Magnetic field orientation control device

Abstract

The utility model discloses a magnetic field orientation control device, and relates to the technical field of motor control. The magnetic field directional control device comprises a Clarke conversion module which is used for being connected with a sampling device so as to obtain three-phase current of a motor; a Park conversion module and a closed-loop adjustment module; the Park inverse transformation module is used for being connected with an SVPWM driver, so that the SVPWM driver drives a motor through a three-phase inverter according to a first control signal output by the Park inverse transformation module; and the switching circuit is configured to selectively establish connection between every two of the Clarke conversion module, the Park conversion module, the closed-loop regulation module and the Park inverse conversion module. According to the device, the FOC algorithm is modularized, and the modules are selectively connected through the switching circuit, so that free combination of the modules can be realized, multi-scene flexible application is realized, and more requirements of users are met.

Description

Technical Field

[0001] The utility model relates to the technical field of motor control, in particular to a field-oriented control device. Background Art

[0002] The FOC (Field-Oriented Control) control algorithm is widely used in the field of motor control. In order to improve the algorithm execution time, generally, an integrated hardware acceleration unit is used to implement this part of the algorithm. The advantage of using a hardware acceleration unit is fast execution speed, but the algorithm is already fixed, the applicable scenarios are single, and it is difficult to meet the diverse needs of users. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a field-oriented control device to realize the free combination of each module in the FOC algorithm, realize flexible application in multiple scenarios, and meet more needs of users.

[0004] In a first aspect, the utility model provides a field-oriented control device, which includes: a Clarke transformation module for connecting to a sampling device to obtain the three-phase current of the motor; a Park transformation module and a closed-loop regulation module; a Park inverse transformation module for connecting to an SVPWM driver, so that the SVPWM driver drives the motor through a three-phase inverter according to a first control signal output by the Park inverse transformation module; a switching circuit configured to selectively establish connections between any two of the Clarke transformation module, the Park transformation module, the closed-loop regulation module, and the Park inverse transformation module.

[0005] Exemplarily, the field-oriented control device further includes: a Clarke inverse transformation module for connecting to an SVPWM driver, so that the SVPWM driver drives the motor through a three-phase inverter according to a second control signal output by the Clarke inverse transformation module; wherein, the switching circuit is further configured to selectively establish a connection between the Clarke inverse transformation module and the Park inverse transformation module.

[0006] Exemplarily, the field-oriented control device further includes: a per-unit value conversion module; wherein, the switching circuit is further configured to selectively establish a connection between the per-unit value conversion module and at least one of the Clarke transformation module, the Park transformation module, the closed-loop regulation module, the Park inverse transformation module, and the Clarke inverse transformation module.

[0007] Exemplarily, the switching circuit includes a first switch and a second switch. A first end of the first switch and a first end of the second switch are connected to an output end of the Park inverse transformation module. A second end of the first switch is connected to an input end of the Clarke inverse transformation module. A second end of the second switch is connected to an input end of the per-unit value conversion module. Wherein, an output end of the per-unit value conversion module is connected to the input end of the Clarke inverse transformation module.

[0008] Exemplarily, the switching circuit includes a plurality of switches. The field-oriented control device further includes: a controller connected to control ends of the switches in the switching circuit to control on / off of each of the switches.

[0009] Exemplarily, the controller includes a register. The register is respectively connected to the Clarke transformation module, the Park transformation module, the closed-loop regulation module, the Park inverse transformation module, and the Clarke inverse transformation module to store interaction data between the modules and / or intermediate processing data of each module, and / or provide configuration parameters to each module.

[0010] Exemplarily, the register is further used to connect to an angle estimation device, so that the angle estimation device estimates a motor angle and / or a motor angular velocity according to the interaction data and / or the intermediate processing data; the Clarke transformation module, the Park transformation module, the closed-loop regulation module, the Park inverse transformation module, and the Clarke inverse transformation module are further used to selectively connect to the angle estimation device through the switching circuit to obtain the motor angle or the motor angular velocity output by the angle estimation device.

[0011] Exemplarily, the closed-loop regulation module includes a current PI module. The current PI module includes a first current PI regulator and a second current PI regulator; wherein, the switching circuit is specifically configured to selectively establish a connection between the first current PI regulator, the second current PI regulator and at least one of the Clarke transformation module, the Park transformation module, the Park inverse transformation module, and the Clarke inverse transformation module.

