CN104635033B - Current error compensation method applied to motor - Google Patents
Current error compensation method applied to motor Download PDFInfo
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- CN104635033B CN104635033B CN201310300774.1A CN201310300774A CN104635033B CN 104635033 B CN104635033 B CN 104635033B CN 201310300774 A CN201310300774 A CN 201310300774A CN 104635033 B CN104635033 B CN 104635033B
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Abstract
The invention provides a current error compensation method applied to a motor. The method comprises steps: a two-axis measurement current is acquired; a measurement voltage is calculated according to the two-axis measurement current and a resistance value; an error voltage value is calculated according to the measurement voltage and a two-axis voltage; the rotation speed value of the motor is judged whether to be larger than a high rotation speed setting value or smaller than a low rotation speed setting value; if the judgment result is negative, the error voltage value is used for carrying out positive sequence processing to generate a positive sequence value, and the error voltage value is used for carrying out negative sequence processing to generate a negative sequence value; a sequence error value is generated according to the positive sequence value and the negative sequence value; filter processing is carried out on the sequence error value to generate a filter sequence value; integral processing is carried out on the filter sequence value to generate a compensation error current value; subtraction is carried out on the two-axis measurement current and the compensation error current value to generate an actual current; and subtraction is carried out on a two-axis current and the actual current so as to compensate the two-axis current.
Description
Technical field
The present invention relates to a kind of current error compensation method for being applied to motor, more particularly, to one kind by tachometer value
When between high speed setting value and slow-speed of revolution setting value, error compensation is carried out according to sequence error of the positive sequence with negative sequence
Current error compensation method.
Background technology
With the progress and development in epoch, motor is widely used in the middle of the life of people, and then brings people's life phase
When facility, wherein, the measurement precision of phase current influences whether its error, and this error typically can due to motor in the running
Have influence on the performance of direct torque and affect the running efficiency of motor, therefore stability of the motor in operating control, it is commonly
The be intended to problem for solving of industry.
Wherein, industry method and step used generally includes electric current reading；By this side-play amount and previous skew
Amount sum calculates current offset amount；Current offset value calculating is calculated with discussing for sampling number using side-play amount summation；And electricity
The step of stream migration, wherein, the current offset modification method of above-mentioned current control be motor without it is excitatory when（I.e. motor is mutually electric
In the state of stream is zero）, read three-phase electricity flow valuve and can learn current offset amount, being then used by current offset amount, to carry out electric current inclined
The calculating of shifting value, and and then carry out the migration of phase current.Wherein, although said method is capable of achieving current offset compensation, so
And, when motor temperature drift causes current reference value to offset, above-mentioned compensation method can be failed and be produced error in measurement, enter
And have influence on the performance of direct torque.
The content of the invention
In view of the existing method compensated to motor current error generally in temperature drift, can fail and yield
Error is surveyed, and then has influence on the problem of the performance of direct torque.Edge this, present invention is primarily targeted at provide one kind be applied to
The current error compensation method of motor, its mainly by tachometer value between high speed setting value and slow-speed of revolution setting value
When, the sequence error of positive sequence and negative sequence is calculated, and error compensation is carried out to electric current according to sequence error, to solve temperature
The problem of drift.
Based on above-mentioned purpose, technical way of the present invention is to provide a kind of current error for being applied to motor
Compensation method, to one or two shaft current for compensating a motor, motor includes an at least coil, and is electrically connected at a control
Device, the current error compensation method for being applied to motor are included（a）Obtain one or two axle measured current of motor；（b）According to two axle amounts
A resistance value of electric current and coil is surveyed, a measurement voltage is calculated；（c）According to one or two shaft voltage for measuring voltage and controller,
Calculate an error voltage value；（d）Judge a tachometer value of motor whether more than a high speed setting value；（e）In step（d）'s
When judged result is no, judge tachometer value whether less than a slow-speed of revolution setting value；（f）In step（e）Judged result for it is no when,
A positive sequence column processing is carried out using error voltage value, and so as to producing a positive sequence train value, and it is negative one to be carried out using error voltage value
Series processing, so as to producing a negative phase-sequence train value.
