CN106026830B - A kind of stator coreless permanent magnet Synchromous machine drive system and its control method - Google Patents
A kind of stator coreless permanent magnet Synchromous machine drive system and its control method Download PDFInfo
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- CN106026830B CN106026830B CN201610331326.1A CN201610331326A CN106026830B CN 106026830 B CN106026830 B CN 106026830B CN 201610331326 A CN201610331326 A CN 201610331326A CN 106026830 B CN106026830 B CN 106026830B
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 13
- 238000011217 control strategy Methods 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 11
- 239000003990 capacitor Substances 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 9
- 238000000844 transformation Methods 0.000 claims description 3
- 230000010349 pulsation Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 7
- 239000000203 mixture Substances 0.000 description 4
- 229910000976 Electrical steel Inorganic materials 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention discloses a kind of PMSM Drive System and its control method, especially a kind of stator coreless permanent magnet Synchromous machine drive system and its control method belong to the technical field of permanent magnet synchronous motor.System includes：Inverter, LC filters, system controller, the position sensor of motor in real time rotor-position signal, the first current sensor of motor in real time threephase armature winding current, the second current sensor for acquiring capacitance current in LC filters in real time.Solve the problems, such as that the small drive control of the armature inductance of stator coreless permanent magnet synchronous motor is difficult.Method passes through the closed-loop control to motor speed, the closed-loop control to current of electric, the closed-loop control to capacitance current in LC filters, it effectively eliminates because of the small current harmonics brought of motor stator inductance, keep three-phase current waveform height sinusoidal, to reduce the loss of electric machine and torque pulsation.
Description
Technical field
The present invention discloses a kind of PMSM Drive System and its control method, and especially a kind of stator non iron-core is forever
Magnetic-synchro motor driven systems and its control method belong to the technical field of permanent magnet synchronous motor.
Background technology
Permanent magnet synchronous motor has important application value in occasions such as electric vehicle, aerospace, household electrical appliance and answers
Use foreground.As an important branch inside magneto, the stator of stator coreless permanent magnet motor eliminates magnetic conduction silicon steel
Piece eliminates the core loss and cogging torque of stator, is very suitable for high-speed cruising.Moreover, eliminating magnetic conduction silicon steel on stator
After piece, motor gas-gap becomes larger, and armature reaction is small, and rotor loss is low, and entire motor operation efficiency is greatly improved.Cause
It is long-term in vacuum environment can to solve rotor when stator coreless permanent magnet motor is as flywheel energy storage system dynamoelectric machine for this
Run problems of excessive heat.However need especially to pay attention to be stator coreless permanent magnet motor have the small characteristic of armature inductance, electricity
Inductance value necessarily gives the control of driving inverter to bring difficulty so generally in H grades of μ；When being driven using conventional inverter, armature around
Group will produce prodigious pulsation of current and electromagnetic torque pulsation, or even be difficult to realize armature winding electric current continuous control.
Actually the small feature of stator inductance is not the peculiar problem of non iron-core motor, in the drive of high speed or super high speed motor
The problem that armature winding inductance is smaller, current control is difficult can be also encountered in dynamic control.For Large-power High-Speed stator non iron-core
Motor, for drive control since winding inductance is minimum, this is particularly problematic.It is taken at present for the small problem of armature inductance
Control technology be mainly the following：1) two-level inverter improves switching frequency (about in 100kHz)；2) motor with it is inverse
Become between device and goes here and there inductance；3) polyphase machine technology is used；4) three-level inverter is used；5) band prime buck current source type inversions
Device.For improving the switching frequency of inverter, there is larger advantage in small-power applications, current power device is difficult
Switching frequency is improved to 100kHz in large-power occasions.The control of three-level inverter is complicated, and the derailing switch of inverter
Part increases, and cost is higher.There is still a need for the bridge arm numbers for increasing inverter for the use of polyphase machine technology, from hardware composition
With the not essential difference of three-level inverter control technology.
