Speed re-throw control method, device and equipment of dual three-phase permanent magnet synchronous motor

Abstract

The application discloses a speed re-throw control method, device and equipment of a double three-phase permanent magnet synchronous motor, relates to the motor control technical field, and comprises the following steps: taking the current command and the voltage command as zero, and measuring the counter electromotive force of the double three-phase permanent magnet synchronous motor; determining the first rotor angle of the double three-phase permanent magnet synchronous motor according to the counter electromotive force, and controlling the double three-phase permanent magnet synchronous motor according to the first rotor angle; setting the d-axis current command as non-zero, and measuring the output voltage of an inverter; determining the second rotor angle of the double three-phase permanent magnet synchronous motor according to the output voltage of the inverter, and controlling the double three-phase permanent magnet synchronous motor according to the second rotor angle; estimating the third rotor angle of the double three-phase permanent magnet synchronous motor according to the current command, the voltage command and the phase currents of the double three-phase permanent magnet synchronous motor, and controlling the double three-phase permanent magnet synchronous motor according to the third rotor angle. The method can reduce the inrush current during the restart and improve the performance of the speed re-throw.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and particularly relates to a speed restart control method, device and equipment of a dual three-phase permanent magnet synchronous motor and a storage medium. BACKGROUND

[0002] The sensorless vector control of a dual three-phase permanent magnet synchronous motor often encounters a speed restart problem in actual use. Speed restart is usually referred to as forward and reverse wind starting on a motor, that is, the motor is forward rotated or reverse rotated at a certain speed before starting. Once power is restored, the machine is restarted to the original speed without waiting for the machine to be in a stationary state. When restarting, the rotor of the motor may be rotating in the reverse direction or the forward direction due to inertia or load and other factors, because the motor does not know whether the motor is rotating or not when starting due to the absence of a position sensor. If direct open-loop strong drag starting is adopted, the speed and position cannot be identified, which may cause abnormal motor output current, trigger overcurrent protection, and even damage power devices. Therefore, how to reduce the inrush current during restart and improve the performance of speed restart has become a technical problem to be solved by those skilled in the art. SUMMARY

[0003] The purpose of the present application is to provide a speed restart control method, device, equipment and storage medium of a dual three-phase permanent magnet synchronous motor, which can reduce the inrush current during restart and improve the performance of speed restart.

[0004] To solve the above technical problems, the present application provides a speed restart control method of a dual three-phase permanent magnet synchronous motor, comprising:

[0005] Setting a d-axis current command, a q-axis current command, a d-axis voltage command and a q-axis voltage command to zero, and measuring a back electromotive force of the dual three-phase permanent magnet synchronous motor;

[0006] Determining a first rotor angle of the dual three-phase permanent magnet synchronous motor according to the back electromotive force, and performing vector control on the dual three-phase permanent magnet synchronous motor according to the first rotor angle;

[0007] Setting the d-axis current command to be non-zero, and measuring an output voltage of an inverter;

[0008] Determining a second rotor angle of the dual three-phase permanent magnet synchronous motor according to the output voltage of the inverter, and performing vector control on the dual three-phase permanent magnet synchronous motor according to the second rotor angle;

[0009] According to the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor, a third rotor angle of the dual three-phase permanent magnet synchronous motor is estimated, and the dual three-phase permanent magnet synchronous motor is vector controlled according to the third rotor angle.

[0010] In some embodiments, estimating the third rotor angle of the dual three-phase permanent magnet synchronous motor according to the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor comprises:

[0011] Vector space decomposition is performed on the phase currents of the dual three-phase permanent magnet synchronous motor to obtain d-axis currents and q-axis currents;

[0012] Proportional integral operation is performed on the difference between the d-axis currents and the d-axis current command to obtain a first voltage;

[0013] Proportional integral operation is performed on the difference between the q-axis currents and the q-axis current command to obtain a second voltage;

[0014] The first voltage and the d-axis voltage command are summed, and the sum is subjected to coordinate transformation to obtain a third voltage;

[0015] The second voltage and the q-axis voltage command are summed, and the sum is subjected to coordinate transformation to obtain a fourth voltage;

[0016] The arctangent value of the fourth voltage and the third voltage is calculated to obtain a voltage angle;

[0017] The voltage angle is differentiated to obtain the rotor angular velocity;

[0018] According to the positive and negative of the rotor angular velocity, the voltage angle is adjusted to obtain the third rotor angle.

[0019] In some embodiments, adjusting the voltage angle according to the positive and negative of the rotor angular velocity to obtain the third rotor angle comprises:

[0020] If the rotor angular velocity is positive, the voltage angle is reduced by 90 degrees to obtain the third rotor angle;

[0021] If the rotor angular velocity is negative, the voltage angle is increased by 90 degrees to obtain the third rotor angle.

[0022] In some embodiments, vector controlling the dual three-phase permanent magnet synchronous motor according to the rotor angle of the dual three-phase permanent magnet synchronous motor comprises:

[0023] The current of each phase of the dual three-phase permanent magnet synchronous motor is decomposed into vector space to obtain the d-axis current and q-axis current.

[0024] The first voltage is obtained by performing a proportional-integral operation on the difference between the d-axis current and the d-axis current command.

