Integrated permanent magnet synchronous motor open loop and closed loop switching control method and control system

Abstract

The application 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-closed loop switching control method and a control system. The open loop control is designed at the same time as starting the closed loop calculation. When the open loop output speed reaches the open loop-closed loop switching speed and the closed loop control output target speed reaches the open loop-closed loop switching speed, the open loop control is switched to the closed loop control, and the motor is controlled in the closed loop mode, so that the motor control speed fluctuation is small, the speed following property is good, and the switching process is smooth.

Description

Integrated permanent magnet synchronous motor open-loop and closed-loop switching control method and control system Technical Field

[0001] This application belongs to the field of integrated permanent magnet synchronous motor control system design, specifically involving an open-loop and closed-loop switching control method and control system for an integrated permanent magnet synchronous motor. Background Technology

[0002] With the development of electric drive technology, future hypersonic and unconventional maneuvers in aircraft will place greater demands and higher requirements on airborne equipment such as transfer pumps, booster pumps, EMA actuators, circulating fans, and compressors. Due to space constraints, the electric motors used must be smaller, lighter, and more efficient, which means they need a higher power-to-weight ratio. At the same time, as electrical energy increasingly replaces secondary energy sources such as hydraulic energy, the output speed and torque capabilities of aviation drive motors, as well as the control performance of drive control systems, urgently need to be improved. The integrated permanent magnet synchronous motor control system and control method is a technical challenge and key area, as it is difficult to guarantee smooth switching between open-loop and closed-loop operation and small speed fluctuations. Therefore, this application is proposed. Summary of the Invention

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

[0004] The technical solution of this application is:

[0005] One aspect provides an integrated open-loop and closed-loop switching control method for permanent magnet synchronous motors, including:

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

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

[0008] Calculate the open-loop control U at the open-loop / 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 / closed-loop switching speed N.

[0009] While performing open-loop control, closed-loop calculation is initiated to obtain the target speed output of closed-loop control.

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

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

[0012] According to at least one embodiment of this application, in the above-described integrated permanent magnet synchronous motor open-loop and closed-loop switching control method, the open-loop control U at the open-loop and closed-loop switching speed N is calculated based on the motor's rated speed and rated voltage. q .

[0013] According to at least one embodiment of this application, in the above-described integrated permanent magnet synchronous motor open-loop and closed-loop switching control method, the calculation of the open-loop step angle Δθ is specifically as follows:

[0014]

[0015] in,

[0016] P n_motor U is the number of pole pairs of the motor. 母 n is the bus voltage. 额定 This 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 using the aforementioned integrated permanent magnet synchronous motor open-loop and closed-loop switching control method.

[0018] According to at least one embodiment of this application, the above-described 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 commands such as target speed, control coefficient, and system status to the controller. The controller controls the motor according to the control commands, supplies power to the load, and collects status information such as the motor's three-phase current, voltage, current speed, and fault status, and transmits it to the host computer.

[0020] The controller and the host computer communicate via CAN. The controller power supply is 600VDC, and the control power supply is 28VDC.

[0021] According to at least one embodiment of this application, in the above-described 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 commands sent by 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] This paper provides an integrated open-loop and closed-loop switching control method and control system for permanent magnet synchronous motors. The design starts closed-loop calculation while performing open-loop control. When the open-loop output speed reaches the open-loop / closed-loop switching speed and the closed-loop control output target speed reaches the open-loop / closed-loop switching speed, the open-loop control is switched to closed-loop control to perform closed-loop control of the motor. This results in small speed fluctuations, good speed tracking, and a smooth switching process. Attached Figure Description

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

[0028] Figure 2 is a time diagram of open-loop control and closed-loop control switching provided in an embodiment of this application;

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

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

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

[0032] To better illustrate this embodiment, some parts in the accompanying drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. Furthermore, the drawings are for illustrative purposes only and should not be construed as limiting this application. Detailed Implementation

[0033] To make the technical solution and advantages of this application clearer, the technical solution of this application will be described in a clearer and more complete manner below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some embodiments of this application, and are only used to explain this application, not to limit this application. It should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, and other related parts can be referred to the general design.

[0034] Furthermore, unless otherwise defined, the technical or scientific terms used in this application description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms indicating direction used in this application description are used only to indicate relative direction or positional relationship; when the absolute position of the described object changes, its relative positional relationship may also change accordingly. The word "comprising" as used in this application description indicates that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, but does not exclude other elements or objects.

[0035] Furthermore, it should be noted that, unless otherwise explicitly specified and limited, terms such as "installation" and "connection" used in the description of this application should be interpreted broadly. For example, a 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. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0036] An integrated open-loop and closed-loop switching control method for permanent magnet synchronous motors is shown in Figure 1.

[0037] The integrated permanent magnet synchronous motor control system uses a magnetic encoder for position detection. After the rotor is initially positioned, a rotor position zeroing signal Z is required during closed-loop start-up. However, the rotor position zeroing signal Z will only appear once during one revolution of the motor. Therefore, it is necessary to manually rotate the motor rotor one revolution to complete the zeroing function. The method of switching from open-loop start-up to closed-loop control can avoid the process of manually rotating the rotor one revolution.

