CN111049444B - Motor control method and device and electronic equipment - Google Patents

Motor control method and device and electronic equipment Download PDF

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CN111049444B
CN111049444B CN201911401472.7A CN201911401472A CN111049444B CN 111049444 B CN111049444 B CN 111049444B CN 201911401472 A CN201911401472 A CN 201911401472A CN 111049444 B CN111049444 B CN 111049444B
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value
axis
direct
permanent magnet
quadrature
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CN111049444A (en
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马铱林
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Leadrive Technology Shanghai Co Ltd
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Leadrive Technology Shanghai Co Ltd
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The embodiment of the disclosure provides a motor control method, a motor control device and electronic equipment, and belongs to the technical field of automatic control. The method comprises the following steps: establishing a parameter mapping relation table corresponding to the permanent magnet synchronous motor; inquiring a parameter mapping relation table according to a direct axis current feedback value and a quadrature axis current feedback value of the permanent magnet synchronous motor under the current working condition to obtain a quadrature axis inductance of the permanent magnet synchronous motor under the current working condition; calculating a direct-axis current nominal value and a quadrature-axis current nominal value of the permanent magnet synchronous motor according to the preset type parameters; and inputting the direct-axis current nominal value and the quadrature-axis current nominal value into a current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor. According to the scheme disclosed by the invention, direct observation is carried out by using the direct-axis flux linkage, the change of the permanent magnet flux linkage of the permanent magnet synchronous generator caused by the temperature change of the motor is fully considered, and the high-precision control of the output torque and the air gap flux linkage of the permanent magnet synchronous motor under different stator current values and motor temperatures is met.

Description

Motor control method and device and electronic equipment
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a motor control method and apparatus, and an electronic device.
Background
The permanent magnet synchronous motor has the characteristics of high power density, small volume, light weight, high motor efficiency in a full speed range and the like, and is widely applied to the fields of electric automobiles and the like. Common control methods for permanent magnet synchronous motors include direct torque control and vector control. Vector control is oriented by rotor flux linkage, decoupling control of flux linkage and output torque is achieved, good output response is achieved, and torque fluctuation is small, so that the method is widely researched and applied.
However, in vector control, the accuracy of torque control can be affected by motor parameters during use. In addition, an online table look-up control method can be adopted, a motor parameter table under different working conditions such as current and temperature is established in the controller, and the control precision of the motor is ensured.
For a permanent magnet synchronous machine, the stator inductance of the permanent magnet synchronous machine can change along with the change of the stator current, and the rotor permanent magnet flux linkage of the permanent magnet synchronous machine can also change along with the change of the temperature of the motor. Therefore, when establishing the motor parameter table, the influence of the motor temperature and the stator current needs to be fully considered, and meanwhile, the engineering realizability of the adopted method needs to be paid attention.
The existing motor control method does not consider the influence of the motor temperature and the stator current at the same time, and lacks a high-precision online table look-up control method suitable for the full-speed running range of the permanent magnet synchronous motor.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a motor control method, a motor control apparatus, and an electronic device, which at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a motor control method, including:
establishing a parameter mapping relation table corresponding to the permanent magnet synchronous motor;
inquiring the parameter mapping relation table according to a direct axis current feedback value and a quadrature axis current feedback value of the permanent magnet synchronous motor under the current working condition to obtain a quadrature axis inductance of the permanent magnet synchronous motor under the current working condition;
calculating a direct-axis current nominal value and a quadrature-axis current nominal value of the permanent magnet synchronous motor according to a preset type parameter, wherein the preset type parameter at least comprises the quadrature-axis inductance;
and inputting the direct-axis current nominal value and the quadrature-axis current nominal value into a current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor.
