TWI383574B - Method and apparatus of field weakening for ac motor drives - Google Patents

Method and apparatus of field weakening for ac motor drives Download PDF

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TWI383574B
TWI383574B TW097138018A TW97138018A TWI383574B TW I383574 B TWI383574 B TW I383574B TW 097138018 A TW097138018 A TW 097138018A TW 97138018 A TW97138018 A TW 97138018A TW I383574 B TWI383574 B TW I383574B
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axis current
current command
value
control
motor
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TW097138018A
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TW201015843A (en
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Yen Shin Lai
Ping Yi Lin
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Yen Shin Lai
Ping Yi Lin
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Description

交流馬達驅動器的弱磁控制方法及裝置 Field weakening control method and device for AC motor driver

本發明係關於一種應用於額定轉速以上具有弱磁控制之交流馬達驅動器。 The present invention relates to an AC motor drive having a field weakening control applied above a rated speed.

交流馬達驅動裝置,包含驅動器及交流馬達。驅動器則包含電力迴路與控制迴路兩部份。電力迴路之主要架構則包含了:整流模組、直流鏈電容及變頻模組;整流模組可接受單相或三相市電電源之輸入,並將交流電整流為具有漣波之直流電,而直流鏈電容則提供具有漣波之直流電之濾波效果,並作為變頻模組之輸入之用,而變頻模組則包含可提供三相脈波電壓輸出之開關元件並連結到交流馬達之輸入側,透過驅動器之控制迴路則可產生驅動信號控制變頻模組中開關元 件之切換。 AC motor drive unit, including drive and AC motor. The driver consists of two parts: the power circuit and the control circuit. The main structure of the power circuit includes: rectifier module, DC link capacitor and frequency conversion module; the rectifier module can accept the input of single-phase or three-phase mains power, and rectify the alternating current into a DC power with chopping, and the DC link The capacitor provides a filtering effect of chopping DC power and serves as an input for the frequency conversion module, and the frequency conversion module includes a switching element that provides a three-phase pulse voltage output and is coupled to the input side of the AC motor through the driver. The control loop can generate a driving signal to control the switching element in the frequency conversion module Switching of pieces.

交流馬達除了本體外,則包含耦接在相同轉軸上的編碼器,該編碼器可為增量型編碼器或絕對位置型編碼器。驅動器則根據編碼器所回授之轉子位置及/或速度,經由轉速控制器產生位在q-軸座標上之定子電流,其所建立的磁通與d-軸座標上之交流馬達轉子磁通交互作用,藉此達到交流馬達之向量控制。 In addition to the external body, the AC motor includes an encoder coupled to the same shaft, which may be an incremental encoder or an absolute position encoder. The driver generates the stator current on the q-axis coordinate via the speed controller according to the rotor position and/or speed fed back by the encoder, and the established magnetic flux and the AC motor rotor flux on the d-axis coordinate Interaction, thereby achieving vector control of the AC motor.

交流馬達所產生之反電動勢與轉速成正比,當轉速上升而直流鏈電容所提供的電壓不足以克服交流馬達所產生的反電動勢時,就會造成交流馬達在高速運轉的範圍上有所限制;如要使交流馬達操作在更高的速度,一般而言,驅動器會調整d-軸電流來降低磁通,藉此克服高速下所產生的反電動勢並可提升操作速度範圍,此方法也就是一般所稱的弱磁控制。習知的弱磁控制法則[1]係根據轉速的大小來產生一反比於d-軸電流大小的命令,但在此習知技術下,並未考量驅動器輸出電壓是否達到最大以及馬達額定電流的限制條件,故未能夠保證有效達到最大直流鏈電壓之利用率及最大的輸出轉矩。 The back electromotive force generated by the AC motor is proportional to the rotational speed. When the rotational speed rises and the voltage supplied by the DC link capacitor is insufficient to overcome the counter electromotive force generated by the AC motor, the AC motor is limited in the range of high speed operation; In order to operate the AC motor at a higher speed, in general, the driver will adjust the d-axis current to reduce the magnetic flux, thereby overcoming the counter electromotive force generated at high speed and increasing the operating speed range. This method is also generally The so-called weak magnetic control. The conventional weak magnetic control law [1] generates a command inversely proportional to the magnitude of the d-axis current according to the magnitude of the rotational speed, but in this prior art, it is not considered whether the output voltage of the driver reaches the maximum and the rated current of the motor. Restricted conditions, so it is not guaranteed to effectively achieve the maximum DC link voltage utilization and maximum output torque.

