CN107896081B - Current adjusting method and device and motor drive control method and device - Google Patents
Current adjusting method and device and motor drive control method and device Download PDFInfo
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- CN107896081B CN107896081B CN201711209070.8A CN201711209070A CN107896081B CN 107896081 B CN107896081 B CN 107896081B CN 201711209070 A CN201711209070 A CN 201711209070A CN 107896081 B CN107896081 B CN 107896081B
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention provides a current adjusting method and device and a motor drive control method and device, and relates to the technical field of variable frequency drive without electrolytic capacitors. The current regulating method and the device calculate a first output voltage value according to the received input current and a preset current reference value, and then perform amplitude limiting operation on the first output voltage value according to the received amplitude limiting value so as to determine a second output voltage value, so that the output voltage of the current regulating device is determined according to the comparison result of the first output voltage value and the second output voltage value; therefore, the integrator of the current adjusting device can be initialized when the current adjusting device is in a saturation state, so that the current adjusting device can rapidly enter/exit the saturation state along with the fluctuation of the amplitude limiting value, and in addition, the controllability of the motor driving control method and the motor driving control device applying the current adjusting method and the current adjusting device on the current is improved, thereby enhancing the stability of the motor operation.
Description
Technical Field
The invention relates to the technical field of electrolytic capacitor-free variable frequency driving, in particular to a current adjusting method and device and a motor driving control method and device.
Background
Along with the continuous development of the society, the popularity of the air conditioner is higher and higher, and the normal operation of the air conditioner can not be realized by a compressor motor, and the motor is driven to operate by a driving system without electrolytic capacitor.
The traditional current regulator enters a saturation state when the output reaches amplitude limiting, the operation of an integrator can deepen the saturation depth at the moment, and the current regulator can exit the saturation state only when the operation condition meets the saturation exit condition, so that a long time is required. The drive system without electrolytic capacitor using the current regulator does not have a PFC circuit and a large electrolytic capacitor as a direct current bus capacitor, but uses a thin film capacitor with smaller capacity, so that in order to ensure that the motor has higher power factor, the direct current bus voltage fluctuates by more than half of the peak value along with the input voltage, when the bus voltage is lower, the current regulator is in a saturated state, and when the bus voltage recovers, the current regulator cannot exit from the saturated state quickly, so that the current controllability is poor, short-time current overshoot is easy to occur, and the overall performance of the motor is influenced.
Disclosure of Invention
In view of the above, the present invention provides a current adjusting method and device, and a motor driving control method and device, so as to solve the above problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, the present invention provides a current regulation method applied to a current regulation device, the current regulation method including:
calculating a first output voltage value according to the received input current and a preset current reference value;
carrying out amplitude limiting operation on the first output voltage value according to the received amplitude limiting value so as to determine a second output voltage value;
and determining the output voltage of the current regulating device according to the comparison result of the first output voltage value and the second output voltage value.
Further, the step of performing a clipping operation on the first output voltage value according to the received clipping value to determine a second output voltage value includes:
when the first output voltage value is larger than a maximum amplitude limit value, determining the second output voltage value as the maximum amplitude limit value;
when the first output voltage value is smaller than a minimum limiting value, determining the second output voltage value as the minimum limiting value;
and when the first output voltage value is greater than or equal to a minimum limit amplitude value and less than or equal to a maximum limit amplitude value, determining the second output voltage value as the first output voltage value.
Further, the step of calculating the first output voltage value according to the received input current and the preset current reference value includes:
calculating an error value according to the received input current and a preset current reference value;
integrating the error value according to a preset integral coefficient to obtain a second voltage value;
amplifying the error value according to a preset proportionality coefficient to obtain a first voltage value;
and calculating a first output voltage value according to the second voltage value and the first voltage value.
Further, the step of determining the output voltage of the current regulator according to the comparison result of the first output voltage value and the second output voltage value includes:
when the first output voltage value is equal to the second output voltage value, keeping the first voltage value unchanged so as to determine that the output voltage is the second output voltage value;
when the first output voltage value is not equal to the second output voltage value, initializing the second voltage value according to a preset formula to obtain an integral initial value, and after recalculating the first output voltage value based on the integral initial value and the first voltage value, performing the clipping operation on the first output voltage value according to the received clipping value again to determine the second output voltage value.
