CN110752795A - Derating control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor - Google Patents
Derating control method and device for permanent magnet synchronous motor and permanent magnet synchronous motor Download PDFInfo
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a derating control method and device for a permanent magnet synchronous motor and the permanent magnet synchronous motor, wherein the method comprises the following steps: acquiring a modulation coefficient of the motor, and comparing the modulation coefficient with a preset threshold value to obtain a comparison result; if the comparison result is that the modulation factor is larger than a first preset threshold and smaller than a second preset threshold, determining derating torque of the motor based on the modulation factor; inquiring in a three-dimensional current lookup table according to the derating torque to obtain a current instruction value; and controlling the inverter to output corresponding current based on the inquired current command value so as to control the derating operation of the motor. The invention improves the reliability and stability of the flux weakening control of the permanent magnet synchronous motor, avoids unexpected output or damage caused by saturation of an inverter for controlling the permanent magnet synchronous motor, and ensures that the vehicle can normally run under extremely low temperature working conditions, rapid acceleration and deceleration and severe road conditions.
Description
Technical Field
The embodiment of the invention relates to the technical field of permanent magnet synchronous motor control, in particular to a derating control method and device for a permanent magnet synchronous motor and the permanent magnet synchronous motor.
Background
In order to alleviate the increasingly severe problems of environmental pollution and energy exhaustion, electric vehicles have been brought forward and have received extensive attention due to the characteristics of environmental protection, wherein, the permanent magnet synchronous motor replaces other motors to become the core component of the electric vehicle due to the advantages of good control performance, high power density and energy conservation, so that the research of a weak magnetic control strategy for ensuring that the permanent magnet synchronous motor is safe and reliable and operates in a wide rotating speed range has very important significance.
The back electromotive force of the permanent magnet synchronous motor is in direct proportion to the rotating speed and the flux linkage, the back electromotive force gradually reaches a basic speed point along with the increase of the rotating speed, and when the back electromotive force is larger than the maximum output voltage of the inverter, the inverter is saturated and out of control, and serious consequences are generated. The permanent magnet synchronous motor excitation magnetic field is generated by a permanent magnet, the magnetic field is constant and cannot be adjusted, and the purpose of weakening the flux and increasing the speed is achieved only by adjusting the stator current and increasing the direct axis current component of the stator to weaken the air gap magnetic field.
In the prior art, PI (proportional integral) regulation is mostly carried out on the vector amplitude of the expected output voltage and the voltage limiting threshold, and then the flux weakening depth is controlled by controlling the d-axis current, so that the voltage saturation of the inverter is avoided. However, the general method directly superimposes the result of PI output on the direct axis current, which can increase the current fluctuation to influence the control effect, and can generate current oscillation to cause motor failure in serious cases to influence the driving safety of the automobile.
Disclosure of Invention
The invention provides a derating control method and device for a permanent magnet synchronous motor and the permanent magnet synchronous motor, which improve the reliability and stability of flux weakening control of the permanent magnet synchronous motor, avoid unexpected output or damage caused by saturation of an inverter for controlling the permanent magnet synchronous motor, and ensure that a vehicle can normally run under extremely low temperature working conditions, rapid acceleration and deceleration and severe road conditions.
The embodiment of the invention provides a derating control method for a permanent magnet synchronous motor, which comprises the following steps: obtaining a modulation coefficient of a motor, and comparing the modulation coefficient with a preset threshold to obtain a comparison result, wherein the preset threshold comprises a first preset threshold and a second preset threshold, and the first preset threshold is smaller than the second preset threshold; if the comparison result is that the modulation factor is larger than a first preset threshold and smaller than a second preset threshold, determining derating torque of the motor based on the modulation factor; inquiring in a three-dimensional current lookup table according to the derating torque to obtain a current instruction value, wherein the current instruction value comprises a direct-axis current component instruction value and a quadrature-axis current component instruction value, and the three-dimensional current lookup table is established by an experimental calibration method; and controlling the inverter to output corresponding current based on the current command value obtained by query so as to control the derating operation of the motor.
Further, before the controlling the inverter to output the corresponding current based on the queried current command value to control the derating operation of the motor, the method further includes: if the comparison result shows that the modulation coefficient is larger than a second preset threshold value, acquiring a voltage limit value and a voltage vector value of the motor; determining a voltage adjustment value based on the voltage limit value and the voltage vector value; superposing the voltage regulating value to an actual voltage value of the motor to obtain a de-rated voltage value; and inquiring in the three-dimensional current lookup table based on the de-rated voltage value to obtain the current instruction value.
Further, the method further comprises: and if the comparison result shows that the modulation coefficient is smaller than the first preset threshold value, the inverter continuously controls the motor to operate according to the current output current.
Further, the determining a derated torque of the electric machine based on the modulation factor comprises: determining a derating coefficient of the motor based on the modulation coefficient; and determining the derating torque of the motor according to the derating coefficient.
