CN107204727B - A kind of low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled method - Google Patents
A kind of low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled method Download PDFInfo
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- CN107204727B CN107204727B CN201710413099.1A CN201710413099A CN107204727B CN 107204727 B CN107204727 B CN 107204727B CN 201710413099 A CN201710413099 A CN 201710413099A CN 107204727 B CN107204727 B CN 107204727B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled methods, using the thin-film capacitor of low capacity, instead of the big capacity electrolyte capacitor in conventional power circuit, compared to traditional motor driven systems, low capacity thin-film capacitor frequency conversion system volume is reduced, and weight is mitigated.The present invention without the concern for fluctuation influence of the busbar voltage to ac-dc axis reference current, it is more simple and effective compared to traditional direct-axis current given way；Ac-dc axis voltage is given to pass through trapper, filters out specific order harmonic components, and current controller realizes quick tracking of the motor quadrature axis current to period damane signal using internal mode controller or repetitive controller or PR controller.
Description
Technical field
The present invention relates to method for controlling permanent magnet synchronous motor, more particularly to a kind of low capacity thin-film capacitor permanent magnet synchronous electric
Machine direct-axis current given controled method.
Background technique
Traditional motor driven systems are mainly by single-phase diode uncontrollable rectifier circuit, Boost circuit, three-phase inversion
Circuit, over-sampling modulate circuit and control driving circuit are constituted.Wherein, permanent with output power to maintain DC bus-bar voltage constant
It is fixed, DC bus one big capacity electrolyte capacitor of parallel connection, but the service life of big capacity electrolyte capacitor is vulnerable to current ripples and capacitor
The influence of temperature, capacitance temperature is every to improve 10 DEG C, and the capacitor service life halves；Big capacity electrolyte capacitor increases entire drive system
Volume and weight；Boost circuit increases the loss of drive system, increases the cost of entire drive system, and electromagnetism is dry
It disturbs relatively strong.
Conventional motors drive system there are aiming at the problem that, there is scholar to propose to replace Boost with the thin-film capacitor of low capacity
The electrolytic capacitor of booster circuit and large capacity, the volume of motor driven systems reduces, weight reduces and cost reduces.To reduce
The aberration rate of grid side input current, improves grid side power factor, and scholar proposes various control strategies, but these control strategies
It is more complicated, it is difficult to industrial applications.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of given method of direct-axis current that can simplify traditional complexity, directly
Shaft current given value is more accurate, can filter out specific order harmonic components in ac-dc axis given voltage, can reduce power network current
Aberration rate, improve grid side power factor low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled method.
Technical solution: to reach this purpose, the invention adopts the following technical scheme:
Low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled method of the present invention, including following step
It is rapid:
S1: obtaining current motor rotor position angle θ by encoder or hall position sensor, and calculates motor and turn
The actual speed ω of son；The actual speed ω of current motor rotor is passed through into negative-feedback and given rotating speed ω again*It constitutes outside revolving speed
Ring, rotor actual speed ω and given rotating speed ω*Subtract each other to obtain speed error signal Δ ω, speed error signal Δ ω warp
Output signal after crossing speed regulator gives peak value i as motor quadrature axis current* qamp；
S2: the instantaneous value v of network voltage is obtained by voltage sensors, network voltage instantaneous value vsBy a phaselocked loop
Module obtains grid voltage phase-angle θgrid, grid voltage phase-angle θgridBy a trigonometric function module and square, with step
Motor quadrature axis current in S1 gives peak value i* qampIt is multiplied and is used as quadrature axis current given value iq *；By the reality of current motor rotor
Rotational speed omega, motor quadrature axis current give peak value i* qampIt is input to d-axis reference current generating, obtains direct-axis current given value i* d, as shown in formula (1):
In formula (1), VsFor network voltage virtual value, LdFor d-axis inductive component, LqFor axis inductor component, λ is permanent-magnet magnetic
Chain value, ωgFor network voltage angular speed；
S3: the phase current i of current transformer acquisition inverter is utilizedaAnd ib, convert to obtain by abc/ α β static in two-phase
α shaft current i under coordinate systemαWith β shaft current iβ, convert to obtain the quadrature axis current i under two-phase rotating coordinate system using α β/dqq
With direct-axis current id；By the quadrature axis current iqThe quadrature axis current given value obtained with step S2After comparing, by current regulation
Device obtains quadrature-axis voltageBy the direct-axis current idThe direct-axis current given value obtained with step S2After comparing, using
Current regulator obtains direct-axis voltage
S4: the quadrature-axis voltage under two-phase rotating coordinate system will be obtained in step S3And direct-axis voltageBefore being input to
It presents in decoupling controller, according to formulaQuadrature-axis voltage after being decoupledAccording to formulaDirect-axis voltage after being decoupled
S5: quadrature-axis voltage given value will be obtained in step S4With direct-axis voltage given valueBy trapper, filter out
Wherein specific order harmonic components obtain the reference voltage of quadrature axisWith the reference voltage of d-axisBy obtained quadrature axis with reference to electricity
PressureWith d-axis reference voltageAnd current motor rotor position angle θ is defeated by dq/ α β unit, exports two-phase stationary coordinate system
Lower α axis reference voltageWith β axis reference voltageBy α axis reference voltageβ axis reference voltageAnd DC bus-bar voltage
VdcIt is input in SVPWM unit, SVPWM unit exports six road pulse-modulated signals to control leading for the power tube of three-phase inverter
Logical and shutdown.
