Open-loop and closed-loop switching control method and control system for integrated permanent magnet synchronous motor

Abstract

The invention belongs to the field of integrated permanent magnet synchronous motor control system design, and particularly relates to an integrated permanent magnet synchronous motor open-loop and closed-loop switching control method and control system. And when the open-loop output rotating speed reaches the open-loop closed-loop switching rotating speed and the closed-loop control output target rotating speed reaches the open-loop closed-loop switching rotating speed, open-loop control is switched into closed-loop control, and closed-loop control is performed on the motor, so that the motor control rotating speed fluctuation is small, the rotating speed following performance is good, and the switching process is stable.

Description

Technical Field

[0001] The present application belongs to the field of integrated permanent magnet synchronous motor control system design, and specifically relates to an integrated permanent magnet synchronous motor open-loop and closed-loop switching control method and control system. Background Art

[0002] With the development of multi-electric technology, future aircraft hypersonic and extraordinary maneuvers will have more demands and higher requirements on drive motors for transmission pumps, boost pumps, EMA actuators, circulation fans, compressors and other airborne equipment. Due to space limitations, the electric motors used are required to be smaller, lighter and more efficient, that is, the motors are required to have a higher power-to-weight ratio. At the same time, as electrical energy replaces more secondary energy sources such as hydraulic energy, the output speed and torque capabilities of aviation drive motors and the control performance of drive control systems also need to be improved. The integrated permanent magnet synchronous motor control system and control method are a technical difficulty and key point, and it is difficult to ensure smooth open-loop and closed-loop switching and small speed fluctuations. In view of this, this application is proposed. Summary of the invention

[0003] The purpose of this application is to provide an open-loop and closed-loop switching control method and control system for an integrated permanent magnet synchronous motor, and to design an open-loop and closed-loop switching control method for an integrated permanent magnet synchronous motor so that the open-loop and closed-loop switching is smooth and the speed fluctuation is small.

[0004] The technical solution of this application is:

[0005] On the one hand, an integrated permanent magnet synchronous motor open-loop and closed-loop switching control method is provided, comprising:

[0006] Given a closed-loop target speed 2n, given a closed-loop speed increasing ramp;

[0007] Select the open-loop and closed-loop switching speed N;

[0008] Calculate the open-loop control U under the open-loop and closed-loop switching speed N q , the open-loop step angle △θ is used to control the motor in an open-loop manner until the open-loop output speed reaches the open-loop and closed-loop switching speed N;

[0009] While the open-loop control is in progress, the closed-loop calculation is started to obtain the closed-loop control output target speed;

[0010] When the closed-loop control output target speed reaches the open-loop / closed-loop switching speed N, the open-loop control is switched to the closed-loop control to perform closed-loop control on the motor.

[0011] According to at least one embodiment of the present application, in the above-mentioned open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor, an open-loop and closed-loop switching speed N=n is selected.

[0012] According to at least one embodiment of the present application, in the above-mentioned integrated permanent magnet synchronous motor open-loop closed-loop switching control method, the open-loop control U under the open-loop closed-loop switching speed N is calculated according to the rated speed and rated voltage of the motor. q .

[0013] According to at least one embodiment of the present application, in the above-mentioned integrated permanent magnet synchronous motor open-loop and closed-loop switching control method, the open-loop step angle △θ is calculated as follows:

[0014]

[0015] in,

[0016] P n_motor is the number of motor pole pairs, U 母 is the bus voltage, n 额定 is the rated speed of the motor.

[0017] On the other hand, an integrated permanent magnet synchronous motor control system is provided, which controls the motor by using the above-mentioned integrated permanent magnet synchronous motor open-loop and closed-loop switching control method.

[0018] According to at least one embodiment of the present application, the above-mentioned integrated permanent magnet synchronous motor control system includes a motor, a controller, a host computer, a power supply and a load;

[0019] The host computer sends control instructions such as target speed, control coefficient, system status, etc. to the controller. The controller controls the motor according to the control instructions, supplies power to the load, and collects the motor's three-phase current, voltage, current speed, fault status and other status information, and transmits it to the host computer;

[0020] The controller and the host computer exchange data through CAN communication. The controller power voltage is 600VDC and the control voltage is 28VDC.

[0021] According to at least one embodiment of the present application, in the above-mentioned integrated permanent magnet synchronous motor control system, the controller includes a main control unit, a DC / DC module, a drive module, an inverter drive circuit, and a sampling module;

[0022] The main control unit uses the TM320F28035 chip to receive control instructions from the host computer, control the motor through the drive module and inverter drive circuit, and collect the motor status information through the sampling module and transmit it to the host computer;

[0023] The inverter drive circuit is connected to a 600VDC power supply, and the DC / DC module can convert 28V to 5V, 5V to 3.3V, and 28V to 15V;

[0024] The drive module uses SiC power devices.