Further, the controlling the inverter to output a corresponding current based on the queried current command value to control the derating operation of the motor includes: acquiring an actual three-phase current value of the motor, and converting the actual three-phase current value into an actual current value under a rotating coordinate system through coordinate conversion; enabling the current instruction value to follow the current actual value under the rotating coordinate system, and obtaining a voltage reference value under the rotating coordinate system through a proportional-integral control operation method, wherein the voltage reference value comprises a direct-axis voltage reference value and a quadrature-axis voltage reference value; converting the voltage reference value into a voltage reference value under a static coordinate system through coordinate transformation; and determining the current value output by the inverter by adopting a pulse width modulation algorithm according to the voltage reference value in the static coordinate system so as to enable the inverter to control the motor to operate in a derating mode.
Further, before the current command value is obtained by querying a three-dimensional current lookup table according to the derated torque, the method further comprises the following steps: establishing a three-dimensional current table look-up through an experimental calibration method; wherein, the establishing of the three-dimensional current table look-up table by the experimental calibration method comprises the following steps: establishing a non-flux weakening working condition current lookup table and a flux weakening working condition current lookup table by an experimental calibration method, and combining the non-flux weakening working condition current lookup table and the flux weakening working condition current lookup table to obtain the three-dimensional current lookup table.
Further, the establishing of the non-flux weakening working condition current lookup table by the experimental calibration method specifically comprises the following steps: setting a rotating speed, namely operating the permanent magnet synchronous motor at a preset rotating speed under a rated voltage; setting parameters, namely setting current step length and setting different combinations of direct-axis current component instruction values and quadrature-axis current component instruction values; traversing, namely traversing the states of all the motors in a current limit circle, and recording actual torques corresponding to different combinations of direct-axis current component instruction values and quadrature-axis current component instruction values; a target value determining step, namely determining a direct-axis current component instruction value and a quadrature-axis current component instruction value which correspond to each actual torque and have the minimum current amplitude, and recording the direct-axis current component instruction values and the quadrature-axis current component instruction values as a target direct-axis current component instruction value and a target quadrature-axis current component instruction value to obtain the current lookup table under the non-flux weakening working condition; and a first voltage setting step of setting different working voltages and repeatedly executing the motor setting step.
Further, the establishing of the weak magnetic working condition current lookup table by the experimental calibration method specifically comprises the following steps: step of determining step length, wherein the step length of the rotating speed of the motor is determined; setting phase angles, namely setting different voltage phase angles at each rotating speed; a table establishing step, namely recording the actual torque, the direct axis current component instruction value and the quadrature axis current component instruction value corresponding to each voltage phase angle to obtain the current table look-up under the flux weakening working condition; and a second voltage setting step of setting different working voltages and repeatedly executing the step of determining the step length.
The embodiment of the invention also provides a derating control device of the permanent magnet synchronous motor, which comprises the following components: the comparison module is used for obtaining a modulation coefficient of the motor and comparing the modulation coefficient with a preset threshold value to obtain a comparison result, wherein the preset threshold value comprises a first preset threshold value and a second preset threshold value, and the first preset threshold value is smaller than the second preset threshold value; the first determining module is used for determining derating torque of the motor based on the modulation coefficient if the comparison result shows that the modulation coefficient is larger than a first preset threshold and smaller than a second preset threshold; the first query module is used for querying a three-dimensional current lookup table according to the derating torque to obtain a current instruction value, wherein the current instruction value comprises a direct-axis current component instruction value and a quadrature-axis current component instruction value, and the three-dimensional current lookup table is established by an experimental calibration method; and the control module is used for controlling the inverter to output corresponding current based on the current instruction value obtained by inquiry so as to control the motor to derate.
The embodiment of the invention also provides a permanent magnet synchronous motor, and the permanent magnet synchronous motor uses the derating control method of the permanent magnet synchronous motor in any embodiment.
The invention discloses a derating control method and device for a permanent magnet synchronous motor and the permanent magnet synchronous motor, wherein the method comprises the following steps: acquiring a modulation coefficient of the motor, and comparing the modulation coefficient with a preset threshold value to obtain a comparison result; if the comparison result is that the modulation factor is larger than a first preset threshold and smaller than a second preset threshold, determining derating torque of the motor based on the modulation factor; inquiring in a three-dimensional current lookup table according to the derating torque to obtain a current instruction value; and controlling the inverter to output corresponding current based on the inquired current command value so as to control the derating operation of the motor. The invention solves the technical problem that the current fluctuation generated by directly superposing the output result of the controller to the direct axis current influences the control effect of the motor in the prior art, improves the reliability and the stability of the flux weakening control of the permanent magnet synchronous motor, avoids unexpected output or damage caused by saturation of an inverter controlling the permanent magnet synchronous motor, and ensures that the vehicle can normally run under extremely low temperature working conditions, rapid acceleration and deceleration and severe road conditions.
Drawings
Fig. 1 is a flowchart of a derating control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 is a block diagram of an extrinsic derate control strategy provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of voltage vectors under different modulation strategies provided by an embodiment of the present invention;
FIG. 4 is a block diagram of a voltage difference feedback derating control strategy according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of modulation factors under an extrinsic derating control strategy according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a current limit circle and a voltage control ellipse provided by an embodiment of the present invention;
fig. 7 is a structural diagram of a derating control device of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that the terms "first", "second", and the like in the description and claims of the present invention and the accompanying drawings are used for distinguishing different objects, and are not used for limiting a specific order. The following embodiments of the present invention may be implemented individually, or in combination with each other, and the embodiments of the present invention are not limited in this respect.