In a second aspect, the present invention also provides a motor drive control method, including:
receiving phase current, input voltage and bus voltage which are acquired and transmitted by a circuit parameter acquisition unit;
calculating the actual value of the rotating speed of the motor, q-axis current and d-axis current according to the phase current;
determining a given amount of q-axis torque current according to the input voltage, the actual motor rotating speed value and a preset motor rotating speed reference value;
calculating a q-axis voltage setpoint using the current regulation method, the bus voltage, the q-axis torque current setpoint, and the q-axis current as described in the preceding claims;
calculating a d-axis voltage setpoint using the current regulation method of claim, the bus voltage, a preset d-axis torque current setpoint, and the d-axis current;
and generating a pulse width modulation signal according to the given quantity of the q-axis voltage and the given quantity of the d-axis voltage.
In a third aspect, the present invention also provides a current regulation apparatus, including:
the voltage adjusting unit is used for calculating a first output voltage value according to the received input current and a preset current reference value;
the amplitude limiting unit is used for carrying out amplitude limiting operation on the first output voltage value according to the received amplitude limiting value so as to determine a second output voltage value;
and the control unit is used for determining the output voltage of the current regulating device according to the comparison result of the first output voltage value and the second output voltage value.
Further, the amplitude limiting unit is configured to determine that the second output voltage value is the maximum amplitude limit value when the first output voltage value is greater than the maximum amplitude limit value;
the amplitude limiting unit is further used for determining the second output voltage value as a minimum amplitude limiting value when the first output voltage value is smaller than the minimum amplitude limiting value;
the amplitude limiting unit is further used for determining the second output voltage value as the first output voltage value when the first output voltage value is larger than or equal to a minimum amplitude limiting value and smaller than or equal to a maximum amplitude limiting value.
Further, the voltage adjusting unit is configured to calculate an error value according to the received input current and a preset current reference value;
the voltage adjusting unit is further used for integrating the error value according to a preset integration coefficient so as to obtain a second voltage value;
the voltage adjusting unit is further used for amplifying the error value according to a preset proportionality coefficient so as to obtain a first voltage value;
the voltage regulating unit is further used for calculating a first output voltage value according to the second voltage value and the first voltage value.
Further, the control unit is configured to, when the first output voltage value is equal to the second output voltage value, maintain the first voltage value unchanged to determine that the output voltage is the second output voltage value;
the control unit is further configured to initialize the second voltage value according to a preset formula to obtain an initial value of integration when the first output voltage value is not equal to the second output voltage value;
the voltage adjustment unit is further configured to recalculate the first output voltage value based on the integration initial value and the first voltage value;
the amplitude limiting unit is further used for carrying out amplitude limiting operation on the first output voltage value again according to the received amplitude limiting value so as to determine a second output voltage value.
In a fourth aspect, the present invention also provides a motor drive control device, including:
the parameter receiving unit is used for receiving the phase current, the input voltage and the bus voltage which are acquired and transmitted by the circuit parameter acquisition unit;
the calculating unit is used for calculating the actual value of the rotating speed of the motor, the q-axis current and the d-axis current according to the phase current;
the q-axis torque current given quantity determining unit is used for determining the q-axis torque current given quantity according to the input voltage, the motor rotating speed actual value and a preset motor rotating speed reference value;
a q-axis voltage setting amount determining unit for calculating a q-axis voltage setting amount using the current adjusting device, the bus voltage, the q-axis torque current setting amount, and the q-axis current;
a d-axis voltage given quantity determining unit for calculating a d-axis voltage given quantity by using the current adjusting device, the bus voltage, a preset d-axis torque current given quantity and the d-axis current;
and the pulse width modulation signal generating unit is used for generating a pulse width modulation signal according to the q-axis voltage given quantity and the d-axis voltage given quantity.
