CN105450094A - Current sampling method and air conditioning device - Google Patents
Current sampling method and air conditioning device Download PDFInfo
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- CN105450094A CN105450094A CN201510944372.4A CN201510944372A CN105450094A CN 105450094 A CN105450094 A CN 105450094A CN 201510944372 A CN201510944372 A CN 201510944372A CN 105450094 A CN105450094 A CN 105450094A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
- H02P2006/045—Control of current
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Abstract
The application provides a current sampling method and an air conditioning device, which are used for solving the technical problem of relatively poor motor control effect caused by inaccuracy of a sampling current. The method comprises the following steps of acquiring a high-level duration time corresponding to each phase current of three phase currents of the motor in a pulse width modulation (PWM) corresponding to a modulation wave, wherein the period of the PWM wave is the same as the period of the modulation wave; judging whether the sampling current sampled by a single-resistor sampling circuit at the nth time of the motor is a valid current or not according to the high-level duration time and the period of the modulation wave, wherein n is a positive integer more than or equal to 2; and taking a current estimation value of the sampling current sampled at the (n-1)th time as the sampling current sampled at the nth time if the sampling current corresponding to the nth sampling is invalid.
Description
Technical field
The present invention relates to electronic technology field, particularly a kind of current sample method and air-conditioning equipment.
Background technology
In the operation process of permanent-magnet synchronous DC brushless motor, usually need the phase current of sample motor three-phase coil to realize the closed-loop control to motor.In the three-phase current method of sampling of traditional motor, normal use three resistance or two resistance sampling current of electric.But owing to utilizing the control circuit of two resistance and three resistance samplings comparatively complicated, and cost of manufacture is higher, therefore, adopts single resistance to replace traditional sampling mode gradually to the method that the three-phase of motor carries out current sample.
At present, when using the phase current of single resistor current method of sampling to motor to sample, by controlling insulated gate bipolar transistor (InsulatedGateBipolarTransistor, IGBT) the phase opening or turn off to determine to connect with sampling resistor in the three-phase of motor, and then by micro-control unit (MicrocontrollerUnit, MCU) sample rate current on sampling resistor is obtained, this sample rate current is the phase current of the phase of connecting with sampling resistor, thus, carry out current sample by sampling resistor and can obtain each corresponding electric current in the three-phase of motor.
But in practical operation, IGBT in control sample circuit opens or closes and has no progeny, electric current needs the circuit after regular hour Adaptive change, the electric current on sampling resistor may be caused to there is the situation of time delay, thus cause the sample rate current that obtains inaccurate, even also may there is the situation not collecting electric current.If controlled motor by inaccurate or invalid sample rate current by force, cause motor cannot steady running possibly, control effects be poor.
Summary of the invention
The application provides a kind of current sample method and air-conditioning equipment, for solving the inaccurate technical problem causing the control effects of motor poor due to sample rate current in air-conditioning equipment.
On the one hand, a kind of current sample method of the application, comprises the following steps:
Three phase currents high level that each phase current is corresponding in the PWM ripple that modulating wave is corresponding obtaining motor continues duration; Wherein, described PWM wave period is with described to modulate wave period identical;
Continue duration and described modulation wave period according to described high level, judge whether the sample rate current of n-th sampling undertaken by single resistance sampling circuit of described motor is effective current, n be more than or equal to 2 positive integer;
If the sample rate current of described n-th sampling correspondence is invalid, using the sample rate current of the current estimation value of the sample rate current of (n-1)th sampling as described n-th sampling.
On the other hand, the present invention also discloses a kind of air-conditioning equipment, comprising:
Acquisition module, continues duration for three phase currents high level that each phase current is corresponding in the PWM ripple that modulating wave is corresponding obtaining motor; Wherein, described PWM wave period is with described to modulate wave period identical;
Judge module, for continuing duration and described modulation wave period according to described high level, judges whether the sample rate current of n-th sampling undertaken by single resistance sampling circuit of described motor is effective current, n be more than or equal to 2 positive integer;
Processing module, if invalid for determining the sample rate current of described n-th sampling correspondence, using the sample rate current of the current estimation value of the sample rate current of (n-1)th sampling as described n-th sampling.
Above-mentioned one or more technical scheme in the application, at least has one or more technique effects following:
In the application, in the process adopting modulating wave to modulate motor, three phase currents that can obtain motor are that the high level that in the PWM ripple that modulating wave is corresponding, each phase current is corresponding continues duration, thus continue duration according to high level and modulate wave period, can judge whether the sample rate current of sampling for n-th time undertaken by single resistance sampling circuit of motor is effective current, due to consider modulation wave period and high level continue duration, thus make to modulate in wave period the sampling that can complete electric current, obtain effective current, to improve the accuracy of three phase currents of the motor determined, and then control motor preferably.
Accompanying drawing explanation
The single resistance sampling circuit of Fig. 1 for adopting in the embodiment of the present invention;
Fig. 2 is the flow chart of current sample method in the embodiment of the present invention;
Fig. 3 is the first inserted mode schematic diagram in dead band in PWM ripple in the embodiment of the present invention;
Fig. 4 is the second inserted mode schematic diagram in dead band in PWM ripple in the embodiment of the present invention;
Fig. 5 is the schematic diagram of sampled point in the embodiment of the present invention;
Fig. 6 is the structured flowchart of air-conditioning equipment in the embodiment of the present invention.
Embodiment
The application provides a kind of current sample method and air-conditioning equipment, for solving the inaccurate technical problem causing the control effects of motor poor due to sample rate current in air-conditioning equipment.
