Current adjusting method and device of permanent magnet synchronous motor, vehicle, medium and product

Abstract

The invention discloses a current adjusting method and device of a permanent magnet synchronous motor, a vehicle, a medium and a product. The method comprises the following steps: acquiring a proportional current, an integral current, a first current and a second current corresponding to the permanent magnet synchronous motor; adjusting the proportional current according to a magnitude relationship between the proportional current and a preset current to obtain an adjusted proportional current; adjusting the integral current according to the magnitude relationship between the direct-axis current and the second current in the previous current adjustment period to obtain a first integral current; adjusting the first integral current according to the integral current of the previous current adjusting period and a motor control mode of the permanent magnet synchronous motor to obtain an adjusted integral current; and calculating the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor. According to the scheme provided by the invention, the direct-axis current can be limited in a reasonable current range, so that the operation efficiency of the permanent magnet synchronous motor is improved.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and in particular, relates to a current regulation method, device, vehicle, medium and product of a permanent magnet synchronous motor. Background Art

[0002] The motor is the driving unit of electric vehicles. With the popularity of electric vehicles, how to improve the operating efficiency and response speed of the motor has become the research focus of the electric vehicle industry. The motor in an electric vehicle is usually a permanent magnet synchronous motor.

[0003] In the related art, the target current that makes the permanent magnet synchronous motor operate with the highest efficiency can be obtained through the maximum torque-to-current ratio control curve, the weak magnetic control curve and the constraints of the current limit circle, wherein the target current is determined by the direct-axis current and the quadrature-axis current of the permanent magnet synchronous motor.

[0004] However, in the weak magnetic field region, the torque and current of the permanent magnet synchronous motor are not in a one-to-one correspondence. The existing calibration method cannot accurately select the direct-axis current of the permanent magnet synchronous motor, and thus cannot improve the operating efficiency of the permanent magnet synchronous motor. Summary of the invention

[0005] The embodiments of the present application provide a current regulation method, device, vehicle, medium and product for a permanent magnet synchronous motor, which can limit the direct-axis current within a reasonable current range, thereby improving the operating efficiency of the permanent magnet synchronous motor.

[0006] In a first aspect, an embodiment of the present application provides a current regulation method for a permanent magnet synchronous motor, the method comprising: obtaining a current loop current, a first current, and a second current corresponding to the permanent magnet synchronous motor, wherein the current loop current comprises a proportional current of the current loop under a proportional control parameter and an integral current of the current loop under an integral control parameter, the first current being a current value on a maximum torque current ratio MTPA curve that matches the required torque of the permanent magnet synchronous motor, and the second current being a current value on a maximum torque voltage ratio MTPV curve that matches the motor speed of the permanent magnet synchronous motor; adjusting the proportional current according to a magnitude relationship between the proportional current and a preset current to obtain an adjusted proportional current, wherein the preset current is a minimum current for normal operation of the permanent magnet synchronous motor; adjusting the integral current according to a magnitude relationship between a direct-axis current of a previous current regulation cycle and the second current to obtain a first integral current; adjusting the first integral current according to the integral current of the previous current regulation cycle and a motor control mode corresponding to the permanent magnet synchronous motor to obtain an adjusted integral current; calculating the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor.

[0007] In a second aspect, an embodiment of the present application provides a current regulating device for a permanent magnet synchronous motor, the device comprising: a current acquisition module, for acquiring a current loop current, a first current, and a second current corresponding to the permanent magnet synchronous motor, wherein the current loop current comprises a proportional current of the current loop under proportional control parameters and an integral current of the current loop under integral control parameters, the first current being a current value on a maximum torque current ratio MTPA curve that matches the required torque of the permanent magnet synchronous motor, and the second current being a current value on a maximum torque voltage ratio MTPV curve that matches the motor speed of the permanent magnet synchronous motor; a first current adjustment module, for adjusting the current loop current according to the relationship between the proportional current and the preset current. , adjust the proportional current to obtain an adjusted proportional current, wherein the preset current is the minimum current for the normal operation of the permanent magnet synchronous motor; a second current adjustment module, used to adjust the integral current according to the magnitude relationship between the direct-axis current of the previous current adjustment cycle and the second current, to obtain a first integral current; a third current adjustment module, used to adjust the first integral current according to the integral current of the previous current adjustment cycle and the motor control mode corresponding to the permanent magnet synchronous motor, to obtain an adjusted integral current; a current determination module, used to calculate the difference between the first current and the adjusted proportional current and the adjusted integral current, to obtain the direct-axis current of the permanent magnet synchronous motor.