According to a specific implementation manner of the embodiment of the present disclosure, the step of establishing the parameter mapping relationship table corresponding to the permanent magnet synchronous motor includes:
carrying out a test on the permanent magnet synchronous motor, and determining a mapping relation between a direct-axis current nominal value and a torque nominal value as well as an air gap flux linkage nominal value of the permanent magnet synchronous motor; i.e. id＝f(Te,Ψs)
Determining the mapping relation between quadrature axis inductance and direct axis voltage feedback values, three-phase alternating current frequency, stator resistance values and quadrature axis current feedback values under different working conditions;
determining a mapping relation between quadrature axis inductance of the permanent magnet synchronous motor and a direct axis current feedback value and a quadrature axis current feedback value;
determining the mapping relation between the direct-axis flux linkage feedback value and the quadrature-axis voltage feedback value, the resistance value of the stator resistor, the quadrature-axis circuit feedback value and the frequency of the three-phase alternating current;
selecting a direct axis flux linkage feedback value as a flux linkage reference value and a quadrature axis inductance as an inductance reference value, and determining a mapping relation between a current reference value and the flux linkage reference value as well as the inductance reference value;
per-unit conversion is carried out on the named values of the torque under different working conditions to obtain the mapping relation between the per-unit values of the torque and the named values of the torque and the reference values of the torque;
using the flux linkage reference value and the current reference value to perform per-unit on the flux linkage command named value and the direct-axis current value under different working conditions respectively to obtain a mapping relation between the direct-axis current per-unit value and the air gap flux linkage command per-unit value;
and determining the mapping relation between the per-unit value of the direct-axis current and the per-unit value of the torque and the per-unit value of the air gap flux linkage instruction.
According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to the preset type of parameter includes:
sequentially calculating a direct-axis flux linkage observation value, a direct-axis current instruction per unit value and a quadrature-axis current instruction per unit value of the permanent magnet synchronous motor according to a preset type parameter;
and calculating a direct-axis current known value and a quadrature-axis current known value of the permanent magnet synchronous motor according to the quadrature-axis inductance, the direct-axis flux linkage observation value, the direct-axis current instruction per unit value and the quadrature-axis current instruction per unit value.
According to a specific implementation manner of the embodiment of the present disclosure, the step of sequentially calculating a direct-axis flux linkage observed value, a direct-axis current instruction per unit value, and a quadrature-axis current instruction per unit value of the permanent magnet synchronous motor according to a preset type of parameter includes:
calculating a direct axis flux linkage observation value of the permanent magnet synchronous motor according to a quadrature axis voltage feedback value, a quadrature axis current feedback value, a stator resistance value and three-phase alternating current frequency of the permanent magnet synchronous motor;
calculating a torque command per unit value and an air gap flux linkage command per unit value of the permanent magnet synchronous motor according to the direct-axis flux linkage observation value, the quadrature-axis inductance and the known torque command value of the permanent magnet synchronous motor;
inquiring the parameter mapping relation table to obtain a per-unit value of the direct-axis current instruction according to the per-unit value of the torque instruction and the per-unit value of the air gap flux linkage instruction;
and calculating to obtain a per-unit value of the quadrature axis current instruction according to the per-unit value of the torque instruction and the per-unit value of the direct axis current instruction.
According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating a torque command per unit value and a gap flux linkage command per unit value of the permanent magnet synchronous motor according to the direct axis flux linkage observed value, the quadrature axis inductance, and the famous torque command value of the permanent magnet synchronous motor includes:
selecting the direct axis flux linkage feedback value as a flux linkage reference value, and selecting the quadrature axis inductance as an inductance reference value;
calculating to obtain a current reference value according to the flux linkage reference value and the inductance reference value;
calculating a per unit value of the torque instruction according to the flux linkage reference value, the inductance reference value and the named value of the torque instruction;
and dividing the air gap flux linkage named value by the direct axis flux linkage observation value to obtain a per unit value of the air gap flux linkage instruction.
According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating the current reference value according to the flux linkage reference value and the inductance reference value includes:
and dividing the reference value of the magnetic linkage by the reference value of the inductance to obtain the reference value of the current.
According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating the per unit value of the torque command according to the flux reference value, the inductance reference value, and the famous value of the torque command includes:
obtaining a torque reference value according to the multiplication of the pole pair number, the flux linkage reference value, the current reference value and a preset coefficient of the permanent magnet synchronous motor;
and dividing the named value of the torque command by the torque reference value to obtain the per unit value of the torque command.
According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating the first-name value of the direct-axis current and the first-name value of the quadrature-axis current of the permanent magnet synchronous motor according to the quadrature-axis inductance, the direct-axis flux linkage observed value, the direct-axis current instruction per unit value, and the quadrature-axis current instruction per unit value includes:
multiplying the per unit value of the direct-axis current instruction by the current reference value to obtain a named value of the direct-axis current;
and multiplying the per unit value of the quadrature axis current instruction by the current reference value to obtain the known value of the quadrature axis current.
