CN104518722A - Torque compensation control system and torque compensation control method of synchronous motor - Google Patents
Torque compensation control system and torque compensation control method of synchronous motor Download PDFInfo
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Abstract
The invention provides a torque compensation control method of a synchronous motor. The method includes: S1, sampling three-phase current of the synchronous motor; S2, acquiring direct-axis current Id and quadrature-axis current Iq; S3, acquiring an estimation angle of a rotor, and subjecting the estimation angle of the rotor to Kalman filtering so as to acquire filtered speed and filtered acceleration; S4, calculating compensating current Iq_com according to the filtered acceleration, the direct-axis current Id and the quadrature-axis current Iq; S5, acquiring quadrature-axis target current Iqref, acquiring direct-axis voltage Vd and acquiring quadrature-axis voltage Vq; S6, acquiring three-phase voltage and controlling the synchronous motor according to the three-phase voltage. By the torque compensation control method of the synchronous motor, complexity in calculation can be lowered, phase lag is reduced, noise is lowered effectively, vibration is suppressed effectively, and smoothness of the speed of the synchronous motor is improved. The invention further discloses a torque compensation control system of the synchronous motor.
Description
Technical field
The present invention relates to motor technology field, particularly a kind of torque compensation control system of synchronous machine and control method thereof.
Background technology
Along with progress and the growth in the living standard of science and technology, the comfortableness of user to electric equipment is had higher requirement.For household electrical appliance and electric automobile, noiseproof feature is the importance weighing systematic function, and torque fluctuations is one of main source of permagnetic synchronous motor generation noise, therefore, reducing torque fluctuations is one of effective means reducing permagnetic synchronous motor noise.
In prior art, following scheme is had for the torque fluctuations reducing motor, scheme 1, by the electric moter voltage equilibrium equation set up based on harmonic wave, 6 subharmonic are compensated, 6 subharmonic can be made obviously to reduce, but program amount of calculation is comparatively large, and just compensates fixing subharmonic, there is limitation in range of application; Scheme 2, by compensating electric current and voltage magnitude and phase place, reaches the object reducing low speed torque fluctuations, but the algorithm relative complex of the program, and amount of calculation is large; Scheme 3 and scheme 4, propose a kind of torque compensation scheme of motor location torque, reduce the torque fluctuations of motor, add the stationarity of motor speed, but the location torque fluctuation that above-mentioned two schemes only causes for the slot effect of motor compensates, and range of application also exists limitation; Scheme 5, is applied to the torque compensation of permagnetic synchronous motor by multilayer neural network, the algorithm of the program is very complicated, and amount of calculation is large, is difficult to meet engineering requirement of real-time.Scheme 6, proposes the torque compensation scheme that a kind of engineering easily realizes, but the program is only for surface-mount type motor, and range of application exists limitation, and acceleration is obtained through low-pass filtering by speed, and delayed phase is larger.
In sum, the shortcoming that prior art exists is: acceleration delayed phase is large, and algorithm is complicated, and amount of calculation is large, is difficult to meet engineering requirement of real-time, and range of application exists limitation.
Summary of the invention
Object of the present invention is intended to solve one of above-mentioned technical problem at least to a certain extent.
For this reason, one object of the present invention is the torque compensation control system proposing a kind of synchronous machine, and the delayed phase of this system acceleration is little, calculate simple, resources of chip occupancy is low, can meet engineering requirement of real-time, and hardware cost is low, applied range.
Another object of the present invention is the torque compensation control method proposing a kind of synchronous machine, and the method effectively can suppress the torque fluctuations of synchronous machine, improves the stationarity of its speed, thus reaches the object of the vibration & noise reducing synchronous machine.
For achieving the above object, one aspect of the present invention embodiment proposes a kind of torque compensation control system of synchronous machine, and the torque compensation control system of this synchronous machine comprises: current sample module, for three-phase current Ia, Ib, Ic of described synchronous machine of sampling; Position estimator, for estimating that the position of the rotor of described synchronous machine is to obtain the estimation angle of rotor; Kalman filtering module, for carrying out Kalman filtering process to obtain filtered speed and filtered acceleration to the estimation angle of described rotor; Velocity correction module, for carrying out velocity correction to obtain quadrature axis target current Iqref according to described target velocity to described filtered speed; First coordinate transferring, for carrying out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq to described three-phase current Ia, Ib, Ic; Current compensation computing module, for according to described filtered acceleration, described direct-axis current Id and quadrature axis current Iq calculation compensation electric current I
q_com; Current correction module, for carrying out the correction of d shaft current to obtain direct-axis voltage Vd according to d-axis target current Idref and described direct-axis current Id, and according to described quadrature axis target current Iqref, described quadrature axis current Iq and described offset current I
q_comcarry out the correction of q shaft current to obtain quadrature-axis voltage Vq; Second coordinate transferring, for carrying out Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc of controlling described synchronous machine to described direct-axis voltage Vd and quadrature-axis voltage Vq.
