CN111585489B - Stator permanent magnet type memory motor flux weakening control method based on permanent magnet flux observer - Google Patents
Stator permanent magnet type memory motor flux weakening control method based on permanent magnet flux observer Download PDFInfo
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- CN111585489B CN111585489B CN202010515179.XA CN202010515179A CN111585489B CN 111585489 B CN111585489 B CN 111585489B CN 202010515179 A CN202010515179 A CN 202010515179A CN 111585489 B CN111585489 B CN 111585489B
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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Abstract
The invention relates to a stator permanent magnet type memory motor flux weakening control method based on a permanent magnet flux linkage observer, which obtains flux weakening currents required by speed regulation in different speed intervals by adopting voltage deviation regulation with strong robustness and avoids the influence of motor parameters and direct current bus voltage change on flux weakening reference currents. And obtaining the permanent magnetic flux linkage of the corresponding speed interval by using the given rotating speed, and determining the magnetization state adjusting direction by the given changing direction of the rotating speed. Compared with the current control method of the stator permanent magnet type memory motor based on the permanent magnet flux observer, the method further improves the speed range of the motor and enhances the torque output capability of the motor.
Description
Technical Field
The invention relates to the technical field of electric transmission, in particular to a stator permanent magnet type memory motor flux weakening control method based on a permanent magnet-free flux observer.
Background
The permanent magnet flux linkage observer and the non-permanent magnet flux linkage observer can be used for realizing the magnetization state adjustment of the stator permanent magnet type memory motor in the magnetization or demagnetization in different rotating speed intervals. Compared with the current control strategy of the stator permanent magnet type memory motor based on the permanent magnet flux linkage observer, the current control strategy of the stator permanent magnet type memory motor based on the permanent magnet flux linkage observer has the advantages of easiness in implementation, strong robustness, avoidance of frequent magnetization state adjustment and even failure of magnetization state adjustment and the like. However, in the prior art, id is controlled to be 0 in different speed intervals, so that the utilization rate of the direct-current bus voltage and the output performance of the motor are reduced.
Disclosure of Invention
In view of the above, the present invention provides a method for controlling field weakening of a stator permanent magnet memory motor based on a permanent magnet flux observer, which can further improve the speed range of the motor and enhance the torque output capability of the motor.
The invention is realized by adopting the following scheme: a stator permanent magnet type memory motor flux weakening control method based on a permanent magnet flux observer comprises the following steps:
step S1: selecting psi according to the magnetization state of the permanent magnetpm(if1)……ψpm(if(k-1))、ψpm(ifk) K permanent magnet chains in total, and psipm(if(j-1))＞ψpm(ifj) J is more than 1 and less than or equal to k, and calculating the magnetic flux linkage psipm(if1)……ψpm(if(k-1))、ψpm(ifk) Corresponding rotational speed n1……n(k-1)、nkWherein i isfjA magnetic modulating pulse in a j-th magnetization state;
step S2: according to the applied direct axis current idDetermine the correspondence psipm(if1)……ψpm(if(k-1))、ψpm(ifk) Extended rotation speed n of k permanent magnet flux linkages11、n12…n(k-1)(k-1)、nkk；
Step S3: the rotation speed n in the steps S1 and S21……n(k-1)、nkAnd an extended rotational speed n11、n12…n(k-1)(k-1)、nkkForming a speed interval: 0 to n1、n1～n11、n11～n2……nk～nkk；
Step S4: given n by the speed of rotation*Given n with the speed of rotation at the moment immediately before it**Determining a speed change direction; if n is*＞n**The direction is set to-1; if n is*＜n**The direction is set to 1; if n is*＝n**The direction is set to 0;
step S5: given n according to the speed of rotation*Satisfied speed interval, determining n*Corresponding permanent magnetic linkage psipm(ifj)*And based on psipm(ifj)*Obtaining the permanent magnetic linkage psi at the previous momentpm(ifj)**(j is more than or equal to 1 and less than or equal to k), wherein j is more than or equal to 1 and less than or equal to k;
step S6: given n based on rotational speed*The rotation speed in step S4 is given a change direction and the permanent magnet linkage psi in step S5pm(ifj)*And psipm(ifj)**And determining the magnetic adjusting process of the permanent magnet.