[0025] The difference between the q-axis current and the q-axis current command is proportionally integrated to obtain the second voltage;

[0026] The first voltage is summed with the d-axis voltage command, and the summation result is transformed by coordinates to obtain the third voltage.

[0027] The second voltage is summed with the q-axis voltage command, and the summation result is transformed by coordinates to obtain the fourth voltage.

[0028] The inverter generates a pulse width modulation signal based on the third voltage, the fourth voltage, and the rotor angle of the dual three-phase permanent magnet synchronous motor, so as to drive the dual three-phase permanent magnet synchronous motor through the inverter.

[0029] In some embodiments, the vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor to obtain the d-axis current and q-axis current includes:

[0030] The corresponding transformation matrix is ​​determined based on the angular displacement difference of the dual three-phase permanent magnet synchronous motor; wherein, the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 0 degrees is the same as the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 60 degrees, but different from the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 30 degrees.

[0031] The vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor is performed based on the transformation matrix to obtain the d-axis current and q-axis current.

[0032] In some embodiments, it also includes:

[0033] The d-axis voltage command is set to zero, and the q-axis voltage command is set according to the rotation direction of the motor.

[0034] In some embodiments, setting the q-axis voltage command according to the rotation direction of the motor includes:

[0035] If the motor rotates in the positive direction, then the q-axis voltage command is set to be equal to the output voltage command;

[0036] If the motor rotates in the opposite direction, then the q-axis voltage command is set to be equal to the negative output voltage command; the output voltage command is equal to the square root of the sum of the square of the first voltage and the d-axis voltage command and the sum of the square of the second voltage and the q-axis voltage command.

[0037] To address the aforementioned technical problems, this application also provides a belt speed re-start control device for a dual three-phase permanent magnet synchronous motor, comprising:

[0038] The first setting module is used to set the d-axis current command, q-axis current command, d-axis voltage command and q-axis voltage command to zero, and to measure the back electromotive force of the dual three-phase permanent magnet synchronous motor.

[0039] The first control module is used to determine the first rotor angle of the dual three-phase permanent magnet synchronous motor based on the back electromotive force, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the first rotor angle.

[0040] The second setting module is used to set the d-axis current command to be non-zero and to measure the output voltage of the inverter;

[0041] The second control module is used to determine the second rotor angle of the dual three-phase permanent magnet synchronous motor based on the output voltage of the inverter, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the second rotor angle.

[0042] The estimation module is used to estimate the third rotor angle of the dual three-phase permanent magnet synchronous motor based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase current of the dual three-phase permanent magnet synchronous motor, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the third rotor angle.

[0043] To address the aforementioned technical problems, this application also provides an electronic device, comprising:

[0044] Memory, used to store computer programs;

[0045] A processor is used to execute the computer program to implement the steps of the belt speed re-start control method for a dual three-phase permanent magnet synchronous motor as described above.

[0046] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the belt speed re-start control method for a dual three-phase permanent magnet synchronous motor as described above.

[0047] As can be seen, the belt speed restart control method for a dual three-phase permanent magnet synchronous motor provided in this application uses different methods to determine the rotor angle in different states. Specifically, when the voltage and current commands are zero, the back electromotive force of the dual three-phase permanent magnet synchronous motor is measured, and the first rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the back electromotive force. This initial first rotor angle is directly used for vector control, which allows for the application of the correct voltage vector, minimizes inrush current during restart, avoids angular displacement differences caused by motor manufacturing errors, improves the accuracy of angle identification, enhances belt speed restart control performance, and achieves safe and reliable belt speed restart.

[0048] The belt speed re-start control device, electronic equipment, and computer-readable storage medium of the dual three-phase permanent magnet synchronous motor provided in this application all have the aforementioned technical effects. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A schematic flowchart illustrating a belt speed re-start control method for a dual three-phase permanent magnet synchronous motor provided in an embodiment of this application;

[0051] Figure 2 This is a block diagram of a belt speed re-start control for a dual three-phase permanent magnet synchronous motor provided in an embodiment of this application;

[0052] Figure 3 A control block diagram of a dual three-phase permanent magnet synchronous motor based on VSD provided in an embodiment of this application;

[0053] Figure 4 This is a schematic diagram of the winding structure of a dual three-phase permanent magnet synchronous motor provided in an embodiment of this application;

[0054] Figure 5 A schematic diagram of a belt speed re-start control device for a dual three-phase permanent magnet synchronous motor provided in an embodiment of this application;

[0055] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0056] The core of this application is to provide a belt speed restart control method, device, equipment, and storage medium for a dual three-phase permanent magnet synchronous motor, which can reduce inrush current during restart and improve belt speed restart performance.

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a belt speed re-start control method for a dual three-phase permanent magnet synchronous motor provided in an embodiment of this application. (Refer to...) Figure 1 As shown, the method includes:

[0059] S101: Set the d-axis current command, q-axis current command, d-axis voltage command, and q-axis voltage command to zero, and measure the back electromotive force of the dual three-phase permanent magnet synchronous motor.

[0060] S102: Determine the first rotor angle of the dual three-phase permanent magnet synchronous motor based on the back electromotive force, and perform vector control on the dual three-phase permanent magnet synchronous motor based on the first rotor angle.