The first embodiment is as follows:
fig. 1 is a flowchart of a derating control method for a permanent magnet synchronous motor according to an embodiment of the present invention. As shown in fig. 1, the derating control method of the permanent magnet synchronous motor includes:
step S101, obtaining a modulation coefficient k of the motor, and comparing the modulation coefficient k with a preset threshold to obtain a comparison result, wherein the preset threshold comprises a first preset threshold a and a second preset threshold b, and the first preset threshold a is smaller than the second preset threshold b.
Specifically, a range value of the modulation factor k, i.e., the above-mentioned preset threshold value, is set, the range value includes a first preset threshold value a and a second preset threshold value b, and a < b < 1.
Step S102, if the modulation factor k is larger than a first preset threshold value a and smaller than a second preset threshold value b according to the comparison result, determining the derating torque T of the motor based on the modulation factor ke。
Alternatively, step S102, determining derated torque T of the motor based on the modulation factor keThe method comprises the following steps: determining a derating coefficient y of the motor based on the modulation coefficient k; determining derating torque T of the motor according to the derating coefficient ye。
Specifically, when a<k<When b is higher, the derating coefficient y is calculated by linear derating, and
after the derating coefficient y is obtained, multiplying the derating coefficient y by the external motor characteristic at the moment, namely the torque of the current motor, to obtain a new external motor characteristic, namely the derating torque T of the motoreThrough the restriction of the external characteristics of the new motor, the torque of the motor is reduced, the reduction of phase voltage amplitude can be ensured, and a is used in the application<k<And b, the derating control method of the permanent magnet synchronous motor is called as an external characteristic derating control strategy.
Step S103, according to the derated torque TeInquiring in a three-dimensional current lookup table to obtain a current instruction value, wherein the current instruction value comprises a direct-axis current component instruction value id *And quadrature axis current component command value iq *And the three-dimensional current lookup table is established by an experimental calibration method.
Specifically, the "three-dimension" in the three-dimensional current lookup table refers to that a current instruction value can be obtained by inquiring the three-dimensional current lookup table through any one of torque, voltage and rotating speed, namely through any one of the torque, the voltage and the rotating speed.
And step S104, controlling the inverter to output corresponding current based on the inquired current command value so as to control the motor to derate.
Specifically, the control operation of the permanent magnet synchronous motor is driven by the output of the inverter, so the operation performance of the motor is restricted by the inverter, and the control of the permanent magnet synchronous motor is realized based on the control of the output of the inverter.
Optionally, in step S104, controlling the inverter to output a corresponding current based on the queried current command value to control derating operation of the motor includes:
and step S1041, acquiring an actual three-phase current value of the motor, and converting the actual three-phase current value into an actual current value under a rotating coordinate system through coordinate transformation.
Specifically, the actual three-phase current i of the permanent magnet synchronous motor is obtaineda、ib、icAnd obtaining the actual current value i under the d-q rotating coordinate system through coordinate transformationdAnd iq。
And step S1042, enabling the current instruction value to follow the current actual value under the rotating coordinate system, and obtaining a voltage reference value under the rotating coordinate system through a proportional-integral control operation method, wherein the voltage reference value comprises a direct-axis voltage reference value and a quadrature-axis voltage reference value.
Specifically, the current actual value i in the d-q rotating coordinate system is made to be the current actual value i through a current control Proportional Integral (PI) algorithmdAnd iqCommand value i following direct-axis current componentd *And quadrature axis current component command value iq *The output quantity obtained by the current control Proportional Integral (PI) algorithm is a voltage reference value under a rotating coordinate system, including a direct-axis voltage reference value udAnd quadrature axis voltage referenceValue uq。
And step S1043, converting the voltage reference value into a voltage reference value in a stationary coordinate system through coordinate transformation.
Obtaining a direct axis voltage reference value udAnd quadrature axis voltage reference uqThen, the coordinate change is converted into a voltage reference value u under the α - β static coordinate systemαAnd uβ。
And step S1044, determining the current value output by the inverter by the voltage reference value in the static coordinate system by adopting a pulse width modulation algorithm so that the inverter controls the motor to derate.
Finally, voltage reference values u in the static coordinate system of α - β are determinedαAnd uβAnd the time of each phase switch of the inverter is calculated as the input of the pulse width modulation module, and the inverter is controlled to output current and torque which accord with the instruction, so that the inverter controls the permanent magnet synchronous motor to realize derating operation.
The external characteristic derating control strategy when a < k < b is described in detail below with a specific embodiment. Fig. 2 is a block diagram of an extrinsic derate control strategy according to an embodiment of the present invention.
Illustratively, as shown in fig. 2, to ensure that the current trajectory is within the voltage circle, more margin should be left, and the derating module starts to function when the amplitude of the phase voltage reaches a certain required upper limit.