[0012] Exemplarily, the field-oriented control device uses a fixed-point type chip.

[0013] The field-oriented control device of the present utility model modularizes the FOC algorithm, divides it into a Clarke transformation module, a Park transformation module, a closed-loop regulation module, a Park inverse transformation module, etc., and selectively connects the modules through a switching circuit, thereby realizing free combination of each module, realizing flexible application in multiple scenarios, and meeting more needs of users. Description of the Drawings

[0014] Figure 1 is a structural block diagram of a field-oriented control device according to an embodiment of the present utility model;

[0015] Figure 2 is a structural block diagram of a field-oriented control device according to another embodiment of the present utility model;

[0016] Figure 3 is a schematic structural diagram of a field-oriented control device according to a specific embodiment of the present utility model;

[0017] Figure 4 is a structural block diagram of a field-oriented control device according to an example of the present utility model;

[0018] Figure 5 is a schematic structural diagram of a field-oriented control device according to another specific embodiment of the present utility model;

[0019] Figure 6 is a control flow chart of a sense control scenario according to an example of the present utility model;

[0020] Figure 7 is a flow chart of a sense control scenario according to another example of the present utility model;

[0021] Figure 8 is a control flow chart of a sensorless control scenario according to an example of the present utility model. Detailed implementation manners

[0022] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present utility model, and should not be construed as limiting the present utility model.

[0023] The field-oriented control device according to the embodiment of the present utility model will be described below with reference to the accompanying drawings.

[0024] Figure 1 is a structural block diagram of a field-oriented control device according to an embodiment of the present utility model.

[0025] As Figure 1 shown, the field-oriented control device 100 includes: a Clarke transformation module 10, a Park transformation module 20, a closed-loop regulation module 30, a Park inverse transformation module 40, and a switching circuit 50.

[0026] Refer to Figure 1, the Clarke transformation module 10 is used to connect to the sampling device 200 to obtain the three-phase current of the motor M; the Park inverse transformation module 40 is used to connect to the SVPWM driver 300, so that the SVPWM driver 300 drives the motor M through the three-phase inverter 400 according to the first control signal output by the Park inverse transformation module 40. The switching circuit 50 is configured to selectively establish connections between any two of the Clarke transformation module 10, the Park transformation module 20, the closed-loop regulation module 30, and the Park inverse transformation module 40.

[0027] In some embodiments of the present invention, as Figure 2 shown, the field-oriented control device 100 further includes: a Clarke inverse transformation module 60.

[0028] See Figure 2 , the Clarke inverse transformation module 60 is used to connect to the SVPWM driver 300, so that the SVPWM driver 300 drives the motor M through the three-phase inverter 400 according to the second control signal output by the Clarke inverse transformation module 60. Wherein, the switching circuit 50 is further configured to selectively establish a connection between the Clarke inverse transformation module 60 and the Park inverse transformation module 40.

[0029] In some embodiments of the present invention, as Figure 3 shown, the field-oriented control device 100 further includes: a per-unit value conversion module 70.

[0030] Wherein, the switching circuit 50 is further configured to selectively establish a connection between the per-unit value conversion module 70 and at least one of the Clarke transformation module 10, the Park transformation module 20, the closed-loop regulation module 30, the Park inverse transformation module 40, and the Clarke inverse transformation module 60 ( Figure 3 shows that the Clarke transformation module 10, the Park transformation module 20, the closed-loop regulation module 30, the Park inverse transformation module 40, the per-unit value conversion module 70, and the Clarke inverse transformation module 60 are connected in sequence).

[0031] In some examples, as Figure 4 shown, the switching circuit 50 includes a first switch S1 and a second switch S2. The first end of the first switch S1 and the first end of the second switch S2 are connected to the output end of the Park inverse transformation module 40. The second end of the first switch S1 is connected to the input end of the Clarke inverse transformation module 60. The second end of the second switch S2 is connected to the input end of the per-unit value conversion module. Wherein, the output end of the per-unit value conversion module 70 is connected to the input end of the Clarke inverse transformation module 60.

[0032] It should be understood that the switching circuit 50 can adopt the same as Figure 4A similar structure as shown is used to establish selective connections between modules.