For the actuation techniques of stator non iron-core disc-type permanent magnet motor, patent of invention CN103391034A and patent
CN103368473A proposes that basic principle is in DC side DC/DC translation circuits in DC side addition DC/DC translation circuits
Inductance is introduced to solve the problem that determinant non iron-core axial magnetic field permanent magnet synchronous motor armature inductance is small and current control is difficult.
However, the control method increases power device in DC side, while DC side inductance is also larger, and controller cost and volume are all big
Width increases.
Therefore, how under conditions of ensureing that controller power valve number of devices is constant, by the introducing of passive device from
And the problem for the small drive control difficulty of armature inductance for solving determinant coreless permanent magnet synchronous motor, have larger researching value and
Practice significance.
Invention content
The technical problem to be solved by the present invention is to the deficiencies for above-mentioned background technology, provide a kind of stator non iron-core
PMSM Drive System and its control method, it is passive by increasing under the premise of not increasing power tube number of devices
The mode of device LC filters effectively eliminates because of the small current harmonics brought of motor stator inductance, to reduce the loss of electric machine and
Torque pulsation solves the interrupted technical problem of stator coreless permanent magnet synchronous motor armature inductance Small current control.
The present invention adopts the following technical scheme that for achieving the above object：
A kind of stator coreless permanent magnet Synchromous machine drive system, including：Inverter, LC filters, system controller, reality
When the acquisition position sensor of motor rotor position signal, motor in real time threephase armature winding current the first current sense
Device, the second current sensor for acquiring capacitance current in LC filters in real time, the inverter direct-flow side connect DC power supply, LC filters
Wave device input side connects inverter ac side, and each phase armature winding tap and LC filters of stator coreless permanent magnet synchronous motor are defeated
Go out the terminal connection that side corresponds to phase, the input terminal of system controller receives motor rotor position signal, motor threephase armature winding
Capacitance current signal in current signal, LC filters, the control of each switching device in the output end and inverter of system controller
End connection；
The system controller：Closed-loop control is carried out to motor speed according to motor rotor position signal, is turned according to motor
Fast correction value determines current of electric given value, is believed according to current of electric given value and the motor threephase armature winding current of acquisition
Number to current of electric carry out closed-loop control, capacitance current given value is determined according to current of electric correction value, is given according to capacitance current
Capacitance current carries out closed-loop control to capacitance current in definite value and the LC filters of acquisition.
Scheme, LC filter packets are advanced optimized as a kind of stator coreless permanent magnet Synchromous machine drive system
It includes：One end of three-phase filter inductance and three-phase filter capacitor, each phase filter inductance constitutes input side and and the inversion of LC filters
Device exchange side connects, the other end connection of a pole of each phase filter capacitor and corresponding phase filter inductance, each phase filter capacitor it is another
One pole simultaneously connects outlet side as LC filters.
The control method of the stator coreless permanent magnet Synchromous machine drive system, including：The control of motor speed outer shroud
The control strategy of strategy, the control strategy of current of electric middle ring, capacitive current inner ring,
The control strategy of motor speed outer shroud：Closed-loop control is carried out to motor speed according to motor rotor position signal,
The control strategy of current of electric middle ring：It is with the motor speed correction value that the control of motor speed outer shroud obtains in the process
Input signal carries out closed-loop control using the motor threephase armature winding current signal of acquisition as feedback signal to current of electric,
The control strategy of capacitive current inner ring：It is with the current of electric correction value that the control of current of electric middle ring obtains in the process
Input signal carries out closed-loop control using capacitance current signal in the LC filters of acquisition as feedback signal to capacitance current.
Further, in a kind of control method of stator coreless permanent magnet Synchromous machine drive system, current of electric
The control strategy of middle ring is specially：
Clark transformation is first carried out to the threephase armature winding current of acquisition to carry out Park again and convert to obtain motor q shaft currents
With motor d shaft currents；
PI is carried out to motor speed correction value to adjust to obtain motor q shaft current given values, according to motor q shaft current given values
Correct motor q shaft currents；
Motor d shaft currents are corrected using the control mode of Id=0.