Specifically, the derating module firstly judges whether the modulation coefficient k of the permanent magnet synchronous motor is larger than a second preset threshold b, and if the judgment result is negative, and the modulation coefficient k is larger than a first preset threshold a, the formula is used for judging whether the modulation coefficient k of the permanent magnet synchronous motor is larger than a second preset threshold b or notCalculating to obtain a derating coefficient y, and calculating to obtain a derating torque T according to the derating coefficient ye(ii) a Then according to the rotating speed, the voltage and the derated torque TeInquiring a three-dimensional current lookup table in a three-dimensional lookup table module to obtain instruction values i of a d axis and a q axis under a rotating coordinated *And iq *(ii) a The actual three-phase current i of the permanent magnet synchronous motora、ib、icObtaining the actual current value i under the d-q rotating coordinate system through a second coordinate transformation moduledAnd iqEnabling the d-q axis current actual value i to pass through the current control module PIdAnd iqFollowing the instruction value id *And iq *The output quantity of the current control module PI is d-q axis voltage and comprises a direct axis reference voltage udAnd quadrature reference voltage uqA direct-axis reference voltage u is converted by a first coordinate conversion moduledAnd quadrature reference voltage uqConverting the voltage into a voltage reference value u under a static coordinate system of α - βαAnd uβLet u stand forαAnd uβAnd the time of each phase switch of the inverter is calculated as the input of the pulse width modulation module, and the inverter is controlled to output current and torque which accord with the instruction, so that the permanent magnet synchronous motor is controlled to realize derating operation.
The position sensor detects the position of the rotor of the permanent magnet synchronous motor in real time, the rotating speed of the rotor is used as the input quantity of the decoupling module, the decoupling module is used for reducing the pressure of the current control module PI, and the actual current value can reach the current instruction value as fast as possible.
Calculating the vector magnitude u of the output voltage of the inverter according to the reference voltages of the direct axis and the quadrature axiss：Taking SVPWM modulation algorithm as an example, defining a modulation coefficient:
the modulation coefficient k needs to be set according to actual conditions, and the maximum range of k should be between 1 and 1.1547 in consideration of over-modulation and single pulse modulation.
Specifically, the pwm modules in fig. 2 may adopt different modulation methods, so that the limiting thresholds of the bus voltage of the inverter are different, and the specific relationship is as shown in fig. 3, fig. 3 is a voltage vector diagram under different modulation strategies provided by an embodiment of the present invention, and the bus voltage limiting value is equal to the value obtained by adopting an SPWM (sinusoidal pulse width modulation) modulation method
If the SVPWM (Space Vector Pulse Width Modulation) Modulation method is adopted, the bus voltage limit value is equal toIf the modulation method of overmodulation six-step method is adopted, the maximum limit value of the bus is
Optionally, in step S103, before controlling the inverter to output a corresponding current based on the queried current command value to control the motor derating operation, the method for controlling derating of the permanent magnet synchronous motor further includes: if the comparison result shows that the modulation coefficient k is larger than a second preset threshold value b, acquiring a voltage limit value and a voltage vector value of the motor; determining a voltage adjustment value based on the voltage limit value and the voltage vector value; superposing the voltage regulating value to the actual voltage value of the motor to obtain a de-rated voltage value; and inquiring in a three-dimensional current lookup table based on the de-rated voltage value to obtain the current instruction value.
Specifically, if an overmodulation strategy is adopted and a bus voltage utilization rate is high, the maximum modulation coefficient can reach as follows by adopting an SVPWM overmodulation mode:i.e. the modulation factor k>And b, adopting an external characteristic derating control strategy to be no longer applicable. In this application, k is>And b, the derating control method of the permanent magnet synchronous motor is called a voltage difference feedback derating control strategy. Fig. 4 is a block diagram of a voltage difference feedback derating control strategy according to an embodiment of the present invention.
Based on a three-dimensional current lookup table, a direct-axis reference voltage u under a steady-state conditiondAnd quadrature reference voltage uqThe value of (b) is constant, the voltage can be guaranteed to be limited in a voltage circle or at the edge of the voltage circle, but the temperature is reduced to increase magnetic flux linkage or cause a direct-axis reference voltage u when the current instruction or the rotating speed suddenly changesdAnd quadrature reference voltage uqResulting in runaway beyond the range of the voltage circle.
ud＝-ωLqiq+Rsid
uq＝ωLdid+ωψf+Rsiq
When the motor enters the weak magnetic region, the current control module PI in fig. 2 may be saturated, and the current control module PI is not equal to the actual quadrature axis voltage, and at this time, the voltage limit value U may be reachedlimAnd may even exceed the bus voltage limit. In this case, a voltage loop controller is constructed, as shown in FIG. 4, by limiting the value UlimSum voltage vector value usThe difference value is formed by a PI regulator, a negative bus voltage regulating value-delta u (namely the voltage regulating value) is output, the upper limit of the output of the PI regulator is set to be 0, the lower limit value is the minimum working voltage minus the rated working voltage, and the regulating voltage-delta u of the PI regulator is superposed on a bus voltage command value so as to obtain a derated voltage value and reduce the elliptical running track of the voltage limit.
Optionally, the derating control method of the permanent magnet synchronous motor further includes: and if the comparison result shows that the modulation coefficient k is smaller than the first preset threshold value a, the inverter continuously controls the motor to operate by using the current output current.
Specifically, when the modulation coefficient k is less than a, the inverter works normally to control the motor to operate, and no processing strategy is adopted for the motor.
