CN102386836A - Transmission control method and device of permanent magnet synchronous motor - Google Patents

Transmission control method and device of permanent magnet synchronous motor Download PDF

Info

Publication number
CN102386836A
CN102386836A CN2010102688639A CN201010268863A CN102386836A CN 102386836 A CN102386836 A CN 102386836A CN 2010102688639 A CN2010102688639 A CN 2010102688639A CN 201010268863 A CN201010268863 A CN 201010268863A CN 102386836 A CN102386836 A CN 102386836A
Authority
CN
China
Prior art keywords
given
axle
synchronous motor
permagnetic synchronous
control signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2010102688639A
Other languages
Chinese (zh)
Other versions
CN102386836B (en
Inventor
陈振锋
荆跃鹏
梁培志
程卫东
陈振强
段迎洁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CRRC Yongji Electric Co Ltd
Original Assignee
Yongji Xinshisu Electric Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yongji Xinshisu Electric Equipment Co Ltd filed Critical Yongji Xinshisu Electric Equipment Co Ltd
Priority to CN201010268863.9A priority Critical patent/CN102386836B/en
Publication of CN102386836A publication Critical patent/CN102386836A/en
Application granted granted Critical
Publication of CN102386836B publication Critical patent/CN102386836B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention provides a transmission control method and device of a permanent magnet synchronous motor, which belong to the technical field of automatic control. The method comprises step 1, generating a control signal of a d-axis given current based on a given torque parameter, further generating a control signal of a q-axis given current according to the given torque parameter and the control signal of the d-axis given current and inputting the control signal of the d-axis given current and the control signal of the q-axis given current into a decoupling control module; step 2, outputting a modulation signal into an inverter by means of the decoupling control module; and step 3, driving the permanent magnet synchronous motor to operate by means of the inverter according to the modulation signal. The device comprises a d-axis given current control signal generating module, a q-axis given current control signal generating module, the decoupling control module, a modulating module, the inverter and a torque given module. The permanent magnet synchronous motor obtained by means of the method and the device is stable in torque and good in robustness.