[0061] refer to Figure 2 The diagram shown is a control block diagram for the belt-driven re-start of a dual three-phase permanent magnet synchronous motor. Figure 2 middle This indicates the d-axis current command. This indicates the q-axis current command. This indicates the d-axis voltage command. This indicates the q-axis voltage command. SW1 to SW5 represent switches, PI represents proportional-integral converter, the equivalent formula represents inverse PARK converter, PWM represents pulse width modulation, and INV represents inverter. These represent the phase currents of a dual three-phase permanent magnet synchronous motor. Represents the d-axis current. Represents the q-axis current. This represents the mechanical angular velocity of the rotor, and 1 / s represents the integral. The voltage angle is represented by s, which represents the derivative. This represents the electric angular velocity of the rotor.

[0062] In the preparation state before belt-driven re-engagement, the d-axis current command, q-axis current command, d-axis voltage command, and q-axis voltage command are set to zero. When the dual three-phase permanent magnet synchronous motor rotates, its back electromotive force (EMF) is measured directly or indirectly. The rotor angle (electric angle) and rotor speed (electric angular velocity) of the dual three-phase permanent magnet synchronous motor are calculated based on the back EMF. The rotor angle calculated based on the back EMF is called the first rotor angle. This initial rotor angle is used for vector control of the dual three-phase permanent magnet synchronous motor. Furthermore, the rotor angle and rotor speed calculated based on the back EMF can also be used as the initial rotor angle and rotor speed for the position and speed observer.

[0063] S103: Set the d-axis current command to non-zero and measure the inverter's output voltage.

[0064] S104: Determine the second rotor angle of the dual three-phase permanent magnet synchronous motor based on the output voltage of the inverter, and perform vector control on the dual three-phase permanent magnet synchronous motor based on the second rotor angle.

[0065] After the transition state, the d-axis current command is set to non-zero, while the q-axis current command, d-axis voltage command, and q-axis voltage command remain zero. The phase and frequency of the inverter's output voltage are consistent with the phase and frequency of the back electromotive force of the dual three-phase permanent magnet synchronous motor. The inverter's output voltage is measured, and the rotor angle and rotor speed of the dual three-phase permanent magnet synchronous motor are calculated based on the inverter's output voltage. The rotor angle calculated based on the inverter's output voltage is called the second rotor angle, which is used for vector control of the dual three-phase permanent magnet synchronous motor.

[0066] S105: Based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor, the third rotor angle of the dual three-phase permanent magnet synchronous motor is estimated, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the third rotor angle.

[0067] In the estimated state of belt-driven re-start, the rotor angle and rotor speed of the dual three-phase permanent magnet synchronous motor are estimated by the position and speed observer based on the d-axis current command, q-axis current command, d-axis voltage command, q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor. The rotor angle of the dual three-phase permanent magnet synchronous motor estimated by the position and speed observer is called the third rotor angle, which is used for vector control of the dual three-phase permanent magnet synchronous motor.

[0068] In some embodiments, the third rotor angle of the dual three-phase permanent magnet synchronous motor is estimated based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor, including:

[0069] The current of each phase of the dual three-phase permanent magnet synchronous motor is decomposed into vector space to obtain the d-axis current and q-axis current.

[0070] The first voltage is obtained by performing a proportional-integral operation on the difference between the d-axis current and the d-axis current command.

[0071] The difference between the q-axis current and the q-axis current command is proportionally integrated to obtain the second voltage;

[0072] The first voltage is summed with the d-axis voltage command, and the summation result is transformed by coordinates to obtain the third voltage.

[0073] The second voltage is summed with the q-axis voltage command, and the summation result is transformed by coordinates to obtain the fourth voltage.

[0074] Calculate the arctangent of the fourth voltage and the third voltage to obtain the voltage angle;

[0075] Differentiating the voltage angle yields the rotor angular velocity;

[0076] The voltage angle is adjusted according to the sign of the rotor angular velocity to obtain the third rotor angle.

[0077] refer to Figure 2 As shown, Figure 2 middle This indicates the result of summing the second voltage with the q-axis voltage. This represents the summation result of the first voltage and the d-axis voltage command. This embodiment uses VSD (Vector Space Decomposition) to represent the current of each phase of the dual three-phase permanent magnet synchronous motor. The system is transformed into the fundamental and harmonic space of a two-phase stationary coordinate system. Then, based on the rotation direction of the harmonics and the rotor position, a transformation from the two-phase stationary coordinate system to the two-phase rotating coordinate system is performed. The fundamental space in the two-phase rotating coordinate system is then calculated. shaft current , shaft current Harmonic space shaft current , shaft current .

[0078] The difference between the d-axis current and the d-axis current command is proportionally integrated; the voltage obtained from this proportional-integral operation is called the first voltage. The difference between the q-axis current and the q-axis current command is also proportionally integrated; the voltage obtained from this proportional-integral operation is called the second voltage. The first voltage is summed with the d-axis voltage command; the result, after coordinate transformation, is the voltage in the stationary coordinate system, called the third voltage. The second voltage is summed with the q-axis voltage command; the result, after coordinate transformation, is the voltage in the stationary coordinate system, called the fourth voltage.

[0079] Calculate the arctangent of the fourth voltage and the third voltage to obtain the rotor electrical angle. The calculation formula is as follows:

[0080] θ v =tan -1 (V beta / V alpha V beta Represents the fourth voltage, V alpha This indicates the third voltage. This is the estimated voltage angle.