In the embodiment of the invention, if the utilization rate of the bus voltage is not high, overmodulation is not adopted and the bus voltage is left with a larger margin, the value of the modulation coefficient k can be controlled to be less than 1 to ensure the control stability, and after entering a weak magnetic region, the following derating mode can be adopted: setting different ranges a and b of the value of a modulation coefficient k, wherein a < b <1, and adopting different strategies according to the difference of the modulation coefficient k, and as shown in fig. 5, the modulation coefficient is schematically shown under the external characteristic derating control strategy provided by the embodiment of the invention, when k < a, the inverter works normally and does not adopt a processing strategy; and when a < k < b, processing by an external characteristic derating control strategy, wherein the external characteristic corresponding to the modulation coefficient k1 is y1, the external characteristic corresponding to k2 is y2, and y1 and y2 are derating coefficients. Table 1 is a table corresponding to different strategies adopted for different modulation coefficients k.
TABLE 1 modulation factor and processing strategy correspondence table
| Failure class | Modulation factor | Adopting a policy |
| Is normal | k<a | The inverter works normally without adopting a processing strategy |
| Derating | a<k<b | Derating control policy processing through extrinsic feature |
| Derating | k>b | Derating control strategy processing through voltage difference feedback |
When the bus voltage margin is sufficient, it is preferable to adopt a derating mode when a < k < b, and control the modulation coefficient within a certain range, so that the amplitude of the phase voltage is always smaller than the bus voltage limit value, and the inverter saturation runaway is avoided.
Fig. 6 is a schematic diagram of a current limit circle and a voltage control ellipse provided by an embodiment of the present invention.
Optionally, in step S103, before the current command value is obtained by querying the three-dimensional current lookup table according to the derating torque, the method for controlling derating of the permanent magnet synchronous motor further includes: and establishing a three-dimensional current lookup table by an experimental calibration method.
In the embodiment of the invention, under a d-q rotating coordinate system, the torque formula of the motor is as follows:
Te＝p[ψfiq+(Ld-Lq)idiq]
wherein psifRepresenting permanent magnet flux linkage, p representing number of pole pairs of motor, LdRepresenting direct-axis inductance, LqRepresenting quadrature axis inductance, idRepresenting the direct-axis current component and iqRepresenting the quadrature current component. When the inverter operates below the base speed, the most important limiting condition is the maximum output current i of the invertersI.e. the limited condition is the current limit circle:
therefore, a Maximum Torque current ratio control strategy (MTPA) is adopted, namely the amplitude of the stator current required by the motor under the condition of outputting the target Torque is minimum, the control mode can reduce the copper loss of the stator of the motor, improve the efficiency and be beneficial to the work of a switching device of the inverter. If the current lookup table is obtained by the calculation method, the calculation process is very complicated, the calculation amount is large during control, and the influence of the loss of the motor and the loss of the inverter cannot be eliminated, so that the method for obtaining i by adopting the calibration means (namely the experimental calibration method) is adopted in the applicationd-iqThe current lookup table (current MAP), i.e., the three-dimensional current lookup table described above.
Optionally, the creating a three-dimensional current lookup table by an experimental calibration method includes: and establishing a non-flux weakening working condition current lookup table and a flux weakening working condition current lookup table by an experimental calibration method, and combining the non-flux weakening working condition current lookup table and the flux weakening working condition current lookup table to obtain a three-dimensional current lookup table.
Optionally, the establishing of the non-flux weakening working condition three-dimensional current lookup table by the experimental calibration method specifically includes the following steps: setting a rotating speed, namely operating the permanent magnet synchronous motor at a preset rotating speed under a rated voltage; setting parameters, namely setting current step length and setting different combinations of direct-axis current component instruction values and quadrature-axis current component instruction values; traversing, namely traversing the states of all the motors in a current limit circle, and recording actual torques corresponding to different direct-axis current component instruction value and quadrature-axis current component instruction value combinations; a target value determining step, namely determining a direct-axis current component instruction value and a quadrature-axis current component instruction value which correspond to each actual torque and have the minimum current amplitude, and recording the direct-axis current component instruction values and the quadrature-axis current component instruction values as target direct-axis current component instruction values and target quadrature-axis current component instruction values to obtain a current lookup table under a non-flux weakening working condition; and a first voltage setting step of setting different working voltages and repeatedly executing the motor setting step.
Specifically, firstly, under a rated voltage, the permanent magnet synchronous motor is dragged to a stable low rotating speed (namely the preset rotating speed) by the dynamometer, and all torque states of the motor can not enable the motor to enter a flux weakening working condition under the rotating speed; setting current step length and giving different direct-axis current component command values id *And quadrature axis current component command value iq *Combining; traversing all the electric and power generation states of the motor in the current limit circle after the setting is finished, and recording a current instruction value id *、iq *And the actual torque of the motor at that time; finding out the direct-axis current component command value i with the minimum current amplitude under each torqued *And quadrature axis current component command value iq *The minimum direct-axis current component command value id *And quadrature axis current component command value iq *Namely the target direct axis current component instruction value and the target quadrature axis current component instruction value, an MTPA curve is obtained, namely the table look-up table of the current under the non-weak magnetic working condition is obtained; and repeating the steps under other working voltages.