（g）A sequence error value is produced with negative phase-sequence train value according to positive sequence train value；（h）Sequence error value is carried out at a filtering
Reason, so as to producing a filtered sequence value；（i）One Integral Processing is carried out to filtered sequence value, error current is compensated so as to producing one
Value；（j）Two axle measured currents are made to subtract each other with compensation error, so as to producing an error current；And（k）Make two shaft currents and error
Current subtraction, so as to compensating two shaft currents.Wherein, positive sequence be processed as by error voltage value through a positive phase angle exponential function,
The combinatorial operation of one tachometer value, an inductance value of coil, a convolution and an imaginary root and produce positive sequence train value, negative sequence be processed as by
Error voltage value produces negative phase-sequence train value through the combinatorial operation of a negative angle exponential function and resistance value.
In addition, in the preferred embodiment of the attached technological means of the above-mentioned current error compensation method for being applied to motor,
Step（d）Judged result for be when, perform a step（d1）Carry out positive sequence column processing to produce positive sequence using error voltage value
Train value, and in step（e）Judged result for be when, perform a step（e1）Using error voltage value carry out negative phase-sequence column processing with
Negative phase-sequence train value, and high speed setting value are produced for 2/3rds times of tachometer value, slow-speed of revolution setting value for tachometer value three/
One times.Additionally, in step（g）In, by positive sequence train value and negative phase-sequence train value and and generation sequence error value, and sequence error value
For a weight ratio.In addition, controller is a current controller, and motor is permanent magnet synchronous motor（Permanent-
Magnet Aynchronous Motor；PMSM）, and in step（h）In, process is filtered by a low pass filter, borrow
To produce filtered sequence value.
Therefore, it is applied to after the current error compensation method of motor, due to being to utilize sequence by of the present invention
The relatedness of the error, two shaft currents and controller voltage of error amount and two axle measured currents, sets up out current measurement error
Compensation model, which is not required to the hardware designs for increasing circuit, it is only necessary to the value compensated needed for error in measurement can be calculated using feedback,
Therefore, compensation method of the invention calculating current deviant can be modified under motor "on" position at any time, and which can be effective
The current offset caused by temperature drift problems is solved, and then increases the stability of direct torque.
Specific embodiment of the present invention, will be further described by below example and accompanying drawing.
Description of the drawings
Fig. 1 is the hardware structure schematic diagram of the current error compensation for being applied to motor for showing present pre-ferred embodiments；
Fig. 2 and Fig. 2A is the flow process of the current error compensation method for being applied to motor for showing present pre-ferred embodiments
Figure；And
Fig. 3 is weight ratio oscillogram of the positive sequence train value with negative phase-sequence train value for showing present pre-ferred embodiments.
Reference
1：Motor 2：Controller
3、3a：Axle transducer 4：Converter
5：Multiplier 6：Positive sequence device
7：Negative sequence device 8：Low pass filter
9：Integrator 100,200：Waveform
A：Interval N1：First subtractor
N2：Adder N3：Second subtractor
N4：3rd subtractor I1：Two shaft currents
I2：Two axle measured current I3：Actual current
Specific embodiment
In due to the current error compensation for being applied to motor of present pre-ferred embodiments provided by the present invention, which combines
Embodiment is too numerous to enumerate, therefore this is no longer going to repeat them, only enumerates a preferred embodiment to be illustrated.
Fig. 1 is refer to, Fig. 1 is the hardware frame of the current error compensation for being applied to motor for showing present pre-ferred embodiments
Structure schematic diagram, as shown in figure 1, the hardware used by the current error compensation method for being applied to motor of present pre-ferred embodiments
Framework includes a motor 1,2, two axle transducers of a controller 3 and 3a, a converter 4, a multiplier 5, a positive sequence device
6th, a negative sequence device 7, a low pass filter 8 and an integrator 9.
In present pre-ferred embodiments, motor 1 is three-phase type permanent magnet synchronous motor（Permanent-Magnet
Aynchronous Motor；PMSM）, but not limited to this in other embodiments, additionally, motor 1 has an at least coil（Figure
Do not show）.Controller 2 is current controller, and axle transducer 3 is electrically connected at controller 2, and axle transducer 3 turns three-phase for biphase
Axle transducer, converter 4 are electrically connected at axle transducer 3 and motor 1, and axle transducer 3a is electrically connected at converter 4, and axle turns
Parallel operation 3a is that three-phase turns biphase axle transducer.
