Current decoupling motor control system and method based on magnetic adjusting pulse counting

Abstract

The invention discloses a current decoupling motor control system and method based on magnetic adjusting pulse counting. The system comprises a rotating speed loop regulator module, a current decoupler module, a 2r / 2s coordinate conversion module, an SVPWM module, an inverter module, a magnetic flux adjustable motor module, a position sensor module, a positive and negative pulse detection module, a magnetic flux regulation module, a 3s / 2s coordinate conversion module and a 2s / 2r coordinate conversion module. The method comprises the following steps: inputting a result obtained by comparing a rotating speed omega r detected by a position sensor with a given rotating speed omega inf into a rotating speed ring regulator module, and regulating by the rotating speed ring regulator module to obtain a current iq *; and designing flux linkage and inductance parameters and a current decoupler model based on flux-adjusting pulse counting. According to the invention, the overall control performance of the magnetic flux adjustable motor system can be improved; through optimization of a software program algorithm, current decoupling control is realized, the cost of a driving system is not increased, and the control precision of the magnetic flux adjustable motor is improved.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a current decoupling motor control system and method based on magnetic modulation pulse counting. Background Art

[0002] Permanent magnet synchronous motor has significant advantages such as simple structure, reliable operation, small size and high energy density. In recent years, with the development of material technology and the continuous maturity of PMSM control technology, PMSM has been widely used in electric vehicles, industrial control and home appliances. Traditional PMSM uses the interaction between the magnetic field of rare earth permanent magnets and the rotating magnetic field to generate torque, and has the advantages of high efficiency and high power density. However, the speed regulation range of this permanent magnet motor is affected by the inherent characteristics of the motor such as magnetic flux and inductance. Therefore, a flux-adjustable motor is used, which uses permanent magnet materials with high remanence and low coercive force. By applying instantaneous pulses, it can be transformed from a non-magnetic state to a magnetic state, and the size and direction of the magnetic flux can be adjusted, thereby realizing the control of the motor.

[0003] In the existing technology, when studying the control of flux-adjustable motors, circuit coupling occurs in the current loop of the control system, and vector control technology is generally used to solve this problem. Traditional vector control usually uses coordinate transformation to analyze the current decoupling in the synchronous rotating coordinate system of the rotor magnetic field orientation, decomposes the stator current into the excitation component of the d-axis and the torque component of the q-axis, and introduces the coupling terms of the d-axis and q-axis voltage equations of the permanent magnet synchronous motor at the output ends of the d-axis and q-axis current controllers, which are equal in size and opposite in sign as coupling compensation, so as to realize the decoupling control of the current controller. The decoupled voltage equation does not contain coupling terms, and the d-axis and q-axis can be regarded as two independent linear subsystems, realizing the decoupling of the excitation component and the torque component of the motor stator current. However, as the flux-adjustable motor is running, the permanent magnet flux will change with the magnetic adjustment process, especially during the acceleration and deceleration of the motor, which leads to an increase in the coupling effect between the d-axis and q-axis, which directly affects the control accuracy of the d-axis and q-axis currents and the dynamic performance of the motor. Therefore, it is crucial to use the magnetic pulse count value to adjust the system parameters in real time for the high-performance operation of the flux-adjustable motor. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a current decoupling motor control system and method based on magnetic modulation pulse counting.

[0005] Technical solution: The current decoupling motor control system based on magnetic pulse counting described in the present invention includes a speed loop regulator module, a current decoupler module, a 2r / 2s coordinate conversion module, an SVPWM module, an inverter module, a flux adjustable motor module, a position sensor module, a positive and negative pulse detection module, a flux regulation module, a 3s / 2s coordinate conversion module and a 2s / 2r coordinate conversion module. The system takes a given current i d * , the current i output by the speed loop q * , the current i output by the 2s / 2r coordinate transformation module d and i q , the motor speed detected by the position sensor module ω r , and the number of positive and negative pulses n output by the positive and negative pulse detection module + , n - As the input of the current decoupler, the driving voltage u of the SVPWM module is obtained after adjustment by the current decoupler module. d and u q .