Further, step S6 includes the following case:
the first situation is as follows: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is still at (0, n)1](ii) a According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse current set value
The allocation policy of (a) is:
in the formula, p is the number of pole pairs of the motor;
case two: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse toConstant value
The allocation policy of (a) is:
wherein n is the actual rotation speed of the motor, Ld1Direct axis inductance in the 1 st magnetization state;
case three: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, MfFor mutual inductance of armature winding and field winding, F1(ψpm(ifj) As shown in formula (4):
case four: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, LdjDirect axis inductance in j-th magnetization state, Lq1Quadrature inductance in the 1 st magnetization state, LqjQuadrature inductance in the j-th magnetization state, iNFor rated armature current, ismaxFor the purpose of the maximum armature current,
to limit the field weakening current.
Further, step S6 also includes the following cases:
case five: given n of the speed of rotation*Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case six: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located at (0, n)1]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case seven: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)1,n11]And according to the electromagnetic torque T output by the speed regulatoreCalculating given value of quadrature axis current
According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case eight: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, F2(ψpm(ifj) As shown in formula (10):
case nine: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
further, step S6 also includes the following cases:
case ten: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case eleven: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located at (0, n)1]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula if1The maximum pulse current in the forward direction is the magnetic modulation pulse current corresponding to the first magnetization state.
Case twelve: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case thirteen: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**At n*In the speed interval, according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
the situation is fourteen: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case fifteen: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]After change, the rotational speed is given by n**Is located in (n)jj,n(j+1)]J is more than 1 and less than k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
further, step S6 also includes the following cases:
case sixteen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case seventeen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located at (0, n)1]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case eighteen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
situation nineteen: given n of the speed of rotation*Is located in (n)j,njj]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case twenty: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**At n*Within the speed interval, according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case twenty one: given n of the speed of rotation*Is located in (n)j,njj]After change, the rotational speed is given by n**Is located in (n)jj,n(j+1)]J is more than 1 and less than k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
compared with the prior art, the invention has the following beneficial effects:
1. under a certain direct current bus voltage, the motor has a wider speed regulation range.
2. Under a certain direct current bus voltage, the motor has higher torque output capacity.
Drawings
FIG. 1 is a schematic block diagram of an embodiment of the present invention.
Fig. 2 is a schematic diagram of performance simulation according to an embodiment of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, the present embodiment provides a method for controlling field weakening of a stator permanent magnet memory motor based on a permanent magnet flux observer, including the following steps:
step S1: selecting psi according to the magnetization state of the permanent magnetpm(if1)……ψpm(if(k-1))、ψpm(ifk) K permanent magnet chains in total, and psipm(if(j-1))＞ψpm(ifj) J is more than 1 and less than or equal to k, and calculating the magnetic flux linkage psipm(if1)……ψpm(if(k-1))、ψpm(ifk) Corresponding rotational speed n1……n(k-1)、nkWherein i isfjA magnetic modulating pulse in a j-th magnetization state;
step S2: according to the applied direct axis current idDetermine the correspondence psipm(if1)……ψpm(if(k-1))、ψpm(ifk) Extended rotation speed n of k permanent magnet flux linkages11、n12…n(k-1)(k-1)、nkk；
Step S3: the rotation speed n in the steps S1 and S21……n(k-1)、nkAnd an extended rotational speed n11、n12…n(k-1)(k-1)、nkkForming a speed interval: 0 to n1、n1～n11、n11～n2……nk～nkk；
Step S4: given n by the speed of rotation*Given n with the speed of rotation at the moment immediately before it**Determining a speed change direction; if n is*＞n**The direction is set to-1; if n is*＜n**The direction is set to 1; if n is*＝n**The direction is set to 0;
step S5: given n according to the speed of rotation*Satisfied speed interval, determining n*Corresponding permanent magnetic linkage psipm(ifj)*And based on psipm(ifj)*Obtaining the permanent magnetic linkage psi at the previous momentpm(ifj)**(j is more than or equal to 1 and less than or equal to k), wherein j is more than or equal to 1 and less than or equal to k;
step S6: given n based on rotational speed*The rotation speed in step S4 is given a change direction and the permanent magnet linkage psi in step S5pm(ifj)*And psipm(ifj)**And determining the magnetic adjusting process of the permanent magnet.