[0008] In a third aspect, an embodiment of the present application provides a vehicle, which includes an electronic device, the electronic device including: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the current regulation method of the permanent magnet synchronous motor as described in the first aspect is implemented.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the current regulation method of the permanent magnet synchronous motor as described in the first aspect is implemented.

[0010] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the current regulation method of the permanent magnet synchronous motor as described in the first aspect.

[0011] It can be seen from the above content that in the embodiment of the present application, by comparing the direct-axis current of the previous current regulation cycle with the second current, and adjusting the integral current according to the comparison result, it is ensured that the integral current of the permanent magnet synchronous motor will not be less than the minimum allowable current value, so that the direct-axis current of the permanent magnet synchronous motor is within a reasonable range. In addition, in the embodiment of the present application, the integral current is adjusted according to the integral current of the previous current regulation cycle and the motor control mode, so that the adjusted integral current can match the motor control mode, realize current regulation under different working conditions, and thus improve the operating efficiency of the permanent magnet synchronous motor under the adjusted current. Moreover, in the embodiment of the present application, the proportional current is also adjusted by the minimum current under normal operation of the permanent magnet synchronous motor to limit the direct-axis current within a reasonable current range, thereby improving the operating efficiency of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] Figure 1 is a schematic diagram of a current calculation model provided by an embodiment of the present application;

[0014] Figure 2 It is a flow chart of a current regulation method of a permanent magnet synchronous motor provided by an embodiment of the present application;

[0015] Figure 3 It is a complete flow chart schematic diagram of a current regulation method for a permanent magnet synchronous motor provided by an embodiment of the present application;

[0016] Figure 4 is a structural schematic diagram of a current regulating device for a permanent magnet synchronous motor provided by another embodiment of the present application;

[0017] Figure 5 It is a structural schematic diagram of an electronic device provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0018] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0019] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0020] For ease of understanding, before explaining the solution provided in the present application, the background of the solution provided in the present application is first explained.

[0021] For permanent magnet synchronous motors, the motor speed can be increased by adjusting the motor stator current. During the operation of the permanent magnet synchronous motor, when the motor torque reaches the maximum torque, if you want to increase the motor speed further, the permanent magnet synchronous motor needs to enter the weak magnetic field area.

[0022] exist Figure 1 In the current calculation model shown, the shaded area is the preferred working area of ​​the current, that is, when the current of the permanent magnet synchronous motor is within this area, the permanent magnet synchronous motor has a higher operating efficiency. Figure 1 As shown, according to the working principle of the permanent magnet synchronous motor, the preferred working area is the working area of ​​the target current combination obtained under the constraints of the maximum torque current ratio control curve Is_BS MTPA, the weak magnetic control curve Id_min and the current limit circle. Figure 1 middle, I d is the direct axis current, I q is the quadrature-axis current, ω0, ω1, ω2 are the motor speeds of the permanent magnet synchronous motor.

[0023] For non-weakening magnetic field areas, the motor torque corresponds to the current vector one-to-one, and the target current is determined by the maximum torque-to-current ratio curve. For weak magnetic field areas, there may be multiple currents in the preferred working area that can be output according to the current torque requirements, that is, the motor torque and the current vector are not in a one-to-one correspondence. The existing calibration method cannot accurately select the direct-axis current of the permanent magnet synchronous motor from the preferred working area, and thus cannot improve the operating efficiency of the permanent magnet synchronous motor.

[0024] In order to solve the problems of the prior art, the embodiments of the present application provide a current regulation method, device, vehicle, medium and product for a permanent magnet synchronous motor.

[0025] The following first introduces the current regulation method of the permanent magnet synchronous motor provided by the embodiment of the present application. Among them, the controller in the electric vehicle can be used as the execution subject of the method provided by the embodiment of the present application.

[0026] Figure 2 FIG. 1 is a flow chart of a current regulation method for a permanent magnet synchronous motor provided by an embodiment of the present application. Figure 2 As shown, the method includes the following steps S201 to S205:

[0027] Step S201, obtaining a current loop current, a first current and a second current corresponding to the permanent magnet synchronous motor.

[0028] In step S201, the current loop of the permanent magnet synchronous motor is a current feedback system, which uses the current signal as a feedback signal to realize the control of the permanent magnet synchronous motor. Among them, the control parameters of the current loop include proportional control parameters and integral control parameters.