In order to solve the problems of the technologies described above, the technical scheme general thought that the embodiment of the present invention provides is as follows:
In the application, in the process adopting modulating wave to modulate motor, three phase currents that can obtain motor are that the high level that in the PWM ripple that modulating wave is corresponding, each phase current is corresponding continues duration, thus continue duration according to high level and modulate wave period, can judge whether the sample rate current of sampling for n-th time undertaken by single resistance sampling circuit of motor is effective current, due to consider modulation wave period and high level continue duration, thus make to modulate in wave period the sampling that can complete electric current, obtain effective current, to improve the accuracy of three phase currents of the motor determined, and then control motor preferably.
Method provided by the invention is introduced below in conjunction with accompanying drawing.
Motor in the embodiment of the present invention can be permanent-magnet brushless DC electric machine, and this motor can be the motor used in air-conditioning equipment.
Optionally, the MCU in air-conditioning equipment can gather the phase current of the three-phase of motor by current sampling circuit.
As shown in Figure 1, it is for carrying out single resistance sampling circuit of current sample in the invention process, this circuit comprises 6 IGBTs corresponding with the three-phase of motor (for U phase, V phase, W phase), wherein, U corresponding current input terminal U+ and current output terminal U-, in like manner, the corresponding V+/V-of V, the corresponding W+/W-of W, and 6 IGBT are separately positioned on often corresponding current input terminal and current output terminal.Such as, as seen from the figure, the U+ end of U phase is provided with the IGBT being labeled as a, and U-end is provided with the IGBT being labeled as d.
In Fig. 1, be low level when U+ is high level V+, W+, U-is low level simultaneously, when V-, W-are high level, circuit a, e, f conducting in IGBT, circuit b, c, d turn off, and now can pass through the phase current that single resistance sampling circuit sampling U is corresponding, the like, thus three phase currents of motor can be obtained.
Method provided by the invention is introduced below in conjunction with accompanying drawing.
As shown in Figure 2, the embodiment of the present invention provides a kind of current sample method, and the flow process of the method is described below.
S11: three phase currents high level that each phase current is corresponding in pulse width modulation (PulseWidthModulation, the PWM) ripple corresponding with modulating wave obtaining motor continues duration; Wherein, PWM is identical for wave period with modulation for wave period;
S12: continue duration and modulation wave period according to high level, judge whether the sample rate current of n-th sampling undertaken by single resistance sampling circuit of motor is effective current, n be more than or equal to 2 positive integer;
S13: if the sample rate current of n-th sampling correspondence is invalid, using the sample rate current of the current estimation value of the sample rate current of (n-1)th sampling as n-th sampling.
In the embodiment of the present invention, the single resistance sampling circuit in air-conditioning equipment can be circuit as shown in Figure 1.
Optionally, when adopting modulating wave (as triangular wave) to modulate motor, the count value (being designated as TCNT) that MCU control counter in motor is corresponding carries out adding counting from 0, count down to the maximum count value (being designated as TC) that the half of the carrier frequency corresponding time of triangular wave is corresponding always.In practical application, in the one-period of triangular wave, as the count value TCNT=TC of counter, TCNT starts to carry out subtracting counting, after TCNT subtracts and count down to 0, adds counting again from 0, enters the next count cycle.
In actual applications, MCU is when the count value corresponding according to the carrier frequency determination counter of modulating wave (for triangular wave in the embodiment of the present invention), the calculated relationship used is: count value=modulation wave period/count cycle of MCU, wherein, MCU count cycle=count frequency of 1/MCU, can obtain thus: the count frequency of the cycle * MCU that count value=modulating wave is corresponding.
Such as, if the carrier frequency of triangular wave is f=4000Hz, then according to the relation of cycle in triangular wave and frequency (namely
) count value corresponding to the half of time corresponding to the carrier frequency of triangular wave can be calculated, be designated as T
c, then work as f=4000Hz, can T be drawn
c=125us.If the count frequency that MCU uses is 48MHz, time corresponding to its count cycle is
namely
then according to " count value=modulating wave corresponding cycle/count cycle of MCU " count value=125/ (1/48)=125*48=6000 that carrier frequency is corresponding in the counter of MCU can be determined, namely 6000 is exactly the carrier frequency of triangular wave count value corresponding in the counter of MCU, namely when carrier frequency is 4000Hz, the maximum count value TC=6000 of the MCU of its correspondence.
Optionally, under the effect of modulating wave (triangular wave namely in the embodiment of the present invention), MCU will produce the PWM ripple of the three-phase complementary identical with modulating wave period automatically, so-called three-phase complementary, namely when not considering dead band plug-in effect, refer to that brachium pontis (as U+) is high level, then the lower brachium pontis (as U-) of its correspondence is low level, otherwise, as above brachium pontis (as U+) is low level, then the lower brachium pontis (as U-) of its correspondence is high level.When not considering that dead area compensation affects, continuing duration three low levels corresponding with it at three high level that three phase currents of motor are corresponding in this PWM ripple, to continue duration sum be this PWM wave period.Such as, for the U phase in three-phase, in PWM ripple, the high level of U phase continues duration and continues duration sum with the low level of U phase and be PWM wave period, and the high level of U phase continues duration and to be wave period divided by PWM and to equal the corresponding duty ratio of U.In the embodiment of the present invention, three high level are continued duration and be designated as t respectively
u, t
v, t
w, wherein, t
uthe representative high level corresponding with U in three-phase continues duration, in like manner, and similar statement t
v, t
wall represent this meaning.
Optionally, after determining that the high level of three phase currents in PWM ripple continues duration, opening duration and turning off duration of IGBT in the inserted mode in dead band and single resistance sampling circuit of motor can be continued in duration, PWM ripple according to high level, first sampled point and the second sampled point are set, and then, current sample can be carried out according to the first sampled point and the second sampled point to motor.
In actual applications, after determining three, according to " count frequency of count value=modulation * wave period MCU ", MCU can determine that three high level that three phase currents are corresponding in PWM ripple continue the count value that each high level in duration continues duration correspondence in counter.