Compared with the prior art, the current regulating method and the current regulating device calculate the first output voltage value according to the received input current and the preset current reference value, and then carry out amplitude limiting operation on the first output voltage value according to the received amplitude limiting value so as to determine the second output voltage value, so that the output voltage of the current regulating device is determined according to the comparison result of the first output voltage value and the second output voltage value; the comparison result of the first output voltage value and the second output voltage value can reflect whether the current regulating device is in a saturated state or not, so that an integrator of the current regulating device can be initialized when the current regulating device is in the saturated state, and the current regulating device can rapidly enter/exit the saturated state along with the fluctuation of the amplitude limiting value. In addition, the motor drive control method and the motor drive control device provided by the invention have the advantages that the q-axis voltage given quantity and the d-axis voltage given quantity can quickly respond to changes along with the fluctuation of the bus voltage by applying the current adjusting method and the current adjusting device, so that the controllability of the current is improved, and the running stability of the motor is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a current regulation method according to an embodiment of the present invention.
Fig. 2 is a detailed flowchart of step S101 in fig. 1.
Fig. 3 is a detailed flowchart of step S102 in fig. 1.
Fig. 4 is a detailed flowchart of step S103 in fig. 1.
Fig. 5 is a functional block diagram of a current regulator according to an embodiment of the present invention.
Fig. 6 is a topology structure diagram of a current regulator according to an embodiment of the present invention.
Fig. 7 is a flowchart of a motor driving control method according to an embodiment of the present invention.
Fig. 8 is a detailed flowchart of step S606 in fig. 7.
Fig. 9 is a functional block diagram of a motor drive control apparatus according to an embodiment of the present invention.
Description of reference numerals:
100-current regulating means; 110-a voltage regulation unit; 120-a clipping unit; 130-a control unit; 200-motor drive control means; 210-a parameter receiving unit; 220-a computing unit; a 230-q axis torque current given amount determining unit; 240-q axis voltage given amount determination unit; 250-d axis voltage given amount determination unit; 260-pulse width modulation signal generation unit.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
First embodiment
The embodiment of the invention provides a current regulation method which is used for regulating voltage according to input current. Fig. 1 is a flowchart illustrating a current regulation method according to an embodiment of the present invention. The current regulation method comprises the following steps:
step S101: and calculating a first output voltage value according to the received input current and a preset current reference value.
Please refer to fig. 2, which is a flowchart illustrating the step S101. Step S101 includes:
substep S1011: and calculating an error value according to the received input current and a preset current reference value.
Specifically, the error value may be calculated by the following equation:
ε＝inRef-in
wherein ε is an error value, inRefAnd in is the input current for the preset current reference value.
Sub-step S1012: and amplifying the error value according to a preset proportionality coefficient to obtain a first voltage value.
Specifically, the first voltage value may be calculated by the following equation:
out1＝Kp*ε
among them, out1Is a first voltage value, KpIs a preset proportionality coefficient.
Substep S1013: and integrating the error value according to a preset integration coefficient to obtain a second voltage value.
Specifically, the second voltage value may be calculated by the following equation:
out2＝Ki*∫εdt
among them, out2Is a second voltage value, KiIs a preset integral coefficient.
Substep S1014: and calculating a first output voltage value according to the second voltage value and the first voltage value.
Specifically, the first output voltage value may be calculated by the following equation:
out0＝out1+out2
among them, out0Is the first output voltage value.
Step S102: and carrying out amplitude limiting operation on the first output voltage value according to the received amplitude limiting value so as to determine a second output voltage value.
Please refer to fig. 3, which is a flowchart illustrating the step S102. Step S102 includes:
substep S1021: judging whether the first output voltage value is larger than the maximum amplitude limit value, if so, executing a substep S1022; if not, in step S1023.
By determining whether the first output voltage value is greater than the maximum amplitude limit value, it can be determined whether the current regulating device 100 is in a saturated state.
Substep S1022: and determining the second output voltage value as the maximum amplitude limit value.
When the first output voltage value is greater than the maximum amplitude limit value, the current adjusting device 100 performs amplitude limiting operation on the first output voltage value, so that the second output voltage value is the maximum amplitude limit value, and the saturation depth of the integrator can be prevented from being deepened.
Substep S1023: judging whether the first output voltage value is smaller than the minimum amplitude limit value, if so, executing a substep S1024; if not, sub-step S1025 is performed.
