CN114362624A - Control method and system of permanent magnet synchronous motor and motor controller - Google Patents
Control method and system of permanent magnet synchronous motor and motor controller Download PDFInfo
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Abstract
The invention provides a control method, a system and a motor controller of a permanent magnet synchronous motor, wherein the control method comprises the steps of acquiring the current direct-axis voltage and the current quadrature-axis voltage of the permanent magnet synchronous motor when the current running mode, the current rotating speed, the current direct-axis current instruction value and feedback value and the current quadrature-axis current instruction value and feedback value of the permanent magnet synchronous motor simultaneously meet preset conditions in the normal running process of a vehicle, calculating the zero offset value of the permanent magnet synchronous motor according to the acquired current direct-axis voltage and current quadrature-axis voltage of the permanent magnet synchronous motor, carrying out filtering processing on the calculated zero offset value of the permanent magnet synchronous motor, determining whether the permanent magnet synchronous motor has motor zero offset faults or not, and correcting the zero offset of the permanent magnet synchronous motor according to the filtered motor zero offset value. The control method can judge and correct the zero offset fault of the permanent magnet synchronous motor in the normal running process of the vehicle, and can ensure the control performance of the motor.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a control method of a permanent magnet synchronous motor, and also relates to a control system of the permanent magnet synchronous motor and a motor controller.
Background
The permanent magnet synchronous motor is one of motor types mainly adopted by new energy automobiles, and the high-precision detection of the position of a motor rotor cannot be avoided for the high-performance control of the permanent magnet synchronous motor. At present, the accurate position of the motor rotor is generally obtained by using a coaxially installed rotary transformer, and the initial zero offset between the electrical zero position of the rotary transformer and the electrical zero position of the motor rotor is generally measured when the motor is offline for cross inspection, so as to obtain the real position of the motor rotor.
However, in the use process of the motor, due to the influence of factors such as environmental temperature change, vibration and the like, the initial zero offset measured during offline cross inspection of the motor is wrong, and the real rotor position cannot be obtained, so that the control performance of the motor is reduced. The reduction of the control performance of the motor not only can lead to the fact that the acceleration time of the vehicle is prolonged, the highest vehicle speed cannot be reached, the system efficiency is reduced, the driving range is shortened, but also the vehicle is easy to shake, and even the power output is interrupted. Therefore, the zero offset fault of the permanent magnet synchronous motor needs to be detected, judged and calibrated at a later stage.
In the prior art, for the zero offset fault of the permanent magnet synchronous motor, a processing method is to estimate the motor torque in the active discharge process of a vehicle and then calculate the torque fluctuation coefficient so as to judge the position offset fault of the permanent magnet synchronous motor rotor. According to the method, the set current of active discharge is not too large, the torque generated by zero offset of the motor is very small, and the time of the whole discharge process is very short, so that a correct torque fluctuation coefficient is difficult to calculate, and the zero offset fault of the motor cannot be detected or is detected wrongly easily.
In addition, in the prior art, a motor zero calibration program is activated when the motor efficiency is reduced and exceeds a certain amplitude value through calculation and analysis of the motor efficiency, and the motor zero offset fault is judged and calibrated by timely detecting the motor efficiency and utilizing the motor efficiency. However, because the motor efficiency is greatly influenced by motor parameter changes and environmental temperature changes, the accurate efficiency of the motor is difficult to calculate, and therefore the method is also difficult to accurately judge the zero offset fault of the motor and calibrate.
In addition, in the prior art, after the direction of the required torque changes, the required torque output to the permanent magnet synchronous motor is forcibly adjusted to be zero and continues for a certain time, and then the rotation zero deviation angle is calculated, so that the zero deviation fault of the motor is judged. However, this method may cause the actual torque to be interrupted during normal operation of the vehicle, and the vehicle to be shaken, since it is necessary to forcibly adjust the required torque to zero. In addition, when the driver loosens and steps on the accelerator and the brake under the congested road condition, the shaking is more serious. Therefore, the method is not suitable for judging the zero offset fault of the motor in the normal running process of the vehicle.