Description

Permagnetic synchronous motor transmission control method and device
Technical field
The present invention relates to a kind of Motor Control technology, relate in particular to a kind of permagnetic synchronous motor transmission control method and device.
Background technology
Volume is little, in light weight, efficient is high because of having for permagnetic synchronous motor, energy savings, speed of service advantages of higher, obtains application more and more widely just day by day.At present, the mode of control permagnetic synchronous motor mainly contains 2 kinds, and a kind of is vector control mode, and another kind is the direct torque control mode.
Vector control mode is that the equivalence of the threephase stator electric current of reality is the d axle actual current i under the rotor coordinate system SdWith q axle actual current i Sq(is the d axle with rotor permanent magnet first-harmonic excitation field axis, counterclockwise revolve to turn 90 degrees electrical degree be the q axle); And give the given total current of driving control system of permagnetic synchronous motor; And with given total current process breakdown torque current ratio (Maximum Torque PerAmpere; MTPA) control calculates the given electric current of d axle, more given total current and the given current subtraction of d axle is calculated the given electric current of q axle; Then with the given electric current of d axle
Figure BSA00000251649000011
With d axle actual current i Ds, the given electric current of q axle
Figure BSA00000251649000012
With q axle actual current i SqCarry out decoupling zero control, the essence of decoupling zero control is just regulated through PI and is made
Figure BSA00000251649000013
Figure BSA00000251649000014
When
Figure BSA00000251649000015
The time voltage as d shaft voltage u SdWith q shaft voltage u Sq, to the u that obtains SdAnd u SqModulate, convert the switching signal that obtains after the modulation into three-phase alternating current through inverter and be input to permagnetic synchronous motor, drive the permagnetic synchronous motor operation, thereby realize vector control permagnetic synchronous motor.
In realizing process of the present invention, the inventor finds to exist at least in the prior art following problem:
Prior art is calculated the given electric current of d axle according to given total current; Then given total current and the given current subtraction of d axle are obtained the given electric current of q axle; But differ according to the given electric current of d axle and the given electric current of q axle and to obtain the torque of expection surely; Thereby may cause exporting torque instability, poor robustness.
Summary of the invention
The embodiment of the invention provides a kind of permagnetic synchronous motor transmission control method and device, in order to solve the given complicacy of torque in the prior art, the defective of poor robustness.
The invention provides a kind of permagnetic synchronous motor transmission control method; The control signal of control signal that is equivalent to the given electric current of d axle under the rotor coordinate system and the given electric current of q axle is input to the step of decoupling zero control module; The output modulation signal of said decoupling zero control module is to the step of inverter, and inverter drives the step of said permagnetic synchronous motor operation according to said modulation signal; The step that the control signal of said control signal that will be equivalent to the given electric current of d axle under the rotor coordinate system and the given electric current of q axle is input to the decoupling zero control module specifically comprises:
Given torque parameter;
Based on said given torque parameter, produce the control signal of the given electric current of said d axle, and further produce the control signal of the given electric current of said q axle according to the control signal of said given torque parameter and the given electric current of said d axle;
The control signal of the given electric current of said d axle and the control signal of the given electric current of said q axle are input to said decoupling zero control module.
The invention provides a kind of permagnetic synchronous motor transmission control device; The given current controling signal generation module of d axle, the given current controling signal generation module of q axle, decoupling zero control module, modulation module; The given module of inverter and torque, the given module of torque is used for given torque parameter;
The given current controling signal generation module of said q axle; Be used for producing the given current controling signal of q axle, and the given current controling signal of q axle and the given current controling signal of d axle that produce are inputed to said decoupling zero control module based on the given current controling signal of d axle that the given torque parameter of the given module of said torque and the given current controling signal generation module of said d axle produce.
Directly give the given torque parameter of permagnetic synchronous motor among the present invention; Produce based on given torque parameter then and be equivalent to the control signal of the given electric current of d axle under the rotor coordinate system and the control signal of the given electric current of q axle; Owing to be the control signal of directly calculating control signal and the given electric current of q axle of the given electric current of d axle based on given torque parameter; Therefore the control signal of control signal through the given electric current of d axle and the given electric current of the q axle torque that just can obtain to expect, the torque of acquisition not only good stability but also robustness are good.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do one to the accompanying drawing of required use in embodiment or the description of the Prior Art below introduces simply; Obviously, the accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of permagnetic synchronous motor transmission control method embodiment of the present invention;
Fig. 2 is a foot switch signal processing sketch map;
Fig. 3 is a permagnetic synchronous motor transmission control device example structure sketch map of the present invention.
Embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the invention clearer; To combine the accompanying drawing in the embodiment of the invention below; Technical scheme in the embodiment of the invention is carried out clear, intactly description; Obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
Embodiment 1
Fig. 1 is the schematic flow sheet of permagnetic synchronous motor transmission control method embodiment of the present invention, and as shown in Figure 1, this method comprises:
Step 101: the DC bus-bar voltage V that detects permagnetic synchronous motor DcWith the threephase stator current i a, i bAnd i c
Step 102: detect the rotor position angle θ of permagnetic synchronous motor, calculate the permagnetic synchronous motor rotational speed omega according to this rotor position angle θ rAnd according to rotor position angle θ with i a, i bAnd i cEquivalence is the control signal of electric current under the rotor coordinate system, i.e. the control signal i of d axle actual current SdControl signal i with q axle actual current Sq
In working control, detected is the threephase stator electric current of permagnetic synchronous motor, need be with the electric current under the threephase stator coordinate through coordinate transform, and equivalence is the control signal of electric current under the rotor coordinate system.Realize that the stator coordinate is tied to the conversion of rotor coordinate system; Must detect the rotor-position of permagnetic synchronous motor in real time; Rotor-position commonly used is detected by detecting sensors such as incremental optical-electricity encoder, absolute optical encoder or resolvers, and the embodiment of the invention is that example describes with the resolver.
Concrete, adopt formula (1) to calculate the permagnetic synchronous motor rotational speed omega r,
ω r = dθ dt - - - ( 1 )
Adopt formula (2) to produce the control signal i of d axle actual current SdControl signal i with q axle actual current Sq,
i sd i sq = 2 3 cos cos ( θ - 2 3 π ) cos ( θ + 2 3 π ) sin θ sin ( θ - 2 3 π ) sin ( θ + 2 3 π ) · i a i b i c - - - ( 2 )
Step 103: given torque parameter, when the permagnetic synchronous motor rotational speed omega rWhen surpassing maximum constraints speed, can also be to the permagnetic synchronous motor rotational speed omega rCarry out PI and regulate, the permagnetic synchronous motor rotating speed is controlled at maximum constraints speed;
The embodiment of the invention can be applied in the electric automobile, therefore, can foot switch be installed at the electric automobile drivers' cab, and the driver is through stepping on pedal with the given torque parameter of the mode of given voltage.The present invention also can be applied in other control system, and is corresponding, can give the given torque parameter of permagnetic synchronous motor as the case may be, and the present invention does not do qualification to this.