By determining whether the first output voltage value is less than the minimum clipping value, it can also be determined whether the current regulating device 100 is in a saturated state.
Substep S1024: and determining the second output voltage value as the minimum amplitude limiting value.
When the first output voltage value is smaller than the minimum amplitude limit value, the current adjusting apparatus 100 performs amplitude limit operation on the first output voltage value, so that the second output voltage value is the minimum amplitude limit value, and the saturation depth of the integrator can be prevented from being deepened.
Substep S1025: and determining the second output voltage value as the first output voltage value.
When the first output voltage value is greater than or equal to the minimum amplitude limit value and less than or equal to the maximum amplitude limit value, the current adjusting apparatus 100 does not need to perform amplitude limiting operation, and thus the second output voltage value is the first output voltage value.
It should be noted that, in practical applications, the clipping value is usually determined by the bus voltage. The threshold amplitude is set to be outLimtThen the maximum amplitude is + outLimtThe minimum clipping value is-outLimt。
Thus, when out0>+outLimtOut'0＝+outLimt；
When out0<-outLimtOut'0＝-outLimt；
When-outLimt<out0<+outLimtOut'0＝out0。
Of which is out'0Is the second output voltage value.
Step S103: the output voltage of the current regulator 100 is determined according to the comparison result of the first output voltage value and the second output voltage value.
Please refer to fig. 4, which is a flowchart illustrating the step S103. Step S103 includes:
substep S1031: judging whether the first output voltage value is equal to the second output voltage value, if so, executing a substep S1032; if not, substep S1033 is performed.
Sub-step S1032: the first voltage value is kept unchanged so as to determine the output voltage as the second output voltage value.
When the first output voltage value is equal to the second output voltage value, it indicates that the current regulation apparatus 100 does not perform amplitude limiting operation in the process of determining the second output voltage value, that is, the current regulation apparatus 100 is not in a saturation state at this time, and therefore, no operation is performed on the integrator at this time, the original second output voltage value is kept unchanged, so that the output voltage of the current regulation apparatus 100 is the second output voltage value.
Substep S1033: and initializing the second voltage value according to a preset formula to obtain an integral initial value.
When the first output voltage value is not equal to the second output voltage value, it indicates that the current adjustment apparatus 100 performs the amplitude limiting operation in the process of determining the second output voltage value, that is, the current adjustment apparatus 100 is in the saturation state at this time, and at this time, the integration initial value is calculated, so that the current adjustment apparatus 100 can exit the saturation state.
Wherein, the integral initial value is the amplitude limit value-Kp*(inRef-in)。
Substep S1034: the first output voltage value is recalculated based on the integration initial value and the first voltage value.
The original second voltage value is replaced with an integrated initial value to determine a new first output voltage value.
It should be noted that, after the first output voltage value is determined again, step S102 needs to be executed again, and the subsequent steps are sequentially performed.
It should be noted that, in the case where the clipping value is not changed, since the integrating part of the current adjusting apparatus 100 is initialized, so that the current adjusting apparatus 100 exits the saturation state, the re-determined second output voltage value should be equal to the re-determined first output voltage value, and thus the final output voltage value of the current adjusting apparatus 100 should be equal to the new first output voltage value.
Second embodiment
An embodiment of the present invention provides a current regulator 100 for regulating a voltage according to an input current. It should be noted that the basic principle and the generated technical effect of the current adjusting device 100 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiments. Referring to fig. 5 and fig. 6, the current regulator 100 includes a voltage regulator 110, a limiter 120, and a controller 130.
The voltage adjustment unit 110 is configured to calculate a first output voltage value according to the received input current and a preset current reference value.
The voltage adjustment unit 110 first calculates an error value according to the received input current and a preset current reference value; amplifying the error value according to a preset proportionality coefficient to obtain a first voltage value; then, integrating the error value according to a preset integral coefficient to obtain a second voltage value; and finally, calculating a first output voltage value according to the second voltage value and the first voltage value.
It is understood that the voltage adjusting unit 110 may be used to perform step S101, sub-step S1011, sub-step S1012, sub-step S1013, and sub-step S1014.