In the embodiment of the present invention, if the count value that three corresponding for three of motor phase currents high level are continued duration corresponding in counter is denoted as T respectively
u, T
v, T
w, wherein, T
urepresentative and high level continue duration t
ucorresponding count value, the count value that namely in three-phase, U is corresponding, in like manner, similar statement is as T
v, T
wall represent this meaning.If the count frequency that MCU uses is f
1, the carrier frequency of triangular wave is f
2, then: T
u=t
u* f
1, T
v=t
v* f
1, T
w=t
w* f
1, TC=f
1/ (f
2* 2), t
c=1/ (2*f
2).Such as, t is worked as
u=100us, f
1during=48MHz, T
u=4800, work as f
2during=4000Hz, t
c=125us, TC=6000.
In actual applications, being determined by the hardware construction of MCU inside at waveform motor being carried out to PWM ripple involved in control procedure, user cannot change, and can only select design control method accordingly.
Optionally, the dead band inserted mode in PWM ripple can comprise the first inserted mode and the second inserted mode.Wherein, first inserted mode be PWM ripple dead band the rising edge of triangular wave continue with each high level of three phase currents respectively duration equal after insert, the second inserted mode be PWM ripple dead band the rising edge of triangular wave continue with each high level of three phase currents respectively the value of duration equal before insert.
As shown in Figure 3, under the modulating action of triangular wave, MCU produces the PWM ripple of three-phase complementary automatically, now can determine that the high level of three phase currents in PWM ripple of motor continues duration, and the size that three high level continue count value corresponding to duration is T
u>T
v>T
w.When counter count value TCNT respectively with T
u, T
v, T
wtime equal, U+, V+ and W+ will respectively from high level saltus step be low level.To be positioned in figure below PWM ripple and the curve corresponding with PWM ripple represents single ohmically current signal (i.e. I
0) situation of change in the one-period of PWM ripple, wherein, T
onduration is opened, T for IGBT
offor the shutoff duration of IGBT, T
ringfor the signal ring duration of the Intelligent Power Module (IntelligentPowerModule, IPM) at IGBT place.
As shown in Figure 3, its dead band is inserted in TCNT and T
wafter equal, reach T
v, T
ubefore, the first inserted mode in the embodiment of the present invention in PWM ripple in the inserted mode of dead band is namely used.
In actual applications, single ohmically current signal I in composition graphs 1 and Fig. 3
0known, within the t1 time, U+, V+ are high level, and W-is high level, and electric current flows into from U phase and V phase simultaneously, flows out, therefore can sample the electric current I of W phase from W phase within the t1 time
w, now, I
wvalue should be negative, within the t2 time, because U+ is high level, V-and W-is also high level, and electric current flows into V phase and W phase from U phase, therefore can sample the electric current I of U phase within the t2 time
u, according to I
u+ I
v+ I
w=0, can I be calculated
v.Visible, in single resistor current sampling process, adopt the method for time sharing sampling electric current, the three-phase current of motor can be obtained simultaneously.
In like manner, as shown in Figure 4, the size of three of motor corresponding count values is T
u>T
v>T
w, when counter count value TCNT respectively with T
u, T
v, T
wtime equal, U-, V-and W-will respectively from low transition be high level.To be positioned in Fig. 4 below PWM ripple and the curve corresponding with PWM ripple represents single ohmically current signal (i.e. I
1) change in the one-period of PWM ripple, comparison diagram 3 is known, current signal I
1waveform and I
0waveform similarity, namely can obtain electric current comparatively accurately in t1 and t2.As shown in Figure 4, its dead band is inserted in TCNT and T
wbefore equal, namely use second inserted mode in foregoing dead band.
Optionally, MCU can sort to the value that three high level continue duration, determines that value that high level continues duration is that the first high level of median continues duration.Such as, if three high level continue t corresponding to duration
u, t
v, t
wt in three values
vfor median, then the first high level continues duration and is t
v, so, t
vcorresponding count value is T
vbe three high level and continue count value T corresponding to duration
u, T
v, T
win median.
In actual applications, the mode of sampled point is set according to dead band inserted mode as follows.
Mode one: when the dead band inserted mode in PWM ripple is the first inserted mode, then arrange corresponding sampled point according to formula (1) and formula (2).Wherein, formula (1) is:
samp1＝T
1+T
of-T
delay-T
sh-T
wt(1)
Formula (2) is:
samp2＝T
1+T
d+T
on+T
ring-T
wt(2)
In above formula, samp1 is the moment that the first sampled point is corresponding, and samp2 is the moment that the second sampled point is corresponding, T
1be that the first high level continues duration (i.e. t
v), T
wtfor MCU carries out the waiting time that analog/digital (Analog/Digital, A/D) samples, T
shfor MCU carries out the lasting duration of A/D sampling, T
dfor the dead band duration that MCU requires, T
onduration is opened, T for IGBT
offor the shutoff duration of IGBT, T
ringfor the signal ring duration of the IPM at IGBT place.
Mode two: when the dead band inserted mode in PWM ripple is the second inserted mode, then arrange corresponding sampled point according to formula (3) and formula (4).Wherein, formula (3) is:
samp1＝T
1-T
d+T
of-T
delay-T
sh-T
wt(3)
Formula (4) is:
samp2＝T
1+T
on+T
ring-T
wt(4)
Wherein, samp1 is the moment that the first sampled point is corresponding, and samp2 is the moment that the second sampled point is corresponding, T
1be that the first high level continues duration (i.e. t
v), T
wtfor MCU carries out the waiting time of A/D sampling, T
shfor MCU carries out the lasting duration of A/D sampling, T
dfor the dead band duration that MCU requires, T
onduration is opened, T for IGBT
offor the shutoff duration of IGBT, T
ringfor the signal ring duration of the IPM at IGBT place.
