CN114094895B - A vector control method based on reactive current control of permanent magnet synchronous motor - Google Patents
A vector control method based on reactive current control of permanent magnet synchronous motor Download PDFInfo
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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Abstract
本发明提出一种基于永磁同步电动机无功电流控制的矢量控制方法，属于永磁同步电机控制技术领域。首先，确定有功电流给定和无功电流给定；其次，由反馈电流计算有功电流和有功电流；再次，得到控制功率器输入电压给定幅值；再次，得到控制功率控制器输入电压的频率；最后，由转子位置检测得到转子位置与A相绕组的夹角θ，计算得到需要控制的电动机运行电流产生磁场的方向，使得定子电流产生的磁场与转子磁场正交，实现永磁同步电动机的矢量控制。解决了现有技术中存在的高性能永磁同步电机控制的算法复杂的技术问题。
The present invention proposes a vector control method based on reactive current control of a permanent magnet synchronous motor, which belongs to the technical field of permanent magnet synchronous motor control. First, the active current setting and reactive current setting are determined; second, the active current and reactive current are calculated from the feedback current; third, the given amplitude of the input voltage of the control power device is obtained; third, the frequency of the input voltage of the control power controller is obtained; finally, the angle θ between the rotor position and the A-phase winding is obtained by rotor position detection, and the direction of the magnetic field generated by the running current of the motor to be controlled is calculated, so that the magnetic field generated by the stator current is orthogonal to the rotor magnetic field, thereby realizing the vector control of the permanent magnet synchronous motor. The technical problem of complex algorithm of high-performance permanent magnet synchronous motor control existing in the prior art is solved.
Description
Technical Field
The application relates to permanent magnet synchronous motor control, in particular to a vector control method based on reactive current control of a permanent magnet synchronous motor, and belongs to the technical field of permanent magnet synchronous motor control.
Background
Permanent magnet synchronous motors are increasingly used in industry control fields due to their high operating efficiency and high power density, and in particular, the use of high-precision control has been dominant. The control algorithm is complex because the mathematical model of the alternating current motor has the characteristics of nonlinearity and strong coupling, and the motor control performance is easily influenced by parameter variation, namely, the conventional vector control of the permanent magnet synchronous motor needs Park and Clark conversion to realize the orthogonal decoupling of the magnetic field, so that the calculation amount is large, the parameter dependence is realized, and the high performance of system control is not easy to obtain. The invention provides a technical solution for motor vector control by utilizing the characteristics that the active current and the reactive current obtained by current decomposition of a permanent magnet synchronous motor can independently control the torque and the magnetic field and the characteristics that the voltage phase can control the direction of the magnetic field.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention. Its purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
In view of the above, the invention provides a vector control method based on reactive current control of a permanent magnet synchronous motor in order to solve the technical problem of low control performance of the permanent magnet synchronous motor in the prior art.
A vector control method based on reactive current control of a permanent magnet synchronous motor comprises the following steps:
Step one, determining an active current setting and a reactive current setting;
step two, calculating active current and reactive current by the feedback current;
step three, obtaining a given amplitude value of the input voltage of the control power device;
step four, obtaining the frequency of the input voltage of the control power controller;
And fifthly, detecting the rotor position to obtain an included angle theta between the rotor position and the A-phase winding, and determining the phase of the voltage to control the direction of the magnetic field generated by the motor running current, so that the magnetic field generated by the stator current is orthogonal to the rotor magnetic field, and the vector control of the permanent magnet synchronous motor is realized.
Preferably, the specific method for determining the active current and the reactive current setting in the first step is that the active current setting is determined by a speed controller according to the real-time rotation speed difference, the reactive current is obtained by the rotation speed setting and real-time motor rotation speed inquiry experimental data, and the reactive current is determined according to the rotation speed setting.
Preferably, the specific method for obtaining the given amplitude of the input voltage of the control power device in the third step is that the feedback current calculates the active current and the reactive current, and the active current and the reactive current are respectively compared with the active current given and the reactive current given and input to the current controller, so as to obtain the given amplitude of the input voltage of the control power device.