Disclosure of Invention
In view of this, the present invention is directed to a method for controlling a permanent magnet synchronous motor, so as to determine and correct a zero offset fault of the permanent magnet synchronous motor during a normal driving process of a vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control method of a permanent magnet synchronous motor, the control method comprising:
in the normal running process of a vehicle, acquiring a current running mode, a current rotating speed, a current direct-axis current instruction value and a feedback value, and a current quadrature-axis current instruction value and a feedback value of a permanent magnet synchronous motor;
when the obtained current operation mode, the current rotating speed, the current direct-axis current instruction value and the feedback value of the permanent magnet synchronous motor and the current quadrature-axis current instruction value and the feedback value of the permanent magnet synchronous motor simultaneously meet preset conditions, obtaining the current direct-axis voltage and the current quadrature-axis voltage of the permanent magnet synchronous motor;
calculating a zero offset value of the permanent magnet synchronous motor according to the acquired current direct axis voltage and current quadrature axis voltage of the permanent magnet synchronous motor;
filtering the calculated zero offset value of the permanent magnet synchronous motor to obtain a filtered zero offset value of the motor;
comparing the filtered motor zero offset value with a preset threshold value, and determining whether the permanent magnet synchronous motor has a motor zero offset fault;
and when the motor zero offset fault of the permanent magnet synchronous motor is determined, correcting the zero offset of the permanent magnet synchronous motor according to the filtered motor zero offset value.
Further, the step of obtaining that the current operation mode, the current rotation speed, the current direct-axis current instruction value and the current feedback value, and the current quadrature-axis current instruction value and the current feedback value of the permanent magnet synchronous motor simultaneously satisfy preset conditions includes:
the current operation mode of the permanent magnet synchronous motor is a torque mode, the current rotating speed is greater than the preset motor rotating speed, the absolute value of the current direct-axis current instruction value is smaller than a first preset current threshold value, the absolute value of the current quadrature-axis current instruction value is smaller than a second preset current threshold value, the absolute value of the current direct-axis current feedback value is smaller than a third preset current threshold value, and the absolute value of the current quadrature-axis current feedback value is smaller than a fourth preset current threshold value.
Further, the zero offset value θ r of the permanent magnet synchronous motor is tan-1(Ud/Uq) Wherein, UdIs the current direct-axis voltage, U, of the PMSMqThe current quadrature axis voltage of the permanent magnet synchronous motor.
Further, the filtering the calculated zero offset value of the permanent magnet synchronous motor includes:
and performing first-order low-pass filtering, second-order low-pass filtering or average filtering on the calculated zero offset value of the permanent magnet synchronous motor.
Further, the step of comparing the filtered zero offset value of the motor with a preset threshold value to determine whether the permanent magnet synchronous motor has a motor zero offset fault includes:
and determining that the motor zero offset fault exists in the permanent magnet synchronous motor when the filtered motor zero offset value is larger than a preset threshold value.
Further, the control method further includes:
and when the permanent magnet synchronous motor is determined to have the motor zero offset fault, performing fault alarm and storing the fault.
Further, the correcting the zero offset of the permanent magnet synchronous motor according to the filtered zero offset value of the motor includes:
when the current operation mode of the permanent magnet synchronous motor is a power-down mode, storing the filtered zero offset value of the motor;
and when the vehicle is electrified again, reading the stored zero offset value of the motor, and superposing the zero offset value of the motor to the angle acquired by the rotary transformer.
Further, the correcting the zero offset of the permanent magnet synchronous motor according to the filtered zero offset value of the motor includes:
and gradually superposing the filtered zero offset value of the motor to the angle acquired by the rotary transformer according to a preset step length.
Compared with the prior art, the invention has the following advantages:
according to the control method of the permanent magnet synchronous motor, when the current running mode, the current rotating speed, the current direct-axis current instruction value and the feedback value of the permanent magnet synchronous motor and the current quadrature-axis current instruction value and the feedback value of the permanent magnet synchronous motor meet preset conditions at the same time in the normal running process of a vehicle, the zero offset value of the permanent magnet synchronous motor is calculated according to the current direct-axis voltage and the current quadrature-axis voltage of the permanent magnet synchronous motor, the calculated zero offset value is subjected to filtering processing, the filtered motor zero offset value is compared with a preset threshold value, the judgment of the zero offset fault of the permanent magnet synchronous motor can be achieved, and the correction of the zero offset of the permanent magnet synchronous motor can be carried out according to the filtered motor zero offset value when the fault is judged.
Therefore, the method can judge and correct the zero offset fault of the permanent magnet synchronous motor in the normal running process of the vehicle. Compared with the prior art, the method provided by the invention does not need to estimate the motor torque in the active discharging process of the vehicle and calculate the torque fluctuation coefficient, and can ensure that the judgment on the zero offset fault of the permanent magnet synchronous motor is realized. Meanwhile, the method of the invention does not consider the problems that the torque fluctuation of the motor and the efficiency of the motor can not be accurately detected, and the method of the invention can not cause the problems of power loss and shaking of the vehicle because the required torque of the motor does not need to be changed.
