基于Newton-Raphson搜索算法的永磁同步电机变电感参数最大转矩电流比控制方法
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摘要
内置式永磁同步电机的最大转矩电流比控制充分利用了电机的磁阻转矩,以最小铜损为目标,可以在最小电流条件下输出最大转矩。然而,永磁同步电机的电感存在磁饱和及交叉饱和特性,实际中电感参数会随电流的变化而变化,这需要结合不同电感值进行大量繁琐的标定和拟合工作。本文提出一种变电感参数的最大转矩电流比自动搜索方法,通过构建电感关于电流的三维数据表格,利用二阶Newton-Raphson(N-R)自动搜索算法,将复杂的最大转矩电流比非线性公式转化为微控制器易实现的迭代运算,提高电流分配精度,简化标定工作,仿真和实验验证了所提出算法的有效性。
For interior permanent magnet synchronous motor(IPMSM),the maximum torque per ampere control(MTPA) can produce maximum torque output under the minimum current conditions by making full use of the reluctance torque.However,the inductance of IPMSM has magnetic saturation and cross-saturation characteristics,and its parameters vary with current in practice.This requires a lot of tedious calibration and fitting work.In this paper,MTPA searching method with variable inductance parameters is proposed.By constructing inductance look-up-table(LUT) varying with current,a second-order Newton-Raphson(N-R) searching algorithm is used to convert the complex MTPA nonlinear relationship into iterative operation,which can be easily implemented by a microcontroller.In this way,MTPA current distribution accuracy is improved and the calibration work is simplified.The simulation and experiments verify the effectiveness of the proposed method.
For interior permanent magnet synchronous motor(IPMSM),the maximum torque per ampere control(MTPA) can produce maximum torque output under the minimum current conditions by making full use of the reluctance torque.However,the inductance of IPMSM has magnetic saturation and cross-saturation characteristics,and its parameters vary with current in practice.This requires a lot of tedious calibration and fitting work.In this paper,MTPA searching method with variable inductance parameters is proposed.By constructing inductance look-up-table(LUT) varying with current,a second-order Newton-Raphson(N-R) searching algorithm is used to convert the complex MTPA nonlinear relationship into iterative operation,which can be easily implemented by a microcontroller.In this way,MTPA current distribution accuracy is improved and the calibration work is simplified.The simulation and experiments verify the effectiveness of the proposed method.
引文
[1]Liu Xiangdong,Chen Hao,Zhao Jing,et al.Research on the performances and parameters of interior PMSM used for electric vehicles[J].IEEE Transactions on Industrial Electronics,2016,63(6):3533-3545.
[2]李立毅,张江鹏,闫海媛,等.高过载永磁同步电机的电磁特性[J].电工技术学报,2017,32(2):125-134.Li Liyi,Zhang Jiangpeng,Yan Haiyuan.Electromagnetic characteristics on high overload permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(2):125-134.
[3]李景灿,廖勇.考虑饱和及转子磁场谐波的永磁同步电机模型[J].中国电机工程学报,2011,31(3):60-66.Li Jingcan,Liao Yong.Model of permanent magnet synchronous motor considering saturation and rotor flux harmonics[J].Proceedings of the CSEE,2011,31(3):60-66.
[4]李旭东,王硕,康劲松.计及磁饱和的车用永磁同步电机MTPA控制技术[J].电源学报,2017,15(2):94-100.Li Xudong,Wang Shuo,Kang Jinsong.MTPAcontrol technology of permanent magnet synchronous motor used in electric vehicle considering magnetic saturation[J].Journal of Power Supply,2017,15(2):94-100.
[5]张文娟,冯垚径,黄守道,等.基于迭代法的内置式永磁同步电机最大转矩/电流控制[J].电工技术学报,2013,28(增刊2):402-407.Zhang Wenjuan,Feng Yaojing,Huang Shoudao,et al The maxium torque per ampere control of permanent magnet synchronous motor based on iterative method[J].Transactions of China Electrotechnical Society,2013,28(S2):402-407.
[6]Miao Yu,Ge Hao,Preindl M,et al.MTPA fitting and torque estimation technique based on a new fluxlinkage model for interior-permanent-magnet synchronous machines[J].IEEE Transactions on Industry Applications,2017,53(6):5451-5460.
[7]李峰,夏超英.考虑磁路饱和的IPMSM电感辨识算法及变参数MTPA控制策略[J].电工技术学报,2017,32(11):136-144.Li Feng,Xia Chaoying.Inductance identification algorithm and variable-parameters MTPA control strategy for IPMSM considering magnetic circuit saturation[J].Transactions of China Electrotechnical Society,2017,32(11):136-144.