Preferably, in the specific method for obtaining the frequency of the input voltage of the control power controller in the fourth step, the given frequency of the input voltage of the control power controller is determined by the given rotation speed.
Preferably, the magnetic field orientation control in the fifth step is determined by voltage phase, namely, the position of the magnetic field of the rotor is detected by the position of the rotor, and the position of the magnetic field of the stator current is required to be controlled to realize the orthogonal control of the magnetic field of the stator and the magnetic field of the rotor, namely, the three-phase voltage phase is controlled to realize the orthogonal control of the magnetic field generated by the current of the permanent magnet synchronous motor and the magnetic field of the rotor.
The amplitude, frequency and phase of the modulation voltage signal for controlling the output voltage of the power controller are determined, and the operation of the permanent magnet synchronous motor is controlled.
The invention has the beneficial effects that the current response is used as a control key parameter, and the performance experimental data of the rated points of the motor and the system are used as control references, so that the performance of the motor control system has the characteristic of independent motor parameters. The invention is different from the traditional vector control, the torque and the magnetic field of the motor are controlled by calculating the active current and the reactive current, and the voltage phase is directly controlled according to the position of the magnetic field of the rotor and the angle of the power factor, so that the magnetic field generated by the stator current is orthogonal to the magnetic field of the rotor. The method solves the problems of complex control algorithm and large calculated amount of the permanent magnet synchronous motor in the prior art, and provides a technical scheme capable of realizing high-performance control of the motor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic flow chart of the method;
FIG. 2 is a schematic diagram of a control principle;
FIG. 3 is a phasor diagram of a permanent magnet synchronous motor;
FIG. 4 is a schematic diagram of the correspondence of voltage and current zero crossings and peaks for phase differences;
FIG. 5 is a schematic diagram of a calculated power factor angle;
FIG. 6 is a schematic diagram of rotor magnetic field position determination.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is provided in conjunction with the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application and not exhaustive of all embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
Example 1, referring to fig. 1 to 6, a vector control method based on reactive current control of a permanent magnet synchronous motor according to the present embodiment includes the steps of:
Step one, determining an active current setting and a reactive current setting;
step two, by feedback current (in FIG. 2 ) Calculating active current and reactive current;
step three, obtaining a given amplitude value of the input voltage of the control power device;
step four, obtaining the frequency of the input voltage of the control power controller;
And fifthly, detecting the rotor position to obtain an included angle theta (the direction of the d axis is the rotor magnetic field direction, and the direction of the ds axis is the magnetic field direction generated by the motor current to be controlled) between the rotor position and the A-phase winding (the direction of the d axis is the rotor magnetic field direction, and particularly shown in fig. 2), and calculating the phase of the obtained voltage to control the direction of the magnetic field generated by the motor running current, so that the magnetic field generated by the stator current is orthogonal to the rotor magnetic field, and the vector control of the permanent magnet synchronous motor is realized.
Specifically, the permanent magnet synchronous motor current running at a given rotational speed contains two components, an active current component controlling the active power of the motor and a reactive current component controlling the reactive power of the motor, respectively. When the voltage of the control motor is smaller than the counter electromotive force of the motor, the reactive current plays a role in demagnetization, the current phase is advanced to the voltage, when the voltage of the control motor is larger than the counter electromotive force of the motor, the reactive current plays a role in assisting magnetism, the current phase is delayed to the voltage, and when the voltage of the control motor is identical to the current phase, the control is performed so that the reactive current is zero. And obtaining a voltage amplitude control rule according to the reactive current control characteristics.
The reactive power is related to the energy of the motor magnetic field, and the reactive current is controlled to control the amplitude of the air gap magnetic field, so that the phase difference between voltage and current is obtained according to the characteristic of response on the motor power of the permanent magnet synchronous motor, and then the current component of the control torque and the current component of the control magnetic field in the current are calculated.
The torque and magnetic field control is determined by a speed loop and a reactive current comparison control link, wherein the magnitude of an active current component is determined by the magnitude of the output torque of a speed controller according to the rotating speed response requirement of a control system, and the magnitude of a reactive current component is determined by a reactive current reference obtained by the control system according to rotating speed setting and real-time rotating speed query experimental data.