[0006] Furthermore, the rated speed ω injected by the input system into the speed loop regulator module inf The speed ω detected by the position sensor module r The difference is adjusted to obtain the output current i q * .

[0007] Furthermore, the output current i of the speed loop regulator module q * , given current i d * , the current ω detected by the position sensor module r And the output of the 2s / 2r coordinate transformation module i d and i q As the input of the current decoupler module, the output voltage u after adjustment by the current decoupler module d * and u q * .

[0008] Furthermore, the output voltage u of the current decoupler module d * and u q * The voltage signal u is input into the 2r / 2s coordinate conversion module, and after being adjusted by the 2r / 2s coordinate conversion module, it outputs the voltage signal u required by the SVPWM module. α and u β,After receiving the voltage signal, the SVPWM module outputs the PWM driving signal, and then drives the flux adjustable motor module through the inverter module.

[0009] Furthermore, the position sensor module detects the rotor position angle θ and the rotation speed ω of the flux adjustable motor. r , input the rotor position angle into the 2s / 2r coordinate transformation module and the 2r / 2s coordinate conversion module, and convert the speed ω r Feedback to the speed input terminal and the given speed ω inf After comparison, it is input into the speed loop regulator module and the speed ω r Input to the flux regulation module and the current decoupler module.

[0010] Furthermore, the three-phase current i of the flux adjustable motor module a 、i b 、i c , the current component i in the stationary coordinate system is obtained through the coordinate transformation of the 3s / 2s coordinate transformation module α and i β The current is input into the 2s / 2r coordinate transformation module, and the current signal i required by the current decoupler module is obtained after adjustment by the 2s / 2r coordinate transformation module. d and i q .

[0011] The current decoupling motor control method based on magnetic modulation pulse counting of the present invention comprises the following steps:

[0012] (1) The rotation speed ω detected by the position sensor r With given speed ω inf The result after comparison is input into the speed loop regulator module, and the current i is obtained after being adjusted by the speed loop regulator module. q * ;

[0013] (2) Design the flux linkage and inductance parameters based on the magnetic modulation pulse count;

[0014] (3) Design a current decoupler model based on magnetic modulation pulse counting;

[0015] (4) The output current i of the speed loop regulator module q * , given current i d * 、The speed detected by the position sensor ω r And the output of the 2s / 2r coordinate transformation module i d and i q As the input of the current decoupler, the regulated output voltage u d * and uq * ;

[0016] (5) The voltage u output by the current decoupler d * and u q * After adjustment by the 2r / 2s coordinate conversion module, the voltage command u in the two-phase stationary coordinate system is obtained. α and u β , the voltage command u α and u β Input into the SVPWM module, output PWM drive signal, and then drive the flux-adjustable motor through the inverter module;

[0017] (6) Use position sensors to detect the rotor position angle θ and speed ω of the flux-adjustable motor r , the rotor position angle θ is input into the 2s / 2r coordinate conversion module and the 2r / 2s coordinate conversion module respectively, and the detected speed ω r With given speed ω inf After comparison, it is input into the speed loop regulator module to detect the speed ω r Input into the current decoupler module and the module that generates the magnetic modulation circuit drive signal.

[0018] Furthermore, the flux linkage and inductance parameter expressions based on the magnetic modulation pulse count are:

[0019]

[0020] Among them, L d is the d-axis inductance, L d0 is the initial value of the d-axis inductance, L q is the q-axis inductance, L q0 is the initial value of the q-axis inductance, λ m is the permanent magnet flux, λ m0 is the initial value of permanent magnet flux, n + is the number of positive pulses, n - is the number of negative pulses, k d + is the positive pulse regulation coefficient of the d-axis inductance, k d - is the negative pulse adjustment coefficient of the d-axis inductance, k q + is the positive pulse regulation coefficient of the q-axis inductance, k q - is the negative pulse adjustment coefficient of the q-axis inductance, k m is the adjustment coefficient of the permanent magnet flux.

[0021] Furthermore, the current decoupler model based on magnetic modulation pulse counting is expressed as:

[0022]

[0023] Among them, the current decoupler based on magnetic modulation pulse counting consists of two parts: u d0 、u q0 The current controller and Composition, u d1 、u q1 As nonlinear terms, u d1 =-ω r L q i q * and u q1 =ω r L d i d * +ω r λ m Composition, ω r is the motor speed, R s is the stator resistance.

