CN101769953B - Phase current detection method of motor based on direct-current bus current - Google Patents
Phase current detection method of motor based on direct-current bus current Download PDFInfo
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Abstract
The invention provides a phase current detection method of a motor based on direct-current bus current, which is easy to realize an algorithm, has relatively better control effect and also can effectively reconstruct the phase current of the motor in a non-observable area when the motor is driven by a space vector modulation mode. In the method, when the acting time of a minimum vector can not be met because of too short acting time of a non-zero basic space vector existing in PWM carrier cycles, the acting time of the non-zero basic space vector in one PWM carrier cycle is increased to meet the acting time of the minimum vector under the condition that the total acting time of the non-zero basic space vector in a plurality of PWM carrier cycles in the same control algorithm period keeps invariable so as to realize the reconstruction of the phase current of the motor. In the invention, the non-observable area is changed into an observable area by modulating through a symmetrical PWM mode, the total acting time of the basic vector with too small acting time in the same control algorithm period keeps invariable, and the distortion of a voltage vector function is also avoided.
Description
Technical field
The present invention relates to motor phase current detection technique field, specifically, relate to a kind of motor phase current detection method based on dc bus current.
Background technology
In the alternating current motor control system; It is a key link that the phase current of motor detects; Classic methods is to adopt current sensor to detect the phase current of motor, promptly at ac output end 3 or at least 2 current sensors is set, so that the feedback signal of phase current to be provided.Current sensor commonly used is a hall effect detectors, and it not only costs an arm and a leg, and bulky, is difficult to be integrated in the power electronic equipment.Therefore, precision do not need too high and the situation that need reduce cost under, proposed to sample and detected the method for motor phase current through dc bus current.
Sample through dc bus current and to detect motor phase current, single current sample (Oneshunt current detection) technology of promptly often saying.The structure principle chart of inverter circuit is as shown in Figure 1; Sampling resistor Z is serially connected with between the N end and dc bus capacitor negative terminal of brachium pontis under the switching tube (IGBT); According to dc bus current, switching tube on off state and three-phase current three's relation, utilizing dc bus current and switching tube on off state reconstruct three-phase current then, is a kind of method for reconstructing phase current that adopts single resistance sampling mode; Therefore, be called single resistor current sampling again.
For single current sample technology, make effectively reconstruct phase current of dc bus current sampled value, its sampling time must be greater than a minimum time T
MinAnd motor adopts space vector modulation (SVPWM) when mode drives; SVPWM is modulated at that sector borders is switched or during low speed control, and the action time that all can appear at some in the PWM carrier cycle (or both) non-zero fundamental space vector is too short and do not satisfy minimum time T
Min(be non-zero fundamental space vector action time 1/2 less than minimum time T
MinDo not satisfy condition, back literary composition is described in detail this again), the action time of arbitrary non-zero fundamental space vector is too short and do not satisfy minimum time T in the PWM carrier cycle
MinThe time, can't accomplish the sampling of dc bus current, also just effective reconstruct motor phase current.
Thus, usually again with this minimum time T
MinBe called minimum vector action time; Minimum vector action time is owing to existing difference to cause between practical devices characteristic and the ideal in the system; For the system that confirms; Minimum vector confirms that it is the AD sampling and retention time sum of PWM Dead Time, Hardware Response Delay time and MCU action time.
When SVPWM is modulated, arbitrary non-zero fundamental space vector action time too short in the PWM carrier cycle and do not satisfy minimum vector action time, causing effectively, the zone of reconstruct motor phase current is called the non-observation area; Otherwise effectively the zone of reconstruct motor phase current is called the may observe zone.For the non-observation area two kinds of processing methods are arranged usually, a kind of is to reduce the non-observation area: as reduce dc bus current, increase the PWM carrier cycle, improve modulating vector, reduce minimum vector action time etc.; Another kind is to avoid the non-observation area: as guaranteeing the non-zero fundamental space vector least action time etc., the latter's effect is better than the former usually.
At present, avoiding the more general method in non-observation area is to adopt the asymmetrical PWM method.The asymmetrical PWM method is meant in the non-observation area and adopts the asymmetrical PWM modulation, through resolution of vectors and compensation, increase action time less than the non-zero fundamental space vector of minimum vector action time to the least action time, to realize the electric current efficiently sampling.