The magnetic field orientation control is determined by voltage phase, namely the position of the rotor magnetic field obtained by detecting the position of the rotor can be known, and the position of the stator current magnetic field needs to be controlled to realize the orthogonal control of the stator magnetic field and the rotor magnetic field, namely the three-phase voltage phase is controlled to realize the orthogonal control of the magnetic field generated by the current of the permanent magnet synchronous motor and the rotor magnetic field.
The method comprises the steps of 1, carrying out one period of alternating voltage to obtain two zero crossing points and two peak points, carrying out twelve identifiable points on three-phase voltage, carrying out twelve identifiable points on three-phase current, and obtaining phase difference and current amplitude corresponding to voltage and current at certain running frequency, so that active current component and reactive current component of current can be calculated; and 2, detecting real-time values of the two-phase current to calculate a power factor angle and a current amplitude, wherein the phase difference between the voltage and the current is equal to the power factor angle. According to the operation characteristics of the permanent magnet synchronous motor in claim 1, the direction of a magnetic field generated by a stator current can be controlled by controlling a voltage phase, the motor torque can be controlled by controlling an active current component i P, and the air gap magnetic field amplitude can be controlled by controlling a reactive current component i Q.
The direction of the magnetic field generated by the stator current is realized by controlling the three-phase voltage phase of the motor through the detected rotor position, and the amplitude of the magnetic field is realized by controlling the size of the three-phase voltage. The three-phase voltage phase which is convenient to identify is determined by a special point of the included angle theta between the rotor position and the A-phase winding, such as 0, 90, 30, 60 and other electrical angles in the quarter cycle of alternating voltage.
After the temperature rise of the motor at rated load is stable, the experiment tests that the current and voltage phase difference of the permanent magnet synchronous motor is zero, the current phase is advanced by 45 DEG electrical angle of voltage and the current phase is lagged by 45 DEG voltage, power factor angle and load current value of several typical frequency points of voltage phase, at the moment, the resistance and inductance parameters in the motor parameters are real working states, an accurate mathematical model is provided for the control constructed by the model, and the method is a condition for realizing high-precision control, namely, accurate reference data is provided for controlling target torque and target magnetic field.
The key two current components are calculated by the current response characteristics, so that the vector control mathematical model of the permanent magnet synchronous motor has independence with motor parameters, and the independent control of the magnetic field and the torque of the motor is realized.
The phase difference between the current and the voltage of the motor during actual operation is calculated, the active current component of the control torque and the reactive current component of the control magnetic field are obtained, and the magnitude of the control voltage is given according to the rotating speed and the reactive current in actual control.
And calculating the direction of a magnetic field generated by motor running current to be controlled according to the included angle theta between the rotor position and the A-phase winding obtained by detecting the rotor position, so that the magnetic field generated by the stator current is orthogonal to the rotor magnetic field. The control voltage phase angle at a particular point of θ has a smaller computational load, i.e., a higher real-time of the system response.
Specifically, the parameters in fig. 2 mean:
n ref rotating speed is set;
i detecting current of a motor state;
detecting the rotating speed of the n motor state;
i p active current;
i pref active current is given;
i Qref reactive current setting;
i Q reactive current;
Delta n real-time rotational speed difference;
A SVR speed controller;
an AVR power controller;
u ref voltage gives amplitude;
f frequency.
The method comprises the core thought that an active current component and a reactive current component of a motor are obtained by detecting and calculating the phase difference between current and corresponding voltage, the current component of motor torque is controlled by the characteristics that the lagging reactive current and the leading reactive current and the reactive current are equal to zero when the synchronous motor operates so as to realize the torque control of the motor, and the vector control of the permanent magnet synchronous motor is realized by controlling the stator voltage phase so that the direction of a resultant magnetic field generated by winding current is orthogonal to the direction of a rotor magnetic field of the permanent magnet synchronous motor.
Parameters to be controlled for vector control of the permanent magnet synchronous motor are the voltage amplitude of the motor, the frequency of the voltage and the phase of the voltage.
