30 6 2013 6 DOI: 10.7641/CTA.2013.21024 Control Theory & Applications Vol. 30 No. 6 Jun. 2013,,, (, 410083) : (IPMSM),.,,,, PI.,,.,., STM32F103R8T6 ARM, IPMSM. : ; ; ; : TM301.2 : A Flux-weakening control for interior permanent magnet synchronous motor drive systems CHEN Ning, ZHANG Yue, GUI Wei-hua, YU Shou-yi (School of Information Science and Engineering, Central South University, Changsha Hunan 410083, China) Abstract: To deal with the difficulty in the high frequency operation of interior permanent magnet synchronous motor (IPMSM) systems, a flux-weakening control method based on q-axis voltage is proposed. On the basis of the field-oriented control, the q-axis voltage is used to control the d-axis current, and the error signal of demagnetization current can be obtained by subtracting the feedback value from the reference value of the q-axis voltage. The demagnetization current can be obtained by using the PI operation of its error signal. To deal with the sharp drop in the DC bus voltage under heavy load, we introduce the effective work-time of the space voltage vector in the closed-loop for regulating the demagnetization current. The system model of IPMSM is built and the validity of the proposed flux-weakening method is verified by the simulation results. The proposed control method is applied in an inverter air-conditioner compressor control system. The experimental platform of flux-weakening control system is developed by STM32F103R8T6 ARM. It is shown that the speed range of IPMSM is extended by the proposed flux-weakening algorithm. Key words: interior permanent magnet synchronous motor; flux-weakening; q-axis voltage; space voltage vector 1 (Introduction) (interior permanent magnet synchronous motor, IPMSM), [1 2]. (permanent magnet synchronous motor, PMSM),.,.,,,,,. PMSM,,, [3]. ;, PMSM [4]. [5] PMSM,,. [6],. [7], : 2012 10 07; : 2013 01 03.. E-mail: ningchen@csu.edu.cn. : (61074001); (2011A090200097); (2011J010-E); (2013GK3009).
718 30,. [8],,,,,,. PMSM, (q ) (d ).,,,,. 2 IPMSM (Mathematical model of IPMSM and analysis of the flux-weakening control operation) 2.1 IPMSM (Mathematical model of IPMSM system) d-q IPMSM, IPMSM dq di d L d dt = r si d + u d + ω e L q i q, (1) di q L q dt = r si q + u q ω e (ψ f + L d i d ), : L d, L q d, q, i d, i q d, q, u d, u q d, q, r s, ψ f, ω e. IPMSM T e = 3p 2 [ψ f + (L d L q )i d ]i q, (2) (4) d-q, 1 AB.., [11], BC (maximun torque per voltage, MTPV). 2.3 (Voltage and current limit) (1), PMSM, d-q : { ud = r s i d ω e L q i q, (5) u q = r s i q + ω e (ψ f + L d i d )., I s V s I s = i 2 d + i2 q I sm, (6) V s = u 2 d + u2 q V sm, (7) : I sm, V sm. d q, IPMSM, V s = V sm. 1, d-q, I sm, (0, 0). B MTPA, IPMSM ω b. p. 2.2 (Maximum torque per amper control) IPMSM d q, d. (maximum torque per ampere, MTPA) [9 10]., (2), I s = i 2 d + i2 q,, H = i 2 d + i 2 q + λ{t e 3 2 p[ψ f + (L d L q )i d ]i q }, (3) λ. (3), ψ f i d = 2(L q L d ) ψf 2 4(L q L d ) + 2 i2 q. (4) 1 IPMSM Fig. 1 State trajectories of the current and the voltage of IPMSM, (5) d i d i d = u q ψ f. (8) ω e L d L d i d i q : i 2 q ( V sm ω e L q ) 2 + (i d + ψ f L d ) 2 ( V sm ω e L d ) 2 1. (9)
6 : 719 (9), d-q (V sm /ω e L q ), (V sm /ω e L d ). 1 IPMSM,., IPMSM., q d. IPMSM,,. d. 3 (Flux weakening control method based on q-axis voltage) 3.1 (Design of the fluxweakening control algorithm),. [12], IPMSM 2. 2 IPMSM Fig. 2 Block diagram of the flux-weakening method of IPMSM control systems 2 : SVPWM (space vector pulse width modulation). 2,, q i q, d i d 0;, IPMSM V sm, IPMSM, i d. (8) : IPMSM q u q i d. d i d, q u qm, q : u qm = V 2 sm u 2 d. (10),, q u qm u q u qm = ω e (ψ f + L d i d ) = (ˆω e + ω)(ψ f + L d i d ) + ω el d i de, (11) u q = ˆω e (ψ f + L d i d ), (12) : i de d, i de = i d i d. q u qe = u qm u q. (13) (11) (13), q, d : i de = u qe ω(ψ f + L d i d ) L d ωe. (14) d, d : i d = K p(i de + K i t 0 i dedt). (15) 3, d i d, ω e ˆω e, U dc, d u d, q u q,, d.