According to the torque compensation control system of the synchronous machine of the embodiment of the present invention, Kalman filtering process is carried out to obtain filtered speed and filtered acceleration by the estimation angle of Kalman filtering module to rotor, and obtain offset current by current compensation computing module, and then carry out torque compensation, the noise of synchronous machine can be reduced and suppress the vibration of synchronous machine, improving the stationarity of synchronous machine speed.In addition, the delayed phase of the acceleration of this torque compensation control system is little, resources of chip occupancy and hardware cost low, engineering requirement of real-time can be met, applied range.
Wherein, in one embodiment of the invention, described Kalman filtering module is used for calculated off-line kalman gain.
Kalman filtering module can reduce the complexity of calculating by calculated off-line kalman gain, and therefore, resources of chip occupancy is low, can meet engineering requirement of real-time.
Particularly, in one embodiment of the invention, the gain matrix of described Kalman filtering module can obtain according to following formulae discovery:
wherein, R
kfor observation noise variance, C
kfor observing matrix,
for C
ktransposed matrix, K
k|k-1for the gain matrix of described Kalman filtering module,
according to formula
determine, A
kfor state-transition matrix, P
kfor covariance matrix, Q
kfor the variance matrix of system model noise,
for A
ktransposed matrix.
Particularly, in one embodiment of the invention, the filtering equations of described Kalman filtering module is:
wherein,
for the filtering equations of described Kalman filtering module, Y
kaccording to formula Y
k=C
kx
k+ v
kdetermine, X
kfor state vector, v
kfor observation noise sequence,
according to formula
Determine.
Particularly, in one embodiment of the invention, the filter error variance of described Kalman filtering module can obtain according to following formulae discovery:
Wherein,
for the filter error variance of described Kalman filtering module, I is unit matrix.
Particularly, in one embodiment of the invention, described current compensation computing module can according to following formulae discovery offset current I
q_com: I
q_com=T
l/ K
t, wherein, loading moment T
l=T
e-Ja, T
efor electromagnetic torque, J is moment of inertia, and a is angular acceleration, K
tfor torque constant.
Further, in one embodiment of the invention, described second coordinate transferring can comprise: inverse park coordinate transformation unit, carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta for the estimation angle according to described rotor to described direct-axis voltage Vd and quadrature-axis voltage Vq; Inverse clarke coordinate transformation unit, for carrying out inverse clarke Coordinate Conversion to obtain described three-phase voltage Va, Vb, Vc to described two phase voltage Valpha, Vbeta.
Further, in one embodiment of the invention, described first coordinate transferring can comprise: clarke coordinate transformation unit, for carrying out clarke Coordinate Conversion to obtain biphase current Ialpha, Ibeta to described three-phase current Ia, Ib, Ic; Park coordinate transformation unit, carries out park Coordinate Conversion to obtain described direct-axis current Id and quadrature axis current Iq for the estimation angle according to described rotor to described biphase current Ialpha, Ibeta.
Particularly, in one embodiment of the invention, described position estimator is used for estimating that the position of the rotor of described synchronous machine is to obtain the estimation angle of described rotor according to described two phase voltage Valpha, Vbeta and described biphase current Ialpha, Ibeta.
For achieving the above object, the present invention on the other hand embodiment also proposes a kind of torque compensation control method of synchronous machine, and the method comprises the following steps: S1, samples to three-phase current Ia, Ib, Ic of described synchronous machine; S2, carries out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq to described three-phase current Ia, Ib, Ic; S3, estimates that the position of the rotor of described synchronous machine is to obtain the estimation angle of rotor, and carries out Kalman filtering process to obtain filtered speed and filtered acceleration to the estimation angle of described rotor; S4, according to described filtered acceleration, described direct-axis current Id and quadrature axis current Iq calculation compensation electric current I
q_com; S5, according to described target velocity, velocity correction is carried out to obtain quadrature axis target current Iqref to described filtered speed, and carry out the correction of d shaft current to obtain direct-axis voltage Vd according to d-axis target current Idref and described direct-axis current Id, and according to described quadrature axis target current Iqref, described quadrature axis current Iq and described offset current I
q_comcarry out the correction of q shaft current to obtain quadrature-axis voltage Vq; S6, carries out Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc to described direct-axis voltage Vd and quadrature-axis voltage Vq, and controls described synchronous machine according to described three-phase voltage Va, Vb, Vc.
According to the torque compensation control method of the synchronous machine of the embodiment of the present invention, the method carries out filtering process based on the estimation angle of Kalman filtering algorithm to rotor, obtain filtered speed and filtered acceleration, and then calculate offset current, realize compensating the moment of synchronous machine.The method can reduce the noise of synchronous machine and suppress the vibration of synchronous machine, improves the stationarity of synchronous machine speed, effectively can also reduce amount of calculation, reduce the delayed phase of acceleration, in addition, this torque compensation control method can meet engineering requirement of real-time, applied range.
Particularly, in one embodiment of the invention, the torque compensation control method of described synchronous machine, in step s3, by calculated off-line kalman gain.