[0025] This application has at least the following beneficial technical effects:

[0026] Provided is an integrated permanent magnet synchronous motor open-loop and closed-loop switching control method and control system. The design starts closed-loop calculation while performing open-loop control. When the open-loop output speed reaches the open-loop and closed-loop switching speed and the closed-loop control output target speed reaches the open-loop and closed-loop switching speed, the open-loop control is switched to closed-loop control, and the motor is closed-loop controlled, so that the motor control speed fluctuation is small, the speed followability is good, and the switching process is smooth. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of an open-loop and closed-loop switching control method for an integrated permanent magnet synchronous motor provided in an embodiment of the present application;

[0028] Figure 2 It is a time diagram for switching between open-loop control and closed-loop control provided in an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of the overall architecture of an integrated permanent magnet synchronous motor control system provided in an embodiment of the present application;

[0030] Figure 4 is a schematic diagram of the hardware architecture of the integrated permanent magnet synchronous motor control system provided in an embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of the software architecture of the integrated permanent magnet synchronous motor control system provided in an embodiment of the present application.

[0032] In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. In addition, the drawings are only used for illustrative purposes and should not be construed as limitations on the present application. DETAILED DESCRIPTION

[0033] In order to make the technical solution and advantages of the present application clearer, the technical solution of the present application will be described in further detail in detail and in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present application, which are only used to explain the present application, not to limit the present application. It should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design.

[0034] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall have the usual meanings understood by those of ordinary skill in the art to which this application belongs. The words used in the description of this application to indicate orientation are only used to indicate relative directions or positional relationships. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. The word "include" used in the description of this application indicates that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.

[0035] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installation", "connection" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Technical personnel in the field can understand its specific meaning in this application according to the specific circumstances.

[0036] An integrated permanent magnet synchronous motor open-loop and closed-loop switching control method, such as Figure 1 shown.

[0037] The integrated permanent magnet synchronous motor control system uses a magnetic encoder position detection. After the initial position of the rotor is positioned, a rotor position reset signal Z is required during closed-loop starting. The rotor position reset Z signal will only appear once during one rotation of the motor, so it is necessary to manually rotate the motor rotor one circle to complete the reset function. The open-loop start-up to closed-loop control method can avoid the process of manually rotating the rotor one circle.

[0038] Design an integrated permanent magnet synchronous motor open-loop and closed-loop switching control method as follows:

[0039] The closed-loop target speed 2n is given, and the closed-loop speed increasing ramp is given.

[0040] Select the open-loop and closed-loop switching speed N, where N=n.

[0041] Calculate the open-loop control U under the open-loop and closed-loop switching speed N q , the open-loop step angle △θ is used to control the motor in open loop until the open-loop output speed reaches the open-loop / closed-loop switching speed N.

[0042] Specifically, according to the rated speed and rated voltage of the motor, the open-loop control U under the open-loop and closed-loop switching speed N is calculated. q .

[0043] Calculate the open-loop step angle △θ as follows:

[0044]

[0045] in,

[0046] P n_motor is the number of motor pole pairs, U 母 is the bus voltage, n 额定 is the rated speed of the motor.

[0047] While the open-loop control is in progress, the closed-loop calculation is started to obtain the closed-loop control output target speed.

[0048] When the closed-loop control output target speed reaches the open-loop / closed-loop switching speed N, the open-loop control is switched to the closed-loop control to perform closed-loop control on the motor.

[0049] In a specific example, at time t1, the open-loop output speed reaches the open-loop closed-loop switching speed n, but the closed-loop control output target speed does not reach n at this time. At time t2, the closed-loop control output target speed reaches n. At this time, the open-loop control is switched to the closed-loop control. At this moment, the closed-loop control output target speed is n, and the actual speed of the motor is also n. Figure 2 As shown in the figure, after the open loop is switched to the closed loop, the speed fluctuation is small and the speed following performance is good. It has been verified in practice that the speed fluctuation of the switching algorithm is extremely small and the switching process is smooth.

[0050] Based on the open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor disclosed in the above embodiment, an integrated permanent magnet synchronous motor control system is designed, and the motor is controlled by the open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor disclosed in the above embodiment.

[0051] The overall architecture design of the integrated permanent magnet synchronous motor control system, such as Figure 3 As shown, it includes a motor, a controller, a host computer, a power supply and a load.

[0052] The host computer sends control instructions such as target speed, control coefficient, system status, etc. to the controller. The controller controls the motor according to the control instructions, supplies power to the load, and collects status information such as the motor's three-phase current, voltage, current speed, fault status, etc., and transmits it to the host computer.

[0053] The controller and the host computer exchange data through CAN communication. The controller power voltage is 600VDC and the control voltage is 28VDC.

[0054] Integrated permanent magnet synchronous motor control system hardware architecture design, such as Figure 4 shown.

[0055] The controller includes a main control unit, a DC / DC module, a drive module, an inverter drive circuit, a sampling module, etc.