The clipping unit 120 is configured to perform a clipping operation on the first output voltage value according to the received clipping value, so as to determine a second output voltage value.
Specifically, the amplitude limiting unit 120 is configured to determine that the second output voltage value is the maximum amplitude limit value when the first output voltage value is greater than the maximum amplitude limit value; when the first output voltage value is smaller than the minimum limiting value, determining the second output voltage value as the minimum limiting value; and when the first output voltage value is greater than or equal to the minimum limit amplitude and less than or equal to the maximum limit amplitude, determining the second output voltage value as the first output voltage value.
It is to be understood that the clipping unit 120 may be used to perform step S102, sub-step S1021, sub-step S1022, sub-step S1023, sub-step S1024, and sub-step S1025.
The control unit 130 is configured to determine the output voltage of the current regulator 100 according to a comparison result of the first output voltage value and the second output voltage value.
The control unit 130 is configured to initialize the second voltage value according to a preset equation to obtain an integral initial value when the first output voltage value is not equal to the second output voltage value, so that after the voltage adjustment unit 110 recalculates the first output voltage value based on the integral initial value and the first voltage value, the amplitude limiting unit 120 recalculates the amplitude limiting operation on the first output voltage value according to the received amplitude limiting value to determine the second output voltage value.
It is to be understood that the control unit 130 is operable to perform step S103, sub-step S1031, sub-step S1032, sub-step S1033, and sub-step S1034.
Third embodiment
The embodiment of the invention provides a motor drive control method, which is used for driving a motor to operate. It should be noted that the basic principle and the generated technical effects of the motor driving control method provided by the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. Referring to fig. 7, fig. 7 is a flowchart illustrating a motor driving control method according to a preferred embodiment of the invention.
Step S701: and receiving phase current, input voltage and bus voltage which are acquired and transmitted by a circuit parameter acquisition unit.
It can be understood that the phase current, the input voltage and the bus voltage are all collected and transmitted by the circuit parameter collecting module; further, in the present embodiment, the phase current input to the motor includes the u-phase current iuAnd v phase current iv。
Step S702: and calculating the actual value of the rotating speed of the motor, the q-axis current and the d-axis current according to the phase current.
First, pass u-phase current iuAnd v phase current ivCalculating w phase current iw：
iw＝-iu-iv
Then passing the u-phase current iuV phase current ivAnd w phase current iwCalculating the alpha-axis current and the beta-axis current, wherein the formula is as follows:
iα＝iu
the q-axis current is calculated as:
iq＝iβcosθ-iαsinθ
the formula for calculating the d-axis current is as follows:
id＝iαcosθ+iβsinθ
wherein θ is an angle of a permanent magnet flux linkage of the rotor of the motor 130, and can be obtained by a conventional position estimation algorithm, and the calculation process is as follows:
first, the d-axis component and the q-axis component of the back electromotive force are calculated according to the following formulas:
wherein the error of the estimated angle from the actual angle
The angle of the permanent magnet flux linkage of the rotor of the motor 130 is calculated by the following equation:
θ(n)＝θ(n-1)+Δθ
the actual value of the motor speed can be calculated by the following equation:
step S703: and determining the given quantity of the q-axis torque current according to the input voltage, the actual value of the motor rotating speed and a preset motor rotating speed reference value.
Firstly, determining a torque current according to a rotating speed actual value and a preset motor rotating speed reference value, and calculating the torque current by the following formula:
IT_Ref＝Kp1*(Wr_Ref-Wr)+Ki1*∫(Wr_Ref-Wr)dt
wherein, IT_RefIs torque current, Wr_RefFor a predetermined reference value of the motor speed, WrIs the actual value of the motor speed, Kp1For a predetermined first scale factor, Ki1Is a preset first integral coefficient.
Then, the torque current variation waveform is determined according to the input voltage, and the torque current variation waveform can be calculated by the following formula:
wherein K is a preset normalization coefficient, IT_WaveformIs a torque current variation waveform.
Finally, determining the given amount of the q-axis torque current according to the torque current and the torque current change waveform, and calculating by the following equation:
Iq_Ref＝IT_Ref*IT_Waveform
wherein, Iq_RefA given amount is given for the q-axis torque current.