1. The purpose of controlling the voltage amplitude is to control the torque and the magnetic field of the motor, the control torque and the magnetic field can be embodied by motor current, and the active current or the torque current controls the torque, and the reactive current or the magnetic field current controls the magnetic field;
2. the frequency of the voltage controls the rotating speed of the motor, and the rotating speed of the permanent magnet synchronous motor corresponds to the frequency strictly, namely one frequency corresponds to one rotating speed of the motor;
3. the control voltage phase is used for controlling the direction of the magnetic field generated by the motor current, and if the direction of the magnetic field generated by the motor current is perpendicular or orthogonal to the direction of the magnetic field of the rotor, the vector control of the permanent magnet synchronous motor is realized.
Specifically, fig. 2 shows a block diagram of a motor control system including a speed loop, a torque control current component i Pref is output by a speed controller through speed setting and actual rotation speed comparison, a magnetic field control current i Qref obtained by inquiring experimental data is respectively compared with an active current component i P and a reactive current component i Q obtained through calculation and output to a current controller, a voltage amplitude control value is output by integrating a required i P control value and i Q control value, wherein i P comparison value and i Q comparison value are calculated by a current feedback link.
Figure 3 shows the back emf at a given motor speedAt different voltages appliedTime motor currentVector relation to voltage.
Specifically, a control law of the voltage amplitude is determined according to the phase difference between the current and the voltage obtained through detection and calculation. As can be seen from the phasor relationship of fig. 3 when the voltage is smaller than the back electromotive force, the current phase is advanced to the voltage phase, and when the voltage is actually controlled, the phase difference between the voltage and the current can be reduced by increasing the voltage amplitude;
when the voltage and the current are in the same phase, the reactive current component of the motor is equal to zero, namely, the current is all torque control current at the moment, and the running and power factor of the motor are equal to 1 working condition;
When the voltage is larger than the back electromotive force, the phase of the current lags behind the phase of the voltage as can be seen from the phasor diagram, and when the voltage is actually controlled, the phase difference between the voltage and the current can be reduced by reducing the voltage amplitude;
fig. 3 shows that the lead and lag relationship between the current and the voltage is determined according to the detected phase difference according to the requirement of the phase difference between the current and the voltage in actual control, thereby obtaining the voltage control law.
As can be seen from fig. 4, taking the a-phase controlled by the three-phase permanent magnet synchronous motor as an example, the phase difference is obtained by giving the time difference Δt between the zero crossing point and the peak point of the passing voltage and the zero crossing point and the peak point of the current in fig. 4 in the electrical resolution period.
Where ω=2pi f, f is the voltage frequency.
When the motor runs stably, f has a strict corresponding relation with the rotating speed.
Two methods of detecting and calculating the phase difference between current and voltage:
One is that in fig. 4, an alternating voltage has two zero crossing points and two peak points in one period, a three-phase voltage has twelve distinguishable points, a three-phase current has twelve distinguishable points, and the phase difference and the current amplitude corresponding to the voltage and the current can be obtained at a certain operating frequency, so that the active current component and the reactive current component of the current can be calculated. According to the operation characteristics of the permanent magnet synchronous motor in fig. 3, the magnitude of the active current component i P and the magnitude of the reactive current component i Q are controlled by controlling the voltage amplitude to perform phase difference control.
The other is to detect two-phase current, and the other phase current is calculated by the following formula:
ib＝-(ia+ic) (1)
calculating the current maximum I m and the phase difference from the two-phase current A-phase current I a and the C-phase current I c detected in FIG. 5 I P and i Q were obtained.
When i a+2ic is not equal to 0, find:
The method can obtain:
When i a is not equal to 0,
And (3) obtaining:
And (3) obtaining:
the calculated active and reactive current components determine the torque and magnetic field that the motor needs to control when operating, thus giving the magnitude of the control voltage, the specific current-generated magnetic field direction determining the phase of the voltage from fig. 6.
Fig. 6 shows a position determination diagram between the rotor field and the a-phase winding, for a permanent magnet synchronous motor with θ=ωt.
The stator current magnetic field direction is shown by the ds axis of fig. 6, the detected rotor position is realized by controlling the three-phase voltage phase of the motor, and the magnetic field amplitude is realized by controlling the three-phase voltage.