In the embodiment of the present invention, the shutoff duration of IGBT, the signal ring duration opening duration and IPM can be known by inquiry IGBT or IPM, after determine the moment that the first sampled point is corresponding and moment corresponding to the second sampled point according to above-mentioned formula, can count value corresponding to calculating sampling point.
It should be noted that, state the set-up mode of sampled point mainly through duration in formula (1)-formula (4), but because the method calculating count value corresponding to each duration is identical, therefore, formula (1)-formula (4) is also met between the count value that the count value that sampled point is corresponding is corresponding to relevant duration.
In actual applications, due to the change along with motor three-phase current, the T of its correspondence
u, T
v, T
wcan along with change, the count value that the first sampled point of setting and the second sampled point are corresponding in a register also can change thereupon.
From the computing formula of sampled point, the first sampled point corresponding time be engraved in moment corresponding to the second sampled point before, the count value that namely the first sampled point is corresponding is less than count value corresponding to the second sampled point.Therefore in actual applications, the opposite number of the value of the first sample rate current obtained at the first sampled point is three high level to be continued high level in duration and continues the value of the corresponding phase current of the shortest W, and the second sample rate current that the second sampled point obtains is high level continues the corresponding phase current of the longest U of duration, and then, the phase current that another phase (i.e. V phase) is corresponding can be determined according to the principle that three-phase is zero, therefore when carrying out n-th sampling, can be according to the first sampled point and the second sampled point, the ohmically electric current of the list in single resistance sampling circuit is sampled, to determine three phase currents of motor.
Such as, if the dead band inserted mode of PWM ripple is the first inserted mode shown in Fig. 3, the magnitude relationship that three high level of motor continue count value corresponding to duration is: T
u>T
v>T
w.Be provided with sampled point 1 and sampled point 2 according to formula (1) and formula (2), as shown in Figure 5, wherein, sampled point 1 is positioned at the t1 time period, and sampled point 2 is positioned at the t2 time period.Then when sampled point 1 is by triggering A/D sampling acquisition the first sample rate current, the opposite number of the value of the first sample rate current is the second high level and continues the corresponding phase current I of W corresponding to duration
w(now, I
wvalue be negative), and be third high level by the second sample rate current that sampled point 2 obtains and continue the corresponding phase current I of U corresponding to duration
u, and then, be zero can determine the phase current that V is corresponding by three-phase current sum.
Optionally, before the sample rate current obtained the sampled point by arranging judges, can also according to the current slow duration on the inserted mode in dead band in PWM ripple and IGBT, determine first threshold and Second Threshold, this first threshold and Second Threshold may be used for judging that whether single resistance sampling circuit completed A/D sampling to electric current on single resistance and A/D conversion by the first sampled point and the second sampled point before the current period of PWM ripple terminates.
Specifically, when arranging first threshold, can determine according to the current slow duration on the inserted mode in dead band in PWM ripple and IGBT.Wherein, if the dead band inserted mode of PWM ripple is the first inserted mode, then calculate first threshold according to formula (5), namely
Q1＝T
d+T
on+T
ring+T
sh+T
con(5)
If the dead band inserted mode of PWM ripple is the second inserted mode, then calculate first threshold according to formula (6), that is:
Q1＝T
on+T
ring+T
sh+T
con(6)
Meanwhile, and Second Threshold is set according to formula (7), namely
Q2＝T
d+T
on+T
ring-T
of+T
sh(7)
Wherein, wherein, Q1 is duration corresponding to described first threshold, and Q2 is the duration that Second Threshold is corresponding, T
dfor the dead band duration that MCU specifies, T
onduration is opened, T for IGBT
ringfor signal ring duration in IPM, T
shfor MCU carries out the lasting duration of analog/digital A/D sampling, T
confor the duration of A/D conversion, T
offor the shutoff duration of IGBT.
In the embodiment of the present invention, the process of S12 can comprise two subprocess.
First subprocess: continue duration and first threshold according to high level, judges whether the first sample rate current that the first sampled point is corresponding is effective current.
This subprocess is specifically as follows: determining three high level that three phase currents are corresponding to continue the first high level in duration, to continue the first duration that duration and the second high level continue between duration poor, and judge whether the value of the first duration difference is greater than described Second Threshold; Wherein, the value that the first high level continues duration is the median that three high level continue duration, and the value that the second high level continues duration is the minimum value that three high level continue duration.
Wherein, if determine, the value of the first duration difference is greater than Second Threshold, then show can complete sampling to electric current at the first sampled point, and the first sample rate current namely obtained by the first sampled point is effective current, otherwise, determine that the first sample rate current is idle current.
Second subprocess: continue duration and described first threshold and described Second Threshold according to high level, judge whether the second sample rate current that the second sampled point is corresponding is effective current.
This subprocess is specifically as follows: determine that the first high level continues the second duration that duration and third high level continue between duration poor, and the 3rd duration that the half duration in modulating wave cycle and third high level continue between duration is poor, and judge whether the second duration difference is greater than Second Threshold, and whether the 3rd duration is poor is greater than first threshold, wherein, third high level continues the value of duration is the maximum that three high level continue in duration.
If determine, the value of the second duration difference is greater than Second Threshold, and the 3rd duration difference is greater than first threshold, then determine that single resistor current sample rate current can complete before the crest of triangular wave interrupts to change at the second sample current sample that carries out and A/D, namely the second sample rate current is effective current, otherwise, determine that the second sample rate current is idle current.
