of calculation sketch map of the weak magnetic control system Rule of judgment
of the present invention;
Embodiment
In the present embodiment, as shown in Figure 1, the composition of permagnetic synchronous motor drive system comprises: inverter, permagnetic synchronous motor, voltage sensor, current sensor, position transducer and processor module;
Inverter adopts the three phase full bridge voltage source inverter, utilizes the inverter control signal of processor module output, and the direct current that permagnetic synchronous motor drive system external dc power is provided is converted into alternating current, thereby drives permagnetic synchronous motor work; Voltage sensor is used to detect the direct voltage of permagnetic synchronous motor drive system external dc power; Current sensor is used to detect the stator phase current of permagnetic synchronous motor; Position transducer is used to detect the rotorposition of permagnetic synchronous motor;
The control method of permagnetic synchronous motor drive system is carried out according to following process:
Step 1, acquisition stator a phase current i
_{a}With stator b phase current i
_{b}, rotor physical location angle θ
_{r}, actual speed ω
_{r}And direct voltage U
_{Dc}:
Stator a phase current i
_{a}With stator b phase current i
_{b}Be to utilize Hall current sensor to detect and get;
Rotor physical location angle θ
_{r}Utilize resolver or photoelectric encoder to obtain;
According to the detected stator a of Hall current sensor phase current i
_{a}With stator b phase current i
_{b}And according to the detected rotor physical location angle θ of position transducer
_{r}, utilize formula (1) to obtain the actual d shaft current i of stator under the rotor synchronous rotating frame respectively
_{d}With q shaft current i
_{q}As shown in Figure 3, present known rotor synchronous rotating frame is meant the rotor electric angle speed omega with permagnetic synchronous motor
_{e}Counter clockwise direction at the coordinate system of space rotation, be that the direction with the rotor field magnetic flux vector is the d direction of principal axis, directions vertical and counterclockwise leading 90 ° of electrical degrees of d axle are the q direction of principal axis, the stator current vector i of definition permagnetic synchronous motor
_{s}Some when component is zero on d axle and q axle is the initial point of rotor synchronous rotating frame;
Actual speed ω
_{r}Be to utilize rotor physical location angle θ
_{r}Utilize position transducer to obtain the physical location angle θ of neighbouring sample through the speed calculation module in the processor module
_{r}Difference obtain divided by the sampling period again; In the present embodiment, the sampling period be with time interval of 0.1 second to physical location angle θ
_{r}Sample;
Direct voltage U
_{Dc}Derive from the outside DC power supply of permagnetic synchronous motor drive system, for example battery; Direct voltage U
_{Dc}Be to adopt the Hall voltage transducer to obtain, also can adopt known resistance sampling circuit to obtain;
Step 2, as shown in Figure 2 is with the direct voltage U that obtains in the step 1
_{Dc}, actual speed ω
_{r}, the actual d shaft current i of stator
_{d}With q shaft current i
_{q}Send into the currentorder converter of taking into account the saturated and cross saturation of magnetic circuit of processor module, obtain the instruction of d axle stator current
Instruct with q axle stator current
A, permagnetic synchronous motor drive system are according to the given speed of setting
With actual speed ω
_{r}Speed pi regulator through processor module obtains the stator current instruction
B, utilize the d shaft current i of permagnetic synchronous motor
_{d}With q shaft current i
_{q}Obtain d axle inductance L through the inductance lookup table
_{d}(i
_{d}, i
_{q}) and q axle inductance L
_{q}(i
_{d}, i
_{q}), in the inductance lookup table, every a different set of d shaft current i
_{d}With q shaft current i
_{q}Corresponding d axle inductance L
_{d}(i
_{d}, i
_{q}) value, as shown in table 1, as d shaft current i
_{d}Be5 peaces, q shaft current i
_{q}Be 30 peaces, then corresponding d axle inductance L
_{d}(i
_{d}, i
_{q}) be 0.215 milihenry; The motor inductance parameters is with d shaft current i
_{d}With q shaft current i