720 30 3 Fig. 3 Block diagram of the flux-weakening controller ω = ω e ˆω e d, PI, q. d,, (2) T eψ T er, : T eψ = 3p 2 ψ fi q, T er = 3p 2 (L d L q ) i d i q. T eψ = T eψ T e T e = (16) (17) (16) ψ f T e ψ f + (L d L q )i d. (17) i q = 2 3p[ψ f + (L d L q )i d ] T e. (18) T e, i qm : i qm = I 2 sm i 2 d. (19) u qe,,, u qe,. 3.2 (Modification of the demagnetization current setting value),,,.,,. 1) (SVPWM).,, 1 ; 0. 8, :, (100), (110), (010), (011), (001), (101); (000), (111), 4. (a) (b) PWM (c) 4 Fig. 4 Space vector modulation technique SVPWM, 8, 8,,. 4, v s, { v 4 T 1 + v 6 T 2 + v 0 T 0 + v 7 T 7 = v s T, T 1 + T 2 + T 0 + T 7 = T, (20) : v 4, v 6, v 0, v 7, T 1, T 2, T 0, T 7, T v 4, v 6, v 0, v 7, v s PWM. (20) v 4 v 6 T 1 T 2 [13] :
6 : 721 T 1 = T 3Vs sin( π U dc 3 ξ), (22), T 2 = T (21), 3Vs sin ξ,,. U dc : ξ, U dc. 2). (21), U dc,, T 1 + T 2 T,,, 5,,, i dt, i d. T 1 +T 2 > T, 5 ; T 1 + T 2 < T 1 + T 2 > T. (22) T,. 5 Fig. 5 Improved flux-weakening control block 4 (Experiment and result analysis) 4.1 (Simulation results of the system) IPMSM, MATLAB/Simulink. p=3, r s =0.49 Ω, L d =6.5 mh, L q =11.8 mh, K t = 0.474, K e = 26.9 V/ (kr min 1 ), J = 0.00063 kg m 2 ; 1500 r/min; PI K p = 6, K i = 0.0005. 6 0 s 0 r/min 1500 r/min, 1.2 s 2600 r/min, 3.15 s 1 N m 1 N m, d, q, 6(a),, 3.15 s 3.3 s, 50 r/min,. 1.2 s, 1.2 s, 6(b) 1.2 s, d, q ; 3.15 s 1 N m 2 N m,, d q. (a) (b) 6 Fig. 6 Speed, current response curve when the speed rises and the torque step changes
722 30 4.2 (Experimental platform exploitation of the system) 1.5,. 4500 r/min, 4.1, 7. ( ST 32 ARM STM32F103R8T6 TGF7NC60HD) ; J Link. IAR Systems IAR EWARM, C,. 1 5 s, 5 s, 10 s 110 Hz. AD 1 khz, 10000, d q 8 10. 7 Fig. 7 Flux weakening control system experimental platform of IPMSM for air conditioner 8 Fig. 8 Curve of flux-weakening current Fig. 9 9 Torque change curve
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