In the practical application, from security consideration, the permagnetic synchronous motor rotating speed is what not allow greater than the maximum constraints speed of permagnetic synchronous motor, that is to say when electric automobile speed be what not allow greater than maximum constraints speed.If when permagnetic synchronous motor rotating speed during greater than the maximum constraints speed of permagnetic synchronous motor; Perhaps when electric automobile speed during greater than maximum constraints speed; Prior art forces given torque is made as 0; Can't even running when this just causes electric automobile speed greater than maximum constraints speed, and possibly have an accident thus; And the present invention passes through surpassing the permagnetic synchronous motor rotational speed omega of maximum constraints speed rCarry out PI and regulate, make the permagnetic synchronous motor rotational speed omega rBe reduced to maximum constraints speed gradually, because the permagnetic synchronous motor rotational speed omega rAnd the linear relationship between the given torque, in the permagnetic synchronous motor rotational speed omega rWhen reducing, given torque also can be reduced to the load balance with permagnetic synchronous motor gradually, has so not only prevented the permagnetic synchronous motor rotational speed omega rSurpass the security incident that the maximum constraints rotating speed causes, and make that electric automobile can even running when maximum constraints speed, raising further the fail safe of electric automobile operation.
The driver through the detailed process of stepping on the given torque parameter of pedal is: the driver is when driving a car; Can judge that current is that needs increase given torque according to factors such as road conditions, running distance, automobile present speeds; Still reduce given torque, all step on pedal and carry out through the driver and increase and reduce given torque.When electric automobile operates in maximum constraints speed when following, speed control system is open loop, and the speed of electric automobile is opened the throttle and reduced throttle according to factors such as current road conditions, vehicle conditions by the driver and controls; When needs strengthen electric automobile speed; The driver increases given torque through pedal, and just the driver just down steps on pedal, promptly " opens the throttle "; When needs reduce electric automobile speed; When just reducing given torque, the driver just up unclamps pedal, promptly " reduces throttle "; When the speed of electric automobile surpasses maximum constraints speed; The driver is just inoperative through the given given torque of pedal; This control system is carried out PI to this maximum constraints speed and is regulated; The speed control of electric automobile in maximum constraints speed, is prevented that car speed is too fast and causes the generation of accident.
In the embodiment of the invention, the output voltage of pedal is 0~11 volt, and the operating voltage of the control system of permagnetic synchronous motor traction invertor is 5V, can be 0~5V through the voltage transitions that linearity is isolated 0~11V therefore.
Linear isolation can also prevent the interference of external signal to the permagnetic synchronous motor traction invertor, improves the antijamming capability of permagnetic synchronous motor traction invertor, guarantees that simultaneously this isolation is that linear direct ratio changes, rather than nonlinear change.
For example, when the output voltage of pedal is 0 volt, also be 0 volt through the output voltage after linear the isolation; When the output voltage of pedal is 11 volts; Output voltage through after linear the isolation is 5 volts; Proportionate relationship between the output voltage of pedal and the output voltage after linear the isolation is 5 volts/11 volts; Can release thus, when the output voltage of pedal is 5.5 volts, be 5 volts * 5.5 volts/11 volts=2.5 volts through the output voltage after linear the isolation.
For the open degree of pedal (be called for short aperture, also being said in the reality is the size of " throttle ") is carried out quantitative expression, can the aperture of pedal be divided into 1024 equal portions, give the given torque of permagnetic synchronous motor through the open umber of pedal.Concrete can convert the output voltage that passes through after linearity is isolated to tens word signal through AD, is 0-1023.For example, when the driver did not step on pedal, the output voltage of foot switch was 0 volt, and the output voltage after linear the isolation is 0 volt, and this moment, the AD transformation result also was 0; When the driver stepped on pedal maximum, the output voltage of foot switch was 11 volts, and the output voltage after linear the isolation is 5 volts, and this moment, the AD transformation result was 1023.From the above, whole transfer process all is linear, and the breakdown torque that is about to motor has been divided equally into 1024 equal portions.When the driver does not step on pedal, represent that given torque is 0, when the driver steps on pedal maximum, show that given torque is a breakdown torque.
Fig. 2 is foot switch signal processing sketch map, and is as shown in Figure 2, and the voltage of 0~11V converts 0~5V into through circuit linearity insulating circuit, and then 0~5V is divided into 1024 equal portions through the AD conversion.
Need to prove that at electric automobile resistance one regularly, the relation of torque and permagnetic synchronous motor rotating speed can be expressed as:
dω r dt = p n 1 J [ T e - B ω r p n - T L ] - - - ( 3 )
Formula (3) can explain that increasing torque can make permagnetic synchronous motor speed increase; Reducing torque can make permagnetic synchronous motor speed reduce.Wherein, p nBe number of pole-pairs, J is the moment of inertia of motor, and B is a coefficient of friction, T LIt is load torque.
Step 104: based on given torque parameter, the control signal
Figure BSA00000251649000062
that produces the given electric current of d axle through MTPA control with through weak magnetic control system is then according to the control signal
Figure BSA00000251649000063
of the given electric current of d axle and given torque parameter
Figure BSA00000251649000064
the generation given electric current of q axle
Figure BSA00000251649000065
Concrete, with the control signal of given torque parameter through the given electric current of MTPA control acquisition d axle A part
Figure BSA00000251649000072
Obtain Δ i through weak magnetic control system then Sd, will
Figure BSA00000251649000073
With Δ i SdAddition obtains
Figure BSA00000251649000074
The embodiment of the invention is obtaining through MTPA control
Figure BSA00000251649000075
The time, can obtain through tabling look-up
Figure BSA00000251649000076
Can improve system's arithmetic speed like this.
Concrete, calculate Δ i SdProcess following:
A) according to d shaft voltage u SdWith q shaft voltage u Sq, calculate output voltage values
Figure BSA00000251649000077
Figure BSA00000251649000078
B) according to the detected DC bus-bar voltage V of step 101 DcThe calculating voltage limits value does
Figure BSA00000251649000079
Promptly
Figure BSA000002516490000710
K among Fig. 3 is that the k among the figure is a proportionality coefficient, and is relevant with concrete drive system, is a controlled variable.
C) to output voltage values V 1 *With the voltage pole limit value Regulate and obtain Δ i Sd
Need to prove, calculate Δ i at every turn SdThe time u that uses SdAnd u SqBe the d shaft voltage u in a last moment SdWith q shaft voltage u SqAs first calculating Δ i SdThe time, can be with d shaft voltage u SdWith q shaft voltage u SqBeing regarded as 0 calculates.
The control signal
Figure BSA000002516490000712
that obtains the given electric current of d axle produces the control signal
Figure BSA000002516490000713
of the given electric current of q axle afterwards according to the torque formula (3) of permagnetic synchronous motor
T e * = 3 2 p n [ i sq * ψ f + ( L d - L q ) i sq * i sd * ] - - - ( 4 )
In the formula (4), Pn is a number of pole-pairs, ψ fBe the magnetic linkage (chain is crossed stator winding) that permanent magnet produces, L in motor gas-gap dBe d axle inductance, L qBe q axle inductance.
Step 105: with the control signal of the given electric current of d axle
Figure BSA000002516490000715
Control signal i with d axle actual current Sd, the given electric current of q axle control signal
Figure BSA000002516490000716
Control signal i with q axle actual current SqCarry out decoupling zero control, obtain d shaft voltage u SdWith q shaft voltage u Sq
Concrete, PI adjusting is just controlled in decoupling zero, regulates making through PI
Figure BSA000002516490000717
Figure BSA000002516490000718
When
Figure BSA000002516490000719
Figure BSA000002516490000720
The time voltage as d shaft voltage u SdWith q shaft voltage u SqIf
Figure BSA000002516490000721
Figure BSA000002516490000722
then can realize the independent control to d axle and q shaft current control signal, thereby realized vector control.
Step 106: to the u that obtains SdAnd u SqModulate, convert the signal after the modulation into three-phase alternating current through inverter and be input to permagnetic synchronous motor, thereby drive the permagnetic synchronous motor operation.
Concrete, with the d shaft voltage u that obtains SdWith q shaft voltage u SqBe input to the SVPWM unit, the SVPWM unit is used for to u SdAnd u SqModulate, and the switching signal that will obtain after will modulating is input to inverter, inverter output three-phase alternating current is given permagnetic synchronous motor, thereby drives the permagnetic synchronous motor operation, and this step belongs to prior art, is not described in detail here.