_{q}Change;
Table 1 d axle inductance L
_{d}(i
_{d}, i
_{q}) lookup table
The stator current vector i of c, definition permagnetic synchronous motor
_{s}Be the β angle with the q axle clamp angle under the rotor synchronous rotating frame, as shown in Figure 3, the size of choosing the β angle is respectively β
^{(1)}, β
^{(2)}... β
^{(x)}, and add x index n for x β angle, obtain x group d axle stator current instruction group
With q axle stator current instruction group
Expression formula is suc as formula shown in (2):
In the formula: abs () representes ABS function, and n belongs to positive integer, and the β angular region is 0 ° to 90 °;
For example; The size of choosing the β angle is respectively 1 °, 10 °, 20 °, 30 °, 40 °, 50 °, 60 °, 70 °, 80 °; And add that index n is 1,2,3,4,5,6,7,8,9 for successively 9 β angles, thereby obtain 9 groups of d axle stator current instruction groups
and q axle stator current instruction group
is as shown in table 2;
Table 2 current instruction value concordance list
The β angle  1°  10°  20°  30°  40°  50°  60°  70°  80° 
Index n  1  2  3  4  5  6  7  8  9 
D, utilize formula (3) to obtain breakdown torque current ratio control Rule of judgment
In the formula: ψ
_{f}The magnetic linkage that in stator winding, produces for the permanent magnet fundamental wave magnetic field;
Choose breakdown torque current ratio control Rule of judgment
The pairing index n of the maximum of result of calculation is as the first index n
_{1}As shown in Figure 4, in the present embodiment,
Pairing index n=6 is a breakdown torque current ratio control Rule of judgment
Therefore the maximum of result of calculation selects index 6 as the first index n
_{1}
Be beneficial to formula (4) and obtain weak magnetic control system Rule of judgment
Choose weak magnetic control system Rule of judgment
The pairing index n of the minimum value of result of calculation is as the second index n
_{2}As shown in Figure 5, in the present embodiment, weak magnetic control system Rule of judgment
Pairing index n=4 is weak magnetic control system Rule of judgment
Therefore the minimum value of result of calculation selects index 4 as the second index n
_{2}
F) compare the first index n
_{1}With the second index n
_{2}Value size, choose higher value as the 3rd index m, choose the 3rd index m and adjacent index m1 and the pairing d axle of m+1 stator current instruction group
With q axle stator current instruction group
And d axle stator current instruction group
With q axle stator current instruction group
Pairing breakdown torque current ratio control Rule of judgment
Or weak magnetic control system Rule of judgment
Utilize formula (5), obtain the instruction of d axle stator current
Instruct with q axle stator current
In the present embodiment, the first index n
_{1}=6, the second index n
_{2}=4, choose wherein higher value 6 as the 3rd index m, and choose the 3rd index m=6 and adjacent index m1=5 and the pairing d axle of m+1=7 stator current instruction group
With
Q axle stator current instruction group
With
And breakdown torque current ratio control Rule of judgment
With
Utilize formula (5), obtain the instruction of d axle stator current
Instruct with q axle stator current
If m=1 or m=x; Then d axle stator current instruction
and q axle stator current instruction
obtains according to formula (6): in the present embodiment; If when m=1 or m=9, then calculate d axle stator current instruction
and q axle stator current instruction
according to formula (6)
Step 3, utilize d axle stator current instruction
Instruct with q axle stator current
And rotor physical location angle θ
_{r}Obtain the inverter control signal:
A, instruct according to d axle stator current
Instruct with q axle stator current
The d shaft current i actual with stator
_{d}With q shaft current i
_{q}Current PI adjuster through processor module obtains the instruction of stator d shaft voltage
Instruct with the q shaft voltage
B, instruct according to stator d shaft voltage
Instruct with the q shaft voltage
And rotor physical location angle θ
_{r}Obtain three control signal Sa, Sb and Sc of inverter through the PWM modulation module of processor module; Thereby three the control signal Sa, Sb and the Sc that utilize inverter realize that to Control of PMSM the PWM modulation system can adopt known SPWM modulation or SVPWM modulation.