In a second aspect, an embodiment of the present disclosure provides a motor control device, including:
the table building module is used for building a parameter mapping relation table corresponding to the permanent magnet synchronous motor;
the table look-up module is used for inquiring the parameter mapping relation table according to a direct axis current feedback value and a quadrature axis current feedback value of the permanent magnet synchronous motor under the current working condition to obtain a quadrature axis inductance of the permanent magnet synchronous motor under the current working condition;
the calculation module is used for calculating a direct-axis current nominal value and a quadrature-axis current nominal value of the permanent magnet synchronous motor according to preset type parameters, wherein the preset type parameters at least comprise the quadrature-axis inductance;
and the control module is used for inputting the direct-axis current nominal value and the quadrature-axis current nominal value into a current controller of the permanent magnet synchronous motor and controlling the actual current output of the permanent magnet synchronous motor.
In a third aspect, an embodiment of the present disclosure further provides an electronic device, where the electronic device includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the motor control method of the first aspect or any implementation manner of the first aspect.
In a fourth aspect, the disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the motor control method in the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the present disclosure also provides a computer program product including a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform the motor control method of the first aspect or any implementation manner of the first aspect.
The motor control scheme in the embodiment of the disclosure comprises: establishing a parameter mapping relation table corresponding to the permanent magnet synchronous motor; inquiring the parameter mapping relation table according to a direct axis current feedback value and a quadrature axis current feedback value of the permanent magnet synchronous motor under the current working condition to obtain a quadrature axis inductance of the permanent magnet synchronous motor under the current working condition; calculating a direct-axis current nominal value and a quadrature-axis current nominal value of the permanent magnet synchronous motor according to a preset type parameter, wherein the preset type parameter at least comprises the quadrature-axis inductance; and inputting the direct-axis current nominal value and the quadrature-axis current nominal value into a current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor. According to the scheme disclosed by the invention, direct observation is carried out by using the direct-axis flux linkage, and the change of the permanent magnet flux linkage of the permanent magnet synchronous generator caused by the temperature change of the motor is fully considered. In addition, the influence of the change of the stator current on the size of the stator inductance is fully considered, but only the influence of the alternating-axis inductance on the stator current is required to be concerned, the change of the direct-axis inductance is not required to be concerned, the complexity of a control system is reduced, and the high-precision control of the output torque and the air gap flux linkage of the permanent magnet synchronous motor under different stator current values and motor temperatures is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present disclosure;
fig. 2 is a schematic control process diagram of a motor control method provided in an embodiment of the present disclosure;
fig. 3 is a partial schematic flow chart of another motor control method provided in the embodiment of the present disclosure;
fig. 4 is a partial schematic flow chart of another motor control method provided in the embodiment of the present disclosure;
fig. 5 is a partial schematic flow chart of another motor control method provided in the embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a motor control device according to an embodiment of the present disclosure;
fig. 7 is a schematic view of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the disclosure provides a motor control method. The motor control method provided by the present embodiment may be executed by a computing device, which may be implemented as software, or implemented as a combination of software and hardware, and may be integrally provided in a server, a terminal device, or the like.
Referring to fig. 1, a schematic flow chart of a motor control method according to an embodiment of the present disclosure is shown. As shown in fig. 1, the method mainly includes:
s101, establishing a parameter mapping relation table corresponding to the permanent magnet synchronous motor;
the motor control method provided by the embodiment of the invention is applied to the current output control process of the permanent magnet synchronous motor. The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation, the permanent magnet is used as a rotor to generate a rotating magnetic field, and the three-phase stator winding induces three-phase symmetrical current through armature reaction under the action of the rotating magnetic field. At the moment, the kinetic energy of the rotor is converted into electric energy, and the permanent magnet synchronous motor is used as a Generator; in addition, when three-phase symmetrical current is introduced to the stator side, the three-phase stator generates a rotating magnetic field in the space due to the fact that the phase difference of the three-phase stator is 120 in the space position, the rotor moves under the action of electromagnetic force in the rotating magnetic field, at the moment, electric energy is converted into kinetic energy, and the permanent magnet synchronous Motor serves as a Motor of the Motor.
Before the control of the permanent magnet synchronous motor is realized, the mapping relation between the relevant parameters of the permanent magnet synchronous motor under different working conditions is obtained through test tests, and a parameter mapping relation table is established, so that the corresponding parameter values under the subsequent working conditions can be conveniently searched and calculated.