The present invention is through the direct given torque parameter of the mode of given voltage, torque given simple and convenient, and produce the control signal of the given electric current of q axle based on the control signal of the given electric current of d axle of given torque parameter and generation.Owing to be directly to produce the control signal of the given electric current of d axle and the control signal of the given electric current of q axle based on given torque parameter; Therefore the control signal of control signal through the given electric current of d axle and the given electric current of the q axle torque that just can obtain to expect, the torque of acquisition not only good stability but also robustness are good.And be to produce the control signal of the given electric current of d axle and the control signal of the given electric current of q axle according to given total current in the prior art; And the torque that the control signal of the control signal of the given electric current of d axle that produces through given total current and the given electric current of q axle not necessarily can obtain to expect; Possibly make that the torque that obtains is unstable, and poor robustness; And when the permagnetic synchronous motor rotating speed surpassed maximum constraints speed, prior art made torque become 0 pressures to reach and control the permagnetic synchronous motor rotating speed, make permagnetic synchronous motor when high-speed cruising, possibly be in an unsure state, bring potential safety hazard; And among the present invention when the rotating speed of permagnetic synchronous motor surpasses maximum constraints speed; Rotating speed to permagnetic synchronous motor carries out the PI adjusting; With the permagnetic synchronous motor speed control in maximum constraints speed; Make that permagnetic synchronous motor can even running when high-speed cruising, prevented that the permagnetic synchronous motor rotating speed from surpassing the security incident that the maximum constraints rotating speed causes; Further; When being applied in permagnetic synchronous motor on the electric automobile; When car speed surpasses maximum constraints speed, carry out PI through rotating speed and regulate permagnetic synchronous motor, with the permagnetic synchronous motor speed control in maximum constraints speed; Make that electric automobile can even running when maximum constraints speed, raising further the fail safe of automobilism.
Embodiment 2
Fig. 3 is a permagnetic synchronous motor transmission control device example structure sketch map of the present invention; As shown in Figure 3, this device comprises: the given current controling signal generation module of the given current controling signal generation module of the given module of rotor-position angle detector 1, revolution speed calculating module 2, actual current control signal generating module 3, torque 4, pi regulator 5, d axle 6, q axle 7, decoupling zero control module 8, modulation module 9, inverter 10;
Rotor-position angle detector 1 is used for the detection rotor angular position theta;
Revolution speed calculating module 2, the rotor position angle that is used for detecting according to the rotor-position angle detector calculates the permagnetic synchronous motor rotational speed omega r
Actual current control signal generating module 3 is used to produce the control signal of the d axle actual current that is equivalent under the rotor coordinate system and the control signal of q axle actual current;
The given module 4 of torque is used for given torque parameter;
The present invention can be applied in the electric automobile, and in this case, the given module of torque specifically is used for through pedal with the given torque parameter of the mode of given voltage.
Concrete, the given module 4 of torque comprises:
First converting unit is used for converting the operating voltage that permagnetic synchronous motor draws said inverter into isolating through linearity through the given voltage of pedal;
Second converting unit is used for converting the operating voltage after the conversion of first converting unit into pedal open preset umber, gives the given torque of permagnetic synchronous motor through the open umber of pedal.
Pi regulator 5 is used for when the permagnetic synchronous motor rotating speed surpasses maximum constraints speed, the permagnetic synchronous motor rotating speed being controlled at maximum constraints speed;
The given current controling signal generation module 6 of d axle; Be used for passing through the control signal of MTPA control and the given electric current of weak magnetic control system generation d axle, and the control signal of the given electric current of d axle that produces is inputed to decoupling zero control module 8 based on the given module 4 given torque parameters of torque;
Concrete, the given current controling signal generation module 6 of d axle obtains the control signal of the given electric current of d axle through MTPA control A part
Figure BSA00000251649000092
Calculate Δ i through weak magnetic control system more simultaneously Sd, will With Δ i SdAddition obtains the control signal of the given electric current of d axle
Figure BSA00000251649000094
The given current controling signal generation module 7 of q axle; The control signal of the given electric current of d axle that is used for producing based on the given torque parameter of the given module of torque 4 and the given current controling signal generation module 6 of d axle produces the control signal of the given electric current of q axle, and the control signal of the given electric current of q axle that produces is inputed to decoupling zero control module 8;
Concrete, because given torque parameter
Figure BSA00000251649000101
and the control signal
Figure BSA00000251649000103
that produced the given electric current of d axle according to
Figure BSA00000251649000102
therefore can calculate the control signal of the given electric current of q axle through formula (5):
T e * = 3 2 p n [ i sq * ψ f + ( L d - L q ) i sq * i sd * ] - - - ( 5 )
Decoupling zero control module 8 is used for calculating d shaft voltage u according to control signal and the control signal of d axle actual current, the control signal of the given electric current of q axle and the control signal of q axle actual current of the given electric current of d axle SdWith q shaft voltage u Sq, and with the d shaft voltage u that obtains SdWith q shaft voltage u SqInput to modulation module 9;
Modulation module 9 is used for decoupling zero control module 8 is obtained d shaft voltage u SdWith q shaft voltage u SqModulate, the switching signal after the modulation is inputed to inverter 10;
Concrete, the modulation module 9 among the present invention can be SVPWM, SVPWM is to d shaft voltage u SdWith q shaft voltage u SqAfter the modulation, with d shaft voltage u SdWith q shaft voltage u SqConvert the switching signal that inverter 10 needs into.
Inverter 10 is used for converting the switching signal that modulation module 9 is imported into three-phase alternating current and is input to said permagnetic synchronous motor, drives said permagnetic synchronous motor operation.
Wherein, actual current control signal generating module 3 comprises: current detector and three-phase-dq principal axis transformation unit;
Current detector is used to detect the three-phase current i of permagnetic synchronous motor a, i bAnd i c
Three-phase-dq principal axis transformation unit, the equivalent control signal i of three-phase current that the rotor position angle that is used for detecting according to the rotor-position angle detector detects current detector for the d axle actual current under the rotor coordinate system SdControl signal i with q axle actual current Sq
The permagnetic synchronous motor transmission control device that the embodiment of the invention provides is applied in the electric automobile.
The present invention is through the direct given torque parameter of the mode of given voltage, torque given simple and convenient, and produce the control signal of the given electric current of q axle based on the control signal of the given electric current of d axle of given torque parameter and generation.Owing to be directly to produce the control signal of the given electric current of d axle and the control signal of the given electric current of q axle based on given torque parameter; Therefore the control signal of control signal through the given electric current of d axle and the given electric current of the q axle torque that just can obtain to expect, the torque of acquisition not only good stability but also robustness are good.And be to produce the control signal of the given electric current of d axle and the control signal of the given electric current of q axle according to given total current in the prior art; And the torque that the control signal of the control signal of the given electric current of d axle that produces through given total current and the given electric current of q axle not necessarily can obtain to expect; Possibly make that the torque that obtains is unstable, and poor robustness; And when the permagnetic synchronous motor rotating speed surpassed maximum constraints speed, prior art made torque become 0 pressures to reach and control the permagnetic synchronous motor rotating speed, make permagnetic synchronous motor when high-speed cruising, possibly be in an unsure state, bring potential safety hazard; And among the present invention when the rotating speed of permagnetic synchronous motor surpasses maximum constraints speed; Rotating speed to permagnetic synchronous motor carries out the PI adjusting; With the permagnetic synchronous motor speed control in maximum constraints speed; Make that permagnetic synchronous motor can even running when high-speed cruising, prevented that the permagnetic synchronous motor rotating speed from surpassing the security incident that the maximum constraints rotating speed causes; Further; When being applied in permagnetic synchronous motor on the electric automobile; When car speed surpasses maximum constraints speed, carry out PI through rotating speed and regulate permagnetic synchronous motor, with the permagnetic synchronous motor speed control in maximum constraints speed; Make that electric automobile can even running when maximum constraints speed, raising further the fail safe of automobilism.
What should explain at last is: above embodiment is only in order to explaining technical scheme of the present invention, but not to its restriction; Although with reference to previous embodiment the present invention has been carried out detailed explanation, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these are revised or replacement, do not make the spirit and the scope of the essence disengaging various embodiments of the present invention technical scheme of relevant art scheme.