Optionally, the establishing of the weak magnetic working condition three-dimensional current lookup table by the experimental calibration method specifically includes the following steps: step of determining step length, namely determining the step length of the rotating speed of the motor; setting phase angles, namely setting different voltage phase angles at each rotating speed; a table building step, namely recording the actual torque, the direct-axis current component instruction value and the quadrature-axis current component instruction value corresponding to each voltage phase angle to obtain a weak magnetic working condition three-dimensional current table look-up; and a second voltage setting step of setting different working voltages and repeatedly executing the step of determining the step length.
Specifically, when the motor is operated above the base speed, the most important limiting condition is the voltage capacity U of the dc-side voltage of the inverterlimThe back electromotive force is possibly larger than the bus voltage value, the field weakening of the permanent magnet synchronous motor is realized by a control strategy because the excitation magnetic field of the permanent magnet synchronous motor is generated by a permanent magnet and is constant, and the aim of weakening the air gap magnetic field by increasing the direct axis current component of the stator through regulating the stator current is fulfilled to achieve the purpose of weakening the field weakening and increasing the speed.
In the d-q rotating coordinate system, the voltage formula of the motor is as follows:
ud＝-ωLqiq+Rsid
uq＝ωLdid+ωψf+Rsiq
us≤ulimit
the variables in the above formula have the following meanings: psifIs a permanent magnet flux linkage, omega is the angular velocity of the motor rotor, udIs a direct component of voltage, uqIs a voltage quadrature component, RsIs a stator phase resistance usIs the voltage vector magnitude. It can be seen from the above formula that the output torque above the base speed point is limited mainly by the voltage circle. Whether an overmodulation strategy is adopted to result in a bus voltage limit Ulim itI.e. the voltage-limited elliptical trajectories are different, thus generating different id-iqAnd (6) looking up a table by using the current.
Specifically, after entering the weak magnetic region, the stator current vector moves along the voltage limit elliptical trajectory, so that in the weak magnetic region, the voltage vector magnitude usDetermining the step length of the rotating speed omega of the motor after determining that the motor enters the weak magnetic region, setting a voltage phase angle according to a certain step length under each rotating speed omega, and recording the actual torque corresponding to each voltage phase angle and the corresponding direct-axis current component command value id *And quadrature axis current component command value iq *I of the weak magnetic region is obtainedd-iqA current table look-up, namely a three-dimensional current table look-up under the weak magnetic working condition; at other operating voltages, the above operation is repeated.
The application object of the method is a permanent magnet synchronous motor for an electric vehicle, and a global table lookup current control strategy and a derating method are provided for guaranteeing the permanent magnet synchronous motor to efficiently and stably operate in all working voltage, rotating speed and torque ranges. The method has strong operability, compared with the current lookup table obtained by the conventional calculation mode, the obtained current lookup table is more accurate due to the consideration of the influences of loss of a motor, an inverter and the like; secondly, different derating methods are provided according to different bus voltage utilization rates and modulation modes; the problem of in the prior art directly add the current fluctuation that produces in the direct axis current to the result of controller output and influence the motor control effect is solved, improved reliability and stability to permanent magnet synchronous machine weak magnetic control, avoided the dc-to-ac converter of control permanent magnet synchronous machine to reach saturation and cause unexpected output or damage, guaranteed that the vehicle can both normally operate under extreme low temperature operating mode, rapid acceleration and deceleration and bad road conditions.
Example two:
the embodiment of the invention also provides a device for controlling derating of the permanent magnet synchronous motor, which is used for executing the method for controlling derating of the permanent magnet synchronous motor provided by the embodiment of the invention.
Fig. 7 is a structural diagram of a derating control device of a permanent magnet synchronous motor according to an embodiment of the present invention, and as shown in fig. 7, the derating control device of the permanent magnet synchronous motor mainly includes: a comparison module 71, a first determination module 72, a first query module 73, a control module 74, wherein:
the comparison module 71 is configured to obtain a modulation coefficient of the motor, and compare the modulation coefficient with a preset threshold to obtain a comparison result, where the preset threshold includes a first preset threshold and a second preset threshold, and the first preset threshold is smaller than the second preset threshold.
And the first determination module 72 is configured to determine a derated torque of the motor based on the modulation factor if the modulation factor is greater than a first preset threshold and less than a second preset threshold as a result of the comparison.
The first query module 73 is configured to query a three-dimensional current lookup table according to the derating torque to obtain a current instruction value, where the current instruction value includes a direct-axis current component instruction value and a quadrature-axis current component instruction value, and the three-dimensional current lookup table is established by an experimental calibration method.
And a first control module 74, configured to control the inverter to output a corresponding current based on the queried current command value, so as to control derating operation of the motor.
Optionally, the apparatus further comprises:
and the obtaining module is used for obtaining a voltage limit value and a voltage vector value of the motor if the modulation coefficient is larger than a second preset threshold value according to the comparison result.
A second determination module to determine a voltage adjustment value based on the voltage limit value and the voltage vector value.
And the operation module is used for superposing the voltage regulation value to the actual voltage value of the motor to obtain a derated voltage value.