S102, inquiring the parameter mapping relation table according to a direct-axis current feedback value and a quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition to obtain a quadrature-axis inductance of the permanent magnet synchronous motor under the current working condition;
after the parameter mapping relation table is established according to the steps, the parameter mapping relation table can be used for inquiring the relevant parameter values. Specifically, a direct-axis current feedback value and a quadrature-axis current feedback value of the permanent magnet synchronous motor under the current working condition are obtained, so that a parameter mapping relation table is inquired, and quadrature-axis inductance of the permanent magnet synchronous motor is obtained.
S103, calculating a direct-axis current nominal value and a quadrature-axis current nominal value of the permanent magnet synchronous motor according to preset type parameters, wherein the preset type parameters at least comprise quadrature-axis inductance;
and after the quadrature axis inductance of the permanent magnet synchronous motor is obtained by table lookup, calculating the direct axis current nominal value and the quadrature axis current nominal value of the permanent magnet synchronous motor according to the quadrature axis inductance and other preset parameters to serve as final control parameters.
And S104, inputting the direct-axis current nominal value and the quadrature-axis current nominal value into a current controller of the permanent magnet synchronous motor, and controlling the actual current output of the permanent magnet synchronous motor.
And inputting the final control parameters obtained in the steps, namely the direct axis current nominal value and the quadrature axis current nominal value into a current controller of the permanent magnet synchronous motor, so as to control the actual current output of the permanent magnet synchronous motor.
According to the motor control scheme in the embodiment of the disclosure, direct observation is carried out by using the direct-axis flux linkage, and the change of the permanent magnet flux linkage of the permanent magnet synchronous generator caused by the temperature change of the motor is fully considered. In addition, the influence of the change of the stator current on the size of the stator inductance is fully considered, but only the influence of the alternating-axis inductance on the stator current is required to be concerned, the change of the direct-axis inductance is not required to be concerned, the complexity of a control system is reduced, and the high-precision control of the output torque and the air gap flux linkage of the permanent magnet synchronous motor under different stator current values and motor temperatures is met.
The present embodiment will be further explained below specifically from the process of establishing the parameter mapping relationship table and the process of calculating the corresponding parameter.
According to a specific implementation manner of the embodiment of the present disclosure, as shown in fig. 2, the step of establishing the parameter mapping relationship table corresponding to the permanent magnet synchronous motor in step S102 mainly includes the following sub-steps:
1. carrying out a test on the permanent magnet synchronous motor, and determining a mapping relation between a direct-axis current nominal value and a torque nominal value as well as an air gap flux linkage nominal value of the permanent magnet synchronous motor;
namely, the famous torque value T of the permanent magnet synchronous motor is obtained through experimental tests of the permanent magnet synchronous motoreThe value of the nominal of the air gap flux linkage is psisNominal value i of direct axis currentdThe mapping relation between the two is sorted to obtain id＝f(Te,Ψs)。
2. Determining the mapping relation between quadrature axis inductance and direct axis voltage feedback values, three-phase alternating current frequency, stator resistance values and quadrature axis current feedback values under different working conditions;
calculating L under different working conditionsqI.e. by
Figure GDA0003090709100000081
Wherein u isd_fbkThe feedback value of the direct axis voltage of the permanent magnet synchronous motor can be obtained by the calculation of a modulation wave of a motor controller; rsIs the resistance value of the stator resistor, id_fbkIs a direct-axis current feedback value f of the permanent magnet synchronous motorsThe frequency of three-phase alternating current of the permanent magnet synchronous motor is set; i.e. iq_fbkAnd the quadrature axis current feedback value is a permanent magnet synchronous motor quadrature axis current feedback value.
3. Determining a mapping relation between quadrature axis inductance of the permanent magnet synchronous motor and a direct axis current feedback value and a quadrature axis current feedback value;
the quadrature axis inductance L under different working conditionsqThe numerical values are sorted to obtain the quadrature axis inductance LqAnd the direct axis current feedback value id_fbkQuadrature axis current feedback value iq_fbkThe relationship between, i.e. Lq＝f(id_fbk,iq_fbk) Corresponding to table 1 in fig. 2.