Further, in a kind of control method of stator coreless permanent magnet Synchromous machine drive system, capacitance electricity
Stream inner ring control strategy be specially：
Clark transformation first carried out to capacitance current in the LC filters of acquisition carry out Park again to convert to obtain capacitance q axis electricity
Stream and capacitance d shaft currents, carry out PI to motor q shaft currents correction value and motor d shaft currents correction value and adjust to obtain capacitance q respectively
Shaft current given value and capacitance d shaft current given values, according to capacitance q shaft currents given value and capacitance d shaft current given value amendments
Capacitance q shaft currents and capacitance d shaft currents；
PI is carried out respectively to capacitance q shaft currents correction value and capacitance d shaft currents correction value to adjust to obtain inverter q shaft currents
Given value and inverter d shaft current given values, first carry out inverter q shaft currents given value and inverter d shaft currents given value
Park inverse transformations carry out Clark inverse transformations and obtain motor threephase armature winding current given value again, to motor threephase armature winding
Given value of current value carries out SVPWM and controls to obtain the drive signal of inverter.
The present invention uses above-mentioned technical proposal, has the advantages that：
(1) drive system introduces passive device LC filters, solution under the premise of not increasing drive circuit power pipe quantity
Determined stator coreless permanent magnet synchronous motor the small drive control difficulty of armature inductance problem, simple system is reliable, cost compared with
It is low；
(2) control method by closed-loop control to motor speed, to the closed-loop control of current of electric, in LC filters
The closed-loop control of capacitance current effectively eliminates because of the small current harmonics brought of motor stator inductance, keeps three-phase current waveform high
Degree is sinusoidal, to reduce the loss of electric machine and torque pulsation；
(3) closed-loop control in control method to capacitance current in LC filters, using capacitance current as feedback signal
Active damping action is formed, the system resonance for effectively inhibiting LC filters to bring improves the stability of drive system.
Description of the drawings
Fig. 1 is the block diagram of stator coreless permanent magnet Synchromous machine drive system；
Fig. 2 is the control principle drawing of stator coreless permanent magnet Synchromous machine drive system.
Figure label explanation：Q1, Q2, Q3, Q4, Q5, Q6 are switching tube, Lf1、Lf2、Lf3For three-phase filter inductance, Cf1、
Cf2、Cf3For three-phase filter capacitor.
Specific implementation mode
The technical solution of invention is described in detail below in conjunction with the accompanying drawings.
It is as shown in Figure 1 a kind of stator coreless permanent magnet Synchromous machine drive system of the present invention, main circuit includes straight
Galvanic electricity source, three-phase full-bridge inverter, three-phase LC filters and motor in real time rotor-position signal θ position sensor, reality
When acquisition motor threephase armature winding current ia、ib、icThe first current sensor, in real time acquisition LC filters in capacitance current
ica、icb、iccThe second current sensor.Three-phase electric-wave filter includes：Three-phase filter inductance Lf1、Lf2、Lf3With three-phase filter capacitor
Cf1、Cf2、Cf3.Three-phase full-bridge inverter includes：The A phase bridge arms of switching tube Q1 and switching tube Q2 compositions, switching tube Q3 and switching tube
The B phase bridge arms of Q4 compositions, the C phase bridge arms of switching tube Q5 and switching tube Q6 compositions.DC power supply is connected on three-phase full-bridge inverter
Input side, three-phase tap and the three-phase filter inductance L of three-phase full-bridge inverter outlet sidef1、Lf2、Lf3A side terminal connection, three
Phase filter inductance Lf1、Lf2、Lf3Another side terminal respectively with three-phase filter capacitor Cf1、Cf2、Cf3A pole connection, stator iron-free
The tap of heart permanent magnet synchronous motor three-phase windings is connected with the tie point of three-phase filter inductance and three-phase filter capacitor respectively, three-phase
Filter capacitor Cf1、Cf2、Cf3A pole connect together.Controller is according to motor rotor position signal, three-phase windings armature winding
Capacitance current signal in current signal, LC filters generates the control signal of inverter.