Though the method can effectively realize the electric current reconstructing of non-observation area, can better solve the application of single current sample technology on motor.But exist not enough: such as the MCU performance is had higher requirements, promptly need support asymmetrical PWM, most MCU does not have this function as yet at present yet, needs extra ASIC of adding or CPLD to handle, and can increase cost; Once more, adopt the asymmetrical PWM modulation, the electric current and voltage harmonic wave can increase relatively, and device loss also increases, influence control effect; Simultaneously, because the existence of PWM dead band, hardware circuit response time, voltage harmonic strengthens during low speed, and the control effect can be worse and worse.
Summary of the invention
The objective of the invention is to solve the defective that prior art exists; It is better relatively to provide a kind of algorithm to realize, control effect easily; When space vector modulation mode drive motor, the non-observation area is the effective motor phase current detection method based on dc bus current of reconstruct motor phase current also.
The technical problem that the present invention solved can adopt following technical scheme to realize:
A kind of motor phase current detection method based on dc bus current; Motor adopts the space vector modulation mode to drive; Be serially connected with sampling resistor between the N of brachium pontis end and the dc bus capacitor negative terminal under the inverter circuit switching tube; It is characterized in that: the control algolithm cycle of motor is the integral multiple of PWM carrier cycle; When space vector modulation gets into the non-observation area; Exist non-zero fundamental space vector action time too short and do not satisfy minimum vector during action time in the PWM carrier cycle, keep same control algolithm in the cycle in a plurality of PWM carrier cycles under the constant situation of the resultant action time of this non-zero fundamental space vector, satisfy minimum vector action time increasing to action time of this non-zero fundamental space vector in one of them PWM carrier cycle; Adopt the motor phase current of single current sample mode reconstruct said PWM carrier cycle again, and with the motor phase current of said PWM cycle motor phase current as this control algolithm each PWM carrier cycle in the cycle.
Among the present invention; After making the reconstruct motor phase current, can participate in control at once; Reduce time-delay; One of them increases to non-zero fundamental space vector action time and satisfies the minimum vector PWM carrier cycle of action time in the said same control algolithm cycle, is same control algolithm last in a plurality of PWM carrier cycles in the cycle.
One of them increases to non-zero fundamental space vector action time and satisfies the minimum vector PWM carrier cycle of action time in the said same control algolithm cycle, and the mode that adopts PWM carrier wave rear end to sample is constantly carried out this PWM carrier cycle reconstructing phase current of electromotor.
Among the present invention; In order to reduce voltage harmonic to greatest extent; Removing in the same control algolithm cycle one of them increases to non-zero fundamental space vector action time and satisfies the minimum vector PWM carrier cycle of action time; In other PWM carrier cycles in the same control algolithm cycle, the non-zero fundamental space vector that does not satisfy minimum vector action time action time is identical the action time in each PWM carrier cycle.
Among the present invention, the said control algolithm cycle is 4 to 10 times of PWM carrier cycle, and promptly the control algolithm frequency is 1/4～1/10 of a carrier frequency, and the control algolithm frequency is excessive can't effectively to be compensated to avoid, too small and influence control effect.
The present invention adopts the symmetrical PWM mode modulation; Too small basic vector increased to action time satisfy minimum vector action time; Change the non-observation area into the may observe zone, can be effectively the mode through single current sample in the non-observation area reconstruct motor phase current; Through reducing the action time of other PWM carrier cycle basic vectors, make the resultant action time-preserving of the basic vector that action time in the same control algolithm cycle is too small, it is true to avoid the voltage vector effect to vow.
Description of drawings
Fig. 1 is the structure principle chart of existing single current sample inverter circuit.
Fig. 2 is the space vector modulation sketch map.
Fig. 3 is in sector one direct current bus current front-end sampling sketch map for space vector modulation.
Motor phase current flowed to sketch map when Fig. 4 was switching tube state (100).
Motor phase current flowed to sketch map when Fig. 5 was switching tube state (110).
Fig. 6 is in sector one direct current bus current front-end sampling and rear end sampling sketch map for space vector modulation.