4. Determining the mapping relation between the direct-axis flux linkage feedback value and the quadrature-axis voltage feedback value, the resistance value of the stator resistor, the quadrature-axis circuit feedback value and the frequency of the three-phase alternating current;
based on experimental data, the direct axis flux linkage feedback value psi-d_fbkI.e. by
Figure GDA0003090709100000091
5. Selecting a direct axis flux linkage feedback value as a flux linkage reference value and a quadrature axis inductance as an inductance reference value, and determining a mapping relation between a current reference value and the flux linkage reference value as well as the inductance reference value;
selecting a direct axis flux linkage feedback value Ψd_fbkReference value psi for flux linkagebQuadrature axis inductance LqIs a reference value L of inductancebCalculating the current reference value I under different working conditions by using formula 2 in FIG. 1bI.e. by
Figure GDA0003090709100000092
6. Per-unit conversion is carried out on the named values of the torque under different working conditions to obtain the mapping relation between the per-unit values of the torque and the named values of the torque and the reference values of the torque;
selecting a reference value T of torqueb＝1.5PΨbIbAnd P is the pole pair number of the permanent magnet synchronous motor. Using formula 3 in fig. 1 to obtain the named value T of the matrix under different working conditionsePerforming per unit, wherein the torque per unit value is as follows:
Figure GDA0003090709100000093
7. using the flux linkage reference value and the current reference value to perform per-unit on the flux linkage command named value and the direct-axis current value under different working conditions respectively to obtain a mapping relation between the direct-axis current per-unit value and the air gap flux linkage command per-unit value;
using the flux linkage reference value ΨbAnd a current reference value IbNamed values psi for flux linkage commands under different working conditionssStraight axis current value idPerforming per unit to obtain a per unit value of the direct-axis current and a per unit value of the air gap flux linkage instruction as follows:
Figure GDA0003090709100000101
8. and determining the mapping relation between the per-unit value of the direct-axis current and the per-unit value of the torque and the per-unit value of the air gap flux linkage instruction.
T obtained by combining the two steps under different working conditionse_p.u.、Ψs_p.u.、id_p.u.Further, i obtained in step 1 may be addedd＝f(Te,Ψs) Is arranged as id_p.u.＝f(Te_p.u.,Ψs_p.u.) Corresponding to table 2 in fig. 2.
According to another specific implementation manner of the embodiment of the present disclosure, as shown in fig. 3, the step of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to the preset type of parameter in step S103 may include:
s301, sequentially calculating a direct-axis flux linkage observation value, a direct-axis current instruction per unit value and a quadrature-axis current instruction per unit value of the permanent magnet synchronous motor according to the preset type parameter;
and S302, calculating a first-name value of the direct-axis current and a first-name value of the quadrature-axis current of the permanent magnet synchronous motor according to the quadrature-axis inductance, the direct-axis flux linkage observation value, the direct-axis current instruction per unit value and the quadrature-axis current instruction per unit value.
The process of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current disclosed in this embodiment is to calculate a direct-axis flux linkage observed value, a per-unit value of a direct-axis current command, and a per-unit value of a quadrature-axis direct-current command of the permanent magnet synchronous motor according to preset parameters such as quadrature-axis inductance, and then further calculate the nominal value of the direct-axis current and the nominal value of the quadrature-axis current according to these values.
Specifically, as shown in fig. 4, the step of calculating the direct-axis flux linkage observed value, the direct-axis current command per unit value, and the quadrature-axis current command per unit value of the permanent magnet synchronous motor in sequence by using the preset type of parameter may include:
s401, calculating a direct axis flux linkage observation value of the permanent magnet synchronous motor according to a quadrature axis voltage feedback value, a quadrature axis current feedback value, a stator resistance value and a three-phase alternating current frequency of the permanent magnet synchronous motor;
based on quadrature axis voltage feedback value uq_fbkQuadrature axis current feedback value iq_fbkStator resistor resistance RsThree-phase alternating current frequency fsUsing equation 1 as described in fig. 2, the observed value Ψ of the direct axis flux linkage can be calculatedd_fbkNamely:
Figure GDA0003090709100000111
in addition, based on the direct-axis current feedback value id_fbkQuadrature axis current feedback value iq_fbkThe foregoing table 1 is looked up to obtain the quadrature axis inductance L under the working conditionq。
S402, calculating a torque instruction per unit value and an air gap flux linkage instruction per unit value of the permanent magnet synchronous motor according to the direct axis flux linkage observation value, the quadrature axis inductance and the known torque instruction value of the permanent magnet synchronous motor;
further, as shown in fig. 5, the step of calculating a torque command per unit value and a gap flux linkage command per unit value of the permanent magnet synchronous motor according to the direct axis flux linkage observed value, the quadrature axis inductance, and the named value of the torque command of the permanent magnet synchronous motor includes:
s501, selecting the direct axis flux linkage feedback value as a flux linkage reference value, and selecting the quadrature axis inductance as an inductance reference value;
s502, calculating to obtain a current reference value according to the flux linkage reference value and the inductance reference value;
optionally, the step of calculating a current reference value according to the flux linkage reference value and the inductance reference value includes:
and dividing the reference value of the magnetic linkage by the reference value of the inductance to obtain the reference value of the current.