Further, the speed regulator uses pi regulator, PID regulator, synovial membrane adjuster or neural network tune
Save device.
Further, the current regulator uses internal mode controller, repetitive controller or PR adjuster.
The utility model has the advantages that compared with prior art, the present invention have it is following the utility model has the advantages that
1) the given method of direct-axis current of the invention is simple and effective, is effectively simplified the given side of direct-axis current of traditional complexity
Method；
2) in the present invention, ac-dc axis voltage passes through trapper or adaptive notch filter, is effectively reduced grid side input electricity
Flow aberration rate；
3) in the present invention, current regulator improves entire system using internal mode controller or repetitive controller or PR controller
System following for cyclical signal；
4) present invention replaces big capacity electrolyte capacitor using low capacity thin-film capacitor, reduces the volume of whole system, drops
Low system cost；
5) the direct-axis current given value of the method for the present invention is more accurate, and can filter out specific time in ac-dc axis given voltage
Harmonic component can reduce the aberration rate of power network current, effectively improve the power factor of system.
Detailed description of the invention
Fig. 1 is the whole control block diagram using the system of specific embodiment of the invention method；
Fig. 2 is the ac-dc axis current simulations waveform that the motor of the specific embodiment of the invention works when loading 0.5Nm；
Fig. 3 is the network voltage and DC bus that the motor of the specific embodiment of the invention works when loading 0.5Nm
Voltage simulation waveform；
Fig. 4 is the input current simulation waveform that the motor of the specific embodiment of the invention works when loading 0.5Nm；
Fig. 5 is the ac-dc axis current simulations waveform that the motor of the specific embodiment of the invention works when loading 1Nm；
Fig. 6 is the network voltage and DC bus electricity that the motor of the specific embodiment of the invention works when loading 1Nm
Press simulation waveform；
Fig. 7 is the input current simulation waveform that the motor of the specific embodiment of the invention works when loading 1Nm；
Fig. 8 is the system hardware structure block diagram of the specific embodiment of the invention.
Specific embodiment
Technical solution of the present invention is further introduced with attached drawing With reference to embodiment.
Present embodiment discloses a kind of given controlling party of low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current
Method, as shown in Figure 1, comprising the following steps:
S1: obtaining current motor rotor position angle θ by encoder or hall position sensor, and calculates motor and turn
The actual speed ω of son；The actual speed ω of current motor rotor is passed through into negative-feedback and given rotating speed ω again*It constitutes outside revolving speed
Ring, rotor actual speed ω and given rotating speed ω*Subtract each other to obtain speed error signal Δ ω, speed error signal Δ ω warp
Output signal after crossing speed regulator gives peak value i as motor quadrature axis current* qamp；
S2: the instantaneous value v of network voltage is obtained by voltage sensors, network voltage instantaneous value vsBy a phaselocked loop
Module obtains grid voltage phase-angle θgrid, grid voltage phase-angle θgridBy a trigonometric function module and square, with step
Motor quadrature axis current in S1 gives peak value i* qampIt is multiplied and is used as quadrature axis current given value iq *；By the reality of current motor rotor
Rotational speed omega, motor quadrature axis current give peak value i* qampIt is input to d-axis reference current generating, obtains direct-axis current given value i* d, as shown in formula (1):
In formula (1), VsFor network voltage virtual value, LdFor d-axis inductive component, LqFor axis inductor component, λ is permanent-magnet magnetic
Chain value, ωgFor network voltage angular speed；
S3: the phase current i of current transformer acquisition inverter is utilizedaAnd ib, convert to obtain by abc/ α β static in two-phase
α shaft current i under coordinate systemαWith β shaft current iβ, convert to obtain the quadrature axis current i under two-phase rotating coordinate system using α β/dqq
With direct-axis current id；By the quadrature axis current iqThe quadrature axis current given value obtained with step S2After comparing, by current regulation
Device obtains quadrature-axis voltageBy the direct-axis current idThe direct-axis current given value obtained with step S2After comparing, using
Current regulator obtains direct-axis voltage
S4: the quadrature-axis voltage under two-phase rotating coordinate system will be obtained in step S3And direct-axis voltageBefore being input to
It presents in decoupling controller, according to formulaQuadrature-axis voltage after being decoupledAccording to formulaDirect-axis voltage after being decoupled
S5: quadrature-axis voltage given value will be obtained in step S4With direct-axis voltage given valueBy trapper, filter out
Wherein specific order harmonic components obtain the reference voltage of quadrature axisWith the reference voltage of d-axisBy obtained quadrature axis with reference to electricity
PressureWith d-axis reference voltageAnd current motor rotor position angle θ is defeated by dq/ α β unit, exports two-phase stationary coordinate system
Lower α axis reference voltageWith β axis reference voltageBy α axis reference voltageβ axis reference voltageAnd DC bus-bar voltage
VdcIt is input in SVPWM unit, SVPWM unit exports six road pulse-modulated signals to control leading for the power tube of three-phase inverter
Logical and shutdown.