The sketch map of non-observation area when Fig. 7 is space vector modulation.
Fig. 8 is in sector one near the fundamental space vector V for space vector modulation
1The non-observation area, the PWM carrier wave sketch map of handling without the inventive method in control algolithm cycle.
Fig. 9 is in sector one near the fundamental space vector V for space vector modulation
1The non-observation area, the PWM carrier wave sketch map of handling through the inventive method in control algolithm cycle.
Figure 10 motor that to be an instantiation gather through the AC current sensor is a phase current sketch map wherein.
The motor that Figure 11 is the instance identical with Figure 10 through reconstruct of the present invention is the current diagram of a phase wherein.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.
Sampling through dc bus current, to detect motor phase current (single current sample) be a kind of mature technology, and its main purpose is in order to overcome high, the bulky problem of cost when using the current sensor senses motor phase current.Precision do not need too high and the situation that need reduce cost under, be widely used.
Before the instruction book current sample detects motor phase current, brief account space vector modulation (SVPWM) once at first.As shown in Figure 2, space vector modulation is that the modulation space vector is divided into 6 sectors and 6 fundamental space vectors, and two zero vectors, and like this, the modulation space vector of any direction, size can obtain by two adjacent fundamental space vectors are synthetic.
The all corresponding a kind of on off state of each fundamental space vector; Applying of fundamental space vector is that conducting state through changing 6 switching tubes (IGBT) realizes; Control the action time of fundamental space vector through the duration of control switch pipe conducting state; By the length of adjacent two fundamental space vector action times, can synthesize the modulation space vector of any direction, size, to realize driving to motor.
The switching tube state of every phase brachium pontis is defined as S respectively
u, S
v, S
wBe defined as state " 1 " during last brachium pontis device for power switching conducting; (last brachium pontis device for power switching conducting brachium pontis device for power switching at present is in off state to be defined as state " 0 " during shutoff; Last brachium pontis device for power switching turn-offs at present, and the brachium pontis device for power switching promptly is in conducting state), according to three groups of brachium pontis (S
u, S
v, S
w) break-make, six groups of non-zero fundamental space vectors are as giving a definition: the fundamental space vector V
1Corresponding switching tube state (100), the fundamental space vector V
2Corresponding switching tube state (110), fundamental space vector V
3Corresponding switching tube state (010), fundamental space vector V
4Corresponding switching tube state (011), fundamental space vector V
5Corresponding switching tube state (001), fundamental space vector V
6Corresponding switching tube state (101), two groups of these space vectors of zero-base are done as giving a definition: the fundamental space vector V
0Corresponding switching tube state (000), fundamental space vector V
7Corresponding switching tube state (111).
Close tubulose attitude (100) expression u and go up the brachium pontis conducting mutually; V goes up brachium pontis mutually with w mutually and turn-offs; Close tubulose attitude (110) expression u and go up the brachium pontis conducting mutually with v mutually; W goes up brachium pontis mutually and turn-offs; Close tubulose attitude (010) expression v and go up the brachium pontis conducting mutually; U goes up brachium pontis mutually with w mutually and turn-offs; Close tubulose attitude (011) expression v and go up the brachium pontis conducting mutually with w mutually; U goes up brachium pontis mutually and turn-offs; Close tubulose attitude (001) expression w and go up the brachium pontis conducting mutually; U goes up brachium pontis mutually with v mutually and turn-offs, and closes tubulose attitude (101) expression u and goes up the brachium pontis conducting mutually with w mutually, and v goes up brachium pontis mutually and turn-offs; Brachium pontis turn-offed simultaneously on pass tubulose attitude (000) was represented three groups; Do not have electric current to flow in the motor, brachium pontis conducting simultaneously on pass tubulose attitude (111) is represented three groups does not have electric current to flow out in the motor.
The corresponding different switch controlled voltage of different time section, Different control voltage causes the different on off operating mode of power switch pipe in the inverter circuit, different on off operating modes then corresponding different motor phase currents flow to.Therefore, during space vector modulation capable of using, twice different conditions of switching tube dc bus current sampled value is constantly come the reconstruct three-phase current in the same PWM carrier cycle.