參考資料: Reference materials:

[1]向量控制變頻器控制器參數自動調適法,中華民國專利,案號:84113378。 [1] Vector control inverter controller parameter automatic adjustment method, Republic of China patent, case number: 84113378.

鑒於以上的問題,本發明主要目的在於提供一種應用於交流馬達的弱磁控制及裝置,其係利用交流馬達變頻器之脈波寬度調變控制的切換週期減去變頻器控制計算所得之有效切換時間的和,即(TA+TB),經由控制器即時產生調適d-軸電流命令,達到可擴展直流鏈電壓之利用率,使得交流馬達在超過額定轉速時,在該轉速下具有較大的輸出轉矩,藉以解決習知技術中所存在的技術課題與潛在缺點。 In view of the above problems, the main object of the present invention is to provide a field weakening control and device for an AC motor, which utilizes the switching period of the pulse width modulation control of the AC motor frequency converter minus the effective switching of the inverter control calculation. The sum of time, ie (T A + T B ), instantly generates an adaptive d-axis current command via the controller to achieve the utilization of the expandable DC link voltage, so that the AC motor has a higher speed than the rated speed The large output torque is used to solve the technical problems and potential shortcomings in the prior art.

因此,為達上述目的,本發明揭露一種利用空間向量調變法則之有效電壓向量的有效切換時間(TA、TB)來預測是否有效利用直流鏈電容電壓,當(TA+TB)TZ,其中TZ=脈波寬度調變控制的切換週期,則代表目前直流鏈電容的電壓利用率較一般調變法則在線性區要為大。如果馬達在此情況下還要繼續提升轉速,除了要持續符合(TA+TB)=TZ之條件外,還必須使用弱磁控制的技術才能達成。 Therefore, in order to achieve the above object, the present invention discloses an effective switching time (T A , T B ) of an effective voltage vector using a space vector modulation law to predict whether or not the DC link capacitor voltage is effectively utilized, when (T A + T B ) T Z , where T Z = switching period of pulse width modulation control, represents that the current voltage utilization of the DC link capacitor is larger in the linear region than the general modulation law. If the motor continues to increase the speed in this case, in addition to the condition of (T A + T B ) = T Z , it must be achieved by using the technique of field weakening.

因此,為達上述目的,本發明揭露一種利用TZ(脈波寬度調變控制的切換週期)來做為達到較大直流鏈電容電壓利用率的參考命令,藉由交流 馬達變頻器之脈波寬度調變控制的切換週期減去變頻器控制計算所得之有效切換時間的和,即(TA+TB),再經由一弱磁電流控制器及其後的限制器來產生d-軸電流命令修正值,藉此可以自動調適d-軸電流的大小來達到弱磁控制。 Therefore, in order to achieve the above object, the present invention discloses a use of T Z (switching period of pulse width modulation control) as a reference command for achieving a large DC link capacitor voltage utilization rate, and the pulse wave of the AC motor frequency converter The switching period of the width modulation control is subtracted from the sum of the effective switching times calculated by the inverter control, ie (T A + T B ), and then the d-axis current is generated via a field weak current controller and a subsequent limiter. The command correction value can be used to automatically adjust the d-axis current to achieve the field weakening control.

