An Active Injection Control System for Permanent Magnet Synchronous Motor

Abstract

The present invention discloses an active injection control system for a permanent magnet synchronous motor. Based on the vector control of the permanent magnet synchronous motor, by actively injecting a specific signal into the rotor position signal, the optimized control of the permanent magnet synchronous motor is achieved, and the motor vibration is reduced; through two-dimensional optimization of vibration parameters, the parameters of the injection signal can be automatically adjusted, thereby achieving the optimal control effect; the present invention can change the harmonic characteristics of the phase current of the permanent magnet synchronous motor, thereby reducing the vibration noise of the permanent magnet synchronous motor.

Description

Technical Field

[0001] The present invention belongs to the technical field of power electronics and electric drive, and particularly relates to an active injection control system for a permanent magnet synchronous motor. Background Art

[0002] In fields such as electric vehicles and ship propulsion, permanent magnet synchronous motors are widely used. Vector control is a commonly used control method for permanent magnet synchronous motors. This method converts the alternating quantities of the permanent magnet synchronous motor into direct quantities for control through 3s / 2r coordinate transformation, obtains the voltage reference value in the dq coordinate system through the current controller, and then obtains the voltage reference value in the αβ coordinate system through 2r / 2s coordinate transformation.

[0003] Based on this, PWM modulation is performed to finally obtain the drive signal of the permanent magnet synchronous motor. This control method has a good control effect on the fundamental wave component, but its control ability for harmonics is very weak, and the vibration of the motor is often related to harmonics.

[0004] Aiming at the problem of the vibration of the permanent magnet synchronous motor, a control method is needed to control the harmonics of the permanent magnet synchronous motor to improve its vibration characteristics. Summary of the Invention

[0005] To optimize the harmonics and vibration characteristics of the permanent magnet synchronous motor, the object of the present invention is to propose an active injection control system for a permanent magnet synchronous motor, which can effectively control the motor harmonics and improve the vibration characteristics.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an active injection control system for a permanent magnet synchronous motor, including a vector control system composed of an upper control module, a current controller, a 3s / 2r transformation module, and a 2r / 2s transformation module, further including a vibration processing module for extracting the m-th vibration signal V, a two-dimensional vibration parameter optimization module for finding the optimal values of the injection phase φ and the injection amplitude a according to the signal V, a number selection module for determining the injection times m according to the rotational speed, and an active injection module connected in series in the rotor position feedback loop, which injects a specific signal into the rotor position signal θ according to the three parameters m, φ, and a to obtain the injected position signal θ1. The injected position signal θ1 is used for coordinate transformation in the vector control system.

[0007] The two-dimensional vibration parameter optimization module of the active injection control system for a permanent magnet synchronous motor is composed of two automatic optimization modules and a coordination and interlock module. One of the automatic optimization modules optimizes the injection phase φ according to the signal V, and the other automatic optimization module optimizes the injection amplitude a according to the signal V. The two automatic optimization modules do not work simultaneously, and the coordination and interlock module determines the enable signals E1 and E2 of the two automatic optimization modules to ensure their coordinated operation.

[0008] The described active injection control system for a permanent magnet synchronous motor, the output U of its automatic optimization module is obtained by adding the initial value U0, the injection value U1, and the optimization value U2. Among them, the injection value U1 is a sine signal with an initial phase of Ψ0; the input signal V of the automatic optimization module is high-pass filtered, the phase Ψ is subtracted from Ψ0 to obtain the phase difference ΔΨ, and ΔΨ passes through an integrator to obtain the optimization value U2; this integrator is enabled by the signal E, and the integrator works when E = 1, and the integrator is cleared when E ≠ 1.

[0009] The described active injection control system for a permanent magnet synchronous motor, its automatic optimization module includes automatic optimization module one and automatic optimization module two. ΔΨ1 from automatic optimization module one is subtracted from the small quantity d, and the sign is taken to obtain F1. ΔΨ2 from automatic optimization module two is subtracted from the small quantity d, and the sign is taken to obtain F2. F1 is directly output to obtain E1, E1 controls the enabling of automatic optimization module one. F1 is inverted and ANDed with F2 to obtain E2, and E2 controls the enabling of automatic optimization module two.

[0010] The described active injection control system for a permanent magnet synchronous motor, its active injection module is connected in series in the rotor position feedback loop. The rotor position θ is multiplied by the injection times m, and then added to the injection phase φ to obtain the injection angle; after taking the sine of the injection angle, it is multiplied by the injection amplitude a to obtain the injection quantity Δθ; the rotor position θ is added to the injection quantity Δθ to obtain the post-injection position signal θ1.