Claims (1)
1. the control method of a permagnetic synchronous motor drive system, the composition of said permagnetic synchronous motor drive system comprises: inverter, permagnetic synchronous motor, voltage sensor, current sensor, position transducer and processor module; It is characterized in that said control method carries out as follows:
Step 1, acquisition stator a phase current i
_{a}With stator b phase current i
_{b}, rotor physical location angle θ
_{r}, actual speed ω
_{r}And direct voltage U
_{Dc}:
According to by said current sensor senses to stator a phase current i
_{a}With stator b phase current i
_{b}And according to by the detected rotor physical location angle θ of said position transducer
_{r}, utilize formula (1) to obtain the actual d shaft current i of stator under the rotor synchronous rotating frame respectively
_{d}With q shaft current i
_{q},
Said actual speed ω
_{r}Be to utilize said rotor physical location angle θ
_{r}Speed calculation module in the said processor module of process obtains, direct voltage U
_{Dc}Be to adopt voltage sensor to obtain;
Step 2, with the direct voltage U that obtains in the step 1
_{Dc}, actual speed ω
_{r}, the actual d shaft current i of stator
_{d}With q shaft current i
_{q}Send into the currentorder converter of taking into account the saturated and cross saturation of magnetic circuit of said processor module, obtain the instruction of d axle stator current
Instruct with q axle stator current
A, said permagnetic synchronous motor drive system are according to the given speed of setting
With said actual speed ω
_{r}Speed pi regulator through said processor module obtains the stator current instruction
B, utilize the d shaft current i of permagnetic synchronous motor
_{d}With q shaft current i
_{q}Obtain d axle inductance L
_{d}(i
_{d}, i
_{q}) and q axle inductance L
_{q}(i
_{d}, i
_{q});
The stator current vector i of c, the said permagnetic synchronous motor of definition
_{s}With the q axle clamp angle under the said rotor synchronous rotating frame be the β angle, the size of choosing said β angle is respectively β
^{(1)}, β
^{(2)}... β
^{(x)}, and add x index n for said x β angle, obtain x group d axle stator current instruction group
With q axle stator current instruction group
Expression formula is suc as formula shown in (2):
In the formula (2): abs () representes ABS function, and n is a positive integer, and the β angle is 0 ° to 90 °;
D, utilize formula (3) to obtain breakdown torque current ratio control Rule of judgment
In the formula (3): ψ
_{f}The magnetic linkage that in stator winding, produces for the permanent magnet fundamental wave magnetic field;
Choose said breakdown torque current ratio control Rule of judgment
The pairing index n of the maximum of result of calculation is as the first index n
_{1}
Utilize formula (4) to obtain weak magnetic control system Rule of judgment
Choose said weak magnetic control system Rule of judgment
The pairing index n of the minimum value of result of calculation is as the second index n
_{2}
F) through the more said first index n
_{1}With the said second index n
_{2}Value size, choose higher value as the 3rd index m; Realize the switching between control of breakdown torque current ratio and the said weak magnetic control system, choose said the 3rd index m and adjacent index m1 and the pairing d axle of m+1 stator current instruction group
With q axle stator current instruction group
And said d axle stator current instruction group
With q axle stator current instruction group
Pairing breakdown torque current ratio control Rule of judgment
Or weak magnetic control system Rule of judgment
Utilize formula (5) to obtain the instruction of d axle stator current
Instruct with q axle stator current
If m=1 or m=x, then d axle stator current instruction
and q axle stator current instruction
obtains according to formula (6):
Step 3, utilize d axle stator current instruction
Instruct with q axle stator current
And rotor physical location angle θ
_{r}Obtain the control signal of said inverter:
A, according to the instruction of said d axle stator current
Instruct with q axle stator current
The d shaft current i actual with said stator
_{d}With q shaft current i
_{q}Current PI adjuster through said processor module obtains the instruction of stator d shaft voltage
Instruct with the q shaft voltage
B, according to the instruction of said stator d shaft voltage
Instruct with the q shaft voltage
And said rotor physical location angle θ
_{r}, obtain three control signal Sa, Sb and Sc of said inverter through the PWM modulation module of said processor module, thereby utilize three control signal Sa, Sb and the Sc of said inverter to realize said Control of PMSM.