[0024] Furthermore, the rotor position angle θ is an electrical angle.

[0025] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention can make the magnetic flux and inductance parameters be adjusted in real time along with the magnetic adjustment process of the flux adjustable motor, and the input current decoupler module can effectively realize current decoupling; the current decoupling control of the flux adjustable motor control system is realized, and the step response speed of the decoupled flux adjustable motor is faster, and the current waveform is more stable, which is beneficial to improving the overall control performance of the flux adjustable motor system; through the optimization of the software program algorithm, the current decoupling control is realized, the cost of the drive system is not increased, and the control accuracy of the flux adjustable motor is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is the overall structure diagram of the current decoupling motor control system of the present invention;

[0027] Figure 2 This is the structure diagram of the traditional current decoupler;

[0028] Figure 3 This is the structural diagram of the current decoupler based on magnetic modulation pulse counting. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0030] like Figure 1As shown, it is the overall structure diagram of the current decoupling motor control system based on magnetic modulation pulse counting of the present invention, including a speed loop regulator module 1, a current decoupler module 2, a 2r / 2s coordinate conversion module 3, a SVPWM module 4, an inverter module 5, a flux adjustable motor module 6, a position sensor module 7, a positive and negative pulse detection module 8, a flux regulation module 9, a 3s / 2s coordinate conversion module 10 and a 2s / 2r coordinate conversion module 11. In this system, according to Figure 1 As shown, the system is injected with the rated speed ω inf The rotation speed ω detected by the position sensor module 7 r After the difference is made, it is input into the speed loop regulator module 1, and the current i is obtained after being regulated by the speed loop regulator module 1. q * .

[0031] The expressions of flux linkage and inductance parameters designed based on magnetic modulation pulse count are:

[0032]

[0033] Among them, L d is the d-axis inductance, L d0 is the initial value of the d-axis inductance, L q is the q-axis inductance, L q0 is the initial value of the q-axis inductance, λ m is the permanent magnet flux, λ m0 is the initial value of permanent magnet flux, n + is the number of positive pulses, n - is the number of negative pulses, k d + is the positive pulse regulation coefficient of the d-axis inductance, k d - is the negative pulse adjustment coefficient of the d-axis inductance, k q + is the positive pulse regulation coefficient of the q-axis inductance, k q - is the negative pulse adjustment coefficient of the q-axis inductance, k m is the adjustment coefficient of the permanent magnet flux;

[0034] like Figure 2 The figure shows the structure of the traditional current decoupler. The current decoupler model based on the magnetic modulation pulse count is:

[0035]

[0036] like Figure 3 The figure shows the structure of the current decoupler based on the magnetic modulation pulse counting. The current decoupler based on the magnetic modulation pulse counting consists of two parts: u d0 、u q0 The current controller and Composition, u d1 、u q1 As nonlinear terms, u d1 =-ω r L q i q * and u q1 =ω r L d i d * +ω r λ m Among them, ω r is the motor speed, R s is the stator resistance;

[0037] The output current i of the speed loop regulator module 1 is q * , given current i d * , the current ω detected by the position sensor module 7 r and the output i of the 2s / 2r coordinate transformation module 11 d and i q As the input of the current decoupler module 2, the output voltage u after adjustment by the current decoupler module 2 d * and u q * .

[0038] The output voltage u of the current decoupler module 2 d * and u q * The voltage signal u is input into the 2r / 2s coordinate conversion module 3, and after being adjusted by the 2r / 2s coordinate conversion module 3, the voltage signal u required by the SVPWM module 4 is output. α and u β After obtaining the voltage signal, the SVPWM module 4 outputs a PWM driving signal, which then drives the flux-adjustable motor module 6 through the inverter module 5 .

[0039] The 2r / 2s coordinate transformation module 3 is:

[0040]

[0041] Where θ is the rotor position angle.