For example, if the size that three high level continue duration is t
u> t
v> t
w, modulation half duration wave period is t
c, the sampled point of setting is sampled point 1 and sampled point 2, and wherein the value of sampled point 1 is less than the value of sampled point 2.Then have, if determine t
v-t
w> Q2, then show that the first sample rate current obtained at sampled point 1 is effective current, if determine t
c-t
u> Q1, and t
v-t
w> Q2, then show that the second sample rate current obtained at sampled point 2 is effective current.
In actual applications, if determine, the sample rate current of sampling for n-th time is idle current, namely show that the first sample rate current and/or the second sample rate current are idle current, thus current estimation value corresponding to the sample rate current of can sample according to the last time (namely (n-1)th time sampling) determines the sample rate current of current n-th sampling.
In the embodiment of the present invention, the sample rate current that (n-1)th time is sampled can be carried out low-pass filtering, obtain the estimated value of three phase currents of motor.
Such as, if three phase currents obtained of sampling for (n-1)th time are respectively I
u, I
vand I
w, then three phase currents are passed through α/β Coordinate Conversion and low pass filter, corresponding current estimation value can be obtained.This process can be described below.
First, sample (n-1)th time the sample rate current I obtained
uand I
wthe electric current obtaining α axle corresponding by α/β Coordinate Conversion (is designated as I
α) and β axle on electric current (be designated as I
β), namely have:
Again by I
αand I
βbe converted to by coordinate transform and (be designated as I in d shaft current
d) and q shaft current (be designated as I
q).That is:
And then, then adopt low-pass first order filter to electric current I
dand I
qcarry out filtering, obtain filtered I
d (n-1)and I
q (n-1), wherein, low-pass first order filter transfer function is:
wherein, T
sfor low-pass filtering time constant, its span can be set to 1ms to 200ms, selects suitable value as required.Discretization computing formula is:
Wherein, T
ifor sampling computing cycle, its value is generally PWM cycle time, and namely each PWM computation of Period is once, when PWM carrier frequency is 4000Hz, and T
i=250us, T
sfor low-pass filtering time constant.
And then by I
d (n-1)and I
q (n-1)carry out coordinate inverse transformation, obtain I
α (n-1)and I
β (n-1), namely
Again by I
α (n-1)and I
β (n-1)by α/β Coordinate Conversion to corresponding three current estimation values, the i.e. I of sample rate current obtaining (n-1)th sampling
u-est, I
v-estand I
w-est, can being expressed as of its correspondence:
Optionally, the process of S13 can for comprising: if determine, the first sample rate current is idle current, first-phase current estimation value in three phase current estimated values is defined as the sample rate current of the first-phase in the three-phase of motor in n-th sampling, first-phase current estimation value is current estimation value corresponding with first-phase in three phase current estimated values, and the first sample rate current is the sample rate current of first-phase; And/or
If determine, the second sample rate current is idle current, determine the second-phase that the second sample rate current is corresponding in the three-phase of motor, second-phase current estimation value in three phase current estimated values is defined as the sample rate current that in n-th sampling, second-phase is corresponding, second-phase current estimation value is current estimation value corresponding with second-phase in three phase current estimated values.
Such as, if determine that the first sample rate current is idle current by judgement, the W phase of the corresponding motor of the first sample rate current, therefore can by current estimation value (i.e. I corresponding with W in three corresponding for (n-1)th sampling current estimation values
w-est) as the corresponding sample rate current of the W in the three-phase of motor in n-th sampling; In like manner, if determine, the second sample rate current is idle current, and the U phase of the corresponding motor of the second sample rate current, therefore can by current estimation value (i.e. I corresponding for U
u-est) as the corresponding sample rate current of U in the three-phase of motor in n-th sampling, and then, be zero size can determining the phase current that V in motor three-phase is corresponding according to three-phase current sum.
As shown in Figure 6, based on same inventive concept, the invention also discloses a kind of air-conditioning equipment, comprise acquisition module 301, judge module 302 and processing module 303.
Three phase currents high level that each phase current is corresponding in the PWM ripple that modulating wave is corresponding that acquisition module 301 may be used for obtaining motor continues duration; Wherein, PWM is identical for wave period with modulation for wave period;
Judge module 302 may be used for continuing duration and modulation wave period according to high level, judges whether the sample rate current of n-th sampling undertaken by single resistance sampling circuit of motor is effective current, n be more than or equal to 2 positive integer;
If processing module 303 may be used for determining that the sample rate current of n-th sampling correspondence is invalid, using the sample rate current of the current estimation value of the sample rate current of (n-1)th sampling as n-th sampling.
Optionally, air-conditioning equipment also comprises first and arranges module and sampling module, first arranges module may be used for after three phase currents high level that each phase current is corresponding in the PWM ripple corresponding with modulating wave obtaining motor continues duration, to continue in duration, PWM ripple opening duration and turning off duration of insulated gate bipolar transistor IGBT in the inserted mode in dead band and single resistance sampling circuit of motor according to high level, the first sampled point and the second sampled point are set;
And sampling module may be used for carrying out n-th sampling according to the first sampled point and the second sampled point to motor.
Optionally, air-conditioning equipment also comprises second and arranges module, before whether being effective current at the sample rate current of n-th sampling judging to be undertaken by single resistance sampling circuit of motor, according to the current slow duration in the inserted mode in dead band in PWM ripple and IGBT, determine first threshold and Second Threshold; Wherein, first threshold and Second Threshold are for judging whether single resistance sampling circuit can complete current sample at the first sampled point and the second sampled point;
Now, judge module is used for: continue duration and first threshold according to high level, judges whether the first sample rate current that the first sampled point is corresponding is effective current; And, continue duration and first threshold and Second Threshold according to high level, judge whether the second sample rate current that the second sampled point is corresponding is effective current.