Claims (10)

1. permagnetic synchronous motor transmission control method; Comprise: the control signal that will be equivalent to control signal and the given electric current of q axle of the given electric current of d axle under the rotor coordinate system is input to the step of decoupling zero control module; Said decoupling zero control module output modulation signal is to the step of inverter, and inverter drives the step of said permagnetic synchronous motor operation according to said modulation signal; It is characterized in that: the step that the control signal of said control signal that will be equivalent to the given electric current of d axle under the rotor coordinate system and the given electric current of q axle is input to the decoupling zero control module specifically comprises:
Given torque parameter;
Based on said given torque parameter, produce the control signal of the given electric current of said d axle, and further produce the control signal of the given electric current of said q axle according to the control signal of said given torque parameter and the given electric current of said d axle;
The control signal of the given electric current of said d axle and the control signal of the given electric current of said q axle are input to said decoupling zero control module.
2. permagnetic synchronous motor transmission control method according to claim 1 is characterized in that: also comprise:
When said permagnetic synchronous motor rotating speed surpasses maximum constraints speed, said permagnetic synchronous motor rotating speed is carried out PI regulate, said permagnetic synchronous motor rotating speed is controlled at the said maximum constraints speed of stating.
3. permagnetic synchronous motor transmission control method according to claim 1 is characterized in that: given torque parameter comprises:
With the given torque parameter of the mode of given voltage.
4. permagnetic synchronous motor transmission control method according to claim 3 is characterized in that: with the given torque parameter of the mode of given voltage, comprising:
Through the given voltage of pedal; And the voltage of pedal output isolated through linearity convert the operating voltage that said permagnetic synchronous motor draws said inverter into; And convert the maximum working voltage value after the said conversion maximum of the open degree of said pedal into, give the given torque of said permagnetic synchronous motor through the open degree of said pedal.
5. permagnetic synchronous motor transmission control method according to claim 1 is characterized in that: the control signal that produces the given electric current of said q axle through following formula according to the control signal of said given torque parameter and the given electric current of said d axle:
T e * = 3 2 p n [ i sq * ψ f + ( L d - L q ) i sq * i sd * ]
Wherein, Pn is a number of pole-pairs, ψ fBe the magnetic linkage that permanent magnet produces, L in motor gas-gap dBe d axle inductance, L qBe q axle inductance,
Figure FSA00000251648900022
Be given torque parameter,
Figure FSA00000251648900023
Be the control signal of the given electric current of d axle,
Figure FSA00000251648900024
Control signal for the given electric current of q axle.
6. permagnetic synchronous motor transmission control device; Comprise: the given current controling signal generation module of d axle; The given current controling signal generation module of q axle, decoupling zero control module, modulation module and inverter; It is characterized in that: said device also comprises: the given module of torque is used for given torque parameter;
The given current controling signal generation module of said q axle; Be used for producing the given current controling signal of q axle, and the given current controling signal of q axle and the given current controling signal of d axle that produce are inputed to said decoupling zero control module based on the given current controling signal of d axle that the given torque parameter of the given module of said torque and the given current controling signal generation module of said d axle produce.
7. permagnetic synchronous motor transmission control device according to claim 6; It is characterized in that: also comprise pi regulator; Be used for when said permagnetic synchronous motor rotating speed surpasses maximum constraints speed, said permagnetic synchronous motor rotating speed being controlled at said maximum constraints speed.
8. according to claim 6 or 7 described permagnetic synchronous motor transmission control devices, it is characterized in that: the given module of said torque specifically is used for the given torque parameter of the mode of given voltage.
9. permagnetic synchronous motor transmission control device according to claim 8 is characterized in that: the given module of said torque comprises:
First converting unit is used for converting the operating voltage that said permagnetic synchronous motor draws said inverter into isolating through linearity through the given voltage of pedal;
Second converting unit is used for converting the operating voltage after said first converting unit conversion into said pedal open preset umber, gives the given torque of said permagnetic synchronous motor through the open umber of said pedal.
10. permagnetic synchronous motor transmission control device according to claim 9 is characterized in that: the given module of said torque produces the given current controling signal generation module of said q axle through following formula:
T e * = 3 2 p n [ i sq * ψ f + ( L d - L q ) i sq * i sd * ]
Wherein, Pn is a number of pole-pairs, ψ fBe the magnetic linkage (chain is crossed stator winding) that permanent magnet produces, L in motor gas-gap dBe d axle inductance, L qBe q axle inductance,
Figure FSA00000251648900032
Be given torque parameter,
Figure FSA00000251648900033
Be the control signal of the given electric current of d axle,
Figure FSA00000251648900034
Control signal for the given electric current of q axle.
CN201010268863.9A 2010-08-27 2010-08-27 Transmission control method and device of permanent magnet synchronous motor Active CN102386836B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201010268863.9A CN102386836B (en) 2010-08-27 2010-08-27 Transmission control method and device of permanent magnet synchronous motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201010268863.9A CN102386836B (en) 2010-08-27 2010-08-27 Transmission control method and device of permanent magnet synchronous motor

