阅读说明：本技术 一种汽车电子水泵永磁同步电机的无感控制电路及方法 (Non-inductive control circuit and method for permanent magnet synchronous motor of automobile electronic water pump ) 是由 大卫·盖恩 朱伟华 周树丽 于 2020-12-31 设计创作，主要内容包括：本发明公开了一种汽车电子水泵永磁同步电机的无感控制电路,包括永磁同步电机,还包括以下模块：一个三相电路处理模块；一个Clarke正变换模块；一个Park正变换模块和Park逆变换模块；一个角度与速度估算器模块；三个PI比例积分控制器模块；一个通过标定的数值提供电流Id的目标值ID的电流参考点；以及一个空间矢量调制模块。本发明还公开了一种汽车电子水泵永磁同步电机的无感控制方法。本发明能够保证永磁同步电机定子与转子磁场垂直,输出最大转矩。(The invention discloses a non-inductive control circuit of a permanent magnet synchronous motor of an automobile electronic water pump, which comprises the permanent magnet synchronous motor and also comprises the following modules: a three-phase circuit processing module; a Clarke forward transform module; a Park forward transform module and a Park inverse transform module; an angle and velocity estimator module; three PI proportional-integral controller modules; a current reference point providing a target value Id of the current Id by a calibrated value; and a space vector modulation module. The invention also discloses a non-inductive control method of the permanent magnet synchronous motor of the automobile electronic water pump. The invention can ensure that the permanent magnet synchronous motor stator is vertical to the rotor magnetic field and outputs the maximum torque.)

1. The utility model provides an automotive electronics water pump PMSM's noninductive control circuit, includes PMSM (1), its characterized in that: the system also comprises the following modules:

a three-phase circuit processing module (2); the input end of the three-phase circuit processing module (2) is connected with the space vector modulation module (8), and the pulse width modulation signal of the three-phase motor voltage signal generated by the space vector modulation module (8) is converted into three-phase motor alternating current to output three-phase currents ia, ib and ic, so that the motor reaches corresponding rotating speed and torque;

a Clarke forward transform module (3); the input end of the Clarke positive transformation module (3) is connected with two-phase output currents ia and ib of the three-phase circuit processing module (2);

a Park forward transform module (4-1) and a Park inverse transform module (4-2);

an angle and velocity estimator module (5);

three PI proportional-integral controller modules (6);

a current reference point (7) providing a target value Id of the current Id by a nominal value;

and a space vector modulation module (8);

the output end of the Clarke forward conversion module (3) is connected with the input end of the Park forward conversion module (4-1), so that two-phase output currents ia and ib acquired by the Clarke forward conversion module (3) are realized, a third-phase alternating current is calculated, then a three-axis two-dimensional coordinate system taking a stator as a reference is moved to a two-axis alpha-beta coordinate system, the same reference is kept, and i alpha and i beta on an output two-axis system are obtained and serve as input signals of the Park forward conversion module (4-1); the Park forward transformation module (4-1) can transform a biaxial alpha-beta orthogonal coordinate system to another biaxial d-q coordinate system rotating together with the rotor magnetic flux according to i alpha and i beta transformed by the Clarke forward transformation module (3), then outputs ID and iq, and is connected with an angle and speed estimator module (5), a PI proportional-integral controller module (6) and an ID current reference point (7) for providing input; the current reference point (7) is connected with a first PI proportional-integral controller module (6-1), the input end of the Park inverse transformation module (4-2) is connected with a first PI proportional-integral controller module (6-1) and a second PI proportional-integral controller module (6-2), Vd and Vq of a rotating d-q coordinate axis output by the two PI proportional-integral controller modules (6) are transformed to a biaxial alpha-beta orthogonal coordinate system, then outputting V alpha and V beta as the input of a space vector modulation module (8), acquiring the output of an angle and speed estimator module (5) by a second PI proportional-integral controller module (6-2) through a third PI proportional-integral controller module (6-3), calculating an error, correcting a control quantity according to the error, and outputting Vd and Vq; the space vector modulation module (8) generates pulse width modulation signals of three-phase motor voltage signals through V alpha and V beta output by the Park inverse transformation module (4-2), and three phase voltages with phases different by 120 degrees are used as the input of the three-phase circuit processing module (2).

2. The noninductive control circuit of the permanent magnet synchronous motor of the automobile electronic water pump according to claim 1, characterized in that: the three PI proportional-integral controller modules (6) are mutually dependent, wherein the third PI proportional-integral controller module (6-3) is used as an outer ring to control the rotating speed, the second PI proportional-integral controller module (6-2) and the first PI proportional-integral controller module are used as two inner rings to control the motor currents id and iq, id corresponds to magnetic flux, and iq corresponds to motor torque.