此外,利用本發明揭露的方法與裝置,當(TA+TB)>TZ時的電壓向量大小會大於最大線性區之電壓向量大小,在此情況下則代表變頻器輸出電壓空間向量軌跡會操作在最大極限的六邊形,故當定子電流大小在最大電流的限制下,則代表交流馬達操作在最大電壓及最大電流之條件下工作,因此使交流馬達在弱磁控制下具有較大輸出轉矩。 In addition, with the method and apparatus disclosed by the present invention, the voltage vector magnitude when (T A + T B ) > T Z is greater than the voltage vector magnitude of the maximum linear region, in this case, represents the inverter output voltage space vector trajectory. Will operate at the maximum limit of the hexagon, so when the stator current is limited by the maximum current, it means that the AC motor operates under the conditions of maximum voltage and maximum current, so the AC motor has a larger under weak magnetic control. Output torque.

有關本發明的特徵與實作,茲配合圖示作最佳實施例詳細說明如下。 The features and implementations of the present invention are described in detail below with reference to the preferred embodiments.

圖一係為本發明所揭露之交流馬達之弱磁控制及裝置的向量控制系統架構圖,其主要組成由驅動器之控制架構100、弱磁控制裝置200、交流電源300、驅動器之電力迴路架構400、電流感測器501~503及交流馬達本體與編碼器601~602。 1 is a structural diagram of a vector control system of a field weakening control and device of an AC motor disclosed in the present invention, which mainly comprises a control structure 100 of a driver, a field weakening control device 200, an AC power source 300, and a power circuit architecture 400 of the driver. The current sensors 501 to 503 and the AC motor body and the encoders 601 to 602.

交流馬達驅動器欲達到交流馬達之向量控 制,係利用編碼器602來獲得交流馬達本體601之位置相關資訊,並回授至驅動器之控制架構100後,透過計數器182則可將編碼器之資訊轉換成交流馬達之轉子所在角度。此角度可做為第一座標轉換器161及第二座標轉換器162之座標轉換使用;再透過速度估測器181,則可獲得交流馬達之速度回授資訊。電流感測器501~503回授馬達之三相電流iu、iv及iw,透過第二座標轉換器162,將三相靜止座標之變數轉換成兩相同步旋轉座標之變數,再回授到第一減法器121及第三減法器123與電流命令相減,經由d-軸電流控制器131及q-軸電流控制器133做調整;此兩控制器之輸出再透過第二加法器112及第三加法器113加入電壓解耦補償器150之補償值,再經由第一座標轉換器將兩相同步旋轉座標之變數轉換成兩相靜止座標之變數以獲得空間向量調變器170的電壓空間向量命令。電壓空間向量命令與區間(Sector)的關係如圖二A所示;電壓空間向量位在第一區間(Sector 1)之示意圖如圖二B所示;對照第2B圖所合成之電壓向量之開關切換時序與TA、TB及TZ之示意圖如圖二C所示,其中TA及TB分別為有效切換時間,TZ則為脈波寬度調變控制的切換週期,TZ=1/(KTs),Ts=脈波寬度調變控制的取樣週期, K=常數。最後,為將市電端的能量送至交流馬達本體601,從交流電源300開始輸入,經過整流模組401將交流電整流成具有漣波之直流電並透過直流鏈電容402濾波,再利用空間向量調變器170輸出控制訊號至變頻模組403中驅動開關元件做直流電能量的轉換。 The AC motor driver is to achieve the vector control of the AC motor. The encoder 602 is used to obtain the position information of the AC motor body 601 and is fed back to the control structure 100 of the driver. After the counter 182, the information of the encoder can be converted into The angle at which the rotor of the AC motor is located. This angle can be used as the coordinate conversion of the first coordinate converter 161 and the second coordinate converter 162; and the speed estimator 181 can be used to obtain the speed feedback information of the AC motor. The current sensors 501-503 feedback the three-phase currents i u , i v and i w of the motor, and convert the variables of the three-phase stationary coordinates into the variables of the two-phase synchronous rotating coordinates through the second coordinate converter 162. and Then, the first subtractor 121 and the third subtractor 123 are subtracted from the current command, and are adjusted by the d-axis current controller 131 and the q-axis current controller 133; the outputs of the two controllers are transmitted again. The two adders 112 and the third adder 113 add the compensation values of the voltage decoupling compensator 150, and then rotate the two-phase synchronous rotation coordinates via the first coordinate converter. and The variable is converted to a two-phase stationary coordinate to obtain a voltage space vector command for the spatial vector modulator 170. The relationship between the voltage space vector command and the sector is shown in Fig. 2A; the schematic diagram of the voltage space vector bit in the first interval (Sector 1) is shown in Fig. 2B; the voltage vector switch synthesized in Fig. 2B is switched. The switching timing and the schematic diagrams of T A , T B and T Z are shown in Figure 2C, where T A and T B are the effective switching times respectively, and T Z is the switching period of the pulse width modulation control, T Z =1 /(KT s ), T s = sampling period of pulse width modulation control, K = constant. Finally, in order to send the energy of the commercial terminal to the AC motor body 601, the input is started from the AC power source 300, and the AC power is rectified into a DC power having a chopper through the rectifier module 401 and filtered by the DC link capacitor 402, and then the space vector modulator is used. 170 outputs a control signal to the inverter module 403 to drive the switching element to perform DC energy conversion.