Therefore, the control method of the permanent magnet synchronous motor is suitable for being used when a vehicle normally runs, can ensure the control performance of the permanent magnet synchronous motor through the judgment and correction of the zero offset fault, and has good practicability.
The invention also provides a control system of the permanent magnet synchronous motor, which comprises a storage unit and a processor, wherein the storage unit stores programs, and when the programs are executed by the processor, the processor is enabled to realize the control method of the permanent magnet synchronous motor.
In addition, the invention also provides a motor controller which is provided with the control system of the permanent magnet synchronous motor.
Compared with the prior art, the control system and the motor controller of the permanent magnet synchronous motor have the same beneficial effects as the control method, and are not repeated herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a control method of a permanent magnet synchronous motor according to a first embodiment of the present invention;
fig. 2 is a schematic configuration diagram of a control system of a permanent magnet synchronous motor according to a second embodiment of the present invention;
description of reference numerals:
10. a motor controller;
100. a control system; 101. a storage unit; 102 a processor.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it should be noted that, if terms indicating orientation or positional relationship such as "upper", "lower", "inside", "outside", etc. appear, they are based on the orientation or positional relationship shown in the drawings and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the appearances of the terms first, second, etc. in this specification are not necessarily all referring to the same item, but are instead intended to cover the same item.
In addition, in the description of the present invention, the terms "mounted," "connected," and "connecting" are to be construed broadly unless otherwise specifically limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in conjunction with specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
The embodiment relates to a control method of a permanent magnet synchronous motor, which can judge and correct the zero offset fault of the permanent magnet synchronous motor in the normal running process of a vehicle.
As shown in fig. 1, the control method of the permanent magnet synchronous motor of the present embodiment includes the following steps:
and step s1, acquiring the current running mode, the current rotating speed, the current direct axis current instruction value and feedback value, and the current quadrature axis current instruction value and feedback value of the permanent magnet synchronous motor in the normal running process of the vehicle.
The current operation mode of the permanent magnet synchronous motor, the current rotating speed of the permanent magnet synchronous motor, the current direct axis current instruction value and the current feedback value of the permanent magnet synchronous motor, and the current quadrature axis current instruction value and the current feedback value of the permanent magnet synchronous motor can be obtained from a controller of the permanent magnet synchronous motor.
And step s2, when the obtained current operation mode, the current rotating speed, the current direct axis current instruction value and the current feedback value of the permanent magnet synchronous motor and the current quadrature axis current instruction value and the current feedback value of the permanent magnet synchronous motor simultaneously meet preset conditions, obtaining the current direct axis voltage and the current quadrature axis voltage of the permanent magnet synchronous motor.
In this embodiment, specifically, the above-mentioned condition that meets the preset condition at the same time includes that the current operation mode of the permanent magnet synchronous motor is a torque mode, the current rotation speed is greater than the preset motor rotation speed, the absolute value of the current direct-axis current instruction value is less than the first preset current threshold, the absolute value of the current quadrature-axis current instruction value is less than the second preset current threshold, the absolute value of the current direct-axis current feedback value is less than the third preset current threshold, and the absolute value of the current quadrature-axis current feedback value is less than the fourth preset current threshold.
The preset motor rotating speed, the first preset current threshold, the second preset current threshold, the third preset current threshold and the fourth preset current threshold are set according to parameters of the permanent magnet synchronous motor and overall control requirements of the permanent magnet synchronous motor.
And step s3, calculating a zero offset value of the permanent magnet synchronous motor according to the acquired current direct axis voltage and current quadrature axis voltage of the permanent magnet synchronous motor.
In this case, in the present embodiment, specifically, the zero offset value θ r of the permanent magnet synchronous motor is tan-1(Ud/Uq). Wherein, UdIs the current direct-axis voltage, U, of the PMSMqThe current quadrature axis voltage of the permanent magnet synchronous motor.
And step s4, filtering the calculated zero offset value of the permanent magnet synchronous motor to obtain the filtered zero offset value of the motor.
In the embodiment, the calculated zero offset value of the permanent magnet synchronous motor is subjected to filtering processing, so that high-frequency interference signals can be removed, and the filtered zero offset value of the motor is the required zero offset value of the permanent magnet synchronous motor.
In a specific implementation, the above-mentioned filtering process for the calculated zero offset value of the permanent magnet synchronous motor may adopt a conventional first-order low-pass filtering manner, or may adopt a conventional second-order low-pass filtering manner, an average value filtering manner, or other similar filtering manners besides the first-order low-pass filtering manner.