Selecting a direct axis flux linkage feedback value Ψd_fbkReference value psi for flux linkagebQuadrature axis inductance LqIs a reference value L of inductancebUsing the above formula 2, the current reference value I under the working condition is obtainedbI.e. by
Figure GDA0003090709100000112
S503, calculating a per unit value of the torque command according to the flux linkage reference value, the inductance reference value and the named value of the torque command;
optionally, the step of calculating the per-unit value of the torque command according to the flux reference value, the inductance reference value, and the named value of the torque command includes:
obtaining a torque reference value according to the multiplication of the pole pair number, the flux linkage reference value, the current reference value and a preset coefficient of the permanent magnet synchronous motor;
and dividing the named value of the torque command by the torque reference value to obtain the per unit value of the torque command.
According to the polar logarithm P and the reference value psi of the flux linkagebAnd a current reference value IbThe formula for calculating the reference value of torque is Tb＝1.5PΨbIbWherein, the number of pole pairs of the permanent magnet synchronous motor is 1.5.
Named value T of torque under different working conditions by using formula 3 in FIG. 2ePerforming per unit, namely:
Figure GDA0003090709100000121
s504, dividing the air gap flux linkage named value by the direct axis flux linkage observed value to obtain a per unit value of the air gap flux linkage instruction.
Based on ΨsTo Ψd_fbkDividing the two to obtain Ψsref_p.u.。
S403, inquiring the parameter mapping relation table according to the torque command per unit value and the air gap flux linkage command per unit value to obtain a direct-axis current command per unit value;
t obtained based on the previous stepseref_p.u.、Ψsref_p.u.The table 2 mentioned above is consulted to obtain the corresponding idref_p.u.。
And S404, calculating to obtain a per unit value of the quadrature axis current instruction according to the per unit value of the torque instruction and the per unit value of the direct axis current instruction.
The per unit value T of the torque instruction obtained based on the stepseref_p.u.D-axis current command per unit value idref_p.u.Using equation 4 in fig. 1 to calculate the corresponding iqref_p.u.I.e. by
Figure GDA0003090709100000122
Correspondingly, the step of calculating the first-name value of the direct-axis current and the first-name value of the quadrature-axis current of the pmsm according to the quadrature-axis inductance, the observed value of the direct-axis flux linkage, the first-name value of the direct-axis current command, and the per-unit value of the quadrature-axis current command in step S302 may include:
multiplying the per unit value of the direct-axis current instruction by the current reference value to obtain a named value of the direct-axis current;
and multiplying the per unit value of the quadrature axis current instruction by the current reference value to obtain the known value of the quadrature axis current.
Based on the obtained Ib、idref_p.u.The corresponding i is calculated by using formula 5 in FIG. 2drefI.e. idref＝idref_p.u.×Ib(ii) a And, based on Ib、iqref_p.u.The corresponding i is calculated using equation 6 in FIG. 2qrefI.e. iqref＝iqref_p.u.×Ib. And inputting the idref and the iqref into a current controller to control the actual current output of the permanent magnet synchronous motor.
In summary, the motor control scheme provided by the embodiment of the present disclosure has a complex algorithm compared to the conventional control scheme, cannot be directly observed, and has the disadvantage of being obtained through complex calculation. In addition, on the premise of fully considering the influence of the stator current change on the size of the stator inductance, only the influence of the stator current on the quadrature axis inductance Lq is needed to be concerned, the change of the direct axis inductance Ld is not needed to be concerned, table look-up operation is less, the control flow is simple, the storage resource of the controller is saved, and the complexity of the control system is reduced. And the embodiment can simultaneously consider the influence of current and temperature on torque and flux linkage, reduce flux linkage control error and meet the high-precision control of the output torque and air gap flux linkage of the permanent magnet synchronous motor under different stator current values and motor temperatures.