[0011] The beneficial effects of the present invention are: The control system of the present invention can automatically determine multiple parameters of the injection signal, and obtain the optimal injection signal through automatic optimization of the parameters, so that the vibration characteristics of the permanent magnet synchronous motor under different working conditions can be optimized. Description of the Drawings

[0012] Figure 1 It is a schematic structural diagram of the active injection control system of the present invention;

[0013] Figure 2 It is a schematic structural diagram of the two-dimensional optimization module of the vibration parameters of the present invention;

[0014] Figure 3 It is a schematic structural diagram of the automatic optimization module of the present invention;

[0015] Figure 4 It is a schematic structural diagram of the coordination and interlock module of the present invention;

[0016] Figure 5 It is a schematic structural diagram of the active injection module of the present invention.

[0017] The reference numerals in each figure are as follows: 1 - upper control module, 2 - current controller, 3 - 3s / 2r conversion module, 4 - 2r / 2s conversion module, 5 - vibration processing module, 6 - two-dimensional vibration parameter optimization module, 61 - automatic optimization module 1, 62 - automatic optimization module 2, 63 - coordination and interlock module, 7 - injection times selection module, 8 - active injection module. Detailed implementation manners

[0018] The following describes the detailed implementation manners of the present invention with reference to the drawings and embodiments.

[0019] Refer to Figure 1 As shown, a permanent magnet synchronous motor active injection control system disclosed by the present invention includes a permanent magnet synchronous motor vector control system composed of an upper control module 1, a current controller 2, a 3s / 2r conversion module 3, and a 2r / 2s conversion module 4. In the vector control system of the present invention, an active injection control mechanism composed of an injection times selection module 7, a vibration processing module 5, a two-dimensional vibration parameter optimization module 6, and an active injection module 8 is added. By injecting a specific signal into the rotor position signal θ, the optimized control of vibration is realized.

[0020] Among them, the injection times selection module 7 determines the injection times m according to the rotational speed, which is used as the input of the vibration processing module 5 and the two-dimensional vibration parameter optimization module 6; the vibration processing module 5 processes the vibration sampling signal and extracts the m-th vibration signal V as the input of the two-dimensional vibration parameter optimization module 6; the two-dimensional vibration parameter optimization module 6 finds the optimal values of the injection phase φ and the injection amplitude a according to the signal V, which are used as the input of the active injection module 8; the active injection module 8 is connected in series in the rotor position feedback loop, and injects a specific signal into the rotor position signal θ according to the three parameters m, φ, and a to obtain the injected position signal θ1; the injected position signal θ1 is used for coordinate transformation in the vector control system.

[0021] Refer to Figure 2 As shown, the two-dimensional vibration parameter optimization module 6 determines the injection phase φ and the injection amplitude a according to V, which are used as the input of the active injection module 8. The two-dimensional vibration parameter optimization module 6 is composed of an automatic optimization module 1 61, an automatic optimization module 2 62, and a coordination and interlock module 63. Among them, the automatic optimization module 1 61 optimizes the injection phase φ according to the signal V, and the automatic optimization module 2 62 optimizes the injection amplitude a according to the signal V; the two automatic optimization modules do not work simultaneously, and the coordination and interlock module 63 determines the enable signals E1 and E2 of the two automatic optimization modules to ensure their coordinated operation.

[0022] Refer to Figure 3As shown, the output U of the automatic optimization module (φ for automatic optimization module 1 61 and a for automatic optimization module 2 62) is obtained by adding the initial value U0, the injection value U1, and the optimization value U2. Among them, the injection value U1 is a sine signal with an initial phase of Ψ0; the input signal V of the automatic optimization module is high-pass filtered, its phase Ψ is extracted and subtracted from Ψ0 to obtain the phase difference ΔΨ, and ΔΨ passes through an integrator to obtain U2; the integrator is enabled by the signal E. When E is 1, the integrator works, and when E is not 1, the integrator is cleared.

[0023] Referring to Figure 4 As shown, the coordination and interlock module 63 is used to determine the enable signals E1 and E2. Among them, ΔΨ1 from the automatic optimization module 1 61 is subtracted from the small quantity d, and the sign is taken to obtain F1; ΔΨ2 from the automatic optimization module 2 62 is subtracted from the small quantity d, and the sign is taken to obtain F2; F1 is directly output to obtain E1, and the inverse of F1 is ANDed with F2 to obtain E2. E1 controls the enable of the automatic optimization module 1 61, and E2 controls the enable of the automatic optimization module 2 62.

[0024] Referring to Figure 5 As shown, the active injection module 8 is connected in series in the rotor position feedback loop. The rotor position θ is multiplied by the injection times m, and then added to the injection phase φ to obtain the injection angle; after taking the sine of the injection angle, it is multiplied by the injection amplitude a to obtain the injection quantity Δθ; the rotor position θ is added to the injection quantity Δθ to obtain the position signal θ1 after injection.

[0025] The control method of the present invention is as follows:

[0026] 1), The number selection module 7 determines the injection times m according to the rotational speed, which is used as the input of the vibration processing module 5 and the two-dimensional vibration parameter optimization module 6.

[0027] 2), The vibration processing module 5 processes the vibration sampling signal and extracts the m-th vibration value V, which is used as the input of the two-dimensional vibration parameter optimization module 6.