In the present embodiment, in step S1, the permanent magnetic linkage ψ of the j-th magnetization statepm(ifj) The calculation of the corresponding rotation speed nj is specifically as follows: according to the DC bus voltage UdcRated phase current InQuadrature axis inductance L in the j-th magnetization stateq(j) And permanent magnetic linkage psipm(ifj) Calculating the speed of rotation njThe calculation formula is as follows: .
In the present embodiment, in step S2, the permanent magnetic linkage ψ of the j-th magnetization statepm(ifj) Corresponding extended speed (n)jj) The calculation of (a) is specifically:
in the formula idmaxIn order to realize the maximum weak magnetic current,
in the present embodiment, step S6 includes the following cases:
the first situation is as follows: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is still at (0, n)1](ii) a According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse current set value
The allocation policy of (a) is:
in the formula, p is the number of pole pairs of the motor;
case two: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
wherein n is the actual rotation speed of the motor, Ld1Direct axis inductance in the 1 st magnetization state;
case three: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, MfFor mutual inductance of armature winding and field winding, F1(ψpm(ifj) As shown in formula (4):
case four: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, LdjDirect axis inductance in j-th magnetization state, Lq1Quadrature inductance in the 1 st magnetization state, LqjQuadrature inductance in the j-th magnetization state, iNFor rated armature current, ismaxFor the purpose of the maximum armature current,
to limit the field weakening current.
In the present embodiment, step S6 further includes the following cases:
case five: given n of the speed of rotation*Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case six: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located at (0, n)1]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case seven: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)1,n11]And according to the electromagnetic torque T output by the speed regulatoreCalculating given value of quadrature axis current
According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case eight: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, F2(ψpm(ifj) As shown in formula (10):
case nine: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the present embodiment, step S6 further includes the following cases:
case ten: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case eleven: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located at (0, n)1]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula if1The maximum pulse current in the forward direction, that is, the magnetic modulation pulse current corresponding to the first magnetization state.
Case twelve: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case thirteen: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**At n*In the speed interval, according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
the situation is fourteen: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case fifteen: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than k, and the rotating speed is given to n after change**Is located in (n)jj,n(j+1)]J is more than 1 and less than k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the present embodiment, step S6 further includes the following cases:
case sixteen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case seventeen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located at (0, n)1]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case eighteen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)1,n11]According to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
situation nineteen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case twenty: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**At n*Within the speed interval, according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current settingValue of
And magnetic pulse given value
The allocation policy of (a) is:
case twenty one: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than k, and the rotating speed is given to n after change**Is located in (n)jj,n(j+1)]J is more than 1 and less than k according to the corresponding permanent magnetic linkage psipm(ifj)*And psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the present embodiment, the electromagnetic torque TeThe calculation of (a) is specifically: the actual rotating speed n of the motor is compared with the given rotating speed n*Obtaining a rotational speed deviation signal by comparison, sending the deviation signal to a speed regulator, and giving T as a torque by using the obtained signale。