[0056] The main control unit uses the TM320F28035 chip, receives control instructions sent by the host computer, controls the motor through the drive module and inverter drive circuit, and collects the motor status information through the sampling module and transmits it to the host computer.

[0057] The inverter drive circuit is connected to a 600VDC power supply, and the DC / DC module can convert 28V to 5V, 5V to 3.3V, and 28V to 15V.

[0058] The drive module uses SiC power devices.

[0059] The sampling module can be specifically designed to include position detection, temperature detection, current detection sensors and data acquisition and conditioning circuits to collect motor status information, such as Figure 4 As shown, in this regard, technicians in the field can make specific designs according to actual conditions when applying the technical solutions disclosed in this application, and no more detailed explanation will be given here.

[0060] Integrated permanent magnet synchronous motor control system software architecture design Figure 5 shown.

[0061] Based on id=0, the open-loop to closed-loop vector control strategy is controlled and the software architecture is divided into the main program, the motor open-loop and closed-loop vector control program, the protection program and the communication program. The main program completes the system initialization, parameter initialization, variable initialization and the jump of the system logic state. The motor open-loop and closed-loop vector control program completes the motor control. The protection program provides real-time protection for the control system. The communication program completes the interaction with the host computer.

[0062] The specific design is as follows: initializing the program, allocating space for variables and initializing the sine table, disabling interrupts, disabling watchdog, setting system clock and CPU clock, disabling PWM drive, time manager, clearing registers, initializing event manager, initializing variables, I / O, system registers, A / D module, CAN, PWM, enabling interrupts for logic state switching, fault protection and interrupt programs, and performing open-loop and closed-loop control and data communication.

[0063] For the integrated permanent magnet synchronous motor control system disclosed in the above embodiment, the motor is controlled based on the open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor disclosed in the above embodiment. The description is relatively simple. For specific related matters, please refer to the relevant description of the open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor. Its technical effects can also refer to the technical effects of the relevant parts of the open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor, which will not be repeated here.

[0064] In addition, technicians in the field should also be able to realize that the various modules and units of the integrated permanent magnet synchronous motor control system disclosed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, this application generally describes them according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Technicians in the field can choose to adopt different methods to implement the described functions for each specific application and its actual constraints, but such implementation should not be considered to exceed the scope of this application.

[0065] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the scope of protection of the present application.

Claims

1. An integrated permanent magnet synchronous motor open-loop and closed-loop switching control method, characterized in that: include: Given a closed-loop target speed 2n, given a closed-loop speed increasing ramp; Select the open-loop and closed-loop switching speed N; Calculate the open-loop control U under the open-loop and closed-loop switching speed N q , the open-loop step angle △θ is used to control the motor in an open-loop manner until the open-loop output speed reaches the open-loop and closed-loop switching speed N; While the open-loop control is in progress, the closed-loop calculation is started to obtain the closed-loop control output target speed; When the closed-loop control output target speed reaches the open-loop / closed-loop switching speed N, the open-loop control is switched to the closed-loop control to perform closed-loop control on the motor.

2. The open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor according to claim 1 is characterized in that: Select the open-loop and closed-loop switching speed N=n.

3. The open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor according to claim 2 is characterized in that: According to the rated speed and rated voltage of the motor, calculate the open-loop control U under the open-loop and closed-loop switching speed N. q .

4. The integrated permanent magnet synchronous motor open-loop and closed-loop switching control method according to claim 3 is characterized in that: Calculate the open-loop step angle △θ, specifically: in, P n_motor is the number of motor pole pairs, U 母 is the bus voltage, n 额定 is the rated speed of the motor.

5. An integrated permanent magnet synchronous motor control system, characterized in that: The motor is controlled by the open-loop and closed-loop switching control method of the integrated permanent magnet synchronous motor disclosed in claim 1.

6. The integrated permanent magnet synchronous motor control system according to claim 5, characterized in that: Including motor, controller, host computer, power supply and load; The host computer sends control instructions such as target speed, control coefficient, system status, etc. to the controller. The controller controls the motor according to the control instructions, supplies power to the load, and collects the motor's three-phase current, voltage, current speed, fault status and other status information, and transmits it to the host computer; The controller and the host computer exchange data through CAN communication. The controller power voltage is 600VDC and the control voltage is 28VDC.

7. The integrated permanent magnet synchronous motor control system according to claim 6, characterized in that: The controller includes a main control unit, a DC / DC module, a drive module, an inverter drive circuit, and a sampling module; The main control unit uses the TM320F28035 chip to receive control instructions from the host computer, control the motor through the drive module and inverter drive circuit, and collect the motor status information through the sampling module and transmit it to the host computer; The inverter drive circuit is connected to a 600VDC power supply, and the DC / DC module can convert 28V to 5V, 5V to 3.3V, and 28V to 15V; The drive module uses SiC power devices.

Images