[0081] The rotor angular velocity is obtained by differentiating the voltage angle. The calculation formula is as follows:

[0082] . This is the estimated rotor angular velocity.

[0083] Under the estimated conditions of speed-based re-attachment, The axis is fixed to the phase of Axis. However. The shaft should rotate under normal control conditions. Therefore, the estimated voltage angle should be adjusted accordingly.

[0084] In some embodiments, adjusting the voltage angle according to the sign of the rotor angular velocity to obtain the third rotor angle includes:

[0085] If the rotor angular velocity is positive, then subtract 90 degrees from the voltage angle to obtain the third rotor angle;

[0086] If the rotor angular velocity is negative, then add 90 degrees to the voltage angle to obtain the third rotor angle.

[0087] The calculation formula is as follows:

[0088] . This is the third rotor angle.

[0089] In some embodiments, it also includes:

[0090] The d-axis voltage command is set to zero, and the q-axis voltage command is set according to the rotation direction of the motor.

[0091] In some embodiments, setting the q-axis voltage command according to the rotation direction of the motor includes:

[0092] If the motor rotates in the positive direction, then the q-axis voltage command is set to be equal to the output voltage command;

[0093] If the motor rotates in the opposite direction, then the q-axis voltage command is set to be equal to the negative output voltage command; the output voltage command is equal to the square root of the sum of the first voltage and the third voltage (the sum of the first voltage and the d-axis voltage command) and the square of the fourth voltage (the sum of the second voltage and the q-axis voltage command).

[0094] When the inverter transitions from the speed-on-restart transition state to the normal control state, the amplitude and phase of the inverter's output voltage, the direction of motor rotation, and the output frequency continue from the estimated state to the normal control state. Shaft voltage command and Shaft voltage command Based on the following formula:

[0095] ;

[0096] ;

[0097] . This is the output voltage command.

[0098] In some embodiments, vector control of the dual three-phase permanent magnet synchronous motor based on the rotor angle of the dual three-phase permanent magnet synchronous motor includes:

[0099] The current of each phase of the dual three-phase permanent magnet synchronous motor is decomposed into vector space to obtain the d-axis current and q-axis current.

[0100] The first voltage is obtained by performing a proportional-integral operation on the difference between the d-axis current and the d-axis current command.

[0101] The difference between the q-axis current and the q-axis current command is proportionally integrated to obtain the second voltage;

[0102] The first voltage is summed with the d-axis voltage command, and the summation result is transformed by coordinates to obtain the third voltage.

[0103] The second voltage is summed with the q-axis voltage command, and the summation result is transformed by coordinates to obtain the fourth voltage.

[0104] The inverter generates a pulse width modulation signal based on the third voltage, the fourth voltage, and the rotor angle of the dual three-phase permanent magnet synchronous motor, so as to drive the dual three-phase permanent magnet synchronous motor through the inverter.

[0105] refer to Figure 3 As shown, the control block diagram of the VSD-based dual three-phase permanent magnet synchronous motor is as follows: Figure 3 As shown, the current of each phase of the dual three-phase permanent magnet synchronous motor is controlled by VSD. The system is transformed into the fundamental and harmonic space of a two-phase stationary coordinate system. Then, based on the rotation direction of the harmonics and the rotor position, a transformation from the two-phase stationary coordinate space to the two-phase rotating coordinate space is performed. The fundamental space in the rotating coordinate system is then calculated. shaft current , shaft current Harmonic space shaft current , shaft current The rotor position and rotor speed are obtained through a rotary transformer or a position & speed observer. Motor control is performed using a dual closed-loop control structure for speed and current in a conventional FOC (Field-Oriented Control) algorithm, while simultaneously extracting the harmonic space current. and Suppressing current harmonics can improve motor control performance and current waveform, thereby enabling precise control of dual three-phase permanent magnet synchronous motors.

[0106] Simulations were performed on the control of a dual three-phase permanent magnet synchronous motor based on VSD, by analyzing the motor current, motor speed, and motor... Shaft current waveform analysis shows that VSD-based control of dual three-phase permanent magnet synchronous motors exhibits high current sinusoidality and low motor speed fluctuation. The shaft current fluctuation is also relatively small.

[0107] Based on the control principle and architecture of the above-mentioned VSD-based FOC control for dual three-phase permanent magnet synchronous motors, this embodiment uses VSD for belt-speed re-start control of dual three-phase permanent magnet synchronous motors. (Reference) Figure 2As shown, based on the vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor to obtain the d-axis current and q-axis current, a proportional-integral operation is performed on the difference between the d-axis current and the d-axis current command to obtain a first voltage; a proportional-integral operation is performed on the difference between the q-axis current and the q-axis current command to obtain a second voltage; the first voltage and the d-axis voltage command are summed, and the summation result is transformed by coordinate transformation to obtain a third voltage; the second voltage and the q-axis voltage command are summed, and the summation result is transformed by left-hand coordinate transformation to obtain a fourth voltage; a pulse width modulation signal for the inverter is generated based on the third voltage, the fourth voltage, and the rotor angle of the dual three-phase permanent magnet synchronous motor to drive the dual three-phase permanent magnet synchronous motor through the inverter. The specific implementation process of generating the inverter modulation signal is not detailed here; any existing technology can be referenced.