[0042] The position sensor module 7 detects the rotor position angle θ and the speed ω of the flux adjustable motor. r , the rotor position angle is input into the 2s / 2r coordinate conversion module 11 and the 2r / 2s coordinate conversion module 3, and the speed ωr Feedback to the speed input terminal and the given speed ω inf After comparison, it is input into the speed loop adjustment module 1, and the speed ω r Input into the flux regulation module 9 and the current decoupling controller module 2.

[0043] Detect the three-phase current i of the flux adjustable motor module 6 a 、i b 、i c , the current component i in the stationary coordinate system is obtained by the coordinate transformation of the 3s / 2s coordinate transformation module 10 α and i β The current is input into the 2s / 2r coordinate conversion module 11, and the current signal i required by the current decoupler is obtained after adjustment by the 2s / 2r coordinate conversion module 11. d and i q .

[0044] The 3s / 2s coordinate conversion module 10 is:

[0045]

[0046] The 2s / 2r coordinate conversion module 11 is:

[0047]

[0048] All angles mentioned in the present invention are electrical angles.

[0049] The current decoupling motor control method based on magnetic modulation pulse counting of the present invention comprises the following steps:

[0050] (1) The rotation speed ω detected by the position sensor r With given speed ω inf The result after comparison is input into the speed loop regulator module, and the current i is obtained after being adjusted by the speed loop regulator module. q * ;

[0051] (2) Design the flux linkage and inductance parameters based on the magnetic modulation pulse count;

[0052] (3) Design a current decoupler model based on magnetic modulation pulse counting;

[0053] (4) The output current i of the speed loop regulator module q * , given current i d * 、The speed detected by the position sensor ω r And the output of the 2s / 2r coordinate transformation module i d and i qAs the input of the current decoupler, the regulated output voltage u d * and u q * ;

[0054] (5) The voltage u output by the current decoupler d * and u q * After adjustment by the 2r / 2s coordinate conversion module, the voltage command u in the two-phase stationary coordinate system is obtained. α and u β , the voltage command u α and u β Input into the SVPWM module, output PWM drive signal, and then drive the flux-adjustable motor through the inverter module;

[0055] (6) Use position sensors to detect the rotor position angle θ and speed ω of the flux-adjustable motor r , the rotor position angle θ is input into the 2s / 2r coordinate conversion module and the 2r / 2s coordinate conversion module respectively, and the detected speed ω r With given speed ω inf After comparison, it is input into the speed loop regulator module to detect the speed ω r Input into the current decoupler module and the module that generates the magnetic modulation circuit drive signal.

Claims

1. A current decoupling motor control system based on magnetic modulation pulse counting, characterized in that: The system comprises a speed loop regulator module (1), a current decoupler module (2), a 2r / 2s coordinate conversion module (3), an SVPWM module (4), an inverter module (5), a flux adjustable motor module (6), a position sensor module (7), a positive and negative pulse detection module (8), a flux regulation module (9), a 3s / 2s coordinate conversion module (10) and a 2s / 2r coordinate conversion module (11). The system converts a given current i d * , the current i output by the speed loop q * , the current i output by the 2s / 2r coordinate transformation module (11) d and i q , the motor speed ω detected by the position sensor module (7) r , and the number of positive and negative pulses n output by the positive and negative pulse detection module (8) + , n - As the input of the current decoupler, the driving voltage u of the SVPWM module (4) is obtained after adjustment by the current decoupler module (2). d and u q .

2. The current decoupling motor control system based on magnetic modulation pulse counting according to claim 1 is characterized in that: The rated speed ω injected by the input system into the speed loop regulator module (1) inf The rotation speed ω detected by the position sensor module (7) r The difference is adjusted to obtain the output current i q * .

3. The current decoupling motor control system based on magnetic modulation pulse counting according to claim 1 is characterized in that: The output current i of the speed loop regulator module (1) q * , given current i d * , the current ω detected by the position sensor module (7) r and the output i of the 2s / 2r coordinate transformation module (11) d and i q As the input of the current decoupler module (2), the output voltage u after adjustment by the current decoupler module (2) d * and u q * .

4. The current decoupling motor control system based on magnetic modulation pulse counting according to claim 1 is characterized in that: The output voltage u of the current decoupler module (2) d * and u q * The voltage signal u is input into the 2r / 2s coordinate conversion module (3), and after being adjusted by the 2r / 2s coordinate conversion module (3), the voltage signal u required by the SVPWM module (4) is output. α and u β After obtaining the voltage signal, the SVPWM module (4) outputs a PWM drive signal, which then drives the flux-adjustable motor module (6) through the inverter module (5).