System controller control targe is by giving 6 power switch on PMW signals control inverter three-phase bridge arm
Pipe on or off, to control the three-phase current of motor, obtain output torque and given rotating speed.System uses vector controlled
Technology realizes that three-phase windings current control, whole system take Three-loop control pattern, respectively speed closed loop control, motor electricity
Flow closed-loop control and three phase capacitance closed-loop current control.
Control method of the present invention is illustrated with reference to system control principle drawing as shown in Figure 2.
Speed closed loop control：Stator coreless permanent magnet synchronous motor rotor position signal is acquired by position sensor first
θ, then using the motor speed ω estimated according to rotor-position signal θ as the feedback signal of speed closed loop, motor speed ω with
Given rotating speed signal ω*Deviation obtain motor q shaft current given values by a PI controller
Current of electric closed-loop control：Pass through the threephase armature winding current i acquired to the first current sensora、ib、icFirst
Carry out 3/2 coordinate transform and carry out rotating coordinate transformation again to obtain motor d shaft currents idsWith motor q shaft currents iqs, with motor d axis
Electric current idsWith motor q shaft currents iqsFor the feedback signal of current of electric closed-loop control, motor q shaft currents iqsWith motor q shaft currents
Given valueDeviation obtain capacitance q shaft current given values using a PI controllerId=is used to motor d shaft currents
0 control mode, motor d shaft currents idsWith motor d shaft current given valuesDeviation obtained using a PI controller
Capacitance d shaft current given values
Three phase capacitance closed-loop current control：Pass through three phase capacitance electric current in the LC filters that are acquired to the second current sensor
ica、icb、iccFirst carry out 3/2 coordinate transform and carry out rotating coordinate transformation again to obtain capacitance d shaft currents idcWith capacitance q shaft currents
iqc, with capacitance d shaft currents idcWith capacitance q shaft currents iqcFor the feedback signal of three phase capacitance closed-loop current control, capacitance d axis electricity
Flow idcWith capacitance q shaft currents iqcWith capacitance current given valueDeviation obtain inverter using a PI controller
The reference of output current d axis components and q axis components is given.It is given to the reference of inverter output current d axis components and q axis components
First carry out static/rotation transformation and carry out 2/3 coordinate transform again to obtain threephase armature winding current given value, last threephase armature around
Group given value of current value by SVPWM links generate control switching tube duty ratio pulsewidth wave, pulsewidth wave be converted to drive signal with
6 switching tubes on three phase inverter bridge are controlled, to control motor threephase armature winding current.
In conclusion the invention has the advantages that：
(1) drive system introduces passive device LC filters, solution under the premise of not increasing drive circuit power pipe quantity
Determined stator coreless permanent magnet synchronous motor the small drive control difficulty of armature inductance problem, simple system is reliable, cost compared with
It is low；
(2) control method by closed-loop control to motor speed, to the closed-loop control of current of electric, in LC filters
The closed-loop control of capacitance current effectively eliminates because of the small current harmonics brought of motor stator inductance, keeps three-phase current waveform high
Degree is sinusoidal, to reduce the loss of electric machine and torque pulsation；
(3) closed-loop control in control method to capacitance current in LC filters, using capacitance current as feedback signal
Active damping action is formed, the system resonance for effectively inhibiting LC filters to bring improves the stability of drive system.
Claims (5)
1. a kind of stator coreless permanent magnet Synchromous machine drive system, which is characterized in that including：Inverter, LC filters, system
The of controller, the position sensor of motor in real time rotor-position signal, motor in real time threephase armature winding current
One current sensor, the second current sensor for acquiring capacitance current in LC filters in real time, the inverter direct-flow side connect directly
Galvanic electricity source, LC filter input sides connect inverter ac side, each phase armature winding tap of stator coreless permanent magnet synchronous motor
The terminal of phase corresponding with LC filter outlet sides connects, and the input terminal of system controller receives motor rotor position signal, motor
Capacitance current signal in threephase armature winding current signal, LC filters is respectively opened in the output end and inverter of system controller
Close the control terminal connection of device；
The system controller：Closed-loop control is carried out to motor speed according to motor rotor position signal, is repaiied according to motor speed
Positive value determines current of electric given value, according to current of electric given value and the motor threephase armature winding current signal pair of acquisition
Current of electric carries out closed-loop control, capacitance current given value is determined according to current of electric correction value, according to capacitance current given value
And capacitance current carries out closed-loop control to capacitance current in the LC filters of acquisition.