[0108] This embodiment eliminates the need for separate control of the dual three-phase permanent magnet synchronous motors. Only one set of forward and inverse transformations is required to complete the vector control of the dual three-phase permanent magnet synchronous motors, significantly reducing the chip's workload. Furthermore, it directly transforms the current vector of the dual three-phase permanent magnet synchronous motors into fundamental and harmonic space currents. The fundamental space current can be directly controlled using conventional vector control algorithms, while the harmonic space currents can be directly controlled using harmonic injection or harmonic suppression algorithms. The algorithm structure of this embodiment is simple, the code is small, and it is easy to implement in engineering.

[0109] Simulations were performed on the belt-speed re-start control of the dual three-phase permanent magnet synchronous motor provided in this embodiment. By comparing the simulated waveforms of the estimated motor angle and actual motor angle, and the estimated motor speed and actual motor speed under the conditions of tailwind and headwind belt-speed re-start, it can be seen that the control method provided in this embodiment converges in less than two motor fundamental frequency cycles, exhibits good tracking performance, and has an angle error of [missing value]. The speed estimation error is Simulation results verified the superior performance of this algorithm.

[0110] In some embodiments, the vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor to obtain the d-axis current and q-axis current includes:

[0111] The corresponding transformation matrix is ​​determined based on the angular displacement difference of the dual three-phase permanent magnet synchronous motor; wherein, the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 0 degrees is the same as the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 60 degrees, but different from the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 30 degrees.

[0112] The vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor is performed based on the transformation matrix to obtain the d-axis current and q-axis current.

[0113] for Figure 4 The two dual three-phase permanent magnet synchronous motors shown have unconnected neutral points, and their two sets of windings can be controlled independently. However, because the phases from the two sets are coupled separately by mutual inductance, these two sets of windings are not independent, meaning that a dual three-phase permanent magnet synchronous motor cannot be simply regarded as a combination of two three-phase permanent magnet synchronous motors.

[0114] For angular displacement Difference The dual three-phase permanent magnet synchronous motor can solve the mutual inductance coupling problem mentioned above. In this model, components of different orders are decoupled into two orthogonal subspaces, which facilitates the separate adjustment of the fundamental and harmonic components. Similarly, angular displacement... Difference The dual three-phase permanent magnet synchronous motor can be considered a symmetrical six-phase motor, and mutual inductance can be decoupled using a decoupling matrix. Conventional angular displacement... Difference and The decomposition model of the dual three-phase permanent magnet synchronous motor is established under the premise of symmetrical impedance (ideal condition), thus obtaining two completely decoupled subspaces. and Subspaces facilitate design control. However, existing asymmetric impedances can lead to... and Coupling terms between subspaces. Asymmetrical impedance is mainly classified into three categories: partially coupled mutual inductance, asymmetrical resistance, and asymmetrical self-inductance. Partially coupled mutual inductance in a dual three-phase permanent magnet synchronous motor may be caused by inherent machine parameters. Asymmetrical resistance and self-inductance are typically caused by cables of unequal length connecting the motor's phase terminals to the converter, different phase winding temperatures, manufacturing tolerances, etc. Simultaneously, significant asymmetrical resistance and self-inductance occur when there is a short circuit between stator winding turns. Therefore, asymmetrical impedance is likely prevalent in the drive system of dual three-phase permanent magnet synchronous motors. Without compensation, unbalanced phase currents will occur, leading to increased torque ripple and machine losses. To compensate for unbalanced phase currents in a control scheme based on a decomposition model, the influence of asymmetrical impedance on the decomposition model is systematically studied.

[0115] Angular displacement in this embodiment Difference , and The generalized decomposition model of a dual three-phase permanent magnet synchronous motor can solve the mutual inductance coupling problem of the two sets of phases separately.

[0116] Assuming no iron saturation effect and iron loss, angular displacement Difference , and The original motor model of a dual three-phase permanent magnet synchronous motor in a stationary reference frame can be represented as:

[0117] .

[0118] in:

[0119] ;

[0120] ;

[0121] ;

[0122] .

[0123] For rotor flux linkage;

[0124] This refers to the inverter phase voltage;

[0125] This refers to the phase current of the motor.

[0126] For stator phase flux linkages;

[0127] The resistance of each phase of the stator;

[0128] For the electric angle of the motor;

[0129] In order to be in Harmony Electrical angular displacement between phases;

[0130] Leakage;

[0131] yes Harmony Mutual induction between phases. If and If they are the same, it indicates a sense of self.

[0132] If the two sets of three-phase permanent magnet synchronous motor windings are modeled and controlled separately, the mutual inductance between the phases of the two sets will be, for example... , Ignoring these mutual inductances leads to inaccuracies. However, these mutual inductances are decoupled in the generalized decomposer model. Another advantage is the ability to tune the fundamental component and the main harmonic in the two subspaces separately. Therefore, Electromagnetic torque and harmonic correlation generated in subspace Subspaces can be adjusted individually.

[0133] Assuming all resistances and self-inductances are symmetrical and mutual inductances are perfectly coupled, to simplify the decomposition and analysis of the effect of asymmetrical impedance on the decomposition model, higher harmonics of the magnetic field in the air gap are neglected, as they typically have relatively small amplitudes; only the dominant fundamental component is considered. The impedance can be simplified to:

[0134] .