[8]李峰,夏超英.考虑磁路饱和的内置式永磁同步电机电感参数旋转辨识算法[J].电工技术学报,2016,31(21):203-211.Li Feng,Xia Chaoying.Inductance parameters identification algorithms of IPMSM under rotating state taking magnetic circuit saturation into account[J].Transactions of China Electrotechnical Society,2016,31(21):203-211.
[9]刘栋良,任劲松,林伟杰,等.基于电感辨识的电流解耦算法在内置式永磁同步电机弱磁控制中的应用[J].电工技术学报,2017,32(16):98-105.Liu Dongliang,Ren Jinsong,Lin Weijie.Current decoupling algorithm based on inductance identification in the application of interior permanent magnet synchronous motor flux-weakening control[J]Transactions of China Electrotechnical Society,2017,32(16):98-105.
[10]Pervin S,Siri Z,Uddin M N.Newton-Raphson based computation of id in the field weakening region of IPM motor incorporating the stator resistance to improve the performance[C]//Industry Applications Society Annual Meeting(IAS),Las Vegas,NV,USA,2012:1-6.
[11]Itoh J,Toi T,Kato M.Maximum torque per ampere control using hill climbing method without motor parameters based on V/f control[C]//18th European Conference on Power Electronics and Applications(EPE'16 ECCE Europe),Kitakyushu,Japan,2016:1-10.
[12]廖勇,伍泽东,刘刃.车用永磁同步电机的改进MTPA控制策略研究[J].电机与控制学报,2012,16(1):12-17.Liao Yong,Wu Zedong,Liu Ren.Improved maximum torque per ampere control strategy study for PMSM used in electric vehicles[J].Electric Machines and Control,2012,16(1):12-17.
[13]Lin F J,Liu Y T,Yu W A.Power perturbation based mtpa with an online tuning speed controller for an IPMSM drive system[J].IEEE Transactions on Industrial Electronics,2018,65(5):3677-3687.
[14]Lai Chunyan,Feng Guodong,Tjong Jimi,et al.Direct calculation of maximum-torque-per-ampere angle for interior PMSM control using measured speed harmonic[J].IEEE Transactions on Power Electronics,2018,33(11):9744-9752.
[15]Lai Chunyan,Feng Guodong,Mukherjee Kaushik,et al.Maximum torque per ampere control for IPMSMusing gradient descent algorithm based on measured speed harmonics[J].IEEE Transactions on Industrial Informatics,2017,14(4):1424-1435.
[16]王硕,康劲松,钟再敏,等.电动汽车用永磁同步电机转矩脉动抑制方法综述[J].电源学报,2016,14(5):24-32.Wang Shuo,Kang Jinsong,Zhong Zaimin,et al.Overviews of torque ripple suppression method with permanent magnet synchronous motor used in electric vehicles[J].Journal of Power Supply,2016,14(5):24-32.
[17]张海洋,许海平,方程,等.基于比例积分-准谐振控制器的直驱式永磁同步电机转矩脉动抑制方法[J].电工技术学报,2017,32(19):41-51.Zhang Haiyang,Xu Haiping,Fang Cheng,et al.Torque ripple suppression method of direct-drive permanent magnet synchronous motor based on proportional-integral and quasi resonant controller[J].Transactions of China Electrotechnical Society,2017,32(19):41-51.
[18]刘金海,陈为,胡金高.永磁同步电机dq电感参数新实验获取法[J].电工技术学报,2014,29(7):97-103Liu Jinhai,Chen Wei,Hu Jingao.Novel experimental methods of acquiring dq inductance of permanent magnet synchronous motors[J].Transactions of China Electrotechnical Society,2014,29(7):97-103.
[2]李立毅,张江鹏,闫海媛,等.高过载永磁同步电机的电磁特性[J].电工技术学报,2017,32(2):125-134.Li Liyi,Zhang Jiangpeng,Yan Haiyuan.Electromagnetic characteristics on high overload permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2017,32(2):125-134.
[3]李景灿,廖勇.考虑饱和及转子磁场谐波的永磁同步电机模型[J].中国电机工程学报,2011,31(3):60-66.Li Jingcan,Liao Yong.Model of permanent magnet synchronous motor considering saturation and rotor flux harmonics[J].Proceedings of the CSEE,2011,31(3):60-66.
[4]李旭东,王硕,康劲松.计及磁饱和的车用永磁同步电机MTPA控制技术[J].电源学报,2017,15(2):94-100.Li Xudong,Wang Shuo,Kang Jinsong.MTPAcontrol technology of permanent magnet synchronous motor used in electric vehicle considering magnetic saturation[J].Journal of Power Supply,2017,15(2):94-100.