[0028] 3), The two-dimensional vibration parameter optimization module 6 determines the injection phase φ and the injection amplitude a according to V, which are used as the input of the active injection module 8. The automatic optimization module 1 61 optimizes the injection phase φ according to the signal V, and the automatic optimization module 2 62 optimizes the injection amplitude a according to the signal V; the two automatic optimization modules do not work simultaneously, and the coordination and interlock module 63 determines the enable signals E1 and E2 of the two automatic optimization modules to ensure their coordinated operation.

[0029] The output U of the automatic optimization module (φ for module 1 and a for module 2) is obtained by adding the initial value U0, the injection value U1, and the optimization value U2. The injection value U1 is a sine signal with an initial phase of Ψ0. The input signal V of the automatic optimization module is high-pass filtered, and its phase Ψ is subtracted from Ψ0 to obtain the phase difference ΔΨ. ΔΨ passes through an integrator to obtain U2. The integrator is enabled by the signal E. When E is 1, the integrator works; when E is not 1, the integrator is cleared.

[0030] In the coordination and interlock module 63, ΔΨ1 of the automatic optimization module 61 is subtracted from the small quantity d, and the sign is taken to obtain F1; ΔΨ2 of the automatic optimization module 62 is subtracted from the small quantity d, and the sign is taken to obtain F2; F1 is directly output to obtain E1, and the inverted F1 is ANDed with F2 to obtain E2.

[0031] 4), the active injection module 8 multiplies the rotor position θ by the injection times m, and then adds the injection phase φ to obtain the injection angle; after taking the sine of the injection angle, it is multiplied by the injection amplitude a to obtain the injection quantity Δθ; the rotor position θ is added to the injection quantity Δθ to obtain the position signal θ1 after injection.

[0032] The above embodiments only illustrate the principle and efficacy of the present invention and some applied embodiments. For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor active injection control system, comprising a vector control system composed of an upper layer control module (1), a current controller (2), a 3s / 2r conversion module (3) and a 2r / 2s conversion module (4), characterized in that: It also includes a vibration processing module (5) for extracting the vibration signal V m times, a two-dimensional optimization module (6) for finding the optimal values of the injection phase φ and the injection amplitude a according to the signal V, a number selection module (7) for determining the injection times m according to the rotational speed, and an active injection module (8) connected in series in the rotor position feedback loop to inject the signal Δθ1 = a·sin(mθ + φ) into the rotor position signal θ to obtain the injected position signal θ1. The injected position signal θ1 is used for coordinate transformation in the vector control system. The output V of the vibration processing module (5) serves as the input of the two-dimensional optimization module (6) for vibration parameters. The outputs φ and a of the two-dimensional optimization module (6) for vibration parameters and the output m of the number selection module (7) serve as the inputs of the active injection module (8). The output θ1 of the active injection module (8) serves as the input of the 3s / 2r transformation module (3) and the 2r / 2s transformation module (4).

2. The permanent magnet synchronous motor active injection control system according to claim 1, characterized in that The two-dimensional optimization module (6) for vibration parameters consists of two automatic optimization modules and a coordination and interlock module (63). One of the automatic optimization modules optimizes the injection phase φ according to the signal V, and the other automatic optimization module optimizes the injection amplitude a according to the signal V. The coordination and interlock module (63) determines the enable signals E1 and E2 of the two automatic optimization modules to ensure their coordinated operation.

3. The permanent magnet synchronous motor active injection control system according to claim 2, characterized in that The output U of the automatic optimization module is obtained by adding the initial value U0, the injection value U1, and the optimized value U2. The injection value U1 is a sine signal with an initial phase of Ψ0. The input signal V of the automatic optimization module is high-pass filtered, and the phase difference ΔΨ is obtained by subtracting the phase Ψ from Ψ0. The optimized value U2 is obtained by integrating ΔΨ through an integrator. The integrator is enabled by the signal E. When E = 1, the integrator works; when E ≠ 1, the integrator is cleared.

4. The permanent magnet synchronous motor active injection control system according to claim 3, characterized in that The automatic optimization module includes an automatic optimization module one (61) and an automatic optimization module two (62). F1 is obtained by subtracting ΔΨ1 of the automatic optimization module one (61) from the small quantity d, and F2 is obtained by subtracting ΔΨ2 of the automatic optimization module two (62) from the small quantity d. F1 is directly output to obtain E1 to control the enable of the automatic optimization module one (61). E2 is obtained by taking the inverse of F1 and ANDing it with F2 to control the enable of the automatic optimization module two (62).

5. The permanent magnet synchronous motor active injection control system according to claim 4, characterized in that The active injection module (8) is connected in series in the rotor position feedback loop. The rotor position θ is multiplied by the injection times m and then added to the injection phase φ to obtain the injection angle. After taking the sine of the injection angle, it is multiplied by the injection amplitude a to obtain the injection quantity Δθ. The rotor position θ is added to the injection quantity Δθ to obtain the injected position signal θ1 after injection.

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