3. The noninductive control circuit of the permanent magnet synchronous motor of the automobile electronic water pump according to claim 1, characterized in that: the three-phase circuit processing module (2) comprises a three-phase bridge rectifier, an inverter and a collection and protection circuit module which are connected in sequence.

4. A non-inductive control method of an automotive electronic water pump permanent magnet synchronous motor comprises the following steps of adopting the non-inductive control circuit of the automotive electronic water pump permanent magnet synchronous motor as claimed in claim 1, and is characterized in that: the method specifically comprises the following steps:

s1, calculating the value of ic according to a formula of ia + ib + ic = 0 by measuring the ia value and the ib value of the stator current of the permanent magnet synchronous motor (1);

s2, providing variables for obtaining i alpha and i beta through the measured ia value and ib value and the calculated ic value, wherein the i alpha value and the i beta value are orthogonal current values which change along with time from the perspective of a stator, and finally converting the three-phase current to a static biaxial system;

s3, rotating the stationary biaxial coordinate system using the transformation angle calculated at the last iteration of the control loop and aligned with the rotor flux and providing id and iq variables by i α and i β values, the id and iq values being constant for steady state conditions since the values id and iq are orthogonal currents transformed to the rotating coordinate system;

s4, forming error signals through id and iq, inputting the error signals to a PI proportional-integral controller module (6) according to respective reference values, providing vd values and vq values through the output of the PI proportional-integral controller module (6), and applying the vd values and vq values to the voltage vector of the permanent magnet synchronous motor (1);

s5, estimating a new transformation angle by a position estimation observer by using the v alpha, the v beta, the i alpha and the i beta, wherein the new angle guides an FOC algorithm to determine the position for placing the voltage vector of the next vd value and the vq value;

s6, rotating the vd and vq output values from the PI proportional-integral controller module (6) back to the static reference coordinate system by using a new angle, and taking the obtained calculation data as next orthogonal voltage values v alpha and v beta;

s7, converting the v alpha and v beta values back to three-phase values va, vb and vc, and then calculating a brand new PWM duty ratio value used for generating the required voltage vector by using the three-phase voltage values;

wherein the position estimation observer in step S5 is a lunberg observer.

Technical Field

The invention relates to the technical field of automobile motor control, in particular to a non-inductive control circuit and a non-inductive control method for an automobile electronic water pump permanent magnet synchronous motor.

Background

With the development of the technology in the automobile industry, an electronic water pump replaces a mechanical water pump to become a core component in an automobile thermal management system. The automobile electronic water pump adopts a high-power high-density permanent magnet synchronous motor, but if a high-resolution sensor is used, the cost of a motor system is increased, and in addition, the sensor is difficult to install due to the internal structure, so a sensorless control method is needed.

In the sensorless control method, the core part is how to estimate the position of the rotor, thereby ensuring that the permanent magnet synchronous motor stator is vertical to the magnetic field of the rotor and outputting the maximum torque.

Disclosure of Invention

The invention aims to provide a non-inductive control circuit and a non-inductive control method for a permanent magnet synchronous motor of an automobile electronic water pump, which can estimate the position of a rotor, thereby ensuring that a magnetic field of a stator of the permanent magnet synchronous motor is vertical to a magnetic field of the rotor and outputting the maximum torque.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automotive electronics water pump PMSM's noninductive control circuit, includes PMSM, still includes following module:

a three-phase circuit processing module; the input end of the three-phase circuit processing module is connected with the space vector modulation module, and the pulse width modulation signal of the three-phase motor voltage signal generated by the space vector modulation module is converted into three-phase motor alternating current to output three-phase currents ia, ib and ic, so that the motor reaches corresponding rotating speed and torque;

a Clarke forward transform module; the input end of the Clarke positive conversion module is connected with two-phase output currents ia and ib of the three-phase circuit processing module;

a Park forward transform module and a Park inverse transform module;

an angle and velocity estimator module;

three PI proportional-integral controller modules;

a current reference point providing a target value Id of the current Id by a calibrated value;

and a space vector modulation module;