And the second query module is used for querying the three-dimensional current lookup table based on the de-rated voltage value to obtain a current instruction value.
Optionally, the apparatus further comprises: and the second control module is used for controlling the motor to operate continuously by the current output current of the inverter if the comparison result shows that the modulation coefficient is smaller than the first preset threshold value.
Optionally, the first determining module 62 includes:
a first determination unit for determining a derating coefficient of the motor based on the modulation coefficient.
And the second determining unit is used for determining the derating torque of the motor according to the derating coefficient.
Optionally, the first control module 64 includes:
and the acquisition unit is used for acquiring the actual three-phase current value of the motor and converting the actual three-phase current value into the actual current value under the rotating coordinate system through coordinate transformation.
And the operation unit is used for enabling the current instruction value to follow the current actual value under the rotating coordinate system and obtaining a voltage reference value under the rotating coordinate system through a proportional-integral control operation method, wherein the voltage reference value comprises a direct-axis voltage reference value and a quadrature-axis voltage reference value.
And the first conversion unit is used for converting the voltage reference value into a voltage reference value under a static coordinate system through coordinate conversion.
And the determining unit is used for determining the current value output by the inverter by using a pulse width modulation algorithm according to the voltage reference value in the static coordinate system so that the inverter controls the derating operation of the motor.
Optionally, the apparatus further comprises: and the table building module is used for building a three-dimensional current table look-up through an experimental calibration method.
Optionally, the table building module includes: the first table establishing unit is used for establishing a non-weak magnetic working condition current table look-up through an experimental calibration method; and the second table establishing unit is used for establishing a weak magnetic working condition current table look-up through an experimental calibration method, wherein the non-weak magnetic working condition current table look-up and the weak magnetic working condition current table look-up are combined to obtain a three-dimensional current table look-up.
Specifically, the first table building unit specifically includes the following steps:
setting a rotating speed, namely operating the permanent magnet synchronous motor at a preset rotating speed under a rated voltage;
setting parameters, namely setting current step length and setting different combinations of direct-axis current component instruction values and quadrature-axis current component instruction values;
traversing, namely traversing the states of all the motors in a current limit circle, and recording actual torques corresponding to different combinations of direct-axis current component instruction values and quadrature-axis current component instruction values;
a target value determining step, namely determining a direct-axis current component instruction value and a quadrature-axis current component instruction value which correspond to each actual torque and have the minimum current amplitude, and recording the direct-axis current component instruction values and the quadrature-axis current component instruction values as a target direct-axis current component instruction value and a target quadrature-axis current component instruction value to obtain the current lookup table under the non-flux weakening working condition;
and a first voltage setting step of setting different working voltages and repeatedly executing the motor setting step.
Specifically, the second table building unit specifically includes the following steps:
step of determining step length, wherein the step length of the rotating speed of the motor is determined;
setting phase angles, namely setting different voltage phase angles at each rotating speed;
a table establishing step, namely recording the actual torque, the direct axis current component instruction value and the quadrature axis current component instruction value corresponding to each voltage phase angle to obtain the current table look-up under the flux weakening working condition;
and a second voltage setting step of setting different working voltages and repeatedly executing the step of determining the step length.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
The derating control method for the permanent magnet synchronous motor provided by the embodiment of the invention has the same technical characteristics as the derating control device for the permanent magnet synchronous motor provided by the embodiment, so that the same technical problems can be solved, and the same technical effect can be achieved.
Example three:
the embodiment of the invention also provides a permanent magnet synchronous motor, which uses the derating control method of the permanent magnet synchronous motor in any embodiment.
The permanent magnet synchronous motor in the embodiment of the invention carries out derating control by using the derating control method of the permanent magnet synchronous motor in the embodiment, solves the technical problem that the motor control effect is influenced by the current fluctuation generated by directly superposing the output result of the controller to the direct axis current in the prior art, improves the reliability and stability of the flux weakening control of the permanent magnet synchronous motor, avoids unexpected output or damage caused by saturation of an inverter for controlling the permanent magnet synchronous motor, and ensures that the vehicle can normally run under extremely low temperature working conditions, rapid acceleration and deceleration and severe road conditions.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A derating control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
obtaining a modulation coefficient of a motor, and comparing the modulation coefficient with a preset threshold to obtain a comparison result, wherein the preset threshold comprises a first preset threshold and a second preset threshold, and the first preset threshold is smaller than the second preset threshold;
if the comparison result is that the modulation factor is larger than a first preset threshold and smaller than a second preset threshold, determining derating torque of the motor based on the modulation factor;
inquiring in a three-dimensional current lookup table according to the derating torque to obtain a current instruction value, wherein the current instruction value comprises a direct-axis current component instruction value and a quadrature-axis current component instruction value, and the three-dimensional current lookup table is established by an experimental calibration method;
and controlling the inverter to output corresponding current based on the current command value obtained by query so as to control the derating operation of the motor.