Specifically, the three-phase voltage phase convenient to identify is determined by a special point of the included angle θ between the rotor position and the a-phase winding, for example, in a quarter cycle of the ac voltage, the rotor angle θ is added to the corresponding phase difference between the voltage and the current, namely:
When the current phase advances by the voltage, "-", and conversely, "+".
Detecting the rotor position to obtain the included angle theta between the rotor position and the A-phase winding, and calculating to obtain the direction of the magnetic field generated by the motor running current to be controlled, so that the magnetic field generated by the stator current is orthogonal to the rotor magnetic field.
In the time resolvable range, the control voltage phase angle at a special point of theta has smaller calculation amount, namely higher real-time performance of system response.
In summary, the motor torque control and the magnetic field control can be realized by controlling the active current and the reactive current of the stator current, the position control of the magnetic field amplitude generated by the stator current is realized by controlling the motor voltage phase according to the included angle theta between the rotor position and the A-phase winding, and the orthogonal control of the magnetic field, namely the vector control of the permanent magnet synchronous motor, is realized when the magnetic field amplitude direction is perpendicular to the rotor magnetic field direction.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the invention, which is defined by the appended claims.
Claims (3)
1. The vector control method based on the reactive current control of the permanent magnet synchronous motor is characterized by comprising the following steps of:
Step one, determining an active current setting and a reactive current setting;
step two, calculating active current and reactive current by the feedback current;
step three, obtaining a given amplitude value of the input voltage of the control power device;
step four, obtaining the frequency of the input voltage of the control power device;
Fifthly, detecting the rotor position to obtain the included angle between the rotor position and the phase A winding, determining the phase of the voltage to control the direction of the magnetic field generated by the motor running current, so that the magnetic field generated by the stator current is orthogonal to the rotor magnetic field, and realizing the vector control of the permanent magnet synchronous motor;
determining the active current setting by a speed controller according to a real-time rotating speed difference, obtaining the reactive current by the rotating speed setting and real-time motor rotating speed inquiry experimental data, and determining the reactive current setting required by a control process according to the rotating speed setting;
The specific method for determining the voltage phase of the magnetic field directional control is that the position of the magnetic field of the rotor is obtained by detecting the position of the magnetic field of the rotor, the position of the magnetic field of the stator current needs to be controlled, and the orthogonal control of the magnetic field of the stator and the magnetic field of the rotor is realized, namely, the three-phase voltage phase is controlled, and the orthogonal control of the magnetic field generated by the current of the permanent magnet synchronous motor and the magnetic field of the rotor is realized.
2. The method according to claim 1, wherein the specific method for obtaining the given amplitude of the input voltage of the control power device in the third step is that the active current and the reactive current are calculated from the feedback current and are respectively compared with the active current given value and the reactive current given value to be input to the current controller, so as to obtain the given amplitude of the input voltage of the control power device.
3. The method according to claim 1, wherein the specific method for obtaining the frequency of the input voltage of the control power device in the fourth step is to determine the frequency given by the input voltage of the control power device according to the rotation speed.
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| CN101355337A (en) * | 2008-08-19 | 2009-01-28 | 华南理工大学 | Drive control method of permanent magnet synchronous motor based on magnetic field quadrature control |
| CN106788026A (en) * | 2016-11-25 | 2017-05-31 | 江苏大学 | A kind of space vector signal injects permagnetic synchronous motor maximum torque per ampere control method |
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| JP4088734B2 (en) * | 1999-02-10 | 2008-05-21 | 富士電機ホールディングス株式会社 | Control device for permanent magnet type synchronous motor |
| EP1237274B1 (en) * | 2001-03-02 | 2004-05-06 | Matsushita Electric Industrial Co., Ltd. | Electric motor controller |
| GB2465379A (en) * | 2008-11-17 | 2010-05-19 | Technelec Ltd | Controller for electrical machines |
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| CN101355337A (en) * | 2008-08-19 | 2009-01-28 | 华南理工大学 | Drive control method of permanent magnet synchronous motor based on magnetic field quadrature control |
| CN106788026A (en) * | 2016-11-25 | 2017-05-31 | 江苏大学 | A kind of space vector signal injects permagnetic synchronous motor maximum torque per ampere control method |
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