Being in sector one with space vector modulation is example, sets forth and how to carry out dc bus current sampling and reconstruct motor phase current.At this moment, being in the modulation space vector of sector one all can be by the fundamental space vector V
1With the fundamental space vector V
2Synthesize again and obtain after the effect respectively, so the state of switching tube has experienced (100) and (110) in same PWM carrier cycle.
Referring to Fig. 3, a state of switching tube constantly is (100), i.e. the fundamental space vector V
1Action time, flowing to of motor phase current (electric current flows out the motor side direction for negative to flow to the motor side direction for just) as shown in Figure 4, a constantly carries out current sample to dc bus, then a current sampling data I constantly
1=I
Dc=I
uThe b state of switching tube constantly is (110), i.e. the fundamental space vector V
2Action time, flowing to of motor phase current (electric current flows out the motor side direction for negative to flow to the motor side direction for just) as shown in Figure 5, b constantly carries out current sample to dc bus, then b current sampling data I constantly
2=I
Dc=I
u+ I
v=-I
wBecause the sampling time is very short, phase current can not undergone mutation, and can be zero (I according to the phase current sum like this
u+ I
v+ I
w=0), obtaining the three-phase electricity flow valuve is: I
u=I
1, I
v=-(I
u+ I
w(the I of)=-
1-I
2)=I
2-I
1, I
w=-I
2, accomplished the reconstruct of motor phase current through the dc bus current sampling with this.When space vector modulation was in other sectors, the reconstruct mode of electric dc bus current sampling and motor phase current was similar, and those skilled in the art understands wherein principle, just the situation of other sectors has not been derived one by one at this.The corresponding relation of sample rate current, switching tube state and motor phase current is as shown in the table:
Because there be twice variation in the switching tube state in the same PWM carrier cycle, being in sector one with Vector Modulation is example, is changed to (110) in PWM carrier wave Head switches tubulose attitude by (100), is changed to (100) in PWM carrier wave Foot switches tubulose attitude by (110).Therefore, the front end that the sampling of dc bus current can be chosen in the PWM carrier wave carries out constantly, and carry out constantly the rear end that also can be chosen in the PWM carrier wave.Among Fig. 3; The sampling of dc bus current is that the front end at the PWM carrier wave carries out constantly; The sampling of dc bus current is to carry out as shown in Figure 6 constantly in the rear end of PWM carrier wave; Its principle is identical with front end at the PWM carrier wave constantly, and the method for dc bus current sampling back reconstruct motor three-phase current also is identical, this just no longer tired having stated.
Point out in the background technology that will make effectively reconstruct phase current of dc bus current sampled value, when space vector modulation, the action time of fundamental space vector can not be too short, must satisfy minimum vector (minimum time T action time
Min), otherwise the dc bus current sampling time is too short, the resistance that is connected in series between the N of brachium pontis end and the dc bus capacitor negative terminal under the inverter circuit switching tube just can't be accomplished the sampling of dc bus current.Promptly to satisfy sampling resistor and accomplish the sampling of dc bus current, the fundamental space vector in a PWM carrier cycle action time 1/2 must be greater than minimum vector action time.This is because dc bus current sampling or be that front end at the PWM carrier wave carries out constantly; Be to carry out constantly in the rear end of PWM carrier wave; The sampling time of dc bus current has only the fundamental space vector in a PWM carrier cycle 1/2 of action time; The sampling time that therefore will make dc bus current, the condition that need satisfy the action time of fundamental space vector was greater than minimum vector action time: action time that makes the fundamental space vector in a PWM carrier cycle 1/2 greater than minimum vector action time.
Referring to Fig. 7, motor adopts space vector modulation (SVPWM) when mode drives, and SVPWM is modulated at sector borders (figure bend part) when switching, for example in the sector one near the fundamental space vector V
1Zone when switching, the fundamental space vector V
2Action time in a PWM carrier cycle is with too short, so that the fundamental space vector V
2Can't satisfy minimum vector action time the action time in a PWM carrier cycle (is the fundamental space vector V
2Action time in a PWM carrier cycle 1/2 less than minimum vector action time), so just can not accomplish the sampling of dc bus current.In like manner, in the sector one near the fundamental space vector V
2Zone when switching, the fundamental space vector V
1Action time in a PWM carrier cycle is with too short and can't satisfy the sampling of dc bus current.The borderline region of sector for other always has a fundamental space vector can't meet the demands the action time in a PWM carrier cycle, because basic principle is identical, has not just analyzed one by one at this.