the output end of the Clarke forward conversion module is connected with the input end of the Park forward conversion module, so that two-phase output currents ia and ib acquired by the Clarke forward conversion module are achieved, a third-phase alternating current is calculated, then a three-axis two-dimensional coordinate system taking a stator as a reference is moved to a two-axis alpha-beta coordinate system, the same reference is kept, and i alpha and i beta on an output two-axis system are obtained and serve as input signals of the Park forward conversion module; the Park forward conversion module can convert a biaxial alpha-beta orthogonal coordinate system into another biaxial d-q coordinate system which rotates together with the rotor magnetic flux according to i alpha and i beta converted by the Clarke forward conversion module, then outputs ID and iq, and is connected with the angle and speed estimator module, the PI proportional-integral controller module and the ID current reference point to provide input; the current reference point is connected with a first PI proportional-integral controller module, the input end of the Park inverse transformation module is connected with the first PI proportional-integral controller module and a second PI proportional-integral controller module, Vd and Vq of a rotating d-q coordinate axis output by the two PI proportional-integral controller modules are transformed to a biaxial alpha-beta orthogonal coordinate system, then V alpha and V beta are output to serve as the input of a space vector modulation module, the second PI proportional-integral controller module obtains the output of an angle and speed estimator module through a third proportional-integral controller module, calculates errors and corrects control quantity according to the errors, and outputs Vd and Vq; the space vector modulation module generates pulse width modulation signals of three-phase motor voltage signals through V alpha and V beta output by the Park inverse transformation module, and three phase voltages with a phase difference of 120 degrees are used as the input of the three-phase circuit processing module.

Preferably, three PI proportional-integral controller modules are mutually dependent, wherein the third PI proportional-integral controller module is used as an outer ring to control the rotating speed, the second PI proportional-integral controller module and the first PI proportional-integral controller module are used as two inner rings to control the motor currents id and iq, id corresponds to magnetic flux, and iq corresponds to motor torque.

Preferably, the three-phase circuit processing module comprises a three-phase bridge rectifier, an inverter and a collection and protection circuit module which are connected in sequence.

The invention also discloses a non-inductive control method of the permanent magnet synchronous motor of the automobile electronic water pump, which comprises the following steps of adopting the non-inductive control circuit of the permanent magnet synchronous motor of the automobile electronic water pump in claim 1, and is characterized in that: the method specifically comprises the following steps:

s1, calculating the value of ic according to a formula of ia + ib + ic = 0 by measuring the values of ia and ib of the stator currents of the permanent magnet synchronous motor;

s2, providing variables for obtaining i alpha and i beta through the measured ia value and ib value and the calculated ic value, wherein the i alpha value and the i beta value are orthogonal current values which change along with time from the perspective of a stator, and finally converting the three-phase current to a static biaxial system;

s3, rotating the stationary biaxial coordinate system using the transformation angle calculated at the last iteration of the control loop and aligned with the rotor flux and providing id and iq variables by i α and i β values, the id and iq values being constant for steady state conditions since the values id and iq are orthogonal currents transformed to the rotating coordinate system;

s4, forming error signals through id and iq, inputting the error signals to a PI proportional-integral controller module according to respective reference values, providing a vd value and a vq value through the output of the PI proportional-integral controller module, and applying the vd value and the vq value to a voltage vector of the permanent magnet synchronous motor;

the respective reference values mentioned above are as follows:

1. id reference, controls the rotor flux.

2. And iq reference, and controlling the torque output of the motor.

3. And inputting the error signal into a PI controller, namely a PI proportional-integral controller module.

4. The output of the controller provides vd and vq, which are the voltage vectors to be applied to the motor;

s5, estimating a new transformation angle by a position estimation observer by using the v alpha, the v beta, the i alpha and the i beta, wherein the new angle guides an FOC algorithm to determine the position for placing the voltage vector of the next vd value and the vq value;

s6, rotating the vd and vq output values from the PI proportional-integral controller module back to the static reference coordinate system by using a new angle, and taking the obtained calculation data as the next orthogonal voltage values v alpha and v beta;

s7, converting the v alpha and v beta values back to three-phase values va, vb and vc, and then calculating a brand new PWM duty ratio value used for generating the required voltage vector by using the three-phase voltage values;

wherein the position estimation observer in step S5 is a lunberg observer.

The invention has the beneficial effects that:

1. the cost and the structural complexity of a permanent magnet synchronous motor system in the electronic water pump are reduced through a non-inductive control scheme.

2. The position estimation of the permanent magnet synchronous motor rotor is realized by adopting the reduced-order Luenberger observer, the feedback control of the rotor position is realized, the estimated position precision is improved, and the running stability and the system reliability of the permanent magnet synchronous motor are improved.