Amount of calculation can be reduced by calculated off-line kalman gain.
Further, in one embodiment of the invention, the torque compensation control method of described synchronous machine, according to following formulae discovery kalman gain matrix:
wherein, R
kfor observation noise variance, C
kfor observing matrix,
for C
ktransposed matrix, K
k|k-1for described kalman gain matrix,
according to formula
determine, A
kfor state-transition matrix, P
kfor covariance matrix, Q
kfor the variance matrix of system model noise,
for A
ktransposed matrix.
Further, in one embodiment of the invention, the torque compensation control method of described synchronous machine, according to following formulae discovery Kalman filter equation:
wherein,
for filtered state vector, Y
kaccording to formula Y
k=C
kx
k+ v
kdetermine, X
kfor state vector, v
kfor observation noise sequence,
according to formula
Determine.
Further, the torque compensation control method of described synchronous machine, according to following formulae discovery Kalman filtering variance:
Wherein,
for described Kalman filtering variance, I is unit matrix.
Further, in one embodiment of the invention, the torque compensation control method of described synchronous machine, offset current I according to following formulae discovery
q_com: I
q_com=T
l/ K
t, wherein, loading moment T
l=T
e-Ja, T
efor electromagnetic torque, J is moment of inertia, and a is angular acceleration, K
tfor torque constant.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:
Fig. 1 is the block diagram of the torque compensation control system of synchronous machine according to the embodiment of the present invention;
Fig. 2 is the schematic diagram adding the torque compensation based on Kalman filtering and the angular speed response curve of the rotor during torque compensation not adding based on Kalman filtering according to an embodiment of the invention;
Fig. 3 is the schematic diagram adding the torque compensation based on Kalman filtering and the angular acceleration response curve of the rotor during torque compensation not adding based on Kalman filtering according to an embodiment of the invention;
Fig. 4 adds based on the schematic diagram of the torque compensation of Kalman filtering with the U phase phase current curve during torque compensation do not added based on Kalman filtering according to an embodiment of the invention; And
Fig. 5 is the flow chart of the torque compensation control method of synchronous machine according to the embodiment of the present invention.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
Disclosing hereafter provides many different embodiments or example is used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can in different example repeat reference numerals and/or letter.This repetition is to simplify and clearly object, itself does not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique that the invention provides and the example of material, but those of ordinary skill in the art can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it " on " structure can comprise the embodiment that the first and second features are formed as directly contact, also can comprise other feature and be formed in embodiment between the first and second features, such first and second features may not be direct contacts.
In describing the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
First the torque compensation control system of the synchronous machine proposed according to the embodiment of the present invention is described with reference to accompanying drawing.
As shown in Figure 1, the torque compensation control system of the synchronous machine of the embodiment of the present invention comprises: current sample module 10, position estimator 20, Kalman filtering module 30, velocity correction module 40, first coordinate transferring 50, current compensation computing module 60, current correction module 70 and the second coordinate transferring 80.Wherein, current sample module 10 is for three-phase current Ia, Ib, Ic of sample-synchronous motor.Position estimator 20 is for estimating that the position of the rotor of synchronous machine is to obtain the estimation angle of rotor.Kalman filtering module 30 is for carrying out Kalman filtering process to obtain filtered speed and filtered acceleration to the estimation angle of rotor.Velocity correction module 40 is for carrying out velocity correction to obtain quadrature axis target current Iqref according to target velocity to filtered speed.First coordinate transferring 50 obtains direct-axis current Id and quadrature axis current Iq for changing three-phase current Ia, Ib, Ic.Current compensation computing module 60 is for calculation compensation electric current I
q_com.Current correction module 70, for carrying out the correction of d shaft current to obtain direct-axis voltage Vd, and according to quadrature axis target current Iqref, quadrature axis current Iq and offset current I according to d-axis target current Idref and direct-axis current Id
q_comcarry out the correction of q shaft current to obtain quadrature-axis voltage Vq.Second coordinate transferring 80, for carrying out Coordinate Conversion to direct-axis voltage Vd and quadrature-axis voltage Vq to obtain three-phase voltage Va, Vb, Vc of control synchronization motor, and then controls motor according to three-phase voltage Va, Vb, Vc.
Particularly, in one embodiment of the invention, when synchronous machine works, three-phase operating current Ia, Ib, Ic of current sample module 10 sample-synchronous motor is utilized.It should be noted that, the synchronous machine of the embodiment of the present invention, can comprise surface-mount type permagnetic synchronous motor and built-in type permagnetic synchronous motor, therefore, the torque compensation control system of the synchronous machine of the embodiment of the present invention is wider.