Multiplier 5 is electrically connected at axle transducer 3a, and the multiplier set by which is the resistance value △ R on coil, in addition,
Multiplier 5 is electrically connected with via one first subtractor N1 with controller 2.Positive sequence device 6 can judge electricity via one with negative sequence device 7
Road（It is not shown）With above-mentioned subtractor and be electrically connected at multiplier 5, additionally, positive sequence device 6 is with negative sequence device 7 and electrically
It is connected to adder N2.Low pass filter 8 is electrically connected with positive sequence device 6, negative sequence device 7 via above-mentioned adder N2
Connect.Integrator 9 is electrically connected at low pass filter 8, and can electrically connect with axle transducer 3a via one second subtractor N3
Connect, additionally, integrator 9 is electrically connected with controller 2 via the second subtractor N3 and one the 3rd subtractor N4 forms feedback
Circuit.
In order that those skilled in the art can know more about the present invention technology contents, please with reference to Fig. 1, Fig. 2 with
Fig. 2A and Fig. 3, Fig. 2 and the stream that Fig. 2A is the current error compensation method for being applied to motor for showing present pre-ferred embodiments
Cheng Tu, Fig. 3 are weight ratio oscillogram of the positive sequence train value with negative phase-sequence train value for showing present pre-ferred embodiments, and the present invention is preferably in fact
Apply example be applied to motor current error compensation method the step of it is as follows：
Step S101：Obtain one or two axle measured current of motor；
Step S102：According to two axle measured currents and a resistance value of coil, a measurement voltage is calculated；
Step S103：According to one or two shaft voltage for measuring voltage and controller, an error voltage value is calculated；
Step S104：Judge a tachometer value of motor whether more than a high speed setting value；
Step S105：Judge tachometer value whether less than a slow-speed of revolution setting value；
Step S106：A positive sequence column processing is carried out using error voltage value, so as to producing a positive sequence train value, and using mistake
Potential difference value carries out a negative phase-sequence column processing, so as to producing a negative phase-sequence train value；
Step S107：A sequence error value is produced with negative phase-sequence train value according to positive sequence train value；
Step S108：One Filtering Processing is carried out to sequence error value, so as to producing a filtered sequence value；
Step S109：One Integral Processing is carried out to filtered sequence value, error is compensated so as to producing one；
Step S110：Two axle measured currents are made to subtract each other with compensation error, so as to producing an actual current；
Step S111：Two shaft currents are made to subtract each other with actual current, so as to compensating two shaft currents；
Step S112：Positive sequence column processing is carried out using error voltage value, so as to producing positive sequence train value；And
Step S113：Negative phase-sequence column processing is carried out using error voltage value, so as to producing negative phase-sequence train value.
After step starts, execution step S101 obtains one or two axle measured current of motor immediately.Wherein, in this step,
Controller 2 can receive a current error related to two shaft currents I1 and produce two shaft voltages, and axle transducer 3 can be by two axles electricity
Pressure switchs to three-phase, and converter 4 exports three-phase voltage to motor, and axle transducer 3a measures this three-phase current（It is not shown）And will
Which is biphase from three-phase inversion, and obtaining has two axle measured current I2.
After execution of step S101, a resistance value of execution step S102 according to two axle measured currents and coil immediately,
Calculate a measurement voltage.Wherein, in this step S102, after two axle measured current I2 are obtained out, can enter through multiplier 5
Row computing, two axle measured current I2 are mainly multiplied by the resistance value △ R on coil by which, and then calculate measurement voltage Vm, wherein,
Resistance value △ R can be an accurate or inaccurate value, and its visual actual state is adjusted.
After execution of step S102, execution step S103 foundation measures one or two shaft voltage of voltage and controller immediately,
Calculate an error voltage value, specifically, in this step, by the first above-mentioned subtractor N1, will measure voltage Vm with
After output voltage Vout on controller 2 subtracts each other, error voltage value △ V are calculated.
After execution of step S103, whether execution step S104 judges a tachometer value of motor more than a high rotating speed immediately
Setting value.Wherein, in this step, it is whether big to judge the tachometer value ω of the operating now of motor 1 by above-mentioned decision circuitry
In default high speed setting value, and this high speed setting value may be set to 2/3rds times of tachometer value ω, certainly at other
This is not limited in embodiment, the situation adjustment in its visual practical operation.