Publications (2)

Publication Number Publication Date
CN102386836A true CN102386836A (en) 2012-03-21
CN102386836B CN102386836B (en) 2014-04-23

Family

ID=45825894

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201010268863.9A Active CN102386836B (en) 2010-08-27 2010-08-27 Transmission control method and device of permanent magnet synchronous motor

Country Status (1)

Country Link
CN (1) CN102386836B (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103199786A (en) * 2013-04-03 2013-07-10 安徽江淮汽车股份有限公司 Control method and system of motor for pure electric vehicle
CN103944472A (en) * 2014-04-04 2014-07-23 中国东方电气集团有限公司 Field weakening control system and method of permanent-magnet synchronous motor with hysteresis loop filtering function
WO2015054954A1 (en) * 2013-10-17 2015-04-23 南车株洲电力机车研究所有限公司 Direct-axis current protection method and device for permanent magnet synchronous motor drive system
CN104935233A (en) * 2015-06-09 2015-09-23 北京天诚同创电气有限公司 Permanent-magnetism direct-drive wind-driven-generator electromagnetic torque control method and device
CN105515489A (en) * 2016-01-21 2016-04-20 珠海格力节能环保制冷技术研究中心有限公司 Method and device for controlling motor rotation speed
CN105703688A (en) * 2014-11-24 2016-06-22 北汽福田汽车股份有限公司 Control method for preventing inverter from being in saturation state
CN106059421A (en) * 2016-07-19 2016-10-26 合肥威博尔汽车技术有限公司 Improved feed-forward permanent magnet synchronous motor flux weakening method
CN106080211A (en) * 2016-07-19 2016-11-09 合肥威博尔汽车技术有限公司 A kind of electric automobile overspeed protection method
CN107040179A (en) * 2017-04-06 2017-08-11 澳特卡新能源科技(上海)有限公司 A kind of guard method out of control of weak magnetic based on motor compressor
CN107117075A (en) * 2015-11-30 2017-09-01 赵世龙 Magneto driving method
CN107294433A (en) * 2017-08-21 2017-10-24 合肥君信信息科技有限公司 A kind of automobile permanent magnet synchronous motor moment of torsion on-line correction system
CN108649857A (en) * 2018-04-17 2018-10-12 浙江零跑科技有限公司 A kind of synchronous motor weak magnetic curve controlled device and its track algorithm based on pi regulator
CN110176886A (en) * 2019-06-03 2019-08-27 中国人民解放军陆军装甲兵学院 A kind of hub motor vector control method based on torque reference
CN111162699A (en) * 2018-11-08 2020-05-15 中车永济电机有限公司 High-power direct-drive permanent magnet electric transmission system for electric locomotive