2. a kind of stator coreless permanent magnet Synchromous machine drive system according to claim 1, which is characterized in that the LC filters
Wave device includes：One end of three-phase filter inductance and three-phase filter capacitor, each phase filter inductance constitutes the input side of LC filters simultaneously
It is connect with inverter ac side, a pole of each phase filter capacitor is connected with the other end of corresponding phase filter inductance, each phase filtered electrical
Another pole for holding simultaneously connects outlet side as LC filters.
3. the control method of stator coreless permanent magnet Synchromous machine drive system described in claim 1, which is characterized in that including：
The control strategy of the control strategy of motor speed outer shroud, the control strategy of current of electric middle ring, capacitive current inner ring,
The control strategy of motor speed outer shroud：Closed-loop control is carried out to motor speed according to motor rotor position signal,
The control strategy of current of electric middle ring：The motor speed correction value obtained in the process with the control of motor speed outer shroud is input
Signal carries out closed-loop control using the motor threephase armature winding current signal of acquisition as feedback signal to current of electric,
The control strategy of capacitive current inner ring：The current of electric correction value obtained in the process with the control of current of electric middle ring is input
Signal carries out closed-loop control using capacitance current signal in the LC filters of acquisition as feedback signal to capacitance current.
4. a kind of control method of stator coreless permanent magnet Synchromous machine drive system, feature exist according to claim 3
In the control strategy of the current of electric middle ring is specially：
Clark transformation is first carried out to the threephase armature winding current of acquisition to carry out Park again and convert to obtain motor q shaft currents and electricity
Machine d shaft currents；
PI is carried out to motor speed correction value to adjust to obtain motor q shaft current given values, according to motor q shaft current given value amendments
Motor q shaft currents；
Motor d shaft currents are corrected using the control mode of Id=0.
5. according to a kind of control method of stator coreless permanent magnet Synchromous machine drive system of claim 3 or 4, feature
It is, the control strategy of the capacitive current inner ring is specially：
To capacitance current in the LC filters of acquisition first carry out Clark transformation carry out again Park convert to obtain capacitance q shaft currents and
Capacitance d shaft currents carry out PI to motor q shaft currents correction value and motor d shaft currents correction value and adjust to obtain capacitance q axis electricity respectively
Given value and capacitance d shaft current given values are flowed, capacitance q is corrected according to capacitance q shaft currents given value and capacitance d shaft current given values
Shaft current and capacitance d shaft currents；
Carrying out PI respectively to capacitance q shaft currents correction value and capacitance d shaft currents correction value, to adjust to obtain inverter q shaft currents given
Value and inverter d shaft current given values, Park is first carried out to inverter q shaft currents given value and inverter d shaft currents given value
Inverse transformation carries out Clark inverse transformations and obtains motor threephase armature winding current given value again, to motor threephase armature winding current
Given value carries out SVPWM and controls to obtain the drive signal of inverter.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107276459B (en) * | 2017-06-21 | 2019-11-08 | 常熟理工学院 | A kind of three-phase permanent magnet synchronous motor sensorless drive circuit |
| CN112701986B (en) * | 2020-12-15 | 2022-11-11 | 中克骆瑞新能源科技有限公司 | Direct current bus current estimation method based on motor controller |
| CN113452296B (en) * | 2021-05-10 | 2022-06-24 | 武汉华海通用电气有限公司 | Parameter identification system and method for three-phase inverter permanent magnet synchronous motor with surface mounting |
| CN114598218B (en) * | 2022-03-24 | 2022-10-28 | 中国矿业大学 | Permanent magnet synchronous motor position sensorless control method, device and system with LC filter |
| CN114844409A (en) * | 2022-05-25 | 2022-08-02 | 中车株洲电机有限公司 | Decoupling-based vector control method and system for motor and related components |
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