[0029] In the embodiment of the present application, the controller can control the permanent magnet synchronous motor by two control modes: proportional control and integral control. Among them, the proportional control converts the error into the control output through the proportional control parameter, and the integral control integrates the error through the integral control parameter and accumulates the integral result as the control output.

[0030] In an embodiment of the present application, the current loop current includes a proportional current of the current loop under proportional control parameters and an integral current of the current loop under integral control parameters, wherein the proportional current and the integral current can be determined by the remaining motor of the permanent magnet synchronous motor.

[0031] In step S201, the first current is a current value that matches the required torque of the permanent magnet synchronous motor on the maximum torque current ratio MTPA (Maximum Torque Per Ampere) curve. MTPA is used to characterize the minimum current required to generate the same torque, and the MTPA curve can be obtained by querying the motor model of the permanent magnet synchronous motor.

[0032] In step SS201, the second current is a current value that matches the motor speed of the permanent magnet synchronous motor on the maximum torque voltage ratio MTPV (Maximum Torque Per Volt) curve. The motor output torque under a given voltage can be maximized by MTPV. Similar to the MTPA curve, the MTPV curve can also be obtained by querying the motor model of the permanent magnet synchronous motor.

[0033] It should be noted that, in the embodiment of the present application, the first current is greater than the second current, and the current interval determined by the first current and the second current is the above-mentioned preferred working area.

[0034] Step S202, adjusting the proportional current according to the magnitude relationship between the proportional current and the preset current to obtain an adjusted proportional current.

[0035] In step S202, the preset current is a minimum preset offset current for the permanent magnet synchronous motor to operate normally. In the embodiment of the present application, the preset current may be zero.

[0036] In one example, the larger of the proportional current and the preset current can be used as the adjusted proportional current so that the adjusted proportional current is not less than the minimum allowable current of the permanent magnet synchronous motor, so as to limit the direct axis current of the permanent magnet synchronous motor within a reasonable current range.

[0037] Step S203, adjusting the integral current according to the magnitude relationship between the direct-axis current in the previous current regulation cycle and the second current to obtain a first integral current.

[0038] In step S203, whether to adjust the integral current can be determined based on the magnitude relationship between the direct-axis current in the previous current regulation cycle and the second current. For example, when the direct-axis current in the previous current regulation cycle is less than the second current, the integral current is adjusted so that the direct-axis current in the current current regulation cycle is within the preferred working area determined by the first current and the second current.

[0039] Step S204: adjusting the first integral current according to the integral current of the previous current regulation cycle and the motor control mode corresponding to the permanent magnet synchronous motor to obtain an adjusted integral current.

[0040] In step S204, the first integral current of the current regulation cycle is regulated by using the integral current of the previous current regulation cycle, thereby realizing closed-loop regulation of the integral current.

[0041] In step S204, the motor control mode of the permanent magnet synchronous motor includes a torque control mode and a non-torque control mode, wherein in the torque control mode, there is no need to readjust the first integral current after closed-loop adjustment; in the non-torque control mode, the first integral current after closed-loop adjustment is cleared.

[0042] Step S205, calculating the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor.

[0043] After obtaining the first current, the adjusted proportional current and the adjusted integral current, the direct-axis current of the permanent magnet synchronous motor can be obtained by formula (1):

[0044]

[0045] In formula (1), I d is the direct-axis current of the permanent magnet synchronous motor, I MTPA is the first current, is the adjusted proportional current, is the adjusted integral current.

[0046] Based on the scheme defined by the above steps S201 to S205, it can be known that in the embodiment of the present application, by comparing the direct-axis current of the previous current regulation cycle with the second current, and adjusting the integral current according to the comparison result, it is ensured that the integral current of the permanent magnet synchronous motor will not be less than the minimum allowable current value, so that the direct-axis current of the permanent magnet synchronous motor is within a reasonable range. In addition, in the embodiment of the present application, the integral current is adjusted according to the integral current of the previous current regulation cycle and the motor control mode, so that the adjusted integral current can match the motor control mode, realize current regulation under different working conditions, and thus improve the operating efficiency of the permanent magnet synchronous motor under the adjusted current. Moreover, in the embodiment of the present application, the proportional current is also adjusted by the minimum current under normal operation of the permanent magnet synchronous motor to limit the direct-axis current within a reasonable current range, thereby improving the operating efficiency of the permanent magnet synchronous motor.

[0047] The following is an introduction to the implementation process of the solution provided in the embodiment of the present application.