Except when sector borders is switched; Can't satisfy the action time of a fundamental space vector outside the dc bus current sampling; When motor low speed is controlled, the sampling that all can't satisfy dc bus current action time of two adjacent fundamental space vectors in some zone even same sector.In a word, the above-mentioned zone that can't accomplish dc bus current sample reconstruction motor phase current is referred to as the non-observation area, the non-observation area will seriously hinder the realization of single current sample.
Purport of the present invention promptly avoids the non-observation area to occur, and a kind of new motor phase current detection method based on dc bus current is provided.For space vector modulation, the control algolithm cycle is a PWM carrier cycle integral multiple, and promptly a control algolithm has a plurality of PWM carrier cycles in the cycle, has 5 PWM carrier cycles in the cycle with a control algolithm in the present embodiment and describes.
Referring to Fig. 8, a control algolithm cycle T
sIn have 5 PWM carrier cycles, this moment space vector modulation be in sector one near the fundamental space vector V
1The non-observation area, if do not carry out any processing, fundamental space vector V
2(corresponding switching tube state (110)) will be very short action time in a PWM carrier cycle, can't satisfy minimum vector action time certainly, in the drawings AD
1Locate just can't satisfy dc bus current is sampled.
Referring to Fig. 9, the present invention is with a control algolithm one of them PWM carrier cycle fundamental space vector V in the cycle
2Action time increase to and satisfy minimum vector action time, be i.e. this PWM carrier cycle fundamental space vector V
2 Action time 1/2 greater than minimum vector action time, in fact consider critical condition, the fundamental space vector V
2Equal the sampling that minimum vector can satisfy dc bus current action time 1/2 of action time, fundamental space vector V when generally handling
2Equaling minimum vector 1/2 of action time gets final product action time.AD like this, in the drawings
1The place just can accomplish the sampling to dc bus current, and the mode of this PWM carrier cycle single current sample capable of using is carried out the reconstruct of motor three-phase current.
But, with a control algolithm one of them PWM carrier cycle fundamental space vector V in the cycle
2Action time increase after, will inevitably cause fundamental space vector V in the control algolithm cycle
2The resultant action time increase, can lead the voltage vector effect like this and increase and make the sampled result distortion, therefore need the fundamental space vector V
2Compensate.The mode of compensation is with control algolithm fundamental space vector V in other 4 PWM carrier cycles in the cycle
2Action time reduce, guarantee in a control algolithm 5 PWM carrier cycle fundamental space vector V in the cycle
2The resultant action time-preserving.After compensating, the motor three-phase current of aforementioned PWM carrier cycle reconstruct promptly can be used as the three-phase current of the motor of all PWM carrier cycles in the control algolithm cycle.
To a control algolithm other 4 PWM carrier cycle fundamental space vector V in the cycle
2Action time preferably uniform when reducing, promptly make to reduce other 4 PWM carrier cycle fundamental space vector V in the back control algolithm cycle
2Action time identical, reducing voltage harmonic to greatest extent, and this Processing Algorithm is the simplest.
For the fundamental space vector V
2The PWM carrier cycle that increases action time; Preferably as shown in Figure 9, for same control algolithm last in 5 PWM carrier cycles in the cycle, promptly more near next control algolithm cycle; And when carrying out single current sample; The mode that also adopts PWM carrier wave rear end to sample is constantly carried out this PWM carrier cycle reconstructing phase current of electromotor, makes like this can participate in behind the reconstruct motor phase current controlling, and reduces to delay time at once.
Simultaneously, for the control algolithm frequency is excessive can't effectively to be compensated to avoid, the too small and influence control effect of frequency, the control algolithm frequency is preferably 1/4～1/10 of PWM carrier frequency, and promptly the control algolithm cycle is preferably 4 to 10 times of PWM carrier cycle.In the present embodiment, only being to be that 5 times of PWM carrier cycle carry out exemplary illustration with the control algolithm cycle, is not limitation of the present invention, and when the control algolithm cycle was other integral multiples of PWM carrier cycle, method of the present invention was same being suitable for.