在完整的速度模式下,有交流馬達之轉速ω r 與轉速命令經由第二減法器122並透過轉速控制器132做調整,而該控制器的輸出則連結到第一限制器142,可做為q-軸電流命令及輸出轉矩的限制,關於該限制器之限制值可由限制值計算器207來計算得到,避免驅動器或馬達操作在最大電流以上。 In the full speed mode, there is the speed of the AC motor ω r and the speed command The adjustment is made via the second subtractor 122 and through the speed controller 132, and the output of the controller is coupled to the first limiter 142, which can be used as a limit for the q-axis current command and the output torque, with respect to the limiter The limit value can be calculated by the limit value calculator 207 to prevent the driver or motor from operating above the maximum current.

本發明所揭露之弱磁控制裝置200,係指回授空間向量調變器170之有效電壓向量的有效切換時間,即TA與TB,經由第四加法器205相加後,經過低通濾波器204將其高頻訊號濾除後,並與脈波寬度調變控制的切換週期,即Tz,並透過第四減法器203做相減,再透過一弱磁電流控制器202來做調整,其後並加上限制器201用以確保當(TA+TB)>TZ時,該限制器之輸出為一負值之大小i ds_fw 來作為d-軸電流命令修正值。最後,限制器之輸出再與d-軸電流命令,即,經由第一 加法器206相加,作為一實際的d-軸電流命令參考值,即;其值經由限制值計算器207之計算式所計算,可獲得第一限制器142之限制值,此值即為q-軸電流命令限制器的限制值。關於空間向量調變法則之電壓向量所組成之最大限制範圍與最大線性範圍如圖二A所示,當(TA+TB)=TZ時,則代表電壓向量目前是在最大限制範圍的六角形軌跡上旋轉,因此電壓利用率較最大線性範圍之圓形區間為大。 The field weakening control device 200 disclosed in the present invention refers to the effective switching time of the effective voltage vector of the feedback space vector modulator 170, that is, T A and T B , which are added through the fourth adder 205 and pass through the low pass. The filter 204 filters out the high frequency signal and subtracts it from the switching period of the pulse width modulation control, that is, T z , and subtracts it through the fourth subtractor 203, and then passes through a field weakening current controller 202. The adjustment is followed by a limiter 201 for ensuring that when (T A + T B ) > T Z , the output of the limiter is a negative value i ds_fw as the d-axis current command correction value. Finally, the output of the limiter is again commanded with the d-axis current, ie , added by the first adder 206 as an actual d-axis current command reference value, ie ; its value is calculated by the limit value calculator 207 Calculated, the limit value of the first limiter 142 can be obtained. This value is the limit value of the q-axis current command limiter. The maximum limit range and maximum linear range of the voltage vector of the space vector modulation law are shown in Fig. 2A. When (T A + T B ) = T Z , the voltage vector is currently within the maximum limit range. The hexagonal trajectory rotates, so the voltage utilization is larger than the circular interval of the maximum linear range.