[0048] In the embodiment of the present application, before adjusting the current of the permanent magnet synchronous motor, it is first necessary to obtain the current loop current and the first current and the second current of the permanent magnet synchronous motor.

[0049] For the first current, the controller obtains the current required torque, bus voltage and motor speed of the permanent magnet synchronous motor, and then obtains the first current corresponding to the current required torque from the MTPA curve according to the preset correlation between the torque and the current value on the MTPA curve. The preset correlation between the torque and the current value on the MTPA curve can be stored in a preset first relationship table, which contains the torque, the first current and the correlation between the torque and the first current. The first current corresponding to the current required torque can be obtained by querying the first relationship table.

[0050] For the second current, the controller calculates the ratio of the bus voltage to the motor speed, and obtains the second current corresponding to the ratio from the MTPV curve according to the preset correlation between the ratio and the current value on the MTPV curve. The preset correlation between the ratio and the current value on the MTPV curve can be stored in a preset second relationship table, which contains the ratio, the second current, and the correlation between the ratio and the first current. The second current can be obtained by querying the second relationship table.

[0051] It should be noted that in the above embodiments, different types of permanent magnet synchronous motors have corresponding first relationship tables and second relationship tables. The controller can query the first relationship table and the second relationship table that match the permanent magnet synchronous motor currently to be controlled from a preset storage area (for example, a database) based on data such as the model of the permanent magnet synchronous motor.

[0052] For the current loop current, in an embodiment of the present application, the controller first obtains the bus voltage of the permanent magnet synchronous motor and the direct-axis voltage and quadrature-axis voltage of the permanent magnet synchronous motor; then, the residual voltage of the permanent magnet synchronous motor is calculated based on the bus voltage, the direct-axis voltage and the quadrature-axis voltage; then, the proportional control parameters and the integral control parameters matching the residual voltage are obtained, and the proportional current and the integral current are determined based on the residual voltage, the proportional control parameters and the integral control parameters.

[0053] In the above embodiment, the residual voltage can be determined by formula (2):

[0054]

[0055] In formula (2), U sResScal is the residual voltage, U slim is the bus voltage, U d is the direct-axis voltage of the permanent magnet synchronous motor, U q is the quadrature axis voltage of the permanent magnet synchronous motor.

[0056] The direct-axis voltage and quadrature-axis voltage of the permanent magnet synchronous motor are respectively the voltage of the permanent magnet synchronous motor on the d-axis and the voltage of the permanent magnet synchronous motor on the q-axis, wherein the direct-axis voltage can be determined by the stator resistance, flux linkage, d-axis inductance and rotor speed of the permanent magnet synchronous motor, and the quadrature-axis voltage can be determined by the stator resistance, flux linkage, q-axis inductance and rotor speed of the permanent magnet synchronous motor.

[0057] After calculating the residual voltage of the permanent magnet synchronous voltage, the controller can obtain the proportional control parameter and the integral control parameter corresponding to the residual voltage by looking up the table, wherein the controller can obtain the proportional control parameter and the integral control parameter by looking up the PI table corresponding to the PI (Proportional-Integral) control algorithm. The PI table includes at least the residual voltage, the proportional control parameter, the integral control parameter, the correlation between the residual voltage and the proportional control parameter, and the correlation between the residual voltage and the integral control parameter.

[0058] Furthermore, the controller obtains the proportional current by calculating the product of the residual voltage and the proportional control parameter; and obtains the integral current by calculating the product of the residual voltage and the integral control parameter.

[0059] After obtaining the proportional current and the integral current, the controller may adjust the proportional current according to the magnitude relationship between the proportional current and the preset current to obtain the adjusted proportional current.

[0060] Specifically, the controller compares the proportional current with the preset current, obtains the larger one between the proportional current and the preset current, obtains the first proportional current, and determines the first proportional current as the adjusted proportional current.

[0061] By means of the above method, the current value of the proportional current can be limited to be greater than zero to ensure that the direct-axis current of the permanent magnet synchronous motor is between the first current and the second current, so that the adjusted direct-axis current of the permanent magnet synchronous motor is within a reasonable range.

[0062] In order to make the direct-axis current of the permanent magnet synchronous motor within a reasonable current range, in addition to adjusting the proportional current, the integral current also needs to be adjusted. In the embodiment of the present application, the integral current is first adjusted according to the magnitude relationship between the direct-axis current of the previous current regulation cycle and the second current to obtain a first integral current.

[0063] Specifically, when the direct-axis current in the previous current regulation cycle is less than or equal to the second current, the smaller of the integral current and the preset current is determined as the first integral current; when the direct-axis current in the previous current regulation cycle is greater than the second current, the integral current is determined as the first integral current.