[0033] Exemplarily, refer to Figure 3 、 Figure 5 , the closed-loop regulation module 30 includes a current PI module, and the current PI module includes a first current PI regulator 31 and a second current PI regulator 32.

[0034] Among them, the switch circuit 50 is specifically configured to selectively establish connections between at least one of the first current PI regulator 31, the second current PI regulator 32, and the Clarke transformation module 10, the Park transformation module 20, the Park inverse transformation module 40, and the Clarke inverse transformation module 60.

[0035] Optionally, the closed-loop regulation module 30 may further include a speed PID module, a current PID module, a voltage PID module, etc., which can be specifically set according to needs.

[0036] In some embodiments of the present invention, the switch circuit 50 includes a plurality of switches, and the field-oriented control device 100 further includes: a controller. The controller is connected to the control terminals of the switches in the switch circuit 50 to control the on / off of each switch.

[0037] Thus, automatic control of the selective connections between the above-mentioned modules can be achieved.

[0038] In this embodiment, the access of the per-unit value conversion module 70 can be achieved through the switch circuit 50 or through an instruction. For example, the per-unit value conversion module 70 can have a shielding function, and the user can choose to use or not use it according to needs. When choosing to use it, the per-unit value conversion module 70 can be enabled through the controller. At this time, refer to Figure 3 、 Figure 5 , the output of the Park inverse transformation module 40 can be first converted by the per-unit value conversion module 70 and then sent to the Clarke inverse transformation module 60; when choosing not to use it, the per-unit value conversion module 70 can be shielded through the controller. At this time, refer to Figure 3 、 Figure 5 , the output of the Park inverse transformation module 40 can be directly sent to the Clarke inverse transformation module 60.

[0039] In some examples, the controller includes registers, which are respectively connected to the Clarke transformation module 10, the Park transformation module 20, the closed-loop regulation module 30, the inverse Park transformation module 40, and the inverse Clarke transformation module 60 to store the interaction data (such as the vα and vβ output by the inverse Park transformation module 40) between the modules (i.e., the Clarke transformation module 10, the Park transformation module 20, the closed-loop regulation module 30, the inverse Park transformation module 40, and the inverse Clarke transformation module 60) and / or the intermediate processing data of each module (such as the intermediate variables sinθ and cosθ of the Park transformation module), and / or provide configuration parameters to each module (such as providing the limit value to the closed-loop regulation module 30).

[0040] Exemplarily, the register is further used to connect to the angle estimation device 500, so that the angle estimation device 500 estimates the motor angle θ and / or the motor angular velocity w according to the interaction data and / or the intermediate processing data.

[0041] Among them, as Figure 5 shown, the Clarke transformation module 10, the Park transformation module 20, the closed-loop regulation module 30, the inverse Park transformation module 40, and the inverse Clarke transformation module 60 are also used to selectively connect to the angle estimation device 500 through the switch circuit 50 to obtain the motor angle θ or the motor angular velocity w output by the angle estimation device 500 ( Figure 5 It is shown in that the angle estimation device 500 is respectively connected to the Park transformation module 20 and the inverse Park transformation module 40 to transmit the estimated motor angle θ to the Park transformation module 20 and the inverse Park transformation module 40).

[0042] Through the setting of the register, the sharing of data involved in the field-oriented control device 100 can be realized, which is beneficial to saving the time of software trigonometric function operations based on the sensorless algorithm in the rotating coordinate system and improving the efficiency of the algorithm.

[0043] It should be noted that the output of the angle estimation device 500 is the angle and / or angular velocity of the motor, and the input can be different according to different scenarios. For example, the input can be the signal collected by the motor angle sensor, or the interaction data or intermediate processing data of the above modules.

[0044] Exemplarily, the field-oriented control device 100 can be implemented based on a fixed-point chip, such as the Z20M1343L chip, which can flexibly configure and combine each module; at the same time, each module has rich output variables, which provides great convenience for the cooperation between the software algorithm developed by the user and the hardware acceleration unit, and can meet the needs of different application scenarios.

[0045] See Figure 3 、 Figure 5, the functions and input / output descriptions of each module are as follows:

[0046] The Clarke transformation module 10 is used to implement the Clarke transformation. The inputs are the three-phase currents ia, ib, and ic of the motor, and the outputs are the Clarke transformation results iα and iβ, that is, the two-phase currents in the stationary coordinate system.