[0038] The design of an integrated open-loop and closed-loop switching control method for a permanent magnet synchronous motor is as follows:

[0039] Given a target closed-loop speed of 2n, and a given closed-loop speed ramp.

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

[0041] Calculate the open-loop control U at the open-loop / closed-loop switching speed N. q The open-loop step angle Δθ is used to control the motor in an open-loop manner until the open-loop output speed reaches the open-loop / closed-loop switching speed N.

[0042] Specifically, based on the motor's rated speed and rated voltage, the open-loop control U at the open-loop / closed-loop switching speed N is calculated. q .

[0043] The open-loop step angle Δθ is calculated as follows:

[0044]

[0045] in,

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

[0047] While performing open-loop control, closed-loop calculation is initiated to obtain the target speed for closed-loop control output.

[0048] When the target speed output by the closed-loop control reaches the open-loop / closed-loop switching speed N, the open-loop control is switched to 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 has not yet reached n. At time t2, the closed-loop control output target speed reaches n. At this time, the open-loop control is switched to 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, as shown in Figure 2. After switching from open-loop to closed-loop, the speed fluctuation is small and the speed tracking is good. Actual verification shows that the switching algorithm has extremely small speed fluctuation and a smooth switching process.

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

[0051] The overall architecture design of the integrated permanent magnet synchronous motor control system is shown in Figure 3, which includes the motor, controller, host computer, power supply and load.

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

[0053] The controller and the host computer communicate via CAN. The controller power supply is 600VDC, and the control power supply is 28VDC.

[0054] The hardware architecture design of the integrated permanent magnet synchronous motor control system is shown in Figure 4.

[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 to receive control commands sent by 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.

[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, as shown in Figure 4. Those skilled in the art can make specific designs based on actual conditions when applying the technical solutions disclosed in this application, and no further detailed explanation will be given here.

[0060] The software architecture design of the integrated permanent magnet synchronous motor control system is shown in Figure 5.

[0061] Based on the open-loop to closed-loop vector control strategy with id=0, the software architecture is divided into a main program, a motor open-loop and closed-loop vector control program, a protection program, and a communication program. The main program completes system initialization, parameter initialization, variable initialization, and system logic state transitions. The motor open-loop and closed-loop vector control program completes 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 includes: initializing the program, allocating space for variables and initializing the sine table, disabling interrupts, disabling the watchdog timer, setting the system clock and CPU clock, disabling PWM drive, time manager, clearing registers, initializing the event manager, initializing variables, initializing I / O, initializing system registers, initializing the A / D module, initializing CAN, initializing PWM, enabling interrupts for logic state switching, fault protection, and interrupt routines, and performing open-loop and closed-loop control and data communication.

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

[0064] Furthermore, those skilled in the art should recognize that the various modules and units of the integrated permanent magnet synchronous motor control system disclosed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, they are generally described in terms of function in this application. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can choose different methods to implement the described functions for each specific application and its actual constraints, but such implementation should not be considered to be beyond the scope of this application.

[0065] The technical solution of this 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 this application is obviously not limited to these specific embodiments. Without departing from the principles of this 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 all fall within the scope of protection of this application.

Claims

1. An integrated open-loop and closed-loop switching control method for a permanent magnet synchronous motor, characterized in that, include: Given a target closed-loop speed of 2n, and a given ramp for increasing closed-loop speed; Select the open-loop / closed-loop switching speed N; Calculate the open-loop control at the open-loop / closed-loop switching speed N. Open-loop step angle The motor is controlled in an open-loop manner until the open-loop output speed reaches the open-loop / closed-loop switching speed N; while the open-loop control is initiating, the closed-loop calculation is started to obtain the target output speed of the closed-loop control. When the target speed output by the closed-loop control reaches the open-loop / closed-loop switching speed N, the open-loop control is switched to closed-loop control to perform closed-loop control on the motor.

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

3. The integrated permanent magnet synchronous motor open-loop and closed-loop switching control method according to claim 2, characterized in that, Based on the motor's rated speed and rated voltage, calculate the open-loop control at the open-loop / closed-loop switching speed N. 。 4. The integrated permanent magnet synchronous motor open-loop and closed-loop switching control method according to claim 3, characterized in that, Calculate the step angle of the open loop Specifically: ;in, This represents the number of pole pairs of the motor. Bus voltage This is the rated speed of the motor.

5. An integrated permanent magnet synchronous motor control system, characterized in that, The motor is controlled using the open-loop and closed-loop switching control method for 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, It includes a motor, controller, host computer, power supply, and load; the host computer sends target speed, control coefficient, and system status control commands to the controller, the controller controls the motor according to the control commands, supplies power to the load, and collects the motor's three-phase current, voltage, current speed, and fault status information, and transmits it to the host computer; the controller and host computer exchange data via CAN communication, the controller power supply is 600VDC, and the control power supply 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 a TM320F28035 chip to receive control commands from the host computer, control the motor through the drive module and the inverter drive circuit, and collect the motor's 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.

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