When the judged result of step S104 is no, execution step S105 judges whether tachometer value is set less than a slow-speed of revolution
Value.Wherein, in this step, whether it is less than come the tachometer value ω for judging the operating now of motor 1 by above-mentioned decision circuitry pre-
If slow-speed of revolution setting value, and this slow-speed of revolution setting value typically may be set to 1/3rd times of tachometer value ω, certainly at other
This is not limited in embodiment, the situation adjustment in its visual practical operation.
When the judged result of step S105 is no, execution step S106 carries out a positive sequence using error voltage value immediately
Process, so as to producing a positive sequence train value, and a negative phase-sequence column processing is carried out using error voltage value, so as to producing a negative sequence
Value.Wherein, in this step, positive sequence column processing is carried out by positive sequence device 6, and positive sequence column processing refers to error voltage value △
V through a positive phase angle exponential function, a tachometer value ω, the combination of an inductance value △ L, convolution * and an imaginary root j of coil fortune
Calculate and produce positive sequence train value, furthermore, in present pre-ferred embodiments, above-mentioned positive phase angle exponential function is, for example, ej θr, and tachometer value ω is inverted with inductance value △ L, that is to say, that above-mentioned positive sequence train value be j with（ΔV*ejθr*1/ω*ΔL）'s
Convolution.
In addition, carrying out negative phase-sequence column processing by negative sequence device 7, negative phase-sequence column processing refers to error voltage value △ V through one
The computing of the combination of negative angle exponential function and resistance value △ R and produce negative phase-sequence train value, furthermore, above-mentioned negative angle refers to
Number function is, for example, e-jθr, and resistance value △ R is inverted, that is to say, that above-mentioned negative phase-sequence train value is e-jθr*ΔV*1/ΔR。
After execution of step S106, execution step S107 produces a sequence according to positive sequence train value and negative phase-sequence train value and misses immediately
Difference.Wherein, in this step, first sequence mistake will after positive sequence train value and computing of the negative phase-sequence train value by adder N2, be produced
Difference, and this sequence error value is the weight ratio between high speed setting value and slow-speed of revolution setting value, furthermore, weight
Than referring between high speed setting value and slow-speed of revolution setting value（Interval A shown in Fig. 3）, shared by positive sequence train value and negative phase-sequence train value
Ratio（It is positive interval weight figure in Fig. 3, multiple negative phase-sequence train values represent that with waveform 100 multiple positive sequence train values are with 200 table of waveform
Show, which is by produced by multiple computing；Wherein, between minus zone, weight map is symmetrical with Fig. 3, no longer with diagram）, when motor 1 is grasped
When making in high rotating speed interval, the ratio shared by positive sequence train value is more than negative phase-sequence train value, if operate in slow-speed of revolution interval, negative phase-sequence train value
Shared ratio is more than positive sequence train value.
After execution of step S107, execution step S108 carries out a Filtering Processing to sequence error value immediately, so as to producing
A raw filtered sequence value.Wherein, in this step, above-mentioned sequence error value is carried out into low-pass filtering by low pass filter 5
Process, and then produce filtered sequence value.
After execution of step S108, execution step S109 carries out an Integral Processing to filtered sequence value immediately, so as to producing
Raw one compensates error.Wherein, in this step, process is integrated to filtered sequence value by integrator 9 mainly, and then is produced
Raw one compensates error, and this Integral Processing is existing integral way, therefore repeats no more.
After execution of step S109, execution step S110 makes two axle measured currents subtract each other with compensation error immediately, so as to
Produce an actual current.Wherein, in this step, produced compensation error can be multiplied by above-mentioned positive phase angle exponential function ej θrAfterwards, subtract each other with two axle measured current I2 by the second above-mentioned subtractor N3, and then produce actual current I3.
After execution of step S110, execution step S111 makes two shaft currents subtract each other with actual current immediately, so as to compensation
Two shaft currents.Wherein, in this step, two shaft currents I1 and actual current are made by above-mentioned the 3rd subtractor N4 to feed back
I3 subtracts each other, and so as to reaching two shaft currents I1 of compensation, and then reaches the purpose of current control.
In addition, when the judged result of step S104 is to be, execution step S112 is just carried out using error voltage value immediately
Series processing, so as to producing positive sequence train value.Wherein, in this step, due to motor 1 be with high rotating speed in operating, therefore be to adopt
With with above-mentioned positive sequence column processing to error voltage value △ V calculating positive sequence train value.