[0047] The Park transformation module 20 is used to implement the Park transformation. The inputs are the Clarke transformation results iα and iβ and the motor angle θ, and the outputs are the Park transformation results id_fb and iq_fb, that is, the two-phase currents in the dq coordinate system.

[0048] The closed-loop regulation module 30 is used to implement current PI control and consists of two current PI regulators, PI_Vd and PI_Vq. Taking PI_Vd as an example, the inputs are id_ref and id_fb, and the output is vd. In particular, considering the application of amplitude limiting, the user can separately set the amplitude limit values of the PI regulator integral and the total output through the above-mentioned registers.

[0049] The inverse Park transformation module 40 is used to implement the inverse Park transformation. The inputs are the outputs vd and vq of the current PI module (i.e., the two voltages in the dq coordinate system), and the outputs are the inverse Park transformation results vα and vβ, that is, the two-phase voltages in the stationary coordinate system.

[0050] The per-unit value conversion module 70, also known as the Pu module, is used to perform per-unit conversion on the input values vα and vβ. This can reduce the number of software division operations for the values input to the SVPWM driver 300 and overall reduce the execution time of the division operations.

[0051] The inverse Clarke transformation module 60 is used to implement the inverse Clarke transformation. The inputs are vα, vβ, or vαpu, vβpu. The outputs are the inverse Clarke transformation results vr1, vr2, and vr3.

[0052] In the embodiment of the present utility model, the above-mentioned closed-loop regulation module 30 can support the amplitude limiting functions of the integral output and the total output, that is, the user can separately configure their amplitude limit values through the registers. Moreover, the input / output data types of the closed-loop regulation module 30 can follow the Q15 format, but the intermediate variable, that is, the output of the integrator, can be designed according to Q31. Thus, while ensuring that the overall output is still in the Q15 format, the PI regulation accuracy can be improved to a certain extent.

[0053] The field-oriented control device 100 in the embodiment of the present utility model can achieve flexible applications in multiple scenarios. Examples of scenarios are as follows:

[0054] 1) Inductive control scenario:

[0055] In this scenario, the angle estimation device 500 does not need to obtain the interaction data or intermediate processing data of the modules in the field-oriented control device 100, and the motor angle can be detected by a sensor. The relationship and execution order between the field-oriented control device 100 and the user-defined module are as Figure 6 shown. Exemplarily, the user can replace Figure 6 any one of the modules with their own software code, such as replacing the PI module; the user can also turn off the per-unit conversion module 70 to implement the over-modulation function. At this time, the relationship and execution order between the field-oriented control device 100 and the user-defined module are as Figure 7 shown.

[0056] 2) Sensorless control scenario

[0057] In this scenario, the angle estimation device 500 generally needs to obtain the interaction data or intermediate processing of the modules of the field-oriented control device 100 to perform angle estimation. There are many angle estimation algorithms, and the required input variables are also different. Taking a method for implementing angle estimation in a rotating coordinate system as an example, the angle estimation device 500 can read the outputs vα, vβ of the Park inverse transformation module 40 in the previous control cycle from the register, as well as the intermediate processing data sinθ, cosθ of the Park transformation module 20 in the previous control cycle. In the current control cycle, Clarke transformation can be performed first, and then angle estimation can be performed. After the angle estimation is completed, the output angle θ is output. Subsequently, Park transformation, PI regulation, Park inverse transformation, and Clarke inverse transformation can be performed in sequence. The relationship and execution order between the field-oriented control device 100 and the user-defined module are as Figure 8 shown.

[0058] Similar to the above-mentioned sensor control scenario, in the sensorless control scenario, the user can also replace Figure 8 any one of the modules with their own software code, such as replacing the PI module; the user can also turn off the per-unit conversion module 70 to implement the over-modulation function.