[0064] It can be seen that in the embodiment of the present application, the integral current is adjusted according to the magnitude relationship between the direct-axis current and the second current, so that the adjusted integral current (i.e., the first integral current) is not less than the minimum allowable current, and the adjusted integral current is frozen so that it no longer continues to decrease, thereby making the final direct-axis current fall within the preferred working area defined by the first current and the second current.

[0065] Furthermore, after adjusting the integral current to the first integral current, the controller further adjusts the first integral current according to the integral current of the previous current regulation cycle and the motor control mode corresponding to the permanent magnet synchronous motor to obtain an adjusted integral current.

[0066] Specifically, the sum of the first integral current and the integral current of the previous current regulation cycle is calculated to obtain the second integral current; then, the second integral current is adjusted according to the motor control mode to obtain the third integral current; then, the larger of the third integral current value and the preset current is determined as the adjusted integral current.

[0067] The first integral current is adjusted according to the motor control mode to obtain a second integral current; then, the larger of the second integral current value and the preset current is determined as the adjusted integral current.

[0068] In the above embodiment, the motor control mode includes a torque control mode and a non-torque control mode. In the torque control mode, the controller adjusts the motor torque by adjusting the current, while in the non-torque control mode, the adjustment of the motor torque is independent of the current. Therefore, in the embodiment of the present application, when the motor control mode is the torque control mode, the second integral current is maintained as the first integral current; and when the motor control mode is other control modes, the first integral current is adjusted to a preset current. This realizes the dynamic adjustment of the direct-axis current of the permanent magnet synchronous motor under different operating conditions.

[0069] Furthermore, in order to further improve the rationality of the direct-axis current, in an embodiment of the present application, after calculating the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor, the controller also compares the direct-axis current with the second current, obtains the larger of the direct-axis current and the second current, and obtains the third current; then, the third current is compared with the first current, and the smaller of the third current and the first current is determined as the target direct-axis current.

[0070] In another embodiment, the direct-axis current and the first current are first compared to obtain the smaller one between the direct-axis current and the first current to obtain the fourth current; then the fourth current and the second current are compared to determine the larger one between the fourth current and the second current as the target direct-axis current.

[0071] By calculating the larger or smaller of the direct-axis current adjusted by PI and the first current and the second current, the target direct-axis current can be placed in the preferred working area, thereby optimizing the working efficiency of the permanent magnet synchronous motor.

[0072] In one embodiment, Figure 3 A complete flow chart of the method provided in the embodiment of the present application is shown as follows: Figure 3As shown, the method comprises the following steps:

[0073] Step S301, obtaining the required torque, bus voltage and motor speed of the permanent magnet synchronous motor.

[0074] Step S302: query the first current according to the required torque.

[0075] Step S303, determining the second current according to the bus voltage and the motor speed.

[0076] Step S304, calculating the residual voltage of the permanent magnet synchronous motor according to the bus voltage.

[0077] Step S305, querying the proportional control parameter and the integral control parameter according to the residual voltage.

[0078] Step S306, calculating the product of the residual voltage and the proportional control parameter to obtain the proportional current.

[0079] Step S307, taking the larger one between the proportional current and zero to obtain the adjusted proportional current.

[0080] Step S308, calculating the product of the residual voltage and the integral control parameter to obtain the integral current.

[0081] Step S309, detecting whether the direct-axis current of the last current regulation cycle is less than or equal to the second current; if yes, executing step S310, otherwise, executing step S311.

[0082] Step S310, taking the smaller of the integrated current and zero to obtain a first integrated current.

[0083] Step S311: the integrated current is not adjusted, that is, the integrated current is determined as the first integrated current.

[0084] Step S312, calculating the sum of the integrated current of the previous current regulation cycle and the first integrated current to obtain a second integrated current.

[0085] Step S313, detecting whether the motor control mode of the permanent magnet synchronous motor is a torque control mode, wherein, if the motor control mode is the torque control mode, executing step S314, otherwise, executing step S315.

[0086] Step S314: do not adjust the second integrated current.

[0087] Step S315, performing a zeroing operation on the second integrated current.

[0088] Step S316, taking the larger of the adjusted second integral current and zero to obtain the adjusted integral current. In the next current regulation cycle, the adjusted integral current can be used as the integral current of the previous current regulation cycle, and in step S312, it is summed with the first integral current to obtain the second integral current of the next current regulation cycle.