The encoder is adopted to collect motor position signals, and the actual rotating speed n and the rotor position angle theta of the motor can be obtained after the motor position signals are processed. Collecting phase current i of main circuit of motoraAnd ibAnd magnetic modulation pulse ifWherein the direct axis current i under the two-phase rotating coordinate system can be obtained by converting the phase current abc/dqdAnd quadrature axis current iq。
In this embodiment, the method further includes the following steps:
step S7: setting the direct axis current obtained in step S6 to a given value
Sum-quadrature current set point
And the direct axis current idAnd quadrature axis current iqAfter comparison, the direct-axis voltage u is obtained through a current regulatordAnd quadrature axis voltage uq；
Step S8: will be the direct axis voltage udAnd quadrature axis voltage uqObtaining alpha axis voltage u under a two-phase static coordinate system through dq/alpha beta conversionαAnd beta axis voltage uβWill uαAnd uβAnd DC bus voltage UdcInputting the signals into a space vector pulse width modulation unit (SVPWM), and driving power tubes in a three-phase inverter by six paths of pulse modulation signals output by the operation; at the same time, the collected magnetic modulation pulse current ifAnd the given value of the magnetic modulating pulse obtained in the step S6
The signals are sent to a PWM generating module to generate PWM signals and are used for driving a power tube in the magnetic regulating converter; the three-phase inverter is used for providing three-phase current for the stator permanent magnet type memory motor, and the magnetic regulating converter is used for providing magnetic regulating pulse current i for the stator permanent magnet type memory motorf. The magnetic regulating transducer in this embodiment is an H-bridge transducer.
According to the method for controlling the field weakening of the stator permanent magnet type memory motor based on the permanent magnet flux observer, the field weakening current required by speed regulation in different speed intervals is obtained by adopting voltage deviation regulation with high robustness, and the influence of the change of motor parameters and the voltage of a direct current bus on the field weakening reference current is avoided. And obtaining the permanent magnetic flux linkage of the corresponding speed interval by using the given rotating speed, and determining the magnetization state adjusting direction by the given changing direction of the rotating speed. Compared with the current control method of the stator permanent magnet type memory motor based on the permanent magnet flux observer, the method further improves the speed range of the motor and enhances the torque output capability of the motor.
Specifically, in the present embodiment, the load torque is given as 1N · m, and in the process of speed given sudden change, fig. 2 shows the simulation performance of the stator permanent magnet type memory motor flux weakening control method based on the permanent magnet flux linkage observer. The motor rotation speed is given as shown in (a) of fig. 2, and the corresponding permanent magnet flux linkage is given as shown in (b) of fig. 2. The initial value of the permanent magnetic flux linkage is set to be 0.0677Wb, the initial rotating speed is set to be within a speed interval of 0,750 r/min, and pulse current is not required to be applied. At 0.6s, the rotating speed is increased to 1000r/min, the rotating speed is given in a speed interval and the rotating speed is given in a change direction, and reverse pulse current with the amplitude of 48A needs to be applied. And when the rotating speed is set to be reduced to 800r/min at 1.2s, the rotating speed is set to be in a speed interval and the rotating speed is set to be in a change direction, and a forward pulse current with the amplitude of 58A needs to be applied to enable the motor to be in a saturated magnetizing state. During a given change in rotational speed, the corresponding speed, pulse current, electromagnetic torque, and direct and quadrature axis current changes are shown in fig. 2 as (c), (d), (e), and (f), respectively.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
Claims (5)