After current acquisition module 10 collection obtains the three-phase operating current of synchronous machine, can be changed by the first coordinate transferring 50 couples of Ia, Ib, Ic.In one embodiment of the invention, the first coordinate transferring 50 can comprise: clarke coordinate transformation unit 501 and park coordinate transformation unit 502.Wherein, clarke coordinate transformation unit 501 is for carrying out clarke Coordinate Conversion to obtain biphase current Ialpha, Ibeta to three-phase current Ia, Ib, Ic.Namely say, the input signal of clarke coordinate transformation unit 501 is three-phase current Ia, Ib and Ic, outputs signal as biphase current Ialpha and Ibeta.In addition, conversion acquisition two phase voltage Valpha, Vbeta can be carried out by the second coordinate transferring 80 couples of direct-axis voltage Vd and quadrature-axis voltage Vq, particularly, the second coordinate transferring 80 can comprise inverse park coordinate transformation unit 801 and inverse clarke coordinate transformation unit 802.Wherein, the input signal of inverse park coordinate transformation unit 801 is direct-axis voltage Vd and quadrature-axis voltage Vq, and output signal is two phase voltage Valpha, Vbeta.
Further, in one embodiment of the invention, according to two phase voltage Valpha, Vbeta and biphase current Ialpha, Ibeta, position estimator 20 estimates that the position of the rotor of synchronous machine is to obtain the estimation angle of rotor, thus complete the measurement of the position to rotor, and the estimation angle of rotor is exported to park coordinate transformation unit 502, inverse park coordinate transformation unit 801 and Kalman filtering module 30.Wherein, park coordinate transformation unit 502 can carry out park Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq according to the estimation angle of rotor to biphase current Ialpha, Ibeta.Inverse park coordinate transformation unit 801 carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta according to the estimation angle of rotor to direct-axis voltage Vd and quadrature-axis voltage Vq, and then feeds back to position estimator 20 again to estimate the position of the rotor of synchronous machine.In addition, Kalman filtering module 30 realizes carrying out filtering to the estimation angle of rotor based on Kalman filter theory, thus obtains filtered speed and filtered acceleration.According to the torque compensation control system of the synchronous machine of the embodiment of the present invention, filtered acceleration delayed phase is little, and, Kalman filtering is realized by software programming, greatly can simplify computational process, System on Chip/SoC resources occupation rate is low, without the need to increasing hardware cost.
Below detailed description Kalman filtering module 30 is realized carrying out filtering to the estimation angle of rotor based on Kalman filter theory, thus obtain filtered speed and filtered acceleration, and then to the process that the moment of synchronous machine compensates.
In one embodiment of the invention, Kalman filtering module 30 can calculated off-line kalman gain, and wherein, the gain matrix of Kalman filtering module 30 can obtain according to following formulae discovery:
Wherein, R
kfor observation noise variance, C
kfor observing matrix,
for C
ktransposed matrix, K
k|k-1for the gain matrix of Kalman filtering module 30,
according to formula
determine, A
kfor state-transition matrix, P
kfor covariance matrix, Q
kfor the variance matrix of system model noise,
for A
ktransposed matrix.It should be noted that, K
k|k-1for predicting the gain matrix in the k moment obtained based on the gain matrix in k-1 moment,
for predicting the filter error variance in the k moment obtained based on the filter error variance in k-1 moment.
Further, in one embodiment of the invention, the filter error variance of Kalman filtering module 30 can obtain according to following formulae discovery:
Wherein,
for the filter error variance of the Kalman filtering module 30 in k moment, I is unit matrix.
Further, in one embodiment of the invention, the filtering equations of Kalman filtering module 30 is:
Wherein,
for filtered state vector, Y
kaccording to formula Y
k=C
kx
k+ v
kdetermine, X
kfor state vector, v
kfor observation noise sequence,
for predicting the filtered state vector in the k moment obtained based on the filtered state vector in k-1 moment, according to formula
determine.
In the Kalman filtering module 30 of the embodiment of the present invention,
with K
kvalue directly related, and gain matrix K
k|k-1then with filter error variance
change and change, optimum gain matrix K
kand K
k|k-1can be based on
calculate.Due to
be based on
prediction obtains, and therefore Kalman filtering module 30 needs the filter error variance by obtaining the k-1 moment
and then calculate K
k|k-1.In addition, according to Reccati equation, as long as meet the condition of convergence of Kalman filtering algorithm, once the variance matrix Q of system model noise
k, observation noise variance R
kand state-transition matrix A
kafter determining, then gain matrix K
k|k-1a scalar matrix K must be converged on after limited number of time iteration
k, namely obtain optimum gain matrix K
k.According to optimum gain matrix K
kstate vector after calculation of filtered
filtered speed and filtered acceleration can be obtained.
In one embodiment of the invention, if state vector X
k=(θ
kω
ka
k) ', wherein, θ
k, ω
k, a
kbe respectively the estimation angular acceleration of the estimation angle of the rotor of k timing synchronization motor, the estimated angular velocity of rotor and rotor, due to the estimation angle θ being input as rotor of Kalman filtering module 30
k, thus observing matrix C
k=[1 0 0], state-transition matrix
Wherein, T is the sampling time.Through Kalman filtering module 30 couples of θ
knamely filtered speed and filtered acceleration is obtained after carrying out Kalman filtering process.