[0089] Step S317, calculating the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current after PI adjustment.

[0090] Step S318, taking the larger one between the direct-axis current after PI adjustment and the second current to obtain the third current.

[0091] Step S319, taking the smaller one between the third current and the first current to obtain the target direct-axis current.

[0092] It should be noted that after obtaining the target direct-axis current, the controller can use a table lookup method or other existing methods to determine the preferred current vector of the permanent magnet synchronous motor under the current required torque, so as to use the preferred current vector to control the operation of the permanent magnet synchronous motor and improve the operation efficiency of the permanent magnet synchronous motor.

[0093] This concludes the introduction to the method provided in the embodiments of the present application.

[0094] It can be seen from the above content that the method provided in the embodiment of the present application uses the PI dynamic adjustment strategy, takes the first current as the reference, and dynamically adjusts the current in real time between the MTPA curve and the MTPV curve, so that the motor can select the optimal working point in the whole domain without the need to judge and switch between different working points and working areas. In addition, in the embodiment of the present application, by limiting the maximum and minimum values ​​of the current output value, limiting the PI dynamic calculation value, and the saturation locking and clearing strategy of the integral current, the same set of logic is compatible with MTPA, MTPV, weak magnetic area, and forward and backward torque control mode, reducing the redundancy and complexity of the strategy logic construction.

[0095] The present application also provides a current regulating device for a permanent magnet synchronous motor. Figure 4 As shown, the device 400 includes: a current acquisition module 401 , a first current adjustment module 402 , a second current adjustment module 403 , a third current adjustment module 404 and a current determination module 405 .

[0096] A current acquisition module 401 is used to acquire a current loop current, a first current, and a second current corresponding to the permanent magnet synchronous motor, wherein the current loop current includes a proportional current of the current loop under a proportional control parameter and an integral current of the current loop under an integral control parameter, the first current is a current value on a maximum torque current ratio MTPA curve that matches the required torque of the permanent magnet synchronous motor, and the second current is a current value on a maximum torque voltage ratio MTPV curve that matches the motor speed of the permanent magnet synchronous motor;

[0097] A first current adjustment module 402, configured to adjust the proportional current according to a magnitude relationship between the proportional current and a preset current, to obtain an adjusted proportional current, wherein the preset current is a minimum current for the permanent magnet synchronous motor to operate normally;

[0098] The second current adjustment module 403 is used to adjust the integral current according to the magnitude relationship between the direct-axis current of the previous current adjustment cycle and the second current to obtain a first integral current;

[0099] A third current adjustment module 404 is used to adjust the first integral current according to the integral current of the previous current adjustment cycle and the motor control mode corresponding to the permanent magnet synchronous motor to obtain an adjusted integral current;

[0100] The current determination module 405 is used to calculate the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor.

[0101] In one embodiment, the current acquisition module includes a first current acquisition module, which is used to obtain the current required torque, bus voltage and motor speed of the permanent magnet synchronous motor; according to a preset correlation between the torque and the current value on the MTPA curve, obtain a first current corresponding to the current required torque from the MTPA curve; calculate the ratio of the bus voltage to the motor speed; according to a preset correlation between the ratio and the current value on the MTPV curve, obtain a second current corresponding to the ratio from the MTPV curve.

[0102] In one embodiment, the current acquisition module includes a second current acquisition module, wherein the second current acquisition module includes: a voltage acquisition module, a voltage calculation module, a control parameter acquisition module and a third current acquisition module. The voltage acquisition module is used to acquire the bus voltage of the permanent magnet synchronous motor and the direct-axis voltage and quadrature-axis voltage of the permanent magnet synchronous motor; the voltage calculation module is used to calculate the residual voltage of the permanent magnet synchronous motor according to the bus voltage, the direct-axis voltage and the quadrature-axis voltage; the control parameter acquisition module is used to acquire the proportional control parameters and the integral control parameters matching the residual voltage; the third current acquisition module is used to determine the proportional current and the integral current according to the residual voltage, the proportional control parameters and the integral control parameters.

[0103] In one embodiment, the third current acquisition module is specifically used to calculate the product of the residual voltage and the proportional control parameter to obtain the proportional current; and calculate the product of the residual voltage and the integral control parameter to obtain the integral current.

[0104] In one embodiment, the first current adjustment module is specifically used to compare the proportional current with the preset current, obtain the larger one between the proportional current and the preset current, and obtain the first proportional current; and determine the first proportional current as the adjusted proportional current.