Optionally, second module is set can also be used for:
According to the current slow duration in the inserted mode in dead band in PWM ripple and IGBT, according to the first formula or the second formula determination first threshold, and according to the 3rd formula determination Second Threshold;
Wherein, the first formula is:
Q1＝T
d+T
on+T
ring+T
sh+T
con
Second formula is:
Q1＝T
on+T
ring+T
sh+T
con
3rd formula is:
Q2＝T
d+T
on+T
ring-T
of+T
sh,
Q1 is duration corresponding to first threshold, and Q2 is the duration that Second Threshold is corresponding, T
dfor the dead band duration that MCU specifies, T
onduration is opened, T for IGBT
ringfor signal ring duration in the intelligent power module corresponding to IGBT, T
shfor MCU carries out the lasting duration of analog/digital A/D sampling, T
confor the duration of A/D conversion, T
offor the shutoff duration of IGBT, the first inserted mode in the corresponding PWM ripple of first formula in the inserted mode of dead band, the second inserted mode in the corresponding PWM ripple of second formula in the inserted mode of dead band, first inserted mode be PWM ripple dead band modulation wave amplitude and the high level of three phase currents continue the value of duration equal after insert, the second inserted mode be PWM ripple dead band modulate wave amplitude and the high level of three phase currents continue the value of duration equal before insert.
Optionally, judge module 302 for:
Determining three high level that three phase currents are corresponding to continue the first high level in duration, to continue the first duration that duration and the second high level continue between duration poor; Wherein, the value that the first high level continues duration is the median that three high level continue duration, and the value that the second high level continues duration is the minimum value that three high level continue duration;
Judge whether the value of the first duration difference is greater than Second Threshold;
Wherein, if the value of the first duration difference is greater than Second Threshold, determine that the first sample rate current is effective current, otherwise, determine that the first sample rate current is idle current.
Optionally, judge module 302 for:
Determine that the first high level continues the second duration that duration and third high level continue between duration poor, and the duration of modulation half wave period and the 3rd duration that continues between duration of third high level poor, the value that third high level continues duration is the maximum that three high level continue in duration;
Judge whether the second duration difference is greater than Second Threshold, and whether the 3rd duration difference is greater than first threshold;
Wherein, if the value of the second duration difference is greater than Second Threshold, and the 3rd duration difference is greater than first threshold, determines that the second sample rate current is effective current, otherwise, determine that the second sample rate current is idle current.
Processing module 303 may be used for:
The sample rate current that (n-1)th time is sampled is carried out low-pass filtering, obtains the estimated value of three phase currents of motor;
If determine, the first sample rate current is idle current, first-phase current estimation value in three phase current estimated values is defined as the sample rate current of the first-phase in the three-phase of motor in n-th sampling, first-phase current estimation value is current estimation value corresponding with first-phase in three phase current estimated values, and the first sample rate current is the sample rate current of first-phase; And/or, if determine, the second sample rate current is idle current, determine the second-phase that the second sample rate current is corresponding in the three-phase of motor, second-phase current estimation value in three phase current estimated values is defined as the sample rate current that in n-th sampling, second-phase is corresponding, second-phase current estimation value is current estimation value corresponding with second-phase in three phase current estimated values.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (14)
1. a current sample method, is characterized in that, described method comprises:
Three phase currents high level that each phase current is corresponding in the PWM ripple that modulating wave is corresponding obtaining motor continues duration; Wherein, described PWM wave period is with described to modulate wave period identical;
Continue duration and described modulation wave period according to described high level, judge whether the sample rate current of n-th sampling undertaken by single resistance sampling circuit of described motor is effective current, n be more than or equal to 2 positive integer;
If the sample rate current of described n-th sampling correspondence is invalid, using the sample rate current of the current estimation value of the sample rate current of (n-1)th sampling as described n-th sampling.
2. the method for claim 1, is characterized in that, after three phase currents high level that each phase current is corresponding in the PWM ripple corresponding with modulating wave obtaining motor continues duration, also comprises:
To continue in duration, described PWM ripple opening duration and turning off duration of insulated gate bipolar transistor IGBT in the inserted mode in dead band and single resistance sampling circuit of described motor according to described high level, the first sampled point and the second sampled point are set;
According to described first sampled point and described second sampled point, n-th sampling is carried out to described motor.
3. method as claimed in claim 2, is characterized in that,
Before whether the sample rate current of n-th sampling judging to be undertaken by single resistance sampling circuit of described motor is effective current, also comprise:
According to the current slow duration in the inserted mode in dead band in described PWM ripple and described IGBT, determine first threshold and Second Threshold; Wherein, described first threshold and described Second Threshold are for judging whether described single resistance sampling circuit can complete current sample at described first sampled point and described second sampled point;
Describedly continue duration and described modulation wave period according to described high level, judge whether the sample rate current of n-th sampling undertaken by single resistance sampling circuit that described motor is corresponding is effective current, comprising:
Continue duration and described first threshold according to described high level, judge whether the first sample rate current that described first sampled point is corresponding is effective current; And
Continue duration and described first threshold and described Second Threshold according to described high level, judge whether the second sample rate current that described second sampled point is corresponding is effective current.
4. method as claimed in claim 3, is characterized in that, the current slow duration in the described inserted mode according to dead band in described PWM ripple and described single resistance sampling circuit on IGBT, determines first threshold and Second Threshold, comprising:
According to the current slow duration in the inserted mode in dead band in described PWM ripple and described IGBT, determine described first threshold according to the first formula or the second formula, and determine described Second Threshold according to the 3rd formula;
Wherein, described first formula is:
Q1＝T
d+T
on+T
ring+T
sh+T
con
Described second formula is:
Q1＝T
on+T
ring+T
sh+T
con
Described 3rd formula is:
Q2＝T
d+T
on+T
ring-T
of+T
sh,
Q1 is duration corresponding to described first threshold, and Q2 is the duration that described Second Threshold is corresponding, T
dfor the dead band duration that described MCU specifies, T
onduration is opened, T for described IGBT
ringfor signal ring duration in the intelligent power module corresponding to described IGBT, T
shfor described MCU carries out the lasting duration of analog/digital A/D sampling, T
confor the duration of A/D conversion, T
offor the shutoff duration of described IGBT, the first inserted mode in the corresponding described PWM ripple of described first formula in the inserted mode of dead band, the second inserted mode in the corresponding described PWM ripple of described second formula in the inserted mode of dead band, described first inserted mode be described PWM ripple dead band described modulation wave amplitude and the high level of described three phase currents continue the value of duration equal after insert, described second inserted mode be described PWM ripple dead band described modulation wave amplitude and the high level of described three phase currents continue the value of duration equal before insert.