Step S704: the q-axis voltage given amount is calculated using the current adjusting method, the bus voltage, the q-axis torque current given amount, and the q-axis current provided by the first embodiment.
The clipping value in the first embodiment is determined by the bus voltage in the present embodiment, and specifically, the bus voltage and the clipping value satisfy the following equation:
the q-axis torque current setting amount is a current reference value preset in the first embodiment, the q-axis current is an input current in the first embodiment, and the q-axis voltage setting amount is an output voltage in the first embodiment.
Step S705: the d-axis voltage given quantity is calculated by using the current regulation method, the bus voltage, the preset d-axis torque current given quantity and the d-axis current provided by the first embodiment.
Likewise, the bus voltage and the clipping value satisfy the following equation:
the given amount of the d-axis torque current is a preset current reference value in the first embodiment, the d-axis current is an input current in the first embodiment, and the given amount of the d-axis voltage is an output voltage in the first embodiment.
Step S706: and generating a pulse width modulation signal according to the given quantity of the q-axis voltage and the given quantity of the d-axis voltage.
Referring to fig. 8, a flowchart of the sub-steps of step S706 is shown. Step S706 includes:
substep S7061: and calculating the three-phase output pulse width based on the given quantity of the q-axis voltage and the given quantity of the d-axis voltage.
uα＝udcosθ-uqsinθ
uβ＝udsinθ+uqcosθ
uu＝uα
Wherein u isu、uv、uwRespectively the three-phase output pulse width of the motor.
Substep S7062: and U, V, W target voltage values of the three phases are respectively calculated based on the three-phase output pulse width and the bus voltage.
Specifically, target voltage values of the U, V, W three phases are calculated by the following equations, respectively:
wherein, UU-N、UV-N、UU-NU, V, W, respectively.
Substep S7063: and respectively calculating U, V, W comparison values of the three phases based on target voltage values of U, V, W three phases and a preset second triangular wave amplitude value.
Specifically, the comparison values of the U, V, W three phases are calculated by the following equations:
CompU＝A*uU-N/udc
CompV＝A*uV-N/udc
CompW＝A*uW-N/udc
wherein, Compou, Compv and Compww are comparative values of U, V, W three phases respectively, and A is a preset second triangular wave amplitude value.
Substep S7064: respectively judging U, V, W whether the comparison values of the three phases are larger than the second triangular wave amplitude value, if so, executing a substep S7065; if not, sub-step S7066 is performed.
Namely, whether or not ComPU, ComPV or ComPW is satisfied is judged
Substep S7065: the value of the corresponding phase of the pulse width modulated signal is determined to be 1.
For example, when CompU > a is satisfied, PWM _ U is 1; when CompV > a is satisfied, PWM _ V ═ 1; when CompW > a is satisfied, PWM _ W is 1.
PWM _ U, PWM _ V and PWM _ W are three-phase outputs of the PWM signal U, V, W.
Substep S7066: the value of the corresponding phase of the pulse width modulated signal is determined to be 0.
For example, when CompU ≦ a is satisfied, PWM _ U ≦ 0; when ComPvis less than or equal to A, PWM _ V is 0; when CompW ≦ A is satisfied, PWM _ W ≦ 0.
Fourth embodiment
The embodiment of the invention provides a motor driving control device 200, which is used for driving a motor to operate. It should be noted that the basic principle and the generated technical effects of the motor driving control device 200 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. Referring to fig. 9, fig. 9 is a functional block diagram of a motor driving control apparatus 200 according to a preferred embodiment of the invention. The motor drive control device 200 includes a parameter receiving unit 210, a calculating unit 220, a q-axis torque current given amount determining unit 230, a q-axis voltage given amount determining unit 240, a d-axis voltage given amount determining unit 250, and a pulse width modulation signal generating unit 260.
The parameter receiving unit 210 is configured to receive phase current, input voltage, and bus voltage collected and transmitted by a circuit parameter collecting unit.
It is understood that the parameter receiving unit 210 may be configured to perform step S701.