[0059] In summary, the field-oriented control device of the embodiment of the present utility model has the following advantages:

[0060] 1) It can flexibly configure and combine each module, that is, whether each module participates in the operation can be configured. Thus, the user can cut and replace the modules in the field-oriented control device according to the particularity of their application scenarios to meet the user's needs;

[0061] 2) By setting registers to store the output data and intermediate processing data of each module, data sharing between the field-oriented control device and the user-defined software module can be realized, reducing some unnecessary operations, providing great convenience for the cooperation between the software algorithm developed by the user and the hardware acceleration unit, and meeting the needs of different application scenarios;

[0062] 3) The field-oriented control device is implemented based on a fixed-point chip, supports data input and output in Q15 format, and uses Q31 format for intermediate variables, which can improve the operation accuracy.

[0063] 4) Users can configure the clipping functions of the integral output and the total output through registers, thus meeting more user requirements.

[0064] 5) By shielding the per-unit value conversion module, users can perform per-unit value conversion operations in software, thereby not being restricted by the Q15 data format and supporting over-modulation application scenarios.

[0065] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0066] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0067] In the present invention, unless otherwise clearly specified and defined, the terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0068] In the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0069] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present utility model.

Claims

1. A magnetic field oriented control device, characterized in that: The magnetic field oriented control device comprises: Clarke transformation module, used to connect the sampling device to obtain the three-phase current of the motor; Park transformation module and closed-loop regulation module; A Park inverse conversion module, used for connecting to an SVPWM driver, so that the SVPWM driver drives the motor through a three-phase inverter according to a first control signal output by the Park inverse conversion module; The switch circuit is configured to selectively establish connections between the Clarke transformation module, the Park transformation module, the closed-loop regulation module, and the Park inverse transformation module.

2. The magnetic field oriented control device according to claim 1, characterized in that: The magnetic field oriented control device further comprises: A Clarke inverse conversion module, used for connecting to an SVPWM driver, so that the SVPWM driver drives the motor through a three-phase inverter according to a second control signal output by the Clarke inverse conversion module; Wherein, the switch circuit is further configured to selectively establish a connection between the Clarke inverse transformation module and the Park inverse transformation module.

3. The magnetic field oriented control device according to claim 2, characterized in that: The magnetic field oriented control device further comprises: Per-unit value conversion module; Wherein, the switching circuit is further configured to selectively establish a connection between the per-unit value conversion module and at least one of the Clarke transformation module, the Park transformation module, the closed-loop regulation module, the Park inverse transformation module, and the Clarke inverse transformation module.

4. The magnetic field oriented control device according to claim 3, characterized in that: The switching circuit includes a first switch and a second switch, wherein the first end of the first switch and the first end of the second switch are connected to the output end of the Park inverse transformation module, the second end of the first switch is connected to the input end of the Clarke inverse transformation module, and the second end of the second switch is connected to the input end of the per-unit value conversion module, wherein the output end of the per-unit value conversion module is connected to the input end of the Clarke inverse transformation module.

5. The magnetic field oriented control device according to claim 3, characterized in that: The switch circuit includes a plurality of switches, and the magnetic field oriented control device further includes: The controller is connected to the control end of each switch in the switch circuit to control the on and off of each switch.

6. The magnetic field oriented control device according to claim 5, characterized in that: The controller includes registers, which are respectively connected to the Clarke transformation module, the Park transformation module, the closed-loop regulation module, the Park inverse transformation module, and the Clarke inverse transformation module to store interaction data between modules and / or intermediate processing data of each module, and / or provide configuration parameters to each module.

7. The magnetic field oriented control device according to claim 6, characterized in that: The register is also used to connect to an angle estimation device, so that the angle estimation device estimates the motor angle and / or the motor angular velocity according to the interaction data and / or the intermediate processing data; The Clarke transformation module, the Park transformation module, the closed-loop regulation module, the Park inverse transformation module, and the Clarke inverse transformation module are also used to selectively connect the angle estimation device through the switching circuit to obtain the motor angle or motor angular velocity output by the angle estimation device.

8. The magnetic field oriented control device according to claim 2, characterized in that: The closed-loop regulation module includes a current PI module, and the current PI module includes a first current PI regulator and a second current PI regulator; The switch circuit is specifically configured to selectively establish a connection between the first current PI regulator, the second current PI regulator and at least one of the Clarke transformation module, the Park transformation module, the Park inverse transformation module and the Clarke inverse transformation module.

9. The magnetic field oriented control device according to any one of claims 1 to 8, characterized in that: The magnetic field orientation control device adopts a fixed-point chip.

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