Corresponding to the above method embodiment, referring to fig. 6, the disclosed embodiment further provides a motor control device 60, including:
the table building module 601 is used for building a parameter mapping relation table corresponding to the permanent magnet synchronous motor;
the table look-up module 602 is configured to query the parameter mapping relationship table according to a direct axis current feedback value and a quadrature axis current feedback value of the permanent magnet synchronous motor under the current working condition, so as to obtain a quadrature axis inductance of the permanent magnet synchronous motor under the current working condition;
a calculating module 603, configured to calculate a direct-axis current nominal value and a quadrature-axis current nominal value of the permanent magnet synchronous motor according to a preset type of parameter, where the preset type of parameter at least includes the quadrature-axis inductance;
and the control module 604 is configured to input the first-name value of the direct-axis current and the first-name value of the quadrature-axis current into a current controller of the permanent magnet synchronous motor, so as to control actual current output of the permanent magnet synchronous motor.
The apparatus shown in fig. 6 may correspondingly execute the content in the above method embodiment, and details of the part not described in detail in this embodiment refer to the content described in the above method embodiment, which is not described again here.
Referring to fig. 7, an embodiment of the present disclosure also provides an electronic device 60, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the motor control method of the foregoing method embodiments.
The disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the motor control method in the aforementioned method embodiments.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the motor control method in the aforementioned method embodiments.
Referring now to FIG. 7, a schematic diagram of an electronic device 70 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 7, the electronic device 70 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 701 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage means 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the electronic apparatus 70 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Generally, the following devices may be connected to the I/O interface 705: an input device 707 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, or the like; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 70 to communicate wirelessly or by wire with other devices to exchange data. While the figures illustrate an electronic device 70 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication means 709, or may be installed from the storage means 708, or may be installed from the ROM 702. The computer program, when executed by the processing device 701, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, enable the electronic device to implement the schemes provided by the method embodiments.
Alternatively, the computer readable medium carries one or more programs, which when executed by the electronic device, enable the electronic device to implement the schemes provided by the method embodiments.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (8)

1. A method of controlling a motor, the method comprising:
establishing a parameter mapping relation table corresponding to the permanent magnet synchronous motor;
inquiring the parameter mapping relation table according to a direct axis current feedback value and a quadrature axis current feedback value of the permanent magnet synchronous motor under the current working condition to obtain a quadrature axis inductance of the permanent magnet synchronous motor under the current working condition;
calculating a direct-axis current nominal value and a quadrature-axis current nominal value of the permanent magnet synchronous motor according to a preset type parameter, wherein the preset type parameter at least comprises the quadrature-axis inductance;
the step of calculating the nominal value of the direct-axis current and the nominal value of the quadrature-axis current of the permanent magnet synchronous motor according to the preset type of parameters comprises the following steps:
sequentially calculating a direct-axis flux linkage observation value, a direct-axis current instruction per unit value and a quadrature-axis current instruction per unit value of the permanent magnet synchronous motor according to a preset type parameter;
calculating a direct-axis current famous value and a quadrature-axis current famous value of the permanent magnet synchronous motor according to the quadrature-axis inductance, the direct-axis flux linkage observation value, the direct-axis current instruction per unit value and the quadrature-axis current instruction per unit value;
the step of calculating the direct-axis flux linkage observation value, the direct-axis current instruction per unit value and the quadrature-axis current instruction per unit value of the permanent magnet synchronous motor in sequence according to the preset type of parameters comprises the following steps:
calculating a direct axis flux linkage observation value of the permanent magnet synchronous motor according to a quadrature axis voltage feedback value, a quadrature axis current feedback value, a stator resistance value and three-phase alternating current frequency of the permanent magnet synchronous motor;
calculating a torque command per unit value and an air gap flux linkage command per unit value of the permanent magnet synchronous motor according to the direct-axis flux linkage observation value, the quadrature-axis inductance and the known torque command value of the permanent magnet synchronous motor;
inquiring the parameter mapping relation table to obtain a per-unit value of the direct-axis current instruction according to the per-unit value of the torque instruction and the per-unit value of the air gap flux linkage instruction;
calculating to obtain a per-unit value of the quadrature axis current instruction according to the per-unit value of the torque instruction and the per-unit value of the direct axis current instruction;
and inputting the direct-axis current nominal value and the quadrature-axis current nominal value into a current controller of the permanent magnet synchronous motor to control the actual current output of the permanent magnet synchronous motor.