The calculating unit 220 is used for calculating the actual value of the motor speed, the q-axis current and the d-axis current according to the phase current.
It is understood that the calculation unit 220 may be used to perform step S702.
The q-axis torque current setting amount determining unit 230 is configured to determine a q-axis torque current setting amount according to the input voltage, the motor speed actual value, and a preset motor speed reference value.
It is to be understood that the q-axis torque current given amount determining unit 230 may be used to execute step S703.
The q-axis voltage given amount determining unit 240 is configured to calculate a q-axis voltage given amount using the current adjusting apparatus 100, the bus voltage, the q-axis torque current given amount, and the q-axis current provided in the second embodiment.
It is to be understood that the q-axis voltage given amount determination unit 240 may be used to perform step S704.
The d-axis voltage given amount determining unit 250 is configured to calculate a d-axis voltage given amount using the current adjusting apparatus 100 provided in the second embodiment, the bus voltage, the preset d-axis torque current given amount, and the d-axis current.
It is to be understood that the d-axis voltage given amount determination unit 250 may be used to perform step S705.
The pwm signal generating unit 260 is configured to generate a pwm signal according to the q-axis voltage setting amount and the d-axis voltage setting amount.
It is understood that the pulse width modulation signal generating unit 260 may be used to perform step S706.
In summary, the current adjusting method and apparatus of the present invention calculate the first output voltage value according to the received input current and the preset current reference value, and then perform amplitude limiting operation on the first output voltage value according to the received amplitude limiting value to determine the second output voltage value, so as to determine the output voltage of the current adjusting apparatus according to the comparison result between the first output voltage value and the second output voltage value; the comparison result of the first output voltage value and the second output voltage value can reflect whether the current regulating device is in a saturated state or not, so that an integrator of the current regulating device can be initialized when the current regulating device is in the saturated state, and the current regulating device can rapidly enter/exit the saturated state along with the fluctuation of the amplitude limiting value. In addition, the motor driving control method and the motor driving control device provided by the invention have the advantages that the q-axis voltage given quantity and the d-axis voltage given quantity can quickly respond to changes along with the fluctuation of the bus voltage by applying the current adjusting method and the current adjusting device, so that the controllability of the current is improved, and the running stability of the motor is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A current regulation method for use with a current regulator, the current regulation method comprising:
calculating a first output voltage value according to the received input current and a preset current reference value;
wherein, the step of calculating the first output voltage value according to the received input current and the preset current reference value comprises:
calculating an error value according to the received input current and a preset current reference value;
amplifying the error value according to a preset proportionality coefficient to obtain a first voltage value;
integrating the error value according to a preset integral coefficient to obtain a second voltage value;
calculating the first output voltage value according to the second voltage value and the first voltage value;
carrying out amplitude limiting operation on the first output voltage value according to the received amplitude limiting value so as to determine a second output voltage value;
determining the output voltage of the current regulator according to the comparison result of the first output voltage value and the second output voltage value;
wherein the step of determining the output voltage of the current regulator according to the comparison result of the first output voltage value and the second output voltage value comprises:
when the first output voltage value is equal to the second output voltage value, keeping the first voltage value unchanged so as to determine that the output voltage is the second output voltage value;
when the first output voltage value is not equal to the second output voltage value, initializing the second voltage value according to a preset formula to obtain an integral initial value, and after recalculating the first output voltage value based on the integral initial value and the first voltage value, performing the clipping operation on the first output voltage value according to the received clipping value again to determine the second output voltage value.
2. The method of claim 1, wherein the step of performing a clipping operation on the first output voltage value based on the received clipping value to determine a second output voltage value comprises:
when the first output voltage value is larger than a maximum amplitude limit value, determining the second output voltage value as the maximum amplitude limit value;
when the first output voltage value is smaller than a minimum limiting value, determining the second output voltage value as the minimum limiting value;
and when the first output voltage value is greater than or equal to a minimum limit amplitude value and less than or equal to a maximum limit amplitude value, determining the second output voltage value as the first output voltage value.