本發明所揭露的之交流馬達的弱磁控制及裝置之向量控制系統的模擬結果如圖三所示,當交流馬達轉子速度達額定轉速(1.0 pu)以上時,此時TA+TB之大小增加至為TZ(1.0 pu)以上時,弱磁控制架構就會發生動作,因而可由圖中看出d-軸電流命令修正值,即i ds_fw ,此時開始隨速度上升而往負值增加,藉以維持直流鏈電容有一較大之電壓利用率並可克服交流馬達反電動勢的增加;當轉速趨於穩定後,反電動勢也不再變化,故該修正值也會隨之穩定。 The simulation result of the field weakening control and device vector control system of the AC motor disclosed in the present invention is shown in FIG. 3, when the AC motor rotor speed reaches the rated speed (1.0 pu) or more, then T A + T B When the size is increased to above T Z (1.0 pu), the field weakening control structure will act. Therefore, the d-axis current command correction value, i ds_fw , can be seen from the figure . At this time, the value starts to rise with the speed. Increase, in order to maintain a large voltage utilization of the DC link capacitor and overcome the increase of the back electromotive force of the AC motor; when the rotational speed tends to stabilize, the back electromotive force does not change any more, so the correction value will also be stabilized.

100‧‧‧驅動器之控制架構 100‧‧‧Drive Control Architecture

200‧‧‧弱磁控制裝置 200‧‧‧Weak magnetic control device

300‧‧‧交流電源 300‧‧‧AC power supply

400‧‧‧驅動器之電力迴路架構 400‧‧‧Power circuit architecture for drives

112‧‧‧第二加法器 112‧‧‧Second adder

113‧‧‧第三加法器 113‧‧‧ third adder

121‧‧‧第一減法器 121‧‧‧First subtractor

122‧‧‧第二減法器 122‧‧‧second subtractor

123‧‧‧第三減法器 123‧‧‧ third subtractor

131‧‧‧d-軸電流控制器 131‧‧‧d-axis current controller

132‧‧‧轉速控制器 132‧‧‧Speed Controller

133‧‧‧q-軸電流控制器 133‧‧‧q-axis current controller

142‧‧‧第一限制器 142‧‧‧First limiter

150‧‧‧電壓解耦補償器 150‧‧‧Voltage decoupling compensator

161‧‧‧第一座標轉換器 161‧‧‧First coordinate converter

162‧‧‧第二座標轉換器 162‧‧‧Second coordinate converter

170‧‧‧空間向量調變器 170‧‧‧ Space Vector Modulator

181‧‧‧速度估測器 181‧‧‧Speed Estimator

182‧‧‧計數器 182‧‧‧ counter

201‧‧‧限制器 201‧‧‧Restrictor

202‧‧‧弱磁電流控制器 202‧‧‧ weak magnetic current controller

203‧‧‧第四減法器 203‧‧‧4th subtractor

204‧‧‧低通濾波器 204‧‧‧low pass filter

205‧‧‧第四加法器 205‧‧‧fourth adder

206‧‧‧第一加法器 206‧‧‧First Adder

207‧‧‧限制值計算器 207‧‧‧limit value calculator

401‧‧‧整流模組 401‧‧‧Rectifier Module

402‧‧‧直流鏈電容 402‧‧‧DC link capacitor

403‧‧‧變頻模組 403‧‧‧Variable frequency module

501‧‧‧電流感測器 501‧‧‧ Current Sensor

502‧‧‧電流感測器 502‧‧‧ Current Sensor

503‧‧‧電流感測器 503‧‧‧ Current Sensor

601‧‧‧交流馬達本體 601‧‧‧AC motor body

602‧‧‧編碼器 602‧‧‧Encoder

圖一係本發明所揭露之具有弱磁控制及裝置交流馬達的向量控制系統架構圖。 FIG. 1 is a structural diagram of a vector control system with a field weakening control and an AC motor of the device disclosed in the present invention.