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110474585B (en) * 2019-08-21 2021-01-01 中车永济电机有限公司 Control modulation method for high-power direct-drive permanent magnet synchronous motor

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050140329A1 (en) * 2003-12-30 2005-06-30 Ihm Hyung B. Control system and method for permanent magnet synchronous motor
CN1801596A (en) * 2004-12-10 2006-07-12 株式会社日立制作所 Synchronous motor drive unit and a driving method thereof
US20080100254A1 (en) * 2006-10-25 2008-05-01 Rahman Khwaja M Method and system for controlling synchronous motor drive systems
CN101288222A (en) * 2005-05-10 2008-10-15 丰田自动车株式会社 Motor drive system control device and electric vehicle using the same
CN101299584A (en) * 2007-05-03 2008-11-05 通用汽车环球科技运作公司 Method and apparatus to determine rotational position of an electrical machine
CN101300731A (en) * 2005-11-01 2008-11-05 丰田自动车株式会社 Motor driving device
CN101351959A (en) * 2006-08-17 2009-01-21 爱信艾达株式会社 Feedback control method and apparatus for electric motor
US20090072778A1 (en) * 2007-09-17 2009-03-19 Gm Global Technology Operations, Inc. Low speed synchronous motor drive operation
CN101396976A (en) * 2007-09-25 2009-04-01 奇瑞汽车股份有限公司 Electric machine control method and device in hybrid motor
WO2009063786A1 (en) * 2007-11-15 2009-05-22 Kabushiki Kaisha Yaskawa Denki Motor control device and control method thereof
US7592766B2 (en) * 2003-08-11 2009-09-22 Gm Global Technology Operations, Inc. Gearless wheel motor drive system
US20090284195A1 (en) * 2007-07-27 2009-11-19 Gm Global Technology Operations, Inc. Gain adjustment to improve torque linearity of an electric machine during operation in a field weakening region
CN101755381A (en) * 2007-12-27 2010-06-23 爱信艾达株式会社 Converter apparatus, rotary electric machine controller and drive unit

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7592766B2 (en) * 2003-08-11 2009-09-22 Gm Global Technology Operations, Inc. Gearless wheel motor drive system
US20050140329A1 (en) * 2003-12-30 2005-06-30 Ihm Hyung B. Control system and method for permanent magnet synchronous motor
CN1801596A (en) * 2004-12-10 2006-07-12 株式会社日立制作所 Synchronous motor drive unit and a driving method thereof
CN101288222A (en) * 2005-05-10 2008-10-15 丰田自动车株式会社 Motor drive system control device and electric vehicle using the same
CN101300731A (en) * 2005-11-01 2008-11-05 丰田自动车株式会社 Motor driving device
CN101351959A (en) * 2006-08-17 2009-01-21 爱信艾达株式会社 Feedback control method and apparatus for electric motor
US20080100254A1 (en) * 2006-10-25 2008-05-01 Rahman Khwaja M Method and system for controlling synchronous motor drive systems
CN101299584A (en) * 2007-05-03 2008-11-05 通用汽车环球科技运作公司 Method and apparatus to determine rotational position of an electrical machine
US20090284195A1 (en) * 2007-07-27 2009-11-19 Gm Global Technology Operations, Inc. Gain adjustment to improve torque linearity of an electric machine during operation in a field weakening region
US20090072778A1 (en) * 2007-09-17 2009-03-19 Gm Global Technology Operations, Inc. Low speed synchronous motor drive operation
CN101394145A (en) * 2007-09-17 2009-03-25 通用汽车环球科技运作公司 Low speed synchronous motor drive operation
CN101396976A (en) * 2007-09-25 2009-04-01 奇瑞汽车股份有限公司 Electric machine control method and device in hybrid motor
WO2009063786A1 (en) * 2007-11-15 2009-05-22 Kabushiki Kaisha Yaskawa Denki Motor control device and control method thereof
CN101755381A (en) * 2007-12-27 2010-06-23 爱信艾达株式会社 Converter apparatus, rotary electric machine controller and drive unit

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
盛义发等: "轨道车辆用永磁同步电机系统弱磁控制策略", 《中国电机工程学报》 *