Particularly, in one embodiment of the invention, deviation between filtered speed and target velocity is as the input of velocity correction module 40, deviation between velocity correction module 40 pairs of target velocities and filtered speed carries out velocity correction to obtain quadrature axis target current Iqref, and filtered acceleration is input to current compensation computing module 60, with calculation compensation electric current I
q_com.Further, in one embodiment of the invention, current compensation computing module 60 is according to following formulae discovery offset current:
I
q_com：I
q_com=T
L/K
t，
Wherein, precondition is: direct-axis current I
d=0, I
q_comfor q axle offset current, loading moment T
l=T
e-Ja, T
efor electromagnetic torque, J is moment of inertia, and a is the angular acceleration of rotor, K
tfor torque constant, electromagnetic torque T
edetermine according to following formula:
T
e=1.5N
p(φI
q+(L
d-L
q)I
dI
q)，
Wherein, N
pfor number of pole-pairs, φ is permanent magnet magnetic flux, L
d, L
qbe respectively d-axis inductance and quadrature axis inductance, I
d, I
qbe respectively direct-axis current and quadrature axis current.
Particularly, in one embodiment of the invention, current correction module 70 can comprise q shaft current correcting unit 701 and d shaft current correcting unit 702.Wherein, q shaft current correcting unit 701 is according to quadrature axis target current Iqref, quadrature axis current Iq and offset current I
q_comcarry out the correction of q shaft current to obtain quadrature-axis voltage Vq, the deviation after namely carrying out current compensation to quadrature axis target current Iqref and between quadrature axis current Iq carries out current correction to obtain quadrature-axis voltage Vq.D shaft current correcting unit 702, for carrying out the correction of d shaft current according to d-axis target current Idref and direct-axis current Id to obtain direct-axis voltage Vd, namely carries out current correction to obtain direct-axis voltage Vd to the deviation between d-axis target current Idref and direct-axis current Id.
Carry out after correction obtains quadrature-axis voltage Vq and direct-axis voltage Vd at the electric current of current correction module 70 pairs of q axles and d axle, further quadrature-axis voltage Vq and direct-axis voltage Vd is inputed to inverse park coordinate transformation unit 801, inverse park coordinate transformation unit 801 carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha according to the estimation angle of rotor to direct-axis voltage Vd and quadrature-axis voltage Vq, Vbeta, by two phase voltage Valpha, while Vbeta feeds back to position estimator 20, can by inverse clarke coordinate transformation unit 802 by two phase voltage Valpha, Vbeta changes, namely inverse clarke coordinate transformation unit 802 is passed through to two phase voltage Valpha, Vbeta carries out inverse clarke Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc.And then three-phase voltage Va, Vb, Vc are fed back to synchronous machine to realize compensating control to the moment of synchronous machine, namely according to three-phase voltage Va, Vb, Vc, motor is controlled.
Based on the course of work of the torque compensation control system of above synchronous machine, further, in one particular embodiment of the present invention, a large amount of emulation experiments has been carried out to adding torque compensation and not adding torque compensation two kinds of situations, particularly, the synchronous machine of torque compensation control system can be compressor of air conditioner, and the resistance of this compressor of air conditioner is 1.15 Ω, d axle inductance is 11mH, q axle inductance is 19.6mH, back emf coefficient is 35V/krpm, and number of pole-pairs is 2, and moment of inertia is 0.003Kg.m
2, the speed preset of rotor is 10Hz.The simulation experiment result as shown in Figure 2, Figure 3 and Figure 4.
Fig. 2 is the schematic diagram adding the torque compensation based on Kalman filtering and the angular speed response curve of the rotor during torque compensation not adding based on Kalman filtering according to an embodiment of the invention.Wherein, abscissa is for counting, ordinate is the angular speed (unit Hz) of the rotor of synchronous machine, curve 1 is for adding the angular speed response curve of the rotor after based on the torque compensation of Kalman filtering, and curve 2 is the angular speed response curve of rotor when not adding the torque compensation based on Kalman filtering.As seen from Figure 2, after adding the torque compensation based on Kalman filtering, the angular velocity fluctuation of the rotor of synchronous machine obviously reduces.
Fig. 3 is the schematic diagram adding the torque compensation based on Kalman filtering and the angular acceleration response curve of the rotor during torque compensation not adding based on Kalman filtering according to an embodiment of the invention.Wherein, abscissa is for counting, and ordinate is angular acceleration (the unit Hz/s of rotor
2), curve 3 is for adding the angular acceleration response curve of the rotor after based on the torque compensation of Kalman filtering, and curve 4 is the angular acceleration response curve of rotor when not adding the torque compensation based on Kalman filtering.As seen from Figure 3, after adding the torque compensation based on Kalman filtering, the angular acceleration fluctuation of the rotor of synchronous machine also obviously reduces.