圖二A圖~第二C圖係為在靜止座標下之空間向量調變法則之電壓空間向量圖、空間向量調變區間1的電壓向量合成圖及空間向量調變區間1的脈波形式圖。 Figure 2A to Figure 2C are the voltage space vector diagram of the space vector modulation law under the static coordinate, the voltage vector synthesis diagram of the space vector modulation interval 1, and the pulse wave pattern of the space vector modulation interval 1. .

圖三係為本發明所揭露之交流馬達的弱磁控制及裝置之向量控制系統的模擬結果 Figure 3 is a simulation result of the vector control system of the field weakening control and device of the AC motor disclosed in the present invention.

100‧‧‧驅動器之控制架構 100‧‧‧Drive Control Architecture

200‧‧‧弱磁控制裝置 200‧‧‧Weak magnetic control device

300‧‧‧交流電源 300‧‧‧AC power supply

400‧‧‧驅動器之電力迴路架構 400‧‧‧Power circuit architecture for drives

112‧‧‧第二加法器 112‧‧‧Second adder

113‧‧‧第三加法器 113‧‧‧ third adder

121‧‧‧第一減法器 121‧‧‧First subtractor

122‧‧‧第二減法器 122‧‧‧second subtractor

123‧‧‧第三減法器 123‧‧‧ third subtractor

131‧‧‧d-軸電流控制器 131‧‧‧d-axis current controller

132‧‧‧轉速控制器 132‧‧‧Speed Controller

133‧‧‧q-軸電流控制器 133‧‧‧q-axis current controller

142‧‧‧第一限制器 142‧‧‧First limiter

150‧‧‧電壓解耦補償器 150‧‧‧Voltage decoupling compensator

161‧‧‧第一座標轉換器 161‧‧‧First coordinate converter

162‧‧‧第二座標轉換器 162‧‧‧Second coordinate converter

170‧‧‧空間向量調變器 170‧‧‧ Space Vector Modulator

181‧‧‧速度估測器 181‧‧‧Speed Estimator

182‧‧‧計數器 182‧‧‧ counter

201‧‧‧限制器 201‧‧‧Restrictor

202‧‧‧弱磁電流控制器 202‧‧‧ weak magnetic current controller

203‧‧‧第四減法器 203‧‧‧4th subtractor

204‧‧‧低通濾波器 204‧‧‧low pass filter

205‧‧‧第四加法器 205‧‧‧fourth adder

206‧‧‧第一加法器 206‧‧‧First Adder

207‧‧‧限制值計算器 207‧‧‧limit value calculator

401‧‧‧整流模組 401‧‧‧Rectifier Module

402‧‧‧直流鏈電容 402‧‧‧DC link capacitor

403‧‧‧變頻模組 403‧‧‧Variable frequency module

501‧‧‧電流感測器 501‧‧‧ Current Sensor

502‧‧‧電流感測器 502‧‧‧ Current Sensor

503‧‧‧電流感測器 503‧‧‧ Current Sensor

601‧‧‧交流馬達本體 601‧‧‧AC motor body

602‧‧‧編碼器 602‧‧‧Encoder

Claims (8)