5. The current decoupling motor control system based on magnetic modulation pulse counting according to claim 1 is characterized in that: The position sensor module (7) detects the rotor position angle θ and the rotation speed ω of the magnetic flux adjustable motor. r , the rotor position angle is input into the 2s / 2r coordinate transformation module (11) and the 2r / 2s coordinate transformation module (3), and the speed ω r Feedback to the speed input terminal and the given speed ω inf After comparison, it is input into the speed loop regulator module (1), and the speed ω r Input into the flux regulation module (9) and the current decoupler module (2).

6. The current decoupling motor control system based on magnetic modulation pulse counting according to claim 1 is characterized in that: The three-phase current i of the flux adjustable motor module (6) a 、i b 、i c , the current component i in the stationary coordinate system is obtained through coordinate transformation by the 3s / 2s coordinate transformation module (10) α and i β The current is input into a 2s / 2r coordinate transformation module (11), and after being adjusted by the 2s / 2r coordinate transformation module (11), a current signal i required by the current decoupler module (2) is obtained. d and i q .

7. A current decoupling motor control method based on magnetic modulation pulse counting, characterized in that: The steps include: (1) The rotation speed ω detected by the position sensor r With given speed ω inf The result after comparison is input into the speed loop regulator module, and the current i is obtained after being adjusted by the speed loop regulator module. q * ; (2) Design the flux linkage and inductance parameters based on the magnetic modulation pulse count; (3) Design a current decoupler model based on magnetic modulation pulse counting; (4) The output current i of the speed loop regulator module q * , given current i d * 、The speed detected by the position sensor ω r And the output of the 2s / 2r coordinate transformation module i d and i q As the input of the current decoupler, the regulated output voltage u d * and u q * ; (5) The voltage u output by the current decoupler d * and u q * After adjustment by the 2r / 2s coordinate conversion module, the voltage command u in the two-phase stationary coordinate system is obtained. α and u β , the voltage command u α and u β Input into the SVPWM module, output PWM drive signal, and then drive the flux-adjustable motor through the inverter module; (6) Use position sensors to detect the rotor position angle θ and speed ω of the flux-adjustable motor r , the rotor position angle θ is input into the 2s / 2r coordinate conversion module and the 2r / 2s coordinate conversion module respectively, and the detected speed ω r With given speed ω inf After comparison, it is input into the speed loop regulator module to detect the speed ω r Input into the current decoupler module and the module that generates the magnetic modulation circuit drive signal.

8. The current decoupling motor control method based on magnetic modulation pulse counting according to claim 7 is characterized in that: The flux linkage and inductance parameter expressions based on the magnetic modulation pulse count are: Among them, L d is the d-axis inductance, L d0 is the initial value of the d-axis inductance, L q is the q-axis inductance, L q0 is the initial value of the q-axis inductance, λ m is the permanent magnet flux, λ m0 is the initial value of permanent magnet flux, n + is the number of positive pulses, n - is the number of negative pulses, k d + is the positive pulse regulation coefficient of the d-axis inductance, k d - is the negative pulse adjustment coefficient of the d-axis inductance, k q + is the positive pulse regulation coefficient of the q-axis inductance, k q - is the negative pulse adjustment coefficient of the q-axis inductance, k m is the adjustment coefficient of the permanent magnet flux.

9. The current decoupling motor control method based on magnetic modulation pulse counting according to claim 7 is characterized in that: The current decoupler model based on magnetic modulation pulse counting is expressed as: Among them, the current decoupler based on magnetic modulation pulse counting consists of two parts: u d0 、u q0 The current controller and Composition, u d1 、u q1 As nonlinear terms, u d1 =-ω r L q i q * and u q1 =ω r L d i d * +ω r λ m Composition, ω r is the motor speed, R s is the stator resistance.

10. The current decoupling motor control method based on magnetic modulation pulse counting according to claim 7, characterized in that: The rotor position angles θ are all electrical degrees.

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