Fig. 4 adds according to an embodiment of the invention based on the schematic diagram of the torque compensation of Kalman filtering with the U phase phase current curve during torque compensation do not added based on Kalman filtering.Abscissa is for counting, and ordinate is U phase phase current (unit A), and curve 5 is for adding the U phase phase current curve after based on the torque compensation scheme of Kalman filtering, and curve 6 is U phase phase current curve when not adding the torque compensation based on Kalman filtering.As seen from Figure 4, after adding the torque compensation based on Kalman filtering, the cyclic fluctuation waveform of U phase phase current there occurs change, and this change is just because of adding, and current compensation moment causes.
Above-mentioned the simulation experiment result shows, the angular speed of the rotor of torque compensation control system after Kalman filtering of the synchronous machine based on Kalman filtering of the embodiment of the present invention and the delayed less of the angular acceleration of filtered rotor, effectively can suppress the torque fluctuations of synchronous machine, improve the stationarity of its speed, therefore, this system can be applied under more high-revolving operating mode.
According to the torque compensation control system of the synchronous machine of the embodiment of the present invention, filtered speed and filtered acceleration is obtained by Kalman filtering module, and carry out calculated off-line acquisition offset current by current compensation computing module, and then carry out torque compensation, the noise of synchronous machine can be reduced and suppress the vibration of synchronous machine, improve the stationarity of synchronous machine speed, effectively can also reduce amount of calculation, reduce the delayed phase of acceleration, and, resources of chip occupancy and hardware cost low, engineering requirement of real-time can be met, applied range.
The torque compensation control method of the synchronous machine proposed according to the embodiment of the present invention is described with reference to the accompanying drawings.
As shown in Figure 5, the torque compensation control method of the synchronous machine of the embodiment of the present invention comprises the following steps:
S1, samples to three-phase current Ia, Ib, Ic of synchronous machine.
When synchronous machine works, utilize three-phase operating current Ia, Ib, Ic of current sample module 10 sample-synchronous motor, and enter step S2.
S2, carries out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq to three-phase current Ia, Ib, Ic.
After sampling three-phase operating current Ia, Ib, Ic of synchronous machine, clarke Coordinate Conversion is carried out to three-phase current Ia, Ib, Ic, to obtain biphase current Ialpha, Ibeta, and carry out park Coordinate Conversion, thus obtain direct-axis current Id and quadrature axis current Iq.
S3, estimates that the position of the rotor of synchronous machine is to obtain the estimation angle of rotor, and carries out Kalman filtering process to obtain filtered speed and filtered acceleration to the estimation angle of rotor.
Can estimate according to two phase voltage Valpha, the Vbeta obtaining biphase current Ialpha, Ibeta and feedback in step S2 that the position of the rotor of synchronous machine is to obtain the estimation angle of rotor, wherein, two phase voltage Valpha, the Vbeta of feedback have supplementary notes below.It should be noted that, after the estimation angle obtaining rotor, will estimate that angle feed-back is to step S2 further, and in step s 2, park Coordinate Conversion can be carried out according to the estimation angle obtained in this step, thus obtain direct-axis current Id and quadrature axis current Iq.
After the estimation angle obtaining rotor, carry out Kalman filtering process to the estimation angle of rotor, detailed process is as follows: in one embodiment of the invention, based on Kalman filter theory by calculated off-line kalman gain, particularly, can according to following formulae discovery kalman gain matrix:
Wherein, R
kfor observation noise variance, C
kfor observing matrix,
for C
ktransposed matrix, K
k|k-1for the gain matrix of Kalman filtering module,
according to formula
determine, A
kfor state-transition matrix, P
kfor covariance matrix, Q
kfor the variance matrix of system model noise,
for A
ktransposed matrix, K
k|k-1for predicting the gain matrix in the k moment obtained based on the gain matrix in k-1 moment,
for predicting the filter error variance in the k moment obtained based on the filter error variance in k-1 moment.Particularly, the filter error variance of Kalman filtering module obtains according to following formulae discovery:
Wherein,
for the filter error variance of the Kalman filtering module in k moment, I is unit matrix.
Further, the filtering equations of Kalman filtering module is:
wherein,
for filtered state vector, Y
kaccording to formula Y
k=C
kx
k+ v
kdetermine, X
kfor state vector, v
kfor observation noise sequence,
for predicting the filtered state vector in the k moment obtained based on the filtered state vector in k-1 moment, according to formula
determine.
In Kalman's module of the embodiment of the present invention,
with K
kvalue directly related, and gain matrix K
k|k-1then with filter error variance
change and change, optimum gain matrix K
kand K
k|k-1be based on
calculate.Due to
based on
prediction obtains, and therefore Kalman's module needs the filter error variance by obtaining the k-1 moment
and then calculate K
k|k-1.In addition, according to Reccati equation, as long as meet the condition of convergence of Kalman filtering algorithm, once the variance matrix Q of system model noise
k, observation noise variance R
kand state-transition matrix A
kafter determining, then gain matrix K
k|k-1a scalar matrix K must be converged on after limited number of time iteration
k, namely obtain optimum gain matrix K
k.According to optimum gain matrix K
kstate vector after calculation of filtered
namely obtain filtered speed and filtered acceleration, enter step S4.