Drawings

Fig. 1 is a schematic circuit connection diagram of a non-inductive control circuit of an automotive electronic water pump permanent magnet synchronous motor in embodiment 1;

FIG. 2 is a schematic coordinate diagram of an output biaxial system of the Clarke forward transform module in this embodiment 1;

fig. 3 is a schematic structural diagram of the Clarke forward transform module in this embodiment 1;

fig. 4 is a schematic structural diagram of a Park forward conversion module in this embodiment 1;

fig. 5 is a schematic diagram of coordinates of an output biaxial system of the Park forward conversion module in this embodiment 1;

fig. 6 is a schematic structural diagram of the Park inverse transformation module in this embodiment 1;

fig. 7 is a schematic coordinate diagram of an output two-axis system of the Park inverse transformation module in this embodiment 1;

fig. 8 is a schematic structural diagram of the lunberger observer in this embodiment 1.

In the figure: the device comprises a permanent magnet synchronous motor 1, a three-phase circuit processing module 2, a Clarke forward conversion module 3, a Park forward conversion module 4-1, a Park inverse conversion module 4-2, a speed estimator module 5, a PI proportional-integral controller module 6, a first PI proportional-integral controller module 6-1, a second PI proportional-integral controller module 6-2, a third PI proportional-integral controller module 6-3, a current reference point 7 and a space vector modulation module 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example 1:

referring to fig. 1, the noninductive control circuit of the permanent magnet synchronous motor of the electronic water pump of the automobile disclosed in this embodiment includes the permanent magnet synchronous motor 1, and further includes the following modules:

a three-phase circuit processing module 2; the input end of the three-phase circuit processing module 2 is connected with the space vector modulation module 8, and the pulse width modulation signal of the three-phase motor voltage signal generated by the space vector modulation module 8 is converted into three-phase motor alternating current to output three-phase currents ia, ib and ic, so that the motor reaches corresponding rotating speed and torque;

a Clarke forward transform module 3; the input end of the Clarke forward conversion module 3 is connected with the two-phase output currents ia and ib of the three-phase circuit processing module 2;

a Park forward transform module 4-1 and a Park inverse transform module 4-2;

an angle and velocity estimator module 5;

three PI proportional-integral controller modules 6;

a current reference point 7 providing a target value Id of the current Id by a calibrated value;

and a space vector modulation module 8;

the output end of the Clarke forward conversion module 3 is connected with the input end of the Park forward conversion module 4-1, so that two-phase output currents ia and ib acquired by the Clarke forward conversion module 3 are achieved, a third-phase alternating current is calculated, then a three-axis two-dimensional coordinate system taking a stator as a reference is moved to a two-axis alpha-beta coordinate system, the same reference is kept, and i alpha and i beta on an output two-axis system are acquired and serve as input signals of the Park forward conversion module 4-1; the Park forward conversion module 4-1 can convert the biaxial alpha-beta orthogonal coordinate system into another biaxial d-q coordinate system rotating together with the rotor magnetic flux according to i alpha and i beta converted by the Clarke forward conversion module 3, then outputs ID and iq, and is connected with the angle and speed estimator module 5, the PI proportional-integral controller module 6 and the ID current reference point 7 to provide input; the current reference point 7 is connected with a first PI proportional-integral controller module 6-1, the input end of the Park inverse transformation module 4-2 is connected with the first PI proportional-integral controller module 6-1 and a second PI proportional-integral controller module 6-2, Vd and Vq of a rotating d-q coordinate axis output by the two PI proportional-integral controller modules 6 are transformed to a biaxial alpha-beta orthogonal coordinate system, then, V alpha and V beta are output to serve as the input of a space vector modulation module 8, the second PI proportional-integral controller module 6-2 obtains the output of an angle and speed estimator module 5 through a third proportional-integral controller module 6-3, calculates an error and outputs Vd and Vq according to an error correction control quantity; the space vector modulation module 8 generates pulse width modulation signals of three-phase motor voltage signals through V alpha and V beta output by the Park inverse transformation module 4-2, and three phase voltages with a phase difference of 120 degrees are used as the input of the three-phase circuit processing module 2.

Preferably, three PI proportional-integral controller modules 6 are mutually dependent, wherein the third PI proportional-integral controller module 6-3 is used as an outer ring to control the rotating speed, the second PI proportional-integral controller module 6-2 and the first PI proportional-integral controller module are used as two inner rings to control the motor currents id and iq, id corresponds to magnetic flux, and iq corresponds to motor torque.

Preferably, the three-phase circuit processing module 2 includes a three-phase bridge rectifier, an inverter, and a collection and protection circuit module, which are connected in sequence.