2. The method according to claim 1, wherein before the controlling the inverter to output the corresponding current based on the queried current command value to control the derating operation of the motor, the method further comprises:
if the comparison result shows that the modulation coefficient is larger than a second preset threshold value, acquiring a voltage limit value and a voltage vector value of the motor;
determining a voltage adjustment value based on the voltage limit value and the voltage vector value;
superposing the voltage regulating value to an actual voltage value of the motor to obtain a de-rated voltage value;
and inquiring in the three-dimensional current lookup table based on the de-rated voltage value to obtain the current instruction value.
3. The method of claim 1, further comprising: and if the comparison result shows that the modulation coefficient is smaller than the first preset threshold value, the inverter continuously controls the motor to operate according to the current output current.
4. The method of claim 1, wherein the determining the derated torque of the electric machine based on the modulation factor comprises:
determining a derating coefficient of the motor based on the modulation coefficient;
and determining the derating torque of the motor according to the derating coefficient.
5. The method according to claim 1, wherein the controlling the inverter to output the corresponding current based on the queried current command value to control the motor derating operation comprises:
acquiring an actual three-phase current value of the motor, and converting the actual three-phase current value into an actual current value under a rotating coordinate system through coordinate conversion;
enabling the current instruction value to follow the current actual value under the rotating coordinate system, and obtaining a voltage reference value under the rotating coordinate system through a proportional-integral control operation method, wherein the voltage reference value comprises a direct-axis voltage reference value and a quadrature-axis voltage reference value;
converting the voltage reference value into a voltage reference value under a static coordinate system through coordinate transformation;
and determining the current value output by the inverter by adopting a pulse width modulation algorithm according to the voltage reference value in the static coordinate system so as to enable the inverter to control the motor to operate in a derating mode.
6. The method of claim 1, wherein prior to querying a three-dimensional current lookup table for a current command value based on the derated torque, the method further comprises: establishing a three-dimensional current table look-up through an experimental calibration method;
wherein, the establishing of the three-dimensional current table look-up table by the experimental calibration method comprises the following steps: establishing a non-flux weakening working condition current lookup table and a flux weakening working condition current lookup table by an experimental calibration method, and combining the non-flux weakening working condition current lookup table and the flux weakening working condition current lookup table to obtain the three-dimensional current lookup table.
7. The method of claim 6, wherein the establishing of the non-flux weakening condition current lookup table by the experimental calibration method specifically comprises the following steps:
setting a rotating speed, namely operating the permanent magnet synchronous motor at a preset rotating speed under a rated voltage;
setting parameters, namely setting current step length and setting different combinations of direct-axis current component instruction values and quadrature-axis current component instruction values;
traversing, namely traversing the states of all the motors in a current limit circle, and recording actual torques corresponding to different combinations of direct-axis current component instruction values and quadrature-axis current component instruction values;
a target value determining step, namely determining a direct-axis current component instruction value and a quadrature-axis current component instruction value which correspond to each actual torque and have the minimum current amplitude, and recording the direct-axis current component instruction values and the quadrature-axis current component instruction values as a target direct-axis current component instruction value and a target quadrature-axis current component instruction value to obtain the current lookup table under the non-flux weakening working condition;
and a first voltage setting step of setting different working voltages and repeatedly executing the motor setting step.
8. The method of claim 6, wherein the establishing of the weak magnetic operating condition current lookup table by the experimental calibration method specifically comprises the following steps:
step of determining step length, wherein the step length of the rotating speed of the motor is determined;
setting phase angles, namely setting different voltage phase angles at each rotating speed;
a table establishing step, namely recording the actual torque, the direct axis current component instruction value and the quadrature axis current component instruction value corresponding to each voltage phase angle to obtain the current table look-up under the flux weakening working condition;
and a second voltage setting step of setting different working voltages and repeatedly executing the step of determining the step length.
9. A derating control device for a permanent magnet synchronous motor, the derating control device comprising:
the comparison module is used for obtaining a modulation coefficient of the motor and comparing the modulation coefficient with a preset threshold value to obtain a comparison result, wherein the preset threshold value comprises a first preset threshold value and a second preset threshold value, and the first preset threshold value is smaller than the second preset threshold value;
the first determining module is used for determining derating torque of the motor based on the modulation coefficient if the comparison result shows that the modulation coefficient is larger than a first preset threshold and smaller than a second preset threshold;
the first query module is used for querying a three-dimensional current lookup table according to the derating torque to obtain a current instruction value, wherein the current instruction value comprises a direct-axis current component instruction value and a quadrature-axis current component instruction value, and the three-dimensional current lookup table is established by an experimental calibration method;
and the control module is used for controlling the inverter to output corresponding current based on the current instruction value obtained by inquiry so as to control the motor to derate.
10. A pm synchronous machine, characterized in that it uses a pm synchronous machine derating control method according to any one of the preceding claims 1-8.
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| CN111800044B (en) * | 2020-07-20 | 2022-01-04 | 浙江零跑科技股份有限公司 | Stepless depth flux weakening method and system for permanent magnet synchronous motor |
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| CN116647159A (en) * | 2023-06-06 | 2023-08-25 | 灵动微电子(苏州)有限公司 | Rapid speed reducing method and device for permanent magnet synchronous motor |
| CN116647159B (en) * | 2023-06-06 | 2024-05-24 | 灵动微电子(苏州)有限公司 | Rapid speed reducing method and device for permanent magnet synchronous motor |
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