阅读说明：本技术 一种永磁同步电机最大转矩电流比电压矢量定向控制方法 (A kind of permanent magnet synchronous motor torque capacity electric current is than voltage vector directional controlling method ) 是由 宋强 赵嗣芳 李易庭 于 2019-09-04 设计创作，主要内容包括：本发明公开了一种永磁同步电机最大转矩电流比电压矢量定向控制方法,所述方法的实现系统包括九个部分：电压源逆变桥、永磁同步电机、转子位置检测模块、坐标变换模块、角速度计算模块、速度反馈模块、电流反馈模块、电压反馈模块、VVDC模块。所述电压反馈模块用于实现最大转矩电流比控制策略。所述VVDC模块包括：电压矢量计算模块、电压矢量扇区判断模块、占空比计算模块、调制波发生器、三角载波发生器、PWM发生器。所述最大转矩电流比电压矢量定向控制方法,无需进行Park逆坐标变换,能有效解决现有SVPWM算法中存在的坐标变换复杂、扇区判断运算繁琐、占空比计算冗余的问题,为永磁同步电机最大转矩电流比控制策略的实现提供了一种简单、有效的控制方法。(The invention discloses a kind of permanent magnet synchronous motor torque capacity electric currents than voltage vector directional controlling method, and the realization system of the method includes nine parts: voltage source inverter bridge, permanent magnet synchronous motor, rotor-position detection module, coordinate transformation module, angular speed computing module, velocity feedback module, current feedback module, voltage feedback module, VVDC module.The voltage feedback module is for realizing maximum torque per ampere control strategy.The VVDC module includes: voltage vector computing module, voltage vector sector judgment module, duty ratio computing module, modulation wave generator, triangular carrier generator, PWM generator.The torque capacity electric current is than voltage vector directional controlling method, without carrying out Park against coordinate transform, it can effectively solve the problem of coordinate transform present in existing SVPWM algorithm is complicated, sector judges cumbersome operation, duty ratio computing redundancy, provide a kind of simple, effective control method for the realization of permanent magnet synchronous motor maximum torque per ampere control strategy.)

1. a kind of permanent magnet synchronous motor torque capacity electric current is than voltage vector directional controlling method, the realization system packet of the method It includes: voltage source inverter bridge (1), permanent magnet synchronous motor (2), rotor-position detection module (3), coordinate transformation module (4), angular speed Computing module (5), velocity feedback module (6), current feedback module (7), voltage feedback module (8), VVDC module (9).

The coordinate transformation module (4) includes: Clarke conversion module (4-1), Park conversion module (4-2).

The voltage feedback module (8) includes: MTPA voltage computing module (8-1), Voltage Feedback PI controller module (8-2).

The voltage feedback module (8) is for realizing MTPA control strategy: MTPA voltage computing module (8-1) is for calculating MTPA D shaft voltage V under control strategy_dWith q shaft voltage V_q, V_dWith v_d、V_qWith v_qDifference respectively through Voltage Feedback PI controller module (8-2) exports current offset values i_dcomAnd i_qcomTo current feedback module (7).

The VVDC module (9) includes: voltage vector computing module (9-1), voltage vector sector judgment module (9-2), duty Than computing module (9-3), modulation wave generator (9-4), triangular carrier generator (9-5), PWM generator (9-6).

Voltage vector computing module (9-1) the output angle δ^*And it is used for voltage vector angular position theta^*Calculating, θ^*Value is input to Voltage vector sector judgment module (9-2).The voltage vector magnitude V that the voltage vector computing module (9-1) will be calculated_s ^* It is output to duty ratio computing module (9-3).

Voltage vector sector judgment module (9-2) by sector judgment value n be respectively outputted to duty ratio computing module (9-3) and Modulation wave generator (9-4).

The voltage vector magnitude V that the duty ratio computing module (9-3) is exported by voltage vector computing module_s ^*It is used as and inputs with n, And by be calculated two basic voltage vectors duty ratio k_IAnd k_IIIt is output to modulation wave generator (9-4).

The modulation wave generator (9-4) by duty ratio computing module (9-3) output k_IAnd k_II, voltage vector sector judge mould The output n of block (9-2) is respectively as input, the modulating wave T that will be calculated_a、T_bAnd T_cIt is output to PWM generator (9-6).

2. torque capacity electric current is than voltage vector directional controlling method according to claim 1, which is characterized in that coordinate transform Module (4) does not include Park against coordinate transformation module；The voltage feedback module (8) is for realizing MTPA control strategy；It is described Duty ratio computing module (9-3) is used to calculate the duty ratio k of two basic voltage vectors_IAnd k_II, can reduce one it is unrelated basic The calculating of voltage vector duty ratio.

3. sector value n calculates step according to claim 1 are as follows:

Step 1: calculating θ^*Value, θ^*=δ^*+θ+π/2；

Step 2: ifThen n=1；

Step 3: ifThen n=2；

Step 4: ifThen n=3；

Step 5: ifThen n=4；

Step 6:Then n=5；

Step 7:Then n=6；

Step 8: output sector value n.

4. two basic voltage vectors duty ratio k according to claim 1_IAnd k_IICalculate step are as follows:

v_dIndicate d shaft voltage, v_qIndicate q shaft voltage, V_dcIndicate busbar voltage.