[0105] In one embodiment, the second current adjustment module is specifically used to determine the smaller of the integral current and the preset current as the first integral current when the direct-axis current in the previous current adjustment cycle is less than or equal to the second current; and to determine the integral current as the first integral current when the direct-axis current in the previous current adjustment cycle is greater than the second current.

[0106] In one embodiment, the third current adjustment module includes: a current calculation module, a fourth current adjustment module and a fifth current adjustment module. The current calculation module is used to calculate the sum of the first integral current and the integral current of the previous current adjustment cycle to obtain the second integral current; the fourth current adjustment module is used to adjust the second integral current according to the motor control mode to obtain the third integral current; the fifth current adjustment module is used to determine the larger of the third integral current value and the preset current as the adjusted integral current.

[0107] In one embodiment, the fifth current adjustment module is specifically used to maintain the third integral current as the second integral current when the motor control mode is the torque control mode; and to adjust the second integral current to a preset current when the motor control mode is other control modes.

[0108] In one embodiment, the current regulating device of the permanent magnet synchronous motor also includes a sixth current adjustment module, which is used to calculate the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor, and then compare the direct-axis current with the second current to obtain the larger of the direct-axis current and the second current to obtain the third current; compare the third current with the first current to determine the smaller of the third current and the first current as the target direct-axis current.

[0109] The current regulating device for a permanent magnet synchronous motor provided in the embodiment of the present application can implement each process implemented in the aforementioned method embodiment, and will not be described again here to avoid repetition.

[0110] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0111] The embodiment of the present application further provides a vehicle, the vehicle comprising an electronic device, wherein: Figure 5 A schematic diagram of the hardware structure of an electronic device is shown.

[0112] like Figure 5 As shown, the electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0113] Specifically, the processor 501 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0114] The memory 502 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 502 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 502 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 502 is a non-volatile solid-state memory.

[0115] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0116] The processor 501 implements any one of the current regulation methods for the permanent magnet synchronous motor in the above embodiments by reading and executing the computer program instructions stored in the memory 502 .

[0117] In one example, the electronic device may further include a communication interface 503 and a bus 510. Figure 5 As shown, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 and communicate with each other.

[0118] The communication interface 503 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0119] Bus 510 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 510 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0120] In addition, in combination with the current regulation method of the permanent magnet synchronous motor in the above embodiment, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the current regulation methods of the permanent magnet synchronous motor in the above embodiment is implemented.

[0121] In addition, in combination with the current regulation method of the permanent magnet synchronous motor in the above embodiment, the embodiment of the present application can provide a computer program product for implementation. When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device executes and implements the current regulation method of the permanent magnet synchronous motor in any one of the above embodiments.

[0122] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0123] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0124] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0125] The above describes various aspects of the present disclosure with reference to the flowcharts and / or block diagrams of the current regulation method, device, vehicle, medium and product of the permanent magnet synchronous motor according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0126] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A current regulation method for a permanent magnet synchronous motor, characterized in that: include: Obtain a current loop current, a first current, and a second current corresponding to the permanent magnet synchronous motor, wherein the current loop current includes a proportional current of the current loop under a proportional control parameter and an integral current of the current loop under an integral control parameter, the first current is a current value on a maximum torque current ratio MTPA curve that matches the required torque of the permanent magnet synchronous motor, and the second current is a current value on a maximum torque voltage ratio MTPV curve that matches the motor speed of the permanent magnet synchronous motor; According to the magnitude relationship between the proportional current and the preset current, the proportional current is adjusted to obtain an adjusted proportional current, wherein the preset current is the minimum current for the permanent magnet synchronous motor to operate normally; According to the magnitude relationship between the direct-axis current of the previous current regulation cycle and the second current, the integral current is adjusted to obtain a first integral current; Adjusting the first integral current according to the integral current of the previous current regulation cycle and the motor control mode corresponding to the permanent magnet synchronous motor to obtain an adjusted integral current; The difference between the first current and the adjusted proportional current and the adjusted integral current is calculated to obtain the direct-axis current of the permanent magnet synchronous motor.

2. The method according to claim 1, characterized in that The obtaining of the first current and the second current corresponding to the permanent magnet synchronous motor includes: Obtaining the current required torque, bus voltage and motor speed of the permanent magnet synchronous motor; According to a preset correlation relationship between the torque and the current value on the MTPA curve, obtaining a first current corresponding to the current required torque from the MTPA curve; Calculating the ratio of the bus voltage to the motor speed; According to a preset correlation relationship between the ratio and the current value on the MTPV curve, a second current corresponding to the ratio is obtained from the MTPV curve.