2. The method of claim 1, wherein the step of establishing a parameter mapping table corresponding to the permanent magnet synchronous motor comprises:
carrying out a test on the permanent magnet synchronous motor, and determining a mapping relation between a direct-axis current nominal value and a torque nominal value as well as an air gap flux linkage nominal value of the permanent magnet synchronous motor;
determining the mapping relation between quadrature axis inductance and direct axis voltage feedback values, three-phase alternating current frequency, stator resistance values and quadrature axis current feedback values under different working conditions;
determining a mapping relation between quadrature axis inductance of the permanent magnet synchronous motor and a direct axis current feedback value and a quadrature axis current feedback value;
determining the mapping relation between the direct-axis flux linkage feedback value and the quadrature-axis voltage feedback value, the resistance value of the stator resistor, the quadrature-axis circuit feedback value and the frequency of the three-phase alternating current;
selecting a direct axis flux linkage feedback value as a flux linkage reference value and a quadrature axis inductance as an inductance reference value, and determining a mapping relation between a current reference value and the flux linkage reference value as well as the inductance reference value;
per-unit conversion is carried out on the named values of the torque under different working conditions to obtain the mapping relation between the per-unit values of the torque and the named values of the torque and the reference values of the torque;
using the flux linkage reference value and the current reference value to perform per-unit on the flux linkage command named value and the direct-axis current value under different working conditions respectively to obtain a mapping relation between the direct-axis current per-unit value and the air gap flux linkage command per-unit value;
and determining the mapping relation between the per-unit value of the direct-axis current and the per-unit value of the torque and the per-unit value of the air gap flux linkage instruction.
3. The motor control method according to claim 1, wherein the step of calculating a torque command per unit value and a gap flux linkage command per unit value of the permanent magnet synchronous motor from the direct-axis flux linkage observed value, the quadrature-axis inductance, and a torque command named value of the permanent magnet synchronous motor includes:
selecting the direct axis flux linkage feedback value as a flux linkage reference value, and selecting the quadrature axis inductance as an inductance reference value;
calculating a current reference value according to the flux linkage reference value and the inductance reference value;
calculating a per unit value of the torque instruction according to the flux linkage reference value, the inductance reference value and the named value of the torque instruction;
and dividing the air gap flux linkage named value by the direct axis flux linkage observation value to obtain a per unit value of the air gap flux linkage instruction.
4. The method of claim 3, wherein the step of calculating a current reference value based on the flux linkage reference value and the inductance reference value comprises:
and dividing the reference value of the magnetic linkage by the reference value of the inductance to obtain the reference value of the current.
5. The motor control method according to claim 3, wherein the step of calculating the torque command per unit value based on the flux linkage reference value, the inductance reference value, and the torque command named value includes:
obtaining a torque reference value according to the multiplication of the pole pair number, the flux linkage reference value, the current reference value and a preset coefficient of the permanent magnet synchronous motor;
and dividing the named value of the torque command by the torque reference value to obtain the per unit value of the torque command.
6. The motor control method according to claim 2, wherein the step of calculating the first known value of the direct-axis current and the first known value of the quadrature-axis current of the permanent magnet synchronous motor from the quadrature-axis inductance, the observed value of the direct-axis flux linkage, the per-unit value of the direct-axis current command, and the per-unit value of the quadrature-axis current command includes:
multiplying the per unit value of the direct-axis current instruction by the current reference value to obtain a named value of the direct-axis current;
and multiplying the per unit value of the quadrature axis current instruction by the current reference value to obtain the known value of the quadrature axis current.
7. A motor control apparatus, comprising:
the table building module is used for building a parameter mapping relation table corresponding to the permanent magnet synchronous motor;
the table look-up module is used for inquiring the parameter mapping relation table according to a direct axis current feedback value and a quadrature axis current feedback value of the permanent magnet synchronous motor under the current working condition to obtain a quadrature axis inductance of the permanent magnet synchronous motor under the current working condition;
a calculation module, configured to calculate a first-name value of a direct-axis current and a first-name value of a quadrature-axis current of the permanent magnet synchronous motor according to a preset type of parameter, where the preset type of parameter at least includes the quadrature-axis inductance, and the step of calculating the first-name value of the direct-axis current and the first-name value of the quadrature-axis current of the permanent magnet synchronous motor according to the preset type of parameter is as claimed in any one of claims 1 to 6;
and the control module is used for inputting the direct-axis current nominal value and the quadrature-axis current nominal value into a current controller of the permanent magnet synchronous motor and controlling the actual current output of the permanent magnet synchronous motor.
8. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the motor control method of any of the preceding claims 1-6.
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