5. modulating wave T according to claim 1_a、T_b、T_cProducing method are as follows:

As n=1,

As n=2,

As n=3,

As n=4,

As n=5,

As n=6,

T_sFor switch periods, k₀=(1-k_I-k_Ⅱ)/2。

Technical field

The present invention relates to a kind of permanent magnet synchronous motor torque capacity electric currents than voltage vector directional controlling method, belongs to motor Control field.

Background technique

Permanent magnet synchronous motor (PMSM, permanent magnet synchronous motor) simple, function with structure The features such as rate density is high, high-efficient, many scholars study its control method in recent years.

Summary of the invention

A kind of permanent magnet synchronous motor torque capacity electric current is provided it is an object of the invention to overcome the deficiencies of existing technologies Than voltage vector directional controlling method.

To realize that the control method, the system that the present invention uses are shown in attached drawing 1, comprising: voltage source inverter bridge, permanent-magnet synchronous Motor, rotor-position detection module, coordinate transformation module, angular speed computing module, velocity feedback module, current feedback module, Voltage feedback module, VVDC module.

Wherein, the rotor-position detection module is used for real-time detection rotor-position, and output valve θ is sent to coordinate transform Module, angular speed computing module and VVDC module.

Wherein, the coordinate transformation module, comprising: Clarke conversion module, Park conversion module.Phase current i_a、i_b、i_c Through Clarke conversion module and Park conversion module, by output valve i_d、i_qIt is sent to current feedback module.

Wherein, the angular speed computing module is used to calculate the angular speed of rotor rotation, and output valve ω is sent to Velocity feedback module.

Wherein, the velocity feedback module is by angular speed given value ω_refWith the difference of ω through velocity feedback PI controller, Export i_q ^*To current feedback module, for realizing the speed control of PMSM.

Wherein, the current feedback module is by d shaft current offset i_dcomAnd i_dDifference, q shaft current offset i_qcomWith i_q ^*The sum of and subtract i_qDifference export v respectively through current feedback PI controller_d、v_qTo voltage feedback module and VVDC module.

Wherein, the voltage feedback module is for realizing MTPA control strategy: MTPA voltage computing module is for calculating D shaft voltage V under MTPA strategy_dWith q shaft voltage V_q, V_dWith v_d、V_qWith v_qDifference respectively through Voltage Feedback PI controller export Current offset values i_dcomAnd i_qcomTo current feedback module.

Wherein, the VVDC module includes: voltage vector computing module, voltage vector sector judgment module, duty ratio meter Calculate module, modulation wave generator, triangular carrier generator, PWM generator.Voltage vector computing module is for calculating voltage vector Amplitude and position；Voltage vector sector judgment module is used to judge the sector where voltage vector；Duty ratio computing module is used The duty ratio of two basic voltage vectors in sector where calculating voltage vector；Modulation wave generator is for generating modulating wave；Three Angle carrier generator is for generating triangular carrier；PWM generator is for generating pwm signal.

Wherein, the voltage vector magnitude V that the voltage vector computing module will be calculated_s ^*It is output to duty ratio and calculates mould Block；Output angle δ^*And it is used for voltage vector angular position theta^*Calculating (θ^*=δ^*+ θ+pi/2), θ^*Value is input to voltage vector sector Judgment module.

Wherein, voltage vector sector judgment module by sector judgment value n be respectively outputted to duty ratio computing module and Modulation wave generator.

Wherein, the voltage vector magnitude V that the duty ratio computing module is exported by voltage vector computing module_s ^*With n conduct Input, and by be calculated two basic voltage vectors duty ratio k_IAnd k_IIIt is output to modulation wave generator.

Wherein, the modulation wave generator by duty ratio computing module output k_IAnd k_II, voltage vector sector judge mould The output n of block is respectively as input, and the modulating wave T that will be calculated_a、T_bAnd T_cIt is output to PWM generator.

Wherein, the triangular carrier generator is for generating triangular carrier and being output to PWM generator.

Wherein, the PWM generator is by the output of modulation wave generator and triangular carrier generator as input, PWM hair Raw device generates pwm signal and is sent to voltage source inverter bridge.

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

Detailed description of the invention

Fig. 1 torque capacity electric current is than voltage vector directional controlling method system structure diagram；

Sector position schematic diagram where Fig. 2 voltage vector.

Specific embodiment

The present invention provides a kind of torque capacity electric current of permanent magnet synchronous motor than voltage vector directional controlling method, and realizing should The system of method is shown in attached drawing 1, and rotor-position detection module is used for real-time detection rotor-position, and output valve θ is sent to coordinate and is become Change the mold block and angular speed computing module；Output valve ω is sent to velocity feedback module by angular speed computing module；Velocity feedback module By angular speed given value ω_refDifference with ω exports i through velocity feedback PI controller_q ^*To current feedback module；Voltage Feedback Module exports d, q shaft current offset i_dcom、i_qcom, and export to current feedback module；Phase current i_a、i_b、i_cBecome through Clarke Block, Park conversion module are changed the mold, by output valve i_d、i_qIt is sent to current feedback module；Current feedback module is by d shaft current offset i_dcomAnd i_dDifference, q shaft current offset i_qcomWith i_q ^*The sum of and subtract i_qDifference, respectively through current feedback PI controller, Export v_d、v_qTo voltage feedback module and VVDC module；VVDC module exports PWM wave to voltage source inverter bridge.

The voltage feedback module includes MTPA voltage computing module and Voltage Feedback PI controller module.

The VVDC module includes: voltage vector computing module, sector judgment module, duty ratio computing module, modulating wave Generator, triangular carrier generator, PWM generator.