CN102386836A - Transmission control method and device of permanent magnet synchronous motor - Google Patents
Transmission control method and device of permanent magnet synchronous motor Download PDFInfo
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- 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
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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
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
With d axle actual current i
Ds, the given electric current of q axle
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
When
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.
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,
Adopt formula (2) to produce the control signal i of d axle actual current
SdControl signal i with q axle actual current
Sq,
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:
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
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
of the given electric current of d axle and given torque parameter
the generation given electric current of q axle
Concrete, with the control signal of given torque parameter through the given electric current of MTPA control acquisition d axle
A part
Obtain Δ i through weak magnetic control system then
Sd, will
With Δ i
SdAddition obtains
The embodiment of the invention is obtaining through MTPA control
The time, can obtain through tabling look-up
Can improve system's arithmetic speed like this.
Concrete, calculate Δ i
SdProcess following:
B) according to the detected DC bus-bar voltage V of step 101
DcThe calculating voltage limits value does
Promptly
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
that obtains the given electric current of d axle produces the control signal
of the given electric current of q axle afterwards according to the torque formula (3) of permagnetic synchronous motor
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
Control signal i with d axle actual current
Sd, the given electric current of q axle control signal
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
When
The time voltage as d shaft voltage u
SdWith q shaft voltage u
SqIf
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.
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.
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
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
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
and the control signal
that produced the given electric current of d axle according to
therefore can calculate the control signal of the given electric current of q axle through formula (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;
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:
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,
Be given torque parameter,
Be the control signal of the given electric current of d axle,
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:
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,
Be given torque parameter,
Be the control signal of the given electric current of d axle,
Control signal for the given electric current of q axle.
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