一種交流馬達驅動器弱磁控制方法,該方法利用脈波寬度調變控制的切換週期作為參考命令,並且與變頻器有效電壓向量之有效切換時間的和,即(TA+TB),比較,當變頻器有效電壓向量之有效切換時間大於脈波寬度調變控制的切換週期,則判別進入弱磁控制。 An AC motor driver weakening control method, which uses the switching period of the pulse width modulation control as a reference command and compares with the effective switching time of the inverter effective voltage vector, ie (T A + T B ), When the effective switching time of the effective voltage vector of the inverter is greater than the switching period of the pulse width modulation control, the discriminating enters the weak magnetic control. 一種交流馬達驅動器弱磁控制方法,該方法係利用有效電壓向量的有效切換時間和,即(TA+TB),經由一加法器相加後,經過低通濾波器將其高頻訊號濾除後,與脈波寬度調變控制的切換週期,即Tz,經由一減法器相減,再透過一弱磁電流控制器產生d-軸電流命令修正值並限制其值;此一具有限制之d-軸電流命令修正值再與d-軸電流命令經由加法器相加,作為一實際的d-軸電流命令參考值;利用此一實際的d-軸電流命令參考值限制q-軸電流命令值。 An AC motor drive weakening control method, which utilizes an effective switching time of an effective voltage vector, that is, (T A + T B ), is added by an adder, and is filtered by a low-pass filter After being divided, the switching period of the pulse width modulation control, that is, T z , is subtracted by a subtractor, and then a weak current controller is used to generate a d-axis current command correction value and limit the value thereof; The d-axis current command correction value is then added to the d-axis current command via the adder as an actual d-axis current command reference value; the actual d-axis current command reference value is used to limit the q-axis current Command value. 如申請範圍第2項所述的交流馬達驅動器弱磁控制方法,其脈波寬度調變控制的切換週期,TZ=1/(KTs),Ts=脈波寬度調變控制的取樣週期,K=常數。 The AC motor driver weakening control method according to item 2 of the application scope, the switching period of the pulse width modulation control, T Z =1/(KT s ), T s = sampling period of the pulse width modulation control , K = constant. 如申請範圍第2項所述的交流馬達驅動器弱磁控制方法,其中弱磁電流控制器所產生之d-軸電流命令修正值係限制d-軸電流命令的修正值為一負 值。 The AC motor driver field weakening control method according to Item 2, wherein the d-axis current command correction value generated by the field weakening current controller limits the correction value of the d-axis current command to a negative value. value. 如申請範圍第2項所述的交流馬達驅動器弱磁控制方法,其q-軸電流命令限制器的限制值,即,與實際的d-軸電流命令參考值,,的關係為:,其中I s(max)=交流馬達之最大電流。 The AC motor driver field weakening control method according to item 2 of the application scope, the limit value of the q-axis current command limiter, that is, , with the actual d-axis current command reference value, , the relationship is: , where I s (max) = the maximum current of the AC motor. 一種交流馬達驅動器弱磁控制裝置,係與驅動器之控制架構相介接,此弱磁控制裝置之輸入包含有:有效電壓向量的有效切換時間,即TA及TB;與d-軸電流命令,即;此弱磁控制裝置之輸出包含有:實際的d-軸電流命令參考值,即;與q-軸電流命令限制器的限制值,即;此弱磁控制裝置包含有:一第四加法器,用以將驅動器之控制架構之各有效電壓向量的有效切換時間(TA及TB)相加;一低通濾波器,其與第四加法器及減法器相介接,用以濾除有效切換時間(TA+TB)的高頻訊號並輸出至減法器;一減法器,其與低通濾波器及弱磁控制器相介接,用以將脈波寬度調變控制的切換週期,即TZ,減去經由濾波後之有效切換時間的和,即(TA+TB)並將差值輸出至弱磁電流控制器;一含弱磁電流控制器,其與減法器及限制器相介 接,用以確保當(TA+TB)>=TZ時,用以修正d-軸電流命令值;一限制器,其與弱磁電流控制器及第一加法器相介接,用以限制d-軸電流命令修正值大小為負值;一第一加法器,其與限制值計算器、驅動器之控制架構及限制器相介接,用以將d-軸電流命令,即,與限制器輸出值相加,得到實際的d-軸電流命令參考值,即,輸出至驅動器之控制架構及限制值計算器;一限制值計算器,其與第一加法器及驅動器之控制架構相介接,用以計算q-軸電流命令限制器的限制值。 An AC motor drive field weakening control device is connected to a control structure of the driver. The input of the field weakening control device includes: an effective switching time of the effective voltage vector, that is, T A and T B ; and a d-axis current command , which is The output of the field weakening control device includes: an actual d-axis current command reference value, ie ; with the limit value of the q-axis current command limiter, ie The field weakening control device comprises: a fourth adder for adding the effective switching times (T A and T B ) of the effective voltage vectors of the control structure of the driver; a low pass filter, and the The four adder and the subtractor are connected to filter the high frequency signal of the effective switching time (T A + T B ) and output to the subtractor; a subtractor, which is associated with the low pass filter and the weak magnetic controller Interacting, for switching the pulse width modulation control switching period, that is, T Z , subtracting the sum of the filtered effective switching times, that is, (T A + T B ) and outputting the difference to the field weak current control a weak magnetic current controller interposed with the subtractor and the limiter to ensure that the d-axis current command value is corrected when (T A + T B )>=T Z ; a limiter And the weak magnetic current controller and the first adder are connected to limit the d-axis current command correction value to a negative value; a first adder, the limit value calculator, the control structure of the driver and The limiter is connected to the d-axis current command, ie And adding the limiter output value to obtain the actual d-axis current command reference value, ie Output to the drive's control architecture and limit value calculator; a limit value calculator that interfaces with the control architecture of the first adder and the driver to calculate the limit value of the q-axis current command limiter. 如申請範圍第6項所述的交流馬達驅動器弱磁控制裝置,其脈波寬度調變控制的切換週期,TZ=1/(KTs),Ts=脈波寬度調變控制的取樣週期,K=常數。 The AC motor driver weakening control device according to item 6 of the application scope has a switching period of pulse width modulation control, T Z =1/(KT s ), T s = sampling period of pulse width modulation control , K = constant. 如申請範圍第6項所述的交流馬達驅動器弱磁控制裝置,其q-軸電流命令限制器的限制值,,與實際的d-軸電流命令參考值,,的關係為:,其中I s(max)=交流馬達之最大電流。 The limit value of the q-axis current command limiter of the AC motor driver field weakening control device as described in the scope of claim 6 , with the actual d-axis current command reference value, , the relationship is: , where I s (max) = the maximum current of the AC motor.
TW097138018A 2008-10-03 2008-10-03 Method and apparatus of field weakening for ac motor drives TWI383574B (en)