Wherein, speed regulator uses pi regulator, PID regulator, synovial membrane adjuster or neural network adjuster.Electricity
Throttle regulator uses internal mode controller, repetitive controller or PR adjuster.
According to procedure described above, using MATLAB/Simulink emulation platform, the simulation model is built, and be directed to
It is emulated when system load is respectively 0.5Nm, 1Nm, obtains corresponding simulation waveform.Fig. 2, Fig. 5 are respectively motor work
Make the ac-dc axis current simulations waveform when loading 0.5Nm, 1Nm, it can be seen that load improves, and quadrature axis current amplitude mentions
Height, direct-axis current reduce, and can ac-dc axis electric current to can be good at tracking given；Fig. 3, Fig. 6 are respectively that motor work exists
The network voltage and DC bus-bar voltage simulation waveform when 0.5Nm, 1Nm are loaded, load improves, and DC bus-bar voltage is minimum
Value lowers, and diode current flow angle becomes larger；Fig. 4, Fig. 7 are respectively the input current that motor works when loading 0.5Nm, 1Nm
Simulation waveform carries out fft analysis to power network current, and loading as the aberration rate of 0.5Nm power grid input current is 34%, loads and is
The aberration rate of 1Nm power grid input current is 28%；Prove that this control method is effectively reducing power grid input current abnormality
While rate, the validity of direct-axis current given algorithm proposed by the present invention is demonstrated.
The microcomputer control PWM speed-regulating system hardware structure diagram of above-mentioned algorithm is as shown in figure 8, the hardware of entire speed-regulating system is electric
IPM synchronous motor, inverter, low capacity thin-film capacitor and diode rectifier is routed to constitute.The real-time revolving speed of motor
The FBS detection carried by IPMSM, through shaping pulse, by the Digit Velocity module of single-chip microcontroller to central processing unit；Motor is given
Constant speed degree is provided by keyboard, by the I/O module of single-chip microcontroller to central processing unit.Utilize the real-time speed and given speed of motor
Difference show that the quadrature axis current of motor gives peak value through a PI link；Network voltage phase is obtained by phase-locked loop circuit
Angle is conveyed to central processing unit through A/D module, grid voltage phase-angle through a triangulate decomposition method, and square, with quadrature axis electricity
Given peak value is flowed to be multiplied as motor quadrature axis current given value；Motor angular rate and motor quadrature axis current give peak value through d-axis
Given value of current module；Measure motor three-phase phase current, the A/D module through single-chip microcontroller, by motor in real time by current transformer
The real time data of phase current is conveyed to central processing unit, changes through Clarke, and the three-phase electricity in three-phase static coordinate system is circulated
The α β shaft current i being changed in two-phase stationary coordinate systemαWith iβ, converted through a Park, by the electric current i under two-phase stationary coordinate systemα
With iβThe ac-dc axis electric current being transformed under synchronous rotating frame constitutes feedback with ac-dc axis reference current given herein above and closes
Ring, the signal that the two is subtracted each other is by an internal mode controller or repetitive controller or PR controller, the feedforward compensation through overvoltage,
Ac-dc axis reference voltage of the motor under rotating coordinate system is obtained, through a trapper module, is filtered out in given voltage specific time
Harmonic component, by Clarke inverse transformation, by α β shaft voltage u of the gained under two-phase stationary coordinate systemαWith uβSignal is given to
SVPWM module, SVPWM provide six tunnel PWM waves, and six tunnel PWM waves pass through optical coupling isolation circuit, then through driving circuit, control inversion
The power tube of device being opened and turning off, and motor rotation is driven.