[0135] in, and These are the nominal values ​​of resistance and inductance, and express Harmony electric angular displacement between phases .

[0136] Based on the above formula, we can know the mutual inductance. Depends on the angular displacement angle of the motor Therefore, angular displacement They are respectively , , The generalized decomposition matrix relationship of a dual three-phase permanent magnet synchronous motor is:

[0137] .

[0138] This refers to a dual three-phase permanent magnet synchronous motor with an angular displacement difference of 30 degrees. The transformation matrix is ​​as follows:

[0139] .

[0140] D v0,60 This refers to dual three-phase permanent magnet synchronous motors with angular displacement differences of 0 degrees and 60 degrees, and their corresponding... The transformation matrix is ​​as follows:

[0141] .

[0142] Based on the above transformation matrix, the electric vectors of the dual three-phase permanent magnet synchronous motor in the three-phase stationary coordinate system can be transformed to the two-phase stationary coordinate system and mapped to... Fundamental wave space, 6k±1st harmonic Subspace and zero-sequence component o0-o1 subspace. Since the neutral points of the two windings of the dual three-phase permanent magnet synchronous motor are separated, the o0-o1 subspace does not require control; therefore, it only needs to be controlled in... and The fundamental component and main harmonics can be adjusted separately in the subspace, which greatly facilitates the control of dual three-phase permanent magnet synchronous motors and is also beneficial to the speed-reset control of dual three-phase permanent magnet synchronous motors.

[0143] A dual three-phase permanent magnet synchronous motor can be considered as the result of the interaction between the rotating magnetic field of the stator and the rotating magnetic field of the rotor. Figure 3 There are 3 coordinate systems, 2 of which are rotor rotation coordinate systems. Axis (fundamental space) and One axis (harmonic space) is the stator stationary coordinate system. Coordinate system (can be converted) (Mutually perpendicular coordinate systems); Since the fundamental frequency space participates in energy conversion, while the harmonic frequency space only affects harmonic generation and does not participate in energy conversion, the rotor can be considered as the excitation current. The function is based on rotational speed Rotation; the stator can be considered as the excitation current. The function is based on rotational speed Rotation, the stator resultant vector is According to the formula for calculating electromagnetic torque:

[0144] .

[0145] It is the number of pole pairs (constant) of the motor. It is the excitation current. The magnetic flux generated by the action of [something].

[0146] In summary, the belt speed restart control method for a dual three-phase permanent magnet synchronous motor provided in this application uses different methods to determine the rotor angle under different states. Specifically, when the voltage command and current command are zero, the back electromotive force of the dual three-phase permanent magnet synchronous motor is measured, and the first rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the back electromotive force. This initial first rotor angle is directly used for vector control, which allows for the application of the correct voltage vector, minimizes inrush current during restart, and avoids angular displacement differences caused by motor manufacturing errors. This improves the accuracy of angle identification, enhances belt speed restart control performance, and achieves safe and reliable belt speed restart.

[0147] This application also provides a belt speed re-start control device for a dual three-phase permanent magnet synchronous motor, which can be referred to in conjunction with the method described above. Please refer to... Figure 5 , Figure 5 This is a schematic diagram of a belt speed re-start control for a dual three-phase permanent magnet synchronous motor provided in an embodiment of this application, combined with... Figure 5 As shown, the device includes:

[0148] The first setting module 10 is used to set the d-axis current command, q-axis current command, d-axis voltage command and q-axis voltage command to zero, and to measure the back electromotive force of the dual three-phase permanent magnet synchronous motor.

[0149] The first control module 20 is used to determine the first rotor angle of the dual three-phase permanent magnet synchronous motor based on the back electromotive force, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the first rotor angle.

[0150] The second setting module 30 is used to set the d-axis current command to be non-zero and to measure the output voltage of the inverter;

[0151] The second control module 40 is used to determine the second rotor angle of the dual three-phase permanent magnet synchronous motor according to the output voltage of the inverter, and to perform vector control on the dual three-phase permanent magnet synchronous motor according to the second rotor angle.

[0152] The estimation module 50 is used to estimate the third rotor angle of the dual three-phase permanent magnet synchronous motor based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase current of the dual three-phase permanent magnet synchronous motor, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the third rotor angle.

[0153] Based on the above embodiments, as a specific implementation method, the estimation module 50 includes:

[0154] The decomposition unit is used to perform vector space decomposition on the phase currents of the dual three-phase permanent magnet synchronous motor to obtain the d-axis current and q-axis current.

[0155] The first proportional-integral unit is used to perform proportional-integral calculation on the difference between the d-axis current and the d-axis current command to obtain the first voltage;

[0156] The second proportional-integral unit is used to perform proportional-integral calculation on the difference between the q-axis current and the q-axis current command to obtain the second voltage;

[0157] The first summation unit is used to sum the first voltage with the d-axis voltage command, and the summation result is transformed by coordinate transformation to obtain the third voltage.

[0158] The second summation unit is used to sum the second voltage with the q-axis voltage command, and the summation result is transformed by coordinate transformation to obtain the fourth voltage.

[0159] The calculation unit is used to calculate the arctangent of the fourth voltage and the third voltage to obtain the voltage angle;

[0160] A differentiating unit is used to differentiate the voltage angle to obtain the rotor angular velocity;

[0161] An adjustment unit is used to adjust the voltage angle according to the sign of the rotor angular velocity to obtain the third rotor angle.