5. the method as described in claim 3 or 4, is characterized in that, describedly continues duration and described first threshold according to described high level, judges whether the first sample rate current that described first sampled point is corresponding is effective current, comprising:
Determining three high level that described three phase currents are corresponding to continue the first high level in duration, to continue the first duration that duration and the second high level continue between duration poor; Wherein, the value that described first high level continues duration is the median that three high level continue duration, and the value that described second high level continues duration is the minimum value that three high level continue duration;
Judge whether the value of described first duration difference is greater than described Second Threshold;
Wherein, if the value of described first duration difference is greater than described Second Threshold, determine that described first sample rate current is effective current, otherwise, determine that described first sample rate current is idle current.
6. method as claimed in claim 5, is characterized in that, describedly continues duration, described first threshold and described Second Threshold according to described high level, judges whether the second sample rate current that described second sampled point is corresponding is effective current, comprising:
Determine that described first high level continues the second duration that duration and third high level continue between duration poor, and the 3rd duration that the described modulation half duration of wave period and described third high level continue between duration is poor, the value that described third high level continues duration is the maximum that three high level continue in duration;
Judge whether described second duration difference is greater than described Second Threshold, and whether described 3rd duration difference is greater than first threshold;
Wherein, if the value of described second duration difference is greater than described Second Threshold, and described 3rd duration difference is greater than described first threshold, determines that described second sample rate current is effective current, otherwise, determine that described second sample rate current is idle current.
7. method as claimed in claim 6, is characterized in that, if the sample rate current of described n-th sampling correspondence is invalid, the current estimation value of the sample rate current of sampling (n-1)th time, as the sample rate current of described n-th sampling, comprising:
The sample rate current of described (n-1)th sampling is carried out low-pass filtering, obtains the estimated value of three phase currents of described motor;
If determine, described first sample rate current is idle current, first-phase current estimation value in described three phase current estimated values is defined as the sample rate current of the first-phase in the three-phase of motor described in described n-th sampling, described first-phase current estimation value is current estimation value corresponding with described first-phase in described three phase current estimated values, and described first sample rate current is the sample rate current of described first-phase; And/or
If determine, described second sample rate current is idle current, determine the second-phase that described second sample rate current is corresponding in the three-phase of described motor, second-phase current estimation value in described three phase current estimated values is defined as the sample rate current that described in described n-th sampling, second-phase is corresponding, described second-phase current estimation value is current estimation value corresponding with described second-phase in described three phase current estimated values.
8. an air-conditioning equipment, is characterized in that, described air-conditioning equipment comprises:
Acquisition module, continues duration for three phase currents high level that each phase current is corresponding in the PWM ripple that modulating wave is corresponding obtaining motor; Wherein, described PWM wave period is with described to modulate wave period identical;
Judge module, for continuing duration and described modulation wave period according to described high level, judges whether the sample rate current of n-th sampling undertaken by single resistance sampling circuit of described motor is effective current, n be more than or equal to 2 positive integer;
Processing module, if invalid for determining the sample rate current of described n-th sampling correspondence, using the sample rate current of the current estimation value of the sample rate current of (n-1)th sampling as described n-th sampling.
9. air-conditioning equipment as claimed in claim 8, it is characterized in that, described air-conditioning equipment also comprises:
First arranges module, after continuing duration at three phase currents high level that each phase current is corresponding in the PWM ripple corresponding with modulating wave obtaining motor, to continue in duration, described PWM ripple opening duration and turning off duration of insulated gate bipolar transistor IGBT in the inserted mode in dead band and single resistance sampling circuit of described motor according to described high level, the first sampled point and the second sampled point are set;
Sampling module, for carrying out n-th sampling according to described first sampled point and described second sampled point to described motor.
10. air-conditioning equipment as claimed in claim 9, it is characterized in that, described air-conditioning equipment also comprises:
Second arranges module, before whether being effective current at the sample rate current of n-th sampling judging to be undertaken by single resistance sampling circuit of described motor, according to the current slow duration in the inserted mode in dead band in described PWM ripple and described IGBT, determine first threshold and Second Threshold; Wherein, described first threshold and described Second Threshold are for judging whether described single resistance sampling circuit can complete current sample at described first sampled point and described second sampled point;
Described judge module is used for: continue duration and described first threshold according to described high level, judges whether the first sample rate current that described first sampled point is corresponding is effective current; And, continue duration and described first threshold and described Second Threshold according to described high level, judge whether the second sample rate current that described second sampled point is corresponding is effective current.