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103199786A (en) * 2013-04-03 2013-07-10 安徽江淮汽车股份有限公司 Control method and system of motor for pure electric vehicle
US9991829B2 (en) 2013-10-17 2018-06-05 Csr Zhuzhou Electric Locomotive Research Institute Co., Ltd. Direct-axis current protection method and device for permanent magnet synchronous motor drive system
WO2015054954A1 (en) * 2013-10-17 2015-04-23 南车株洲电力机车研究所有限公司 Direct-axis current protection method and device for permanent magnet synchronous motor drive system
GB2534767B (en) * 2013-10-17 2017-01-25 Csr Zhuzhou Electric Locomotive Res Inst Co Ltd Direct-axis current protection method and device for permanent magnet synchronous motor drive system
GB2534767A (en) * 2013-10-17 2016-08-03 Csr Zhuzhou Electric Locomotive Inst Co Ltd Direct-axis current protection method and device for permanent magnet synchronous motor drive system
CN103944472B (en) * 2014-04-04 2016-09-21 中国东方电气集团有限公司 There is weak magnetic control system and the method for the permagnetic synchronous motor of stagnant circle filtering function
CN103944472A (en) * 2014-04-04 2014-07-23 中国东方电气集团有限公司 Field weakening control system and method of permanent-magnet synchronous motor with hysteresis loop filtering function
CN105703688A (en) * 2014-11-24 2016-06-22 北汽福田汽车股份有限公司 Control method for preventing inverter from being in saturation state
CN105703688B (en) * 2014-11-24 2019-03-12 北京宝沃汽车有限公司 Prevent the control method that inverter is in a saturated state
CN104935233A (en) * 2015-06-09 2015-09-23 北京天诚同创电气有限公司 Permanent-magnetism direct-drive wind-driven-generator electromagnetic torque control method and device
CN104935233B (en) * 2015-06-09 2019-04-30 北京天诚同创电气有限公司 Permanent magnet direct-driving aerogenerator electromagnetic torque control method and device
CN107117075A (en) * 2015-11-30 2017-09-01 赵世龙 Magneto driving method
CN105515489A (en) * 2016-01-21 2016-04-20 珠海格力节能环保制冷技术研究中心有限公司 Method and device for controlling motor rotation speed
CN105515489B (en) * 2016-01-21 2018-01-23 珠海格力节能环保制冷技术研究中心有限公司 A kind of motor speed control method and device
CN106059421A (en) * 2016-07-19 2016-10-26 合肥威博尔汽车技术有限公司 Improved feed-forward permanent magnet synchronous motor flux weakening method
CN106080211A (en) * 2016-07-19 2016-11-09 合肥威博尔汽车技术有限公司 A kind of electric automobile overspeed protection method
CN107040179A (en) * 2017-04-06 2017-08-11 澳特卡新能源科技(上海)有限公司 A kind of guard method out of control of weak magnetic based on motor compressor
CN107294433A (en) * 2017-08-21 2017-10-24 合肥君信信息科技有限公司 A kind of automobile permanent magnet synchronous motor moment of torsion on-line correction system
CN108649857A (en) * 2018-04-17 2018-10-12 浙江零跑科技有限公司 A kind of synchronous motor weak magnetic curve controlled device and its track algorithm based on pi regulator
CN111162699A (en) * 2018-11-08 2020-05-15 中车永济电机有限公司 High-power direct-drive permanent magnet electric transmission system for electric locomotive
CN111162699B (en) * 2018-11-08 2023-09-01 中车永济电机有限公司 Large-power direct-drive permanent magnet electric transmission system for electric locomotive
CN110176886A (en) * 2019-06-03 2019-08-27 中国人民解放军陆军装甲兵学院 A kind of hub motor vector control method based on torque reference

Also Published As

Publication number Publication date
CN102386836B (en) 2014-04-23

Similar Documents

Publication Publication Date Title
CN102386836B (en) Transmission control method and device of permanent magnet synchronous motor
US9475403B2 (en) DC bus voltage control
CN101396976B (en) Electric machine control method and device in hybrid motor
US7531982B2 (en) Motor drive apparatus capable of accurately estimating demagnetization of permanent magnet motor
US8390240B2 (en) Absolute position sensor for field-oriented control of an induction motor
CN102386834B (en) Method and device for controlling vector of permanent magnet synchronous motor
US10308118B2 (en) Vehicle and control method therefor
US9515583B2 (en) Rotary electric machine control system and rotary electric machine control method
CN105099316B (en) A kind of electric current control method for coordinating of electric excitation synchronous motor
CN104022708A (en) Electric variable-pitch driving system by speed sensorless technology and method thereof
CN104378035A (en) Mixed excitation synchronous motor field weakening control method for judging field weakening moment through voltage differences
CN103532466B (en) Method and device for controlling torque change rate of permanent magnet synchronous motor
CN102769425A (en) Permanent magnet synchronous motor control method based on model reference adaptive system (MRAS) and fuzzy control
CN102710210A (en) Control method of drive system of salient pole type permanent magnet synchronous motor
CN107395085A (en) The field weakening control method and controller of a kind of permagnetic synchronous motor
CN104767446A (en) Method for controlling air gap flux and current phasor angle of hybrid excitation synchronous motor
US8076884B2 (en) Control apparatus for electric vehicles
CN103888038A (en) Asynchronous motor vector control method for electric automobile
CN103607156A (en) Method for controlling power factor of mixed excitation synchronous motor
JP6772501B2 (en) Automobile
CN105103434A (en) Control device for permanent magnet motor
US20020047680A1 (en) Method for current regulation of permanently excited synchronous motors for guided missiles having an electromechanical actuating drive for the rudder
JP2013158091A (en) Dynamo-electric machine control system
JP2023177096A (en) Electric vehicle control method and electric vehicle control device
Pankhurst Control of induction motors

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CP03 Change of name, title or address
CP03 Change of name, title or address

Address after: 044502 Yongji City, Shanxi Province, the city of motor street, No. 18, No.

Patentee after: CRRC YONGJI ELECTRIC CO., LTD.

Address before: 044502 No. 18 motor street, Shanxi, Yongji

Patentee before: Yongji Xinshisu Motor Electrical Appliance Co., Ltd.