[0162] Based on the above embodiments, as a specific implementation method, the adjustment unit is used for:

[0163] If the rotor angular velocity is positive, then subtract 90 degrees from the voltage angle to obtain the third rotor angle;

[0164] If the rotor angular velocity is negative, then add 90 degrees to the voltage angle to obtain the third rotor angle.

[0165] Based on the above embodiments, as a specific implementation method, vector control of the dual three-phase permanent magnet synchronous motor according to the rotor angle of the dual three-phase permanent magnet synchronous motor includes:

[0166] The current of each phase of the dual three-phase permanent magnet synchronous motor is decomposed into vector space to obtain the d-axis current and q-axis current.

[0167] The first voltage is obtained by performing a proportional-integral operation on the difference between the d-axis current and the d-axis current command.

[0168] The difference between the q-axis current and the q-axis current command is proportionally integrated to obtain the second voltage;

[0169] The first voltage is summed with the d-axis voltage command, and the summation result is transformed by coordinates to obtain the third voltage.

[0170] The second voltage is summed with the q-axis voltage command, and the summation result is transformed by coordinates to obtain the fourth voltage.

[0171] The inverter generates a pulse width modulation signal based on the third voltage, the fourth voltage, and the rotor angle of the dual three-phase permanent magnet synchronous motor, so as to drive the dual three-phase permanent magnet synchronous motor through the inverter.

[0172] Based on the above embodiments, as a specific implementation method, the decomposition unit is used for:

[0173] The corresponding transformation matrix is ​​determined based on the angular displacement difference of the dual three-phase permanent magnet synchronous motor; wherein, the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 0 degrees is the same as the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 60 degrees, but different from the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 30 degrees.

[0174] The vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor is performed based on the transformation matrix to obtain the d-axis current and q-axis current.

[0175] Based on the above embodiments, as a specific implementation method, it further includes:

[0176] The setting module is used to set the d-axis voltage command to zero and to set the q-axis voltage command according to the rotation direction of the motor.

[0177] Based on the above embodiments, as a specific implementation method, the setting module is used for:

[0178] If the motor rotates in the positive direction, then the q-axis voltage command is set to be equal to the output voltage command;

[0179] If the motor rotates in the opposite direction, then the q-axis voltage command is set to be equal to the negative output voltage command; the output voltage command is equal to the square root of the sum of the square of the first voltage and the d-axis voltage command and the sum of the square of the second voltage and the q-axis voltage command.

[0180] This application also provides an electronic device, referenced... Figure 6 As shown, the device includes a memory 1 and a processor 2.

[0181] Memory 1 is used to store computer programs;

[0182] Processor 2 is used to execute computer programs to perform the following steps:

[0183] Set the d-axis current command, q-axis current command, d-axis voltage command, and q-axis voltage command to zero, and measure the back electromotive force of the dual three-phase permanent magnet synchronous motor;

[0184] The first rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the back electromotive force, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the first rotor angle.

[0185] Set the d-axis current command to be non-zero and measure the inverter's output voltage;

[0186] The second rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the output voltage of the inverter, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the second rotor angle.

[0187] Based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor, the third rotor angle of the dual three-phase permanent magnet synchronous motor is estimated, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the third rotor angle.

[0188] For a description of the equipment provided in this application, please refer to the above method embodiments; further details will not be provided here.

[0189] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the following steps:

[0190] Set the d-axis current command, q-axis current command, d-axis voltage command, and q-axis voltage command to zero, and measure the back electromotive force of the dual three-phase permanent magnet synchronous motor;

[0191] The first rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the back electromotive force, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the first rotor angle.

[0192] Set the d-axis current command to be non-zero and measure the inverter's output voltage;

[0193] The second rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the output voltage of the inverter, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the second rotor angle.

[0194] Based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor, the third rotor angle of the dual three-phase permanent magnet synchronous motor is estimated, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the third rotor angle.

[0195] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0196] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.

[0197] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses, devices, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section.

[0198] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. 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 use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0199] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0200] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A belt-speed re-start control method for a dual three-phase permanent magnet synchronous motor, characterized in that, include: Set the d-axis current command, q-axis current command, d-axis voltage command, and q-axis voltage command to zero, and measure the back electromotive force of the dual three-phase permanent magnet synchronous motor; The first rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the back electromotive force, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the first rotor angle. Set the d-axis current command to non-zero, while keeping the q-axis current command, d-axis voltage command, and q-axis voltage command at zero, and measure the inverter's output voltage. The second rotor angle of the dual three-phase permanent magnet synchronous motor is determined based on the output voltage of the inverter, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the second rotor angle. Based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor, the third rotor angle of the dual three-phase permanent magnet synchronous motor is estimated, and vector control of the dual three-phase permanent magnet synchronous motor is performed based on the third rotor angle. Vector control of a dual three-phase permanent magnet synchronous motor based on its rotor angle includes: The current of each phase of the dual three-phase permanent magnet synchronous motor is decomposed into vector space to obtain the d-axis current and q-axis current. The first voltage is obtained by performing a proportional-integral operation on the difference between the d-axis current and the d-axis current command. The difference between the q-axis current and the q-axis current command is proportionally integrated to obtain the second voltage; The first voltage is summed with the d-axis voltage command, and the summation result is transformed by coordinates to obtain the third voltage. The second voltage is summed with the q-axis voltage command, and the summation result is transformed by coordinates to obtain the fourth voltage. The inverter generates a pulse width modulation signal based on the third voltage, the fourth voltage, and the rotor angle of the dual three-phase permanent magnet synchronous motor, so as to drive the dual three-phase permanent magnet synchronous motor through the inverter.