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CN2012101800397A CN102684580A (en)  20120601  20120601  Method for controlling permanentmagnet synchronous motor driving system 
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CN2012101800397A CN102684580A (en)  20120601  20120601  Method for controlling permanentmagnet synchronous motor driving system 
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Cited By (7)
Publication number  Priority date  Publication date  Assignee  Title 

CN103532466A (en) *  20131021  20140122  南车株洲电力机车研究所有限公司  Method and device for controlling torque change rate of permanent magnet synchronous motor 
CN104242766A (en) *  20140903  20141224  合肥工业大学  Method for controlling torque of salient pole type permanent magnet synchronous motor in weak magnetism area 
CN105680755A (en) *  20160317  20160615  合肥工业大学  Modelfree current control method for permanent magnet synchronous motor 
CN104201960B (en) *  20140801  20170329  浙江西子富沃德电机有限公司  A kind of maximum torque per ampere control method of permanentmagnet synchronous reluctance motor 
CN108258966A (en) *  20180110  20180706  深圳赛美控电子科技有限公司  A kind of method and device of Field orientable control 
CN109391180A (en) *  20170804  20190226  湖南中车时代电动汽车股份有限公司  For improving the method and system of the torque precision of magneto under different operating conditions 
CN111865159A (en) *  20200728  20201030  中车青岛四方车辆研究所有限公司  Method and system for controlling maximum torque current ratio of asynchronous motor 

2012
 20120601 CN CN2012101800397A patent/CN102684580A/en active Pending
Cited By (10)
Publication number  Priority date  Publication date  Assignee  Title 

CN103532466A (en) *  20131021  20140122  南车株洲电力机车研究所有限公司  Method and device for controlling torque change rate of permanent magnet synchronous motor 
CN103532466B (en) *  20131021  20141001  南车株洲电力机车研究所有限公司  Method and device for controlling torque change rate of permanent magnet synchronous motor 
CN104201960B (en) *  20140801  20170329  浙江西子富沃德电机有限公司  A kind of maximum torque per ampere control method of permanentmagnet synchronous reluctance motor 
CN104242766A (en) *  20140903  20141224  合肥工业大学  Method for controlling torque of salient pole type permanent magnet synchronous motor in weak magnetism area 
CN105680755A (en) *  20160317  20160615  合肥工业大学  Modelfree current control method for permanent magnet synchronous motor 
CN109391180A (en) *  20170804  20190226  湖南中车时代电动汽车股份有限公司  For improving the method and system of the torque precision of magneto under different operating conditions 
CN109391180B (en) *  20170804  20210112  湖南中车时代电动汽车股份有限公司  Method and system for improving torque precision of permanent magnet motor under different working conditions 
CN108258966A (en) *  20180110  20180706  深圳赛美控电子科技有限公司  A kind of method and device of Field orientable control 
CN108258966B (en) *  20180110  20190802  深圳赛美控电子科技有限公司  A kind of method and device of Field orientable control 
CN111865159A (en) *  20200728  20201030  中车青岛四方车辆研究所有限公司  Method and system for controlling maximum torque current ratio of asynchronous motor 
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Application publication date: 20120919 