1. A stator permanent magnet type memory motor flux weakening control method based on a permanent magnet flux observer is characterized by comprising the following steps:
step S1: selecting psi according to the magnetization state of the permanent magnetpm(if1)……ψpm(if(k-1))、ψpm(ifk) K permanent magnet chains in total, and psipm(if(j-1))＞ψpm(ifj) J is more than 1 and less than or equal to k, and calculating the magnetic flux linkage psipm(if1)……ψpm(if(k-1))、ψpm(ifk) Corresponding rotational speed n1……n(k-1)、nkWherein i isfjA magnetic modulating pulse in a j-th magnetization state;
step S2: according to the applied direct axis current idDetermine the correspondence psipm(if1)……ψpm(if(k-1))、ψpm(ifk) Extended rotation speed n of k permanent magnet flux linkages11、n12…n(k-1)(k-1)、nkk；
In step S2, the permanent magnetic linkage ψ of the j-th magnetization statepm(ifj) Corresponding extended speed njjThe calculation of (a) is specifically:
in the formula idmaxAt maximum field weakening current, UdcIs a DC bus voltage, InFor rated phase current, Lq(j) Quadrature axis inductance in the j-th magnetization state, #pm(ifj) The magnetic flux linkage is a permanent magnetic flux linkage in the j magnetization state;
step S3: the rotation speed n in the steps S1 and S21……n(k-1)、nkAnd an extended rotational speed n11、n12…n(k-1)(k-1)、nkkForming a speed interval: 0 to n1、n1～n11、n11～n2……nk～nkk；
Step S4: determining the speed change direction through the given n of the rotating speed and the given n of the rotating speed after the change; if n is greater than n, n is not in the speed interval to which n belongs, and the direction is set to be 1; if n is less than n, n is not in the speed interval to which n belongs, and the direction is set as-1; if n is in the speed interval to which n belongs, the direction is set to be 0;
step S5: given n according to the speed of rotation*Satisfied speed interval, determining n*Corresponding permanent magnetic linkage psipm(ifj)*And based on psipm(ifj)*Acquiring permanent magnet flux linkage psi after rotating speed changepm(ifj)**Wherein j is more than or equal to 1 and less than or equal to k;
step S6: given n based on rotational speed*The rotation speed in step S4 is given a change direction and the permanent magnet linkage psi in step S5pm(ifj)*And psipm(ifj)**And determining the magnetic adjusting process of the permanent magnet.
2. The method for controlling the field weakening of the stator permanent magnet type memory motor based on the permanent magnet flux linkage observer according to claim 1, wherein the step S6 comprises the following situations:
the first situation is as follows: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is still at (0, n)1]The direction of the rotating speed is set to be 0, and the rotating speed is given to n x corresponding to the permanent magnetic linkage psi after changepm(if1)**And psipm(if1)*Same, at this time, the straight-axis current set value
Quadrature axis current set point
And magnetic pulse current set value
The allocation policy of (a) is:
in the formula, p is the number of pole pairs of the motor;
case two:given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)1,n11]The direction of the rotating speed is set to be 0, and the rotating speed is given to n x corresponding to the permanent magnetic linkage psi after changepm(if1)**And psipm(if1)*Same, at this time, the straight-axis current set value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
wherein n is the actual rotation speed of the motor, Ld1Direct axis inductance in the 1 st magnetization state;
case three: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, the rotating speed direction is set to-1, and the rotating speed is given n to correspond to the permanent magnetic flux linkage psi after changepm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, MfFor mutual inductance of armature winding and field winding, F1(ψpm(ifj) As shown in formula (4):
case four: given n of the speed of rotation*Is located at (0, n)1]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k, the rotating speed direction is set to-1, and the rotating speed is given n to correspond to the permanent magnetic flux linkage psi after changepm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, LdjDirect axis inductance in j-th magnetization state, Lq1Quadrature inductance in the 1 st magnetization state, LqjQuadrature inductance in the j-th magnetization state, iNFor rated armature current, ismaxFor the purpose of the maximum armature current,
to limit the field weakening current.