3. A motor drive control method characterized by comprising:
receiving phase current, input voltage and bus voltage which are acquired and transmitted by a circuit parameter acquisition unit;
calculating the actual value of the rotating speed of the motor, q-axis current and d-axis current according to the phase current;
determining a given amount of q-axis torque current according to the input voltage, the actual motor rotating speed value and a preset motor rotating speed reference value;
calculating a q-axis voltage given quantity by using the current regulating method, the bus voltage, the q-axis torque current given quantity and the q-axis current according to claim 1 or 2, wherein the q-axis torque current given quantity is a preset current reference value, the q-axis current is an input current, the q-axis voltage given quantity is an output voltage, and the bus voltage is proportional to a limit value;
calculating a d-axis voltage given quantity by using the current regulating method, the bus voltage, a preset d-axis torque current given quantity and the d-axis current according to claim 1 or 2, wherein the q-axis torque current given quantity is a preset current reference value, the d-axis current is an input current, the d-axis voltage given quantity is an output voltage, and the bus voltage is proportional to a limit value;
and generating a pulse width modulation signal according to the given quantity of the q-axis voltage and the given quantity of the d-axis voltage.
4. A current regulating device for use with a current regulator, said current regulating device comprising:
the voltage adjusting unit is used for calculating an error value according to the received input current and a preset current reference value;
the voltage adjusting unit is further used for integrating the error value according to a preset integration coefficient so as to obtain a second voltage value;
the voltage adjusting unit is further used for amplifying the error value according to a preset proportionality coefficient so as to obtain a first voltage value;
the voltage regulating unit is also used for calculating a first output voltage value according to the second voltage value and the first voltage value;
the amplitude limiting unit is used for carrying out amplitude limiting operation on the first output voltage value according to the received amplitude limiting value so as to determine a second output voltage value;
a control unit for keeping the first voltage value unchanged to determine the output voltage to be the second output voltage value when the first output voltage value is equal to the second output voltage value;
the control unit is further configured to initialize the second voltage value according to a preset formula to obtain an initial value of integration when the first output voltage value is not equal to the second output voltage value;
the voltage adjustment unit is further configured to recalculate the first output voltage value based on the integration initial value and the first voltage value;
the amplitude limiting unit is further used for carrying out amplitude limiting operation on the first output voltage value again according to the received amplitude limiting value so as to determine a second output voltage value.
5. The current regulator apparatus according to claim 4, wherein the clipping unit is configured to determine that the second output voltage value is a maximum limit value when the first output voltage value is greater than the maximum limit value;
the amplitude limiting unit is further used for determining the second output voltage value as a minimum amplitude limiting value when the first output voltage value is smaller than the minimum amplitude limiting value;
the amplitude limiting unit is further used for determining the second output voltage value as the first output voltage value when the first output voltage value is larger than or equal to a minimum amplitude limiting value and smaller than or equal to a maximum amplitude limiting value.
6. A motor drive control device characterized by comprising:
the parameter receiving unit is used for receiving the phase current, the input voltage and the bus voltage which are acquired and transmitted by the circuit parameter acquisition unit;
the calculating unit is used for calculating the actual value of the rotating speed of the motor, the q-axis current and the d-axis current according to the phase current;
the q-axis torque current given quantity determining unit is used for determining the q-axis torque current given quantity according to the input voltage, the motor rotating speed actual value and a preset motor rotating speed reference value;
a q-axis voltage given amount determining unit for calculating a q-axis voltage given amount using the current adjusting apparatus according to claim 4 or 5, the bus voltage, the q-axis torque current given amount, and the q-axis current, wherein the q-axis torque current given amount is a preset current reference value, the q-axis current is an input current, the q-axis voltage given amount is an output voltage, and the bus voltage is proportional to a limit value;
a d-axis voltage setting amount determining unit for calculating a d-axis voltage setting amount using the current adjusting apparatus according to claim 4 or 5, the bus voltage, a preset d-axis torque current setting amount, and the d-axis current, wherein the q-axis torque current setting amount is a preset current reference value, the d-axis current is an input current, the d-axis voltage setting amount is an output voltage, and the bus voltage is proportional to a limit value;
and the pulse width modulation signal generating unit is used for generating a pulse width modulation signal according to the q-axis voltage given quantity and the d-axis voltage given quantity.
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