And step s5, comparing the filtered motor zero offset value with a preset threshold value, and determining whether the permanent magnet synchronous motor has a motor zero offset fault.
At this time, in this embodiment, specifically, when the filtered zero offset value of the motor is greater than the preset threshold, it can be determined that the permanent magnet synchronous motor has the motor zero offset fault.
And step s6, when the situation that the motor zero offset fault exists in the permanent magnet synchronous motor is determined, correcting the zero offset of the permanent magnet synchronous motor according to the filtered motor zero offset value.
In this embodiment, in a specific implementation, the correcting of the zero offset of the permanent magnet synchronous motor according to the filtered zero offset value of the motor may be, for example, when the current operation mode of the permanent magnet synchronous motor is a power-down mode, storing the filtered zero offset value of the motor, reading the stored zero offset value of the motor when the vehicle is powered on again, and superimposing the zero offset value of the motor to an angle acquired by the resolver, thereby realizing the correcting of the zero offset of the permanent magnet synchronous motor.
Meanwhile, it should be noted that, in addition to the above correction manner, in this embodiment, for example, when it is determined that the zero offset fault of the motor exists, the filtered zero offset value of the motor may be gradually superimposed to the angle acquired by the resolver according to a preset step length, so as to also realize the correction of the zero offset of the permanent magnet synchronous motor. And the preset step length can be set according to specific design requirements so as to finish correction in a plurality of acquisition periods.
In addition, it should be further noted that, in this embodiment, when it is determined that the motor zero offset fault exists in the permanent magnet synchronous motor, the control method of this embodiment may further include performing fault alarm and storing the fault, so as to prompt the driver about the fault existing in the motor, and store a fault code for later retrieval and query.
In the control method of the permanent magnet synchronous motor according to the embodiment, in the normal running process of the vehicle, the current running mode, the current rotating speed, the current direct-axis current instruction value and the feedback value of the permanent magnet synchronous motor and the current quadrature-axis current instruction value and the feedback value of the permanent magnet synchronous motor are acquired, when the acquired parameters meet preset conditions, the zero offset value of the permanent magnet synchronous motor is calculated according to the acquired current direct-axis voltage and current quadrature-axis voltage of the permanent magnet synchronous motor, the calculated zero offset value is subjected to filtering processing, and the filtered zero offset value of the permanent magnet synchronous motor is compared with a preset threshold value, so that the judgment of the zero offset fault of the permanent magnet synchronous motor can be realized.
Meanwhile, when the fault is judged, the zero offset of the permanent magnet synchronous motor can be corrected according to the filtered zero offset value of the motor. Therefore, the control method of the embodiment can realize the judgment and correction of the zero offset fault of the permanent magnet synchronous motor in the normal running process of the vehicle.
Compared with the control processing mode in the prior art, the control method of the embodiment can ensure that the judgment of the zero offset fault of the permanent magnet synchronous motor can be realized without estimating the motor torque in the active discharging process of the vehicle and calculating the torque fluctuation coefficient. In addition, the control method of the embodiment does not consider the problems that the torque fluctuation of the motor and the efficiency of the motor cannot be accurately detected, and the control method of the embodiment does not cause the problems of power loss and shaking of the vehicle because the required torque of the motor does not need to be changed.
Therefore, in summary, the control method of the permanent magnet synchronous motor of the embodiment is not only suitable for being used when a vehicle normally runs, but also can ensure the control performance of the permanent magnet synchronous motor by judging and correcting the zero offset fault of the permanent magnet synchronous motor, and has good practicability.
Example two
The present embodiment relates to a control system 100 of a permanent magnet synchronous motor, as shown in fig. 2, which includes a storage unit 101 and a processor 102, where the storage unit 101 stores a program, and when the program is executed by the processor 102, the processor 102 is enabled to implement the control method of the permanent magnet synchronous motor in the first embodiment.
Furthermore, the present embodiment also relates to a motor controller 10, and the motor controller 10 is a control system 100 having the permanent magnet synchronous motor as described above.