S4, according to filtered acceleration, direct-axis current Id and quadrature axis current Iq calculation compensation electric current I
q_com.
Particularly, after calculating filtered acceleration in step s3, according to following formulae discovery offset current:
I
q_com：I
q_com=T
L/K
t，
Wherein, direct-axis current I now
d=0, I
q_comfor q axle offset current, loading moment T
l=T
e-Ja, J are moment of inertia, and a is angular acceleration, K
tfor torque constant, electromagnetic torque T
edetermine according to following formula:
T
e=1.5N
p(φI
q+(L
d-L
q)I
dI
q)，
Wherein, N
pfor number of pole-pairs, φ is permanent magnet magnetic flux, L
d, L
qbe respectively d-axis inductance and quadrature axis inductance, I
d, I
qbe respectively direct-axis current and quadrature axis current.
After obtaining offset current according to above formulae discovery, enter step S5.
S5, according to target velocity, velocity correction is carried out to obtain quadrature axis target current Iqref to filtered speed, and carry out the correction of d shaft current to obtain direct-axis voltage Vd according to d-axis target current Idref and direct-axis current Id, and according to quadrature axis target current Iqref, quadrature axis current Iq and offset current I
q_comcarry out the correction of q shaft current to obtain quadrature-axis voltage Vq.
S6, carries out Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc to direct-axis voltage Vd and quadrature-axis voltage Vq, and controls synchronous machine according to three-phase voltage Va, Vb, Vc.
Particularly, after obtaining direct-axis voltage Vd and quadrature-axis voltage Vq by step S5, estimation angle according to the rotor obtained in step S3 carries out inverse park Coordinate Conversion to direct-axis voltage Vd and quadrature-axis voltage Vq, to obtain two phase voltage Valpha, Vbeta, and inverse clarke Coordinate Conversion is carried out to two phase voltage Valpha, Vbeta, thus obtain three-phase voltage Va, Vb, Vc, and then according to three-phase voltage Va, Vb, Vc, the moment of synchronous machine is controlled.It should be noted that, after acquisition two phase voltage Valpha, Vbeta, also need two phase voltage Valpha, Vbeta to be fed back to step S3 to estimate the estimation angle of rotor.
In sum, according to the torque compensation control method of the synchronous machine of the embodiment of the present invention, the method carries out filtering process based on the estimation angle of Kalman filtering algorithm off-line to rotor, by calculating offset current, and then the torque compensation realized synchronous machine, amount of calculation can be reduced, reduce the delayed phase of acceleration, effectively can also suppress the torque fluctuations of synchronous machine, improve the stationarity of synchronous machine speed, to reducing the noise of synchronous machine and suppressing the vibration important in inhibiting of synchronous machine.
Describe and can be understood in flow chart or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this specification, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random-access memory (ram), read-only memory (ROM), erasablely edit read-only memory (EPROM or flash memory), fiber device, and portable optic disk read-only memory (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanner to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the application-specific integrated circuit (ASIC) of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be read-only memory, disk or CD etc.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (15)
1. a torque compensation control system for synchronous machine, is characterized in that, comprising:
Current sample module, for three-phase current Ia, Ib, Ic of described synchronous machine of sampling;
Position estimator, for estimating that the position of the rotor of described synchronous machine is to obtain the estimation angle of rotor;
Kalman filtering module, for carrying out Kalman filtering process to obtain filtered speed and filtered acceleration to the estimation angle of described rotor;
Velocity correction module, for carrying out velocity correction to obtain quadrature axis target current Iqref according to described target velocity to described filtered speed;
First coordinate transferring, for carrying out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq to described three-phase current Ia, Ib, Ic;
Current compensation computing module, for according to described filtered acceleration, described direct-axis current Id and quadrature axis current Iq calculation compensation electric current I
q_com;
Current correction module, for carrying out the correction of d shaft current to obtain direct-axis voltage Vd according to d-axis target current Idref and described direct-axis current Id, and according to described quadrature axis target current Iqref, described quadrature axis current Iq and described offset current I
q_comcarry out the correction of q shaft current to obtain quadrature-axis voltage Vq;
Second coordinate transferring, for carrying out Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc of controlling described synchronous machine to described direct-axis voltage Vd and quadrature-axis voltage Vq.
2. the torque compensation control system of synchronous machine as claimed in claim 1, is characterized in that, described Kalman filtering module calculated off-line kalman gain.
3. the torque compensation control system of synchronous machine as claimed in claim 2, it is characterized in that, the gain matrix of described Kalman filtering module obtains according to following formulae discovery:
Wherein, R
kfor observation noise variance, C
kfor observing matrix,
for C
ktransposed matrix, K
k|k-1for the gain matrix of described Kalman filtering module,
according to formula
determine, A
kfor state-transition matrix, P
kfor covariance matrix, Q
kfor the variance matrix of system model noise,
for A
ktransposed matrix.