3. The method for controlling field weakening of a stator permanent magnet type memory motor based on a permanent magnet flux linkage observer according to claim 2, wherein the step S6 further includes the following cases:
case five: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located at (0, n)1]The direction of the rotating speed is set to be 0, and the rotating speed is given to n x corresponding to the permanent magnetic linkage psi after changepm(if1)**And psipm(if1)*Same, at this time, the straight-axis current set value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case six: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)1,n11]The direction of the rotating speed is set to be 0, and the rotating speed is given to n x corresponding to the permanent magnetic linkage psi after changepm(if1)**And psipm(if1)*Same, at this time, the straight-axis current set value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case seven: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, the rotating speed direction is set to-1, and the rotating speed is given n to correspond to the permanent magnetic flux linkage psi after changepm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula, F2(ψpm(ifj) As shown in formula (9):
case eight: given n of the speed of rotation*Is located in (n)1,n11]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k, the rotating speed direction is set to-1, and the rotating speed is given n to correspond to the permanent magnetic flux linkage psi after changepm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
4. the method for controlling field weakening of a stator permanent magnet type memory motor based on a permanent magnet flux linkage observer according to claim 2, wherein the step S6 further includes the following cases:
case nine: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located at (0, n)1]The direction of the rotating speed is set to 1, and the rotating speed is given n x corresponding to the permanent magnetic linkage psi after changepm(if1)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
in the formula if1Is the forward maximum pulse current;
case ten: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)1,n11]The direction of the rotating speed is set to 1, and the rotating speed is given n x corresponding to the permanent magnetic linkage psi after changepm(if1)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case eleven: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**At n*In the speed interval, the direction of the rotating speed is set to be 0, and the rotating speed is given to the corresponding permanent magnetic linkage psipm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case twelve: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]After change, the rotational speed is given by n**Is located in (n)j,njj]J is more than 1 and less than or equal to k, the rotating speed direction is set to be 0, and the rotating speed is given n to correspond to the permanent magnetic flux linkage psi after changepm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case thirteen: given n of the speed of rotation*Is located in (n)(j-1)(j-1),nj]After change, the rotational speed is given by n**Is located in (n)jj,n(j+1)]1 < j < k, the direction of the rotation speed is set as-1, and the rotation speed is given n after change, corresponding permanent magnet linkage psipm(if(j+1))**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
5. the method for controlling field weakening of a stator permanent magnet type memory motor based on a permanent magnet flux linkage observer according to claim 2, wherein the step S6 further includes the following cases:
the situation is fourteen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located at (0, n)1]The direction of the rotating speed is set to 1, and the rotating speed is given n x corresponding to the permanent magnetic linkage psi after changepm(if1)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case fifteen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**Is located in (n)1,n11]The direction of the rotating speed is set to 1, and the rotating speed is given n x corresponding to the permanent magnetic linkage psi after changepm(if1)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case sixteen: given n of the speed of rotation*Is located in (n)j,njj]After change, the rotational speed is given by n**Is located in (n)(j-1)(j-1),nj]J is more than 1 and less than or equal to k, the rotating speed direction is set to be 1, and the rotating speed is given n to correspond to the permanent magnetic flux linkage psi after changepm(ifj)**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
case seventeen: given n of the speed of rotation*Is located in (n)j,njj]J is more than 1 and less than or equal to k, and the rotating speed is given n after changing**At n*In the speed interval, the direction of the rotating speed is set to be 0, and the rotating speed is given to the corresponding permanent magnetic linkage psipm(ifj)**At this time, the straight-axis current is set to a given value
Cross-axis electricityFlow set point
And magnetic pulse given value
The allocation policy of (a) is:
case eighteen: given n of the speed of rotation*Is located in (n)j,njj]After change, the rotational speed is given by n**Is located in (n)jj,n(j+1)]1 < j < k, the direction of the rotation speed is set as-1, and the rotation speed is given n after change, corresponding permanent magnet linkage psipm(if(j+1))**At this time, the straight-axis current is set to a given value
Quadrature axis current set point
And magnetic pulse given value
The allocation policy of (a) is:
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| CN106788041A (en) * | 2017-01-18 | 2017-05-31 | 东南大学 | A kind of stator permanent magnetic type memory electrical machine high efficiency and wide speed regulation control method |
| CN106992729A (en) * | 2017-05-11 | 2017-07-28 | 东南大学 | A kind of stator permanent magnetic type memory electrical machine permanent magnet flux linkage Discrete control method |
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