The structure of the Clarke forward conversion module in this embodiment is shown in fig. 3, and the function of the module is based on the two-phase alternating current collected by the three-phase circuit processing module 2, according to the following formula:

calculating the value of the third-phase alternating current ic, moving a three-axis two-dimensional coordinate system with the stator as a reference to a two-axis alpha-beta coordinate system, as shown in fig. 2, keeping the same reference, outputting i alpha and i beta on the two-axis system, and using the i alpha and i beta as the input of the Park forward conversion module 4-1;

the Park forward transform module 4-1 in this embodiment is structured as shown in fig. 4, so that the function is to transform the biaxial α - β orthogonal coordinate system to another biaxial d-q coordinate system rotating together with the rotor flux, as shown in fig. 5, based on i α and i β transformed by the module 3, and then according to the following formula:

outputs the values of ID and iq (θ represents the rotor angle) providing inputs to the angle and speed estimator module 5, the PI proportional-integral controller module 6 and the ID current reference point 7;

the structure of the Park inverse transformation module 4-2 in this embodiment is shown in fig. 6, and its function is to transform Vd, Vq of the rotated d-q coordinate axis output from the PI proportional-integral controller module 6 to a biaxial α - β orthogonal coordinate system, as shown in fig. 7, and then according to the following formula:

the values of the outputs V α and V β are calculated as inputs to the space vector modulation module 8.

The embodiment also discloses a non-inductive control method of the permanent magnet synchronous motor of the automobile electronic water pump, which comprises the following steps of adopting the non-inductive control circuit of the permanent magnet synchronous motor of the automobile electronic water pump in claim 1, and is characterized in that: the method specifically comprises the following steps:

s1, calculating the value of ic according to a formula of ia + ib + ic = 0 by measuring the ia value and the ib value of the stator current of the permanent magnet synchronous motor 1;

s2, providing variables for obtaining i alpha and i beta through the measured ia value and ib value and the calculated ic value, wherein the i alpha value and the i beta value are orthogonal current values which change along with time from the perspective of a stator, and finally converting the three-phase current to a static biaxial system;

s3, rotating the stationary biaxial coordinate system using the transformation angle calculated at the last iteration of the control loop and aligned with the rotor flux and providing id and iq variables by i α and i β values, the id and iq values being constant for steady state conditions since the values id and iq are orthogonal currents transformed to the rotating coordinate system;

s4, forming error signals by id and iq, inputting the error signals to the PI proportional-integral controller module 6 according to respective reference values, providing vd and vq values from the output of the PI proportional-integral controller module 6, and applying the vd and vq values to the voltage vector of the permanent magnet synchronous motor 1;

s5, estimating a new transformation angle by a position estimation observer by using the v alpha, the v beta, the i alpha and the i beta, wherein the new angle guides an FOC algorithm to determine the position for placing the voltage vector of the next vd value and the vq value;

s6, rotating the vd and vq output values from the PI proportional-integral controller module 6 back to the stationary reference frame using the new angle, and taking the obtained calculation data as the next orthogonal voltage values v α and v β;

s7, converting the values of v α and v β back to three-phase values va, vb and vc, and then using the three-phase voltage values to calculate the new PWM duty cycle values used to generate the desired voltage vector.

Where θ represents the rotor angle.

In this embodiment: the position estimation observer in step S5 is a lunberg observer, which is a method for determining the internal state of a linear system when the input and output are known.

The following describes the implementation of a reduced-order lunberg observer for the BEMF function, the BEMF vector position being found by the arctan () operation from the BEMF component from the lunberg observer internal state variables. The flux vector position can now be found because its position is 90 ° later than the BEMF, and the velocity is obtained by the position derivative. This requires a large number of filters to provide the desired result, a fourth order filter can be used, i.e. a first order FIR filter (moving average) followed by three equal first order IIR filters, a reduced order lambert observer can provide the desired result for steady and dynamic operating conditions, BEMF is a back-induced electromotive force, where the discrete implementation of the reduced order lambert observer is represented by the following formula

Calculating the BEMF estimated value by using the following formula;

wherein:

hypothetical internal state variables, which do not represent physical parameters in the α - β reference frame.

-BEMF state variables in the α - β reference frame.

Tc-step time calculated by the observer. Typically a control loop period.

Rs — stator resistance per phase of the motor.

Ls-inductance per same step of the motor.

Omega-electrical speed of the motor, in rad/s.

0 < ℎ < 1 (arbitrary value, the value of which determines the system dynamics);

the invention realizes the following technical effects:

1. the cost and the structural complexity of a permanent magnet synchronous motor system in the electronic water pump are reduced through a non-inductive control scheme.

2. The position estimation of the permanent magnet synchronous motor rotor is realized by adopting the reduced-order Luenberger observer, the feedback control of the rotor position is realized, the estimated position precision is improved, and the running stability and the system reliability of the permanent magnet synchronous motor are improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.