4. the torque compensation control system of synchronous machine as claimed in claim 3, it is characterized in that, the filtering equations of described Kalman filtering module is:
Wherein,
for filtered state vector, Y
kaccording to formula Y
k=C
kx
k+ v
kdetermine, X
kfor state vector, v
kfor observation noise sequence,
according to formula
determine.
5. the torque compensation control system of synchronous machine as claimed in claim 3, it is characterized in that, the filter error variance of described Kalman filtering module obtains according to following formulae discovery:
Wherein,
for the filter error variance of described Kalman filtering module, I is unit matrix.
6. the torque compensation control system of synchronous machine as claimed in claim 1, is characterized in that, described current compensation computing module offset current I according to following formulae discovery
q_com:
I
q_com=T
L/K
t
Wherein, loading moment T
l=T
e-Ja, T
efor electromagnetic torque, J is moment of inertia, and a is angular acceleration, K
tfor torque constant.
7. the torque compensation control system of synchronous machine as claimed in claim 1, it is characterized in that, described second coordinate transferring comprises:
Inverse park coordinate transformation unit, carries out inverse park Coordinate Conversion to obtain two phase voltage Valpha, Vbeta for the estimation angle according to described rotor to described direct-axis voltage Vd and quadrature-axis voltage Vq;
Inverse clarke coordinate transformation unit, for carrying out inverse clarke Coordinate Conversion to obtain described three-phase voltage Va, Vb, Vc to described two phase voltage Valpha, Vbeta.
8. the torque compensation control system of synchronous machine as claimed in claim 7, it is characterized in that, described first coordinate transferring comprises:
Clarke coordinate transformation unit, for carrying out clarke Coordinate Conversion to obtain biphase current Ialpha, Ibeta to described three-phase current Ia, Ib, Ic;
Park coordinate transformation unit, carries out park Coordinate Conversion to obtain described direct-axis current Id and quadrature axis current Iq for the estimation angle according to described rotor to described biphase current Ialpha, Ibeta.
9. the torque compensation control system of synchronous machine as claimed in claim 7, it is characterized in that, described position estimator is used for estimating that the position of the rotor of described synchronous machine is to obtain the estimation angle of described rotor according to described two phase voltage Valpha, Vbeta and described biphase current Ialpha, Ibeta.
10. a torque compensation control method for synchronous machine, is characterized in that, comprise the following steps:
S1, samples to three-phase current Ia, Ib, Ic of described synchronous machine;
S2, carries out Coordinate Conversion to obtain direct-axis current Id and quadrature axis current Iq to described three-phase current Ia, Ib, Ic;
S3, estimates that the position of the rotor of described synchronous machine is to obtain the estimation angle of rotor, and carries out Kalman filtering process to obtain filtered speed and filtered acceleration to the estimation angle of described rotor;
S4, according to described filtered acceleration, described direct-axis current Id and quadrature axis current Iq calculation compensation electric current I
q_com;
S5, according to described target velocity, velocity correction is carried out to obtain quadrature axis target current Iqref to described filtered speed, and carry out the correction of d shaft current to obtain direct-axis voltage Vd according to d-axis target current Idref and described direct-axis current Id, and according to described quadrature axis target current Iqref, described quadrature axis current Iq and described offset current I
q_comcarry out the correction of q shaft current to obtain quadrature-axis voltage Vq;
S6, carries out Coordinate Conversion to obtain three-phase voltage Va, Vb, Vc to described direct-axis voltage Vd and quadrature-axis voltage Vq, and controls described synchronous machine according to described three-phase voltage Va, Vb, Vc.
The torque compensation control method of 11. synchronous machines as claimed in claim 10, is characterized in that, in step s3, by calculated off-line kalman gain.
The torque compensation control method of 12. synchronous machines as claimed in claim 11, is characterized in that, according to following formulae discovery kalman gain matrix:
Wherein, R
kfor observation noise variance, C
kfor observing matrix,
for C
ktransposed matrix, K
k|k-1for described kalman gain matrix,
according to formula
determine, A
kfor state-transition matrix, P
kfor covariance matrix, Q
kfor the variance matrix of system model noise,
for A
ktransposed matrix.
The torque compensation control method of 13. synchronous machines as claimed in claim 12, is characterized in that, according to following formulae discovery Kalman filter equation:
Wherein,
for filtered state vector, Y
kaccording to formula Y
k=C
kx
k+ v
kdetermine, X
kfor state vector, v
kfor observation noise sequence,
according to formula
determine.
The torque compensation control method of 14. synchronous machines as claimed in claim 12, is characterized in that, according to following formulae discovery Kalman filtering variance:
Wherein,
for described Kalman filtering variance, I is unit matrix.
The torque compensation control method of 15. synchronous machines as claimed in claim 10, is characterized in that, offset current I according to following formulae discovery
q_com:
I
q_com=T
L/K
t
Wherein, loading moment T
l=T
e-Ja, T
efor electromagnetic torque, J is moment of inertia, and a is angular acceleration, K
tfor torque constant.
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