11. air-conditioning equipments as claimed in claim 10, is characterized in that, described second arrange module for:
According to the current slow duration in the inserted mode in dead band in described PWM ripple and described IGBT, determine described first threshold according to the first formula or the second formula, and determine described Second Threshold according to the 3rd formula;
Wherein, described first formula is:
Q1＝T
d+T
on+T
ring+T
sh+T
con
Described second formula is:
Q1＝T
on+T
ring+T
sh+T
con
Described 3rd formula is:
Q2＝T
d+T
on+T
ring-T
of+T
sh,
Q1 is duration corresponding to described first threshold, and Q2 is the duration that described Second Threshold is corresponding, T
dfor the dead band duration that described MCU specifies, T
onduration is opened, T for described IGBT
ringfor signal ring duration in the intelligent power module corresponding to described IGBT, T
shfor described MCU carries out the lasting duration of analog/digital A/D sampling, T
confor the duration of A/D conversion, T
offor the shutoff duration of described IGBT, the first inserted mode in the corresponding described PWM ripple of described first formula in the inserted mode of dead band, the second inserted mode in the corresponding described PWM ripple of described second formula in the inserted mode of dead band, described first inserted mode be described PWM ripple dead band described modulation wave amplitude and the high level of described three phase currents continue the value of duration equal after insert, described second inserted mode be described PWM ripple dead band described modulation wave amplitude and the high level of described three phase currents continue the value of duration equal before insert.
12. air-conditioning equipments as described in claim 9 or 10, it is characterized in that, described judge module is used for:
Determining three high level that described three phase currents are corresponding to continue the first high level in duration, to continue the first duration that duration and the second high level continue between duration poor; Wherein, the value that described first high level continues duration is the median that three high level continue duration, and the value that described second high level continues duration is the minimum value that three high level continue duration;
Judge whether the value of described first duration difference is greater than described Second Threshold;
Wherein, if the value of described first duration difference is greater than described Second Threshold, determine that described first sample rate current is effective current, otherwise, determine that described first sample rate current is idle current.
13. air-conditioning equipments as claimed in claim 12, it is characterized in that, described judge module is used for:
Determine that described first high level continues the second duration that duration and third high level continue between duration poor, and the duration of described modulation half wave period and the 3rd duration that continues between duration of described third high level poor, the value that described third high level continues duration is the maximum that three high level continue in duration;
Judge whether described second duration difference is greater than described Second Threshold, and whether described 3rd duration difference is greater than first threshold;
Wherein, if the value of described second duration difference is greater than described Second Threshold, and described 3rd duration difference is greater than described first threshold, determines that described second sample rate current is effective current, otherwise, determine that described second sample rate current is idle current.
14. air-conditioning equipments as claimed in claim 13, it is characterized in that, described processing module is used for:
The sample rate current of described (n-1)th sampling is carried out low-pass filtering, obtains the estimated value of three phase currents of described motor;
If determine, described first sample rate current is idle current, first-phase current estimation value in described three phase current estimated values is defined as the sample rate current of the first-phase in the three-phase of motor described in described n-th sampling, described first-phase current estimation value is current estimation value corresponding with described first-phase in described three phase current estimated values, and described first sample rate current is the sample rate current of described first-phase; And/or, if determine, described second sample rate current is idle current, determine the second-phase that described second sample rate current is corresponding in the three-phase of described motor, second-phase current estimation value in described three phase current estimated values is defined as the sample rate current that described in described n-th sampling, second-phase is corresponding, described second-phase current estimation value is current estimation value corresponding with described second-phase in described three phase current estimated values.
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| CN106059434A (en) * | 2016-06-28 | 2016-10-26 | 广东美的制冷设备有限公司 | Single-current-sensor-based current loop control method and apparatus of moto |
| CN106546809A (en) * | 2016-12-06 | 2017-03-29 | 深圳拓邦股份有限公司 | It is a kind of based on without filtering phase current sampling circuit control method and device |
| CN109921719A (en) * | 2019-02-27 | 2019-06-21 | 深圳英驱新能源有限公司 | Single resistor current method of sampling and device |
| CN110034712A (en) * | 2019-05-21 | 2019-07-19 | 四川虹美智能科技有限公司 | A kind of list resistance sampling control method and device |
| CN111464093A (en) * | 2020-04-11 | 2020-07-28 | 常州瑞创电器科技有限公司 | Sampling method of air conditioner permanent magnet synchronous motor |
| WO2024011709A1 (en) * | 2022-07-14 | 2024-01-18 | 广州地铁集团有限公司 | Motor current sampling method, frequency converter, terminal device, and storage medium |
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| CN105958889A (en) * | 2016-06-21 | 2016-09-21 | 广州视源电子科技股份有限公司 | Single-resistor current sampling method and system |
| CN106059434A (en) * | 2016-06-28 | 2016-10-26 | 广东美的制冷设备有限公司 | Single-current-sensor-based current loop control method and apparatus of moto |
| CN106059434B (en) * | 2016-06-28 | 2019-05-31 | 广东美的制冷设备有限公司 | The current loop control method and device of motor based on single current sensor |
| CN106546809A (en) * | 2016-12-06 | 2017-03-29 | 深圳拓邦股份有限公司 | It is a kind of based on without filtering phase current sampling circuit control method and device |
| CN106546809B (en) * | 2016-12-06 | 2019-09-13 | 深圳拓邦股份有限公司 | It is a kind of based on without filtering phase current sampling circuit control method and device |
| CN109921719A (en) * | 2019-02-27 | 2019-06-21 | 深圳英驱新能源有限公司 | Single resistor current method of sampling and device |
| CN110034712A (en) * | 2019-05-21 | 2019-07-19 | 四川虹美智能科技有限公司 | A kind of list resistance sampling control method and device |
| CN110034712B (en) * | 2019-05-21 | 2020-09-08 | 四川虹美智能科技有限公司 | Single-resistor sampling control method and device |
| CN111464093A (en) * | 2020-04-11 | 2020-07-28 | 常州瑞创电器科技有限公司 | Sampling method of air conditioner permanent magnet synchronous motor |
| WO2024011709A1 (en) * | 2022-07-14 | 2024-01-18 | 广州地铁集团有限公司 | Motor current sampling method, frequency converter, terminal device, and storage medium |
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