3. The method according to claim 1, characterized in that The obtaining of the current loop current corresponding to the permanent magnet synchronous motor includes: Obtaining a bus voltage of the permanent magnet synchronous motor and a direct-axis voltage and a quadrature-axis voltage of the permanent magnet synchronous motor; Calculating a residual voltage of the permanent magnet synchronous motor according to the bus voltage, the direct-axis voltage and the quadrature-axis voltage; Acquire a proportional control parameter and an integral control parameter that match the residual voltage; The proportional current and the integral current are determined according to the residual voltage, the proportional control parameter, and the integral control parameter.

4. The method according to claim 3, characterized in that The determining the proportional current and the integral current according to the residual voltage, the proportional control parameter and the integral control parameter comprises: Calculating the product of the residual voltage and the proportional control parameter to obtain the proportional current; The product of the residual voltage and the integral control parameter is calculated to obtain the integral current.

5. The method according to claim 1, characterized in that: The step of adjusting the proportional current according to the magnitude relationship between the proportional current and the preset current to obtain the adjusted proportional current includes: Comparing the proportional current with the preset current, obtaining the larger one between the proportional current and the preset current, and obtaining a first proportional current; The first proportional current is determined as the adjusted proportional current.

6. The method according to claim 1, characterized in that The step of adjusting the integral current according to the magnitude relationship between the direct-axis current of the previous current regulation cycle and the second current to obtain the first integral current comprises: In a case where the direct-axis current in the previous current regulation cycle is less than or equal to the second current, determining the smaller one between the integral current and the preset current as the first integral current; In a case where the direct-axis current in the previous current regulation cycle is greater than the second current, the integrated current is determined as the first integrated current.

7. The method according to claim 1, characterized in that The adjusting the first integral current according to the integral current of the previous current regulation cycle and the motor control mode corresponding to the permanent magnet synchronous motor to obtain the adjusted integral current includes: Calculating the sum of the first integrated current and the integrated current of the previous current regulation cycle to obtain a second integrated current; Adjusting the second integral current according to the motor control mode to obtain a third integral current; The larger one between the third integrated current value and the preset current is determined as the adjusted integrated current.

8. The method according to claim 7, characterized in that The step of adjusting the second integral current according to the motor control mode to obtain a third integral current includes: When the motor control mode is a torque control mode, maintaining the third integral current at the second integral current; When the motor control mode is another control mode, the second integral current is adjusted to the preset current.

9. The method according to any one of claims 1 to 8, characterized in that After calculating the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor, the method further includes: comparing the direct-axis current and the second current, obtaining the larger one of the direct-axis current and the second current, and obtaining a third current; The third current is compared with the first current, and the smaller one of the third current and the first current is determined as the target direct-axis current.

10. A current regulating device for a permanent magnet synchronous motor, characterized in that: include: A current acquisition module, used to acquire a current loop current, a first current, and a second current corresponding to the permanent magnet synchronous motor, wherein the current loop current includes a proportional current of the current loop under a proportional control parameter and an integral current of the current loop under an integral control parameter, the first current is a current value on a maximum torque current ratio MTPA curve that matches the required torque of the permanent magnet synchronous motor, and the second current is a current value on a maximum torque voltage ratio MTPV curve that matches the motor speed of the permanent magnet synchronous motor; A first current adjustment module, configured to adjust the proportional current according to a magnitude relationship between the proportional current and a preset current to obtain an adjusted proportional current, wherein the preset current is a minimum current for the permanent magnet synchronous motor to operate normally; A second current adjustment module, configured to adjust the integral current according to a magnitude relationship between the direct-axis current of a previous current adjustment cycle and the second current, to obtain a first integral current; A third current adjustment module, configured to adjust the first integral current according to the integral current of the previous current adjustment cycle and the motor control mode corresponding to the permanent magnet synchronous motor, so as to obtain an adjusted integral current; The current determination module is used to calculate the difference between the first current and the adjusted proportional current and the adjusted integral current to obtain the direct-axis current of the permanent magnet synchronous motor.

11. A vehicle, characterized in that: The vehicle includes an electronic device, the electronic device including: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the current regulation method of the permanent magnet synchronous motor as described in any one of claims 1-9 is implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the current regulation method of the permanent magnet synchronous motor as described in any one of claims 1 to 9 is implemented.

13. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the current regulation method for a permanent magnet synchronous motor as described in any one of claims 1 to 9.

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