2. The belt speed re-start control method according to claim 1, characterized in that, Based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase currents of the dual three-phase permanent magnet synchronous motor, the third rotor angle of the dual three-phase permanent magnet synchronous motor is estimated as follows: The current of each phase of the dual three-phase permanent magnet synchronous motor is decomposed into vector space to obtain the d-axis current and q-axis current. The first voltage is obtained by performing a proportional-integral operation on the difference between the d-axis current and the d-axis current command. The difference between the q-axis current and the q-axis current command is proportionally integrated to obtain the second voltage; The first voltage is summed with the d-axis voltage command, and the summation result is transformed by coordinates to obtain the third voltage. The second voltage is summed with the q-axis voltage command, and the summation result is transformed by coordinates to obtain the fourth voltage. Calculate the arctangent of the fourth voltage and the third voltage to obtain the voltage angle; Differentiating the voltage angle yields the rotor angular velocity; The voltage angle is adjusted according to the sign of the rotor angular velocity to obtain the third rotor angle.

3. The belt speed re-start control method according to claim 2, characterized in that, The voltage angle is adjusted according to the sign of the rotor angular velocity to obtain the third rotor angle, including: If the rotor angular velocity is positive, then subtract 90 degrees from the voltage angle to obtain the third rotor angle; If the rotor angular velocity is negative, then add 90 degrees to the voltage angle to obtain the third rotor angle.

4. The belt speed re-spinning control method according to claim 2, characterized in that, The vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor yields the d-axis current and q-axis current, including: The corresponding transformation matrix is ​​determined based on the angular displacement difference of the dual three-phase permanent magnet synchronous motor; wherein, the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 0 degrees is the same as the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 60 degrees, but different from the transformation matrix corresponding to the dual three-phase permanent magnet synchronous motor when the angular displacement difference is 30 degrees. The vector space decomposition of the phase currents of the dual three-phase permanent magnet synchronous motor is performed based on the transformation matrix to obtain the d-axis current and q-axis current.

5. The belt speed re-spinning control method according to claim 1, characterized in that, Also includes: The d-axis voltage command is set to zero, and the q-axis voltage command is set according to the rotation direction of the motor.

6. The belt speed re-start control method according to claim 5, characterized in that, The command to set the q-axis voltage according to the rotation direction of the motor includes: If the motor rotates in the positive direction, then the q-axis voltage command is set to be equal to the output voltage command; If the motor rotates in the opposite direction, then the q-axis voltage command is set to be equal to the negative output voltage command; the output voltage command is equal to the square root of the sum of the square of the first voltage and the d-axis voltage command and the sum of the square of the second voltage and the q-axis voltage command.

7. A belt speed re-start control device for a dual three-phase permanent magnet synchronous motor, characterized in that, include: The first setting module is used to set the d-axis current command, q-axis current command, d-axis voltage command and q-axis voltage command to zero, and to measure the back electromotive force of the dual three-phase permanent magnet synchronous motor. The first control module is used to determine the first rotor angle of the dual three-phase permanent magnet synchronous motor based on the back electromotive force, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the first rotor angle. The second setting module is used to set the d-axis current command to be non-zero, while keeping the q-axis current command, d-axis voltage command, and q-axis voltage command at zero, and to measure the inverter's output voltage. The second control module is used to determine the second rotor angle of the dual three-phase permanent magnet synchronous motor based on the output voltage of the inverter, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the second rotor angle. The estimation module is used to estimate the third rotor angle of the dual three-phase permanent magnet synchronous motor based on the d-axis current command, the q-axis current command, the d-axis voltage command, the q-axis voltage command, and the phase current of the dual three-phase permanent magnet synchronous motor, and to perform vector control on the dual three-phase permanent magnet synchronous motor based on the third rotor angle; Vector control of a dual three-phase permanent magnet synchronous motor based on its rotor angle includes: The current of each phase of the dual three-phase permanent magnet synchronous motor is decomposed into vector space to obtain the d-axis current and q-axis current. The first voltage is obtained by performing a proportional-integral operation on the difference between the d-axis current and the d-axis current command. The difference between the q-axis current and the q-axis current command is proportionally integrated to obtain the second voltage; The first voltage is summed with the d-axis voltage command, and the summation result is transformed by coordinates to obtain the third voltage. The second voltage is summed with the q-axis voltage command, and the summation result is transformed by coordinates to obtain the fourth voltage. The inverter generates a pulse width modulation signal based on the third voltage, the fourth voltage, and the rotor angle of the dual three-phase permanent magnet synchronous motor, so as to drive the dual three-phase permanent magnet synchronous motor through the inverter.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the steps of the belt speed re-start control method for a dual three-phase permanent magnet synchronous motor as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the belt speed re-start control method for a dual three-phase permanent magnet synchronous motor as described in any one of claims 1 to 6.

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