During for space vector modulation, the non-observation area of other sector borders only needs according to circumstances the fundamental space vector that does not satisfy condition to be handled to get final product, because the basic skills of handling is similar, just tires out at this and has stated.When controlling for motor low speed, two non-observation areas that adjacent fundamental space vector does not satisfy condition only need all be carried out above-mentioned processing to two fundamental space vectors and got final product.
Referring to Figure 10 and Figure 11, to following instantiation: motor: compressor DH130X1C-20FZ3; Power base: SH7124 compressor debug platform; Control board (C/B): SH7124 compressor debug platform; IPM:PS21965; MCU:SH7124 (40MHz); PWM Dead Time: 2.0us; DC bus-bar voltage: 310V; PWM carrier frequency: 10K (cycle 100us), control algolithm frequency: 2K (control algolithm cycle 500us).Coincide with comparing basically through the motor phase current of method reconstruct of the present invention, explain that effect of the present invention is extraordinary through the motor phase current of AC current sensor collection.
Certainly; Compole is short during the resultant action of the fundamental space vector of handling at needs at a plurality of PWM carrier cycles in same control algolithm cycle; Even the sum of a plurality of PWM carrier cycles in same control algolithm cycle 1/2 all less than minimum vector during action time; With increase to action time of one of them this fundamental space vector of PWM carrier cycle in same control algolithm cycle satisfy the dc bus current sampling after; Needing the action time of other these fundamental space vectors of PWM carrier cycle in the same control algolithm cycle is negative; The resultant action time that could satisfy same control algolithm a plurality of these fundamental space vectors of PWM carrier cycle in the cycle keeps inconvenience, and this obviously can't realize.At this moment, if also want to utilize basic principle of the present invention that reconstructing phase current of electromotor is carried out in the non-observation area, need other PWM carrier cycles in action time of this fundamental space vector be set to zero and handle.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection range to be defined by appending claims and equivalent thereof.
Claims (4)
1. based on the motor phase current detection method of dc bus current; Motor adopts the space vector modulation mode to drive; Be serially connected with sampling resistor between the N of brachium pontis end and the dc bus capacitor negative terminal under the inverter circuit switching tube; It is characterized in that: the control algolithm cycle of motor is the integral multiple of PWM carrier cycle; When space vector modulation gets into the non-observation area; Exist non-zero fundamental space vector action time too short and do not satisfy minimum vector during action time in the PWM carrier cycle; Keep same control algolithm in the cycle in the said integral multiple PWM carrier cycle under the constant situation of the resultant action time of this non-zero fundamental space vector; Satisfy minimum vector action time with increasing to action time of this non-zero fundamental space vector in one of them PWM carrier cycle, adopt the motor phase current of single current sample mode reconstruct said PWM carrier cycle again, and with the motor phase current of the said PWM carrier cycle motor phase current as this control algolithm each PWM carrier cycle in the cycle; One of them increases to non-zero fundamental space vector action time and satisfies the minimum vector PWM carrier cycle of action time in the said same control algolithm cycle, is same control algolithm last in the said integral multiple PWM carrier cycle in the cycle.
2. the motor phase current detection method based on dc bus current as claimed in claim 1; It is characterized in that: one of them increases to non-zero fundamental space vector action time and satisfies the minimum vector PWM carrier cycle of action time in the said same control algolithm cycle, and the mode that adopts PWM carrier wave rear end to sample is constantly carried out this PWM carrier cycle reconstructing phase current of electromotor.
3. the motor phase current detection method based on dc bus current as claimed in claim 1; It is characterized in that: remove in the same control algolithm cycle one of them and non-zero fundamental space vector is increased to action time satisfy the minimum vector PWM carrier cycle of action time; In other PWM carrier cycles in the same control algolithm cycle, the non-zero fundamental space vector that does not satisfy minimum vector action time action time is identical the action time in each PWM carrier cycle.
4. like the arbitrary described motor phase current detection method based on dc bus current of claim 1 to 3, it is characterized in that: the said control algolithm cycle is 4 to 10 times of PWM carrier cycle.
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