System is seriously burnt to prevent circuit over-voltage and over-current and whole system from generating heat, electric voltage over press protection is added in system
Circuit, circuit current foldback circuit and temperature sensing circuit carry out analysis comparison to voltage, electric current and temperature, if occurring
Failure notifies single-chip microcontroller immediately, avoids failure further expansion, wherein voltage, electric current and temperature signal in measure loop
Digital quantity is become from A/D ALT-CH alternate channel and enters single-chip microcontroller, display unit show the revolving speed of current motor, phase voltage, phase current with
And voltage on small capacitances etc., power-supplying circuit are changed into different voltage class, to fault secure circuit, driving electricity
Road, optical coupling isolation circuit, conditioning circuit and single-chip microcontroller power supply guarantee its normal work.
Claims (3)
1. a kind of low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled method, it is characterised in that: including following
Step:
S1: current motor rotor position angle θ is obtained by encoder or hall position sensor, and calculates rotor
Actual speed ω；The actual speed ω of current motor rotor is passed through into negative-feedback and given rotating speed ω again*Constitute revolving speed outer ring, electricity
Machine rotor actual speed ω and given rotating speed ω*Subtract each other to obtain speed error signal Δ ω, speed error signal Δ ω is through overrunning
Output signal after spending adjuster gives peak value i as motor quadrature axis current* qamp；
S2: the instantaneous value v of network voltage is obtained by voltage sensors, network voltage instantaneous value vsBy a locking phase ring moulds
Block obtains grid voltage phase-angle θgrid, grid voltage phase-angle θgridBy a trigonometric function module and square, with step S1
In motor quadrature axis current give peak value i* qampIt is multiplied and is used as quadrature axis current given value iq *；The reality of current motor rotor is turned
Fast ω, motor quadrature axis current give peak value i* qampIt is input to d-axis reference current generating, obtains direct-axis current given value i* d,
As shown in formula (1):
In formula (1), VsFor network voltage virtual value, LdFor d-axis inductive component, LqFor axis inductor component, λ is permanent magnet flux linkage
Value, ωgFor network voltage angular speed；
S3: the phase current i of current transformer acquisition inverter is utilizedaAnd ib, convert to obtain in two-phase static coordinate by abc/ α β
α shaft current i under systemαWith β shaft current iβ, convert to obtain the quadrature axis current i under two-phase rotating coordinate system using α β/dqqWith it is straight
Shaft current id；By the quadrature axis current iqThe quadrature axis current given value obtained with step S2After comparing, obtained by current regulator
To quadrature-axis voltageBy the direct-axis current idThe direct-axis current given value obtained with step S2After comparing, using electric current
Adjuster obtains direct-axis voltage
S4: the quadrature-axis voltage under two-phase rotating coordinate system will be obtained in step S3And direct-axis voltageIt is input to Feedforward Decoupling
In controller, according to formulaQuadrature-axis voltage after being decoupledAccording to formulaDirect-axis voltage after being decoupled
S5: quadrature-axis voltage given value will be obtained in step S4With direct-axis voltage given valueBy trapper, filter out wherein
Specific order harmonic components obtain the reference voltage of quadrature axisWith the reference voltage of d-axisThe quadrature axis reference voltage that will be obtained
With d-axis reference voltageAnd current motor rotor position angle θ is defeated by dq/ α β unit, exports α under two-phase stationary coordinate system
Axis reference voltageWith β axis reference voltageBy α axis reference voltageβ axis reference voltageAnd DC bus-bar voltage Vdc
It is input in SVPWM unit, SVPWM unit exports six road pulse-modulated signals to control the conducting of the power tube of three-phase inverter
With shutdown.
2. low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled method according to claim 1, special
Sign is: the speed regulator uses pi regulator, PID regulator, synovial membrane adjuster or neural network adjuster.
3. low capacity thin-film capacitor permanent magnet synchronous motor direct-axis current given controled method according to claim 1, special
Sign is: the current regulator uses internal mode controller, repetitive controller or PR adjuster.
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| CN112311257B (en) * | 2019-07-24 | 2024-04-26 | 苏州弗赛新能源科技有限公司 | Three-phase PWM rectifier current harmonic suppression method |
| CN110601623B (en) * | 2019-07-30 | 2021-03-26 | 广东工业大学 | Method for reducing DC bus voltage ripple amplitude of permanent magnet synchronous motor frequency converter |
| CN112910357B (en) * | 2021-02-06 | 2023-04-11 | 广东希塔变频技术有限公司 | Control method, device and circuit for motor drive and variable frequency air conditioner |
| CN115378332B (en) * | 2022-09-29 | 2024-05-14 | 南通大学 | Control method of permanent magnet synchronous motor without electrolytic capacitor |
| CN116418264B (en) * | 2023-03-31 | 2023-12-19 | 浙江大学 | Admittance remodeling-based thin-film capacitor motor driver grid-side current oscillation suppression method |
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