[5]张文娟,冯垚径,黄守道,等.基于迭代法的内置式永磁同步电机最大转矩/电流控制[J].电工技术学报,2013,28(增刊2):402-407.Zhang Wenjuan,Feng Yaojing,Huang Shoudao,et al The maxium torque per ampere control of permanent magnet synchronous motor based on iterative method[J].Transactions of China Electrotechnical Society,2013,28(S2):402-407.
[6]Miao Yu,Ge Hao,Preindl M,et al.MTPA fitting and torque estimation technique based on a new fluxlinkage model for interior-permanent-magnet synchronous machines[J].IEEE Transactions on Industry Applications,2017,53(6):5451-5460.
[7]李峰,夏超英.考虑磁路饱和的IPMSM电感辨识算法及变参数MTPA控制策略[J].电工技术学报,2017,32(11):136-144.Li Feng,Xia Chaoying.Inductance identification algorithm and variable-parameters MTPA control strategy for IPMSM considering magnetic circuit saturation[J].Transactions of China Electrotechnical Society,2017,32(11):136-144.
[8]李峰,夏超英.考虑磁路饱和的内置式永磁同步电机电感参数旋转辨识算法[J].电工技术学报,2016,31(21):203-211.Li Feng,Xia Chaoying.Inductance parameters identification algorithms of IPMSM under rotating state taking magnetic circuit saturation into account[J].Transactions of China Electrotechnical Society,2016,31(21):203-211.
[9]刘栋良,任劲松,林伟杰,等.基于电感辨识的电流解耦算法在内置式永磁同步电机弱磁控制中的应用[J].电工技术学报,2017,32(16):98-105.Liu Dongliang,Ren Jinsong,Lin Weijie.Current decoupling algorithm based on inductance identification in the application of interior permanent magnet synchronous motor flux-weakening control[J]Transactions of China Electrotechnical Society,2017,32(16):98-105.
[10]Pervin S,Siri Z,Uddin M N.Newton-Raphson based computation of id in the field weakening region of IPM motor incorporating the stator resistance to improve the performance[C]//Industry Applications Society Annual Meeting(IAS),Las Vegas,NV,USA,2012:1-6.
[11]Itoh J,Toi T,Kato M.Maximum torque per ampere control using hill climbing method without motor parameters based on V/f control[C]//18th European Conference on Power Electronics and Applications(EPE'16 ECCE Europe),Kitakyushu,Japan,2016:1-10.
[12]廖勇,伍泽东,刘刃.车用永磁同步电机的改进MTPA控制策略研究[J].电机与控制学报,2012,16(1):12-17.Liao Yong,Wu Zedong,Liu Ren.Improved maximum torque per ampere control strategy study for PMSM used in electric vehicles[J].Electric Machines and Control,2012,16(1):12-17.
[13]Lin F J,Liu Y T,Yu W A.Power perturbation based mtpa with an online tuning speed controller for an IPMSM drive system[J].IEEE Transactions on Industrial Electronics,2018,65(5):3677-3687.
[14]Lai Chunyan,Feng Guodong,Tjong Jimi,et al.Direct calculation of maximum-torque-per-ampere angle for interior PMSM control using measured speed harmonic[J].IEEE Transactions on Power Electronics,2018,33(11):9744-9752.
[15]Lai Chunyan,Feng Guodong,Mukherjee Kaushik,et al.Maximum torque per ampere control for IPMSMusing gradient descent algorithm based on measured speed harmonics[J].IEEE Transactions on Industrial Informatics,2017,14(4):1424-1435.
[16]王硕,康劲松,钟再敏,等.电动汽车用永磁同步电机转矩脉动抑制方法综述[J].电源学报,2016,14(5):24-32.Wang Shuo,Kang Jinsong,Zhong Zaimin,et al.Overviews of torque ripple suppression method with permanent magnet synchronous motor used in electric vehicles[J].Journal of Power Supply,2016,14(5):24-32.
[17]张海洋,许海平,方程,等.基于比例积分-准谐振控制器的直驱式永磁同步电机转矩脉动抑制方法[J].电工技术学报,2017,32(19):41-51.Zhang Haiyang,Xu Haiping,Fang Cheng,et al.Torque ripple suppression method of direct-drive permanent magnet synchronous motor based on proportional-integral and quasi resonant controller[J].Transactions of China Electrotechnical Society,2017,32(19):41-51.
[18]刘金海,陈为,胡金高.永磁同步电机dq电感参数新实验获取法[J].电工技术学报,2014,29(7):97-103Liu Jinhai,Chen Wei,Hu Jingao.Novel experimental methods of acquiring dq inductance of permanent magnet synchronous motors[J].Transactions of China Electrotechnical Society,2014,29(7):97-103.