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CN106602955A (en) * 2017-01-18 2017-04-26 凡己科技(苏州)有限公司 Field-weakening control method for traveling motor of electric forklift
CN106655943A (en) * 2015-11-03 2017-05-10 东元电机股份有限公司 Control system for motor driver

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TWI506942B (en) * 2013-12-31 2015-11-01 Hon Hai Prec Ind Co Ltd Motor control system and method
CN107592047B (en) * 2017-09-18 2020-06-26 深圳市华格安瑞技术咨询有限公司 Self-adaptive weak magnetic control method for permanent magnet synchronous motor

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US6965212B1 (en) * 2004-11-30 2005-11-15 Honeywell International Inc. Method and apparatus for field weakening control in an AC motor drive system

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TW349289B (en) * 1994-03-15 1999-01-01 Seiko Epson Corp Brushless DC motor drive apparatus
TW200404402A (en) * 2002-05-24 2004-03-16 Virginia Tech Intell Prop Apparatus for drive control, power conversion, and start-up control in a PMBDCM or two-phase SRM drive system
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106655943A (en) * 2015-11-03 2017-05-10 东元电机股份有限公司 Control system for motor driver
CN106602955A (en) * 2017-01-18 2017-04-26 凡己科技(苏州)有限公司 Field-weakening control method for traveling motor of electric forklift

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