Additionally, when the judged result of step S105 is to be, execution step S113 is born using error voltage value immediately
Series processing, so as to producing negative phase-sequence train value.Wherein, in this step, due to motor 1 be with the slow-speed of revolution in operating, therefore be to adopt
With with above-mentioned negative phase-sequence column processing to error voltage value △ V calculating negative phase-sequence train value.
It is comprehensive the above, due to being using the error of sequence error value and two axle measured currents, two shaft currents and control
The relatedness of device voltage processed, sets up out current measurement error compensation model, and which is not required to the hardware designs for increasing circuit, it is only necessary to utilize
Feedback can calculate the value of compensation needed for error in measurement, therefore, the compensation method of the present invention can be with motor "on" position
When calculating current deviant be modified, current offset which can be caused by effectively solving temperature drift problems, and then increase
The stability of direct torque.
By the above detailed description of preferred embodiments, it would be desirable to more clearly describe the feature and spirit of the present invention, and
Not with above-mentioned disclosed preferred embodiment being any limitation as to scope of the invention.On the contrary, its objective is to wish
Being arranged in the category of the be intended to claim applied of the present invention for various changes and tool equality can be covered.
Claims (6)
1. a kind of current error compensation method for being applied to motor, it is characterised in that to one or two shaft current for compensating a motor,
The motor includes an at least coil, and is electrically connected at a controller, and this is applied to the current error compensation method bag of motor
Contain：
A () obtains one or two axle measured current of the motor；
B () calculates a measurement voltage according to the two axles measured current and a resistance value of the coil；
C () calculates an error voltage value according to the measurement voltage and one or two shaft voltage of the controller；
D whether () judges a tachometer value of the motor more than a high speed setting value；
E whether () judges the tachometer value less than a slow-speed of revolution setting value when the judged result of the step (d) is no；
F () carries out a positive sequence column processing using the error voltage value when the judged result of the step (e) is no, so as to producing
One positive sequence train value, and a negative phase-sequence column processing is carried out using the error voltage value, so as to producing a negative phase-sequence train value；
G () produces a sequence error value with the negative phase-sequence train value according to the positive sequence train value；
H () carries out a Filtering Processing to the sequence error value, so as to producing a filtered sequence value；
I () carries out an Integral Processing to the filtered sequence value, compensate error current value so as to producing one；
J () makes the two axles measured current subtract each other with the compensation error current value, so as to producing an actual current；And
K () makes two shaft current subtract each other with the actual current, perform current control so as to compensating two shaft current；
Wherein, the positive sequence is processed as the error voltage value through a positive phase angle exponential function ejθr, a tachometer value ω, the line
Circle an inductance value △ L, the combinatorial operation of convolution * and an imaginary root j and produce the positive sequence train value, the positive sequence train value be j* (Δs
V*ejθr* 1/ ω * Δ L) negative sequence is processed as the error voltage value through a negative angle exponential function e-jθrWith the resistance value
The combinatorial operation of △ R and produce the negative phase-sequence train value, the negative phase-sequence train value be e-jθr*ΔV*1/ΔR。
2. the current error compensation method for being applied to motor according to claim 1, it is characterised in that in the step (d)
Judged result for be when, perform a step (d1) carry out the positive sequence column processing using the error voltage value, so as to just producing this
Sequential value.
3. the current error compensation method for being applied to motor according to claim 1, it is characterised in that in the step (e)
Judged result for be when, perform a step (e1) carry out the negative phase-sequence column processing using the error voltage value, so as to produce this bear
Sequential value.
4. the current error compensation method for being applied to motor according to claim 1, it is characterised in that in the step (g)
In, the sequence error value is produced by the positive sequence train value and the negative phase-sequence train value sum, and the sequence error value is one and this turn
The related weight ratio of speed value.
5. the current error compensation method for being applied to motor according to claim 1, it is characterised in that in the step (h)
In, the Filtering Processing is carried out by a low pass filter, so as to producing the filtered sequence value.
6. the current error compensation method for being applied to motor according to claim 1, it is characterised in that the controller is
Current controller.
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| FR3060127B1 (en) * | 2016-12-13 | 2019-03-15 | Seb S.A. | METHOD FOR DYNAMICALLY COMPENSATING THE OFFSET ERROR OF AN ACQUISITION CHAIN COMPRISING A CURRENT SENSOR |
| EP3438773B1 (en) * | 2017-08-04 | 2020-09-30 | Siemens Aktiengesellschaft | Processing of workpieces with model-supported error compensation |
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