The control system 100 and the motor controller 10 of the permanent magnet synchronous motor of the embodiment can determine the zero offset fault of the permanent magnet synchronous motor when the vehicle normally runs, and can correct the zero offset fault when determining the storage fault, thereby ensuring the control performance of the permanent magnet synchronous motor and having good practicability.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A control method of a permanent magnet synchronous motor, characterized by comprising:
in the normal running process of a vehicle, acquiring a current running mode, a current rotating speed, a current direct-axis current instruction value and a feedback value, and a current quadrature-axis current instruction value and a feedback value of a permanent magnet synchronous motor;
when the obtained current operation mode, the current rotating speed, the current direct-axis current instruction value and the feedback value of the permanent magnet synchronous motor and the current quadrature-axis current instruction value and the feedback value of the permanent magnet synchronous motor simultaneously meet preset conditions, obtaining the current direct-axis voltage and the current quadrature-axis voltage of the permanent magnet synchronous motor;
calculating a zero offset value of the permanent magnet synchronous motor according to the acquired current direct axis voltage and current quadrature axis voltage of the permanent magnet synchronous motor;
filtering the calculated zero offset value of the permanent magnet synchronous motor to obtain a filtered zero offset value of the motor;
comparing the filtered motor zero offset value with a preset threshold value, and determining whether the permanent magnet synchronous motor has a motor zero offset fault;
and when the motor zero offset fault of the permanent magnet synchronous motor is determined, correcting the zero offset of the permanent magnet synchronous motor according to the filtered motor zero offset value.
2. The control method of a permanent magnet synchronous motor according to claim 1, characterized in that:
the method comprises the following steps that the obtained current operation mode, the current rotating speed, the current direct-axis current instruction value and the feedback value of the permanent magnet synchronous motor and the obtained current quadrature-axis current instruction value and the obtained feedback value simultaneously meet preset conditions:
the current operation mode of the permanent magnet synchronous motor is a torque mode, the current rotating speed is greater than the preset motor rotating speed, the absolute value of the current direct-axis current instruction value is smaller than a first preset current threshold value, the absolute value of the current quadrature-axis current instruction value is smaller than a second preset current threshold value, the absolute value of the current direct-axis current feedback value is smaller than a third preset current threshold value, and the absolute value of the current quadrature-axis current feedback value is smaller than a fourth preset current threshold value.
3. The control method of a permanent magnet synchronous motor according to claim 1, characterized in that:
the zero offset value theta r of the permanent magnet synchronous motor is tan-1(Ud/Uq) Wherein, UdIs the current direct-axis voltage, U, of the PMSMqThe current quadrature axis voltage of the permanent magnet synchronous motor.
4. The control method of a permanent magnet synchronous motor according to claim 1, characterized in that:
the filtering processing of the calculated zero offset value of the permanent magnet synchronous motor comprises the following steps:
and performing first-order low-pass filtering, second-order low-pass filtering or average filtering on the calculated zero offset value of the permanent magnet synchronous motor.
5. The control method of a permanent magnet synchronous motor according to claim 1, characterized in that:
comparing the filtered motor zero offset value with a preset threshold value, and determining whether a motor zero offset fault exists in the permanent magnet synchronous motor comprises the following steps:
and determining that the motor zero offset fault exists in the permanent magnet synchronous motor when the filtered motor zero offset value is larger than a preset threshold value.
6. The control method of a permanent magnet synchronous motor according to claim 1, characterized by further comprising:
and when the permanent magnet synchronous motor is determined to have the motor zero offset fault, performing fault alarm and storing the fault.
7. The control method of a permanent magnet synchronous motor according to any one of claims 1 to 6, characterized in that:
the correcting of the zero offset of the permanent magnet synchronous motor according to the filtered zero offset value of the motor comprises the following steps:
when the current operation mode of the permanent magnet synchronous motor is a power-down mode, storing the filtered zero offset value of the motor;
and when the vehicle is electrified again, reading the stored zero offset value of the motor, and superposing the zero offset value of the motor to the angle acquired by the rotary transformer.
8. The control method of a permanent magnet synchronous motor according to any one of claims 1 to 6, characterized in that:
the correcting of the zero offset of the permanent magnet synchronous motor according to the filtered zero offset value of the motor comprises the following steps:
and gradually superposing the filtered zero offset value of the motor to the angle acquired by the rotary transformer according to a preset step length.
9. A control system (100) of a permanent magnet synchronous motor, characterized by:
comprising a memory unit (101) and a processor (102), the memory unit (101) storing a program which, when executed by the processor (102), causes the processor (102) to carry out the method of controlling a permanent magnet synchronous motor according to any one of claims 1-8.
10. A motor controller (10), characterized by: the motor controller (10) has a control system (100) of a permanent magnet synchronous motor according to claim 9.
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| CN118554821A (en) * | 2024-07-29 | 2024-08-27 | 南方电网科学研究院有限责任公司 | Control method, device and equipment of motor operating mechanism |
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| CN114362624B (en) | 2024-02-02 |
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