CN110266229B - Resonance suppression method for air conditioner driving system of electrolytic capacitor-free permanent magnet synchronous motor - Google Patents

Resonance suppression method for air conditioner driving system of electrolytic capacitor-free permanent magnet synchronous motor Download PDF

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CN110266229B
CN110266229B CN201910667231.0A CN201910667231A CN110266229B CN 110266229 B CN110266229 B CN 110266229B CN 201910667231 A CN201910667231 A CN 201910667231A CN 110266229 B CN110266229 B CN 110266229B
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axis
driving system
bus voltage
permanent magnet
signal
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CN110266229A (en
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王高林
白音
赵楠楠
张国强
徐殿国
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Delta electronic enterprise management (Shanghai) Co., Ltd
Harbin Institute of Technology
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Harbin Institute of Technology
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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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage

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Abstract

The invention discloses a resonance suppression method for an air conditioner driving system of a permanent magnet synchronous motor without electrolytic capacitors, and relates to a resonance suppression method for a driving system of a permanent magnet synchronous motor. The invention aims to solve the problem that after an electrolytic capacitor in the existing air conditioner driving system is replaced by a film capacitor, resonance occurs in the system. The process is as follows: firstly, the method comprises the following steps: calculating the total input impedance of the permanent magnet synchronous motor driving system and the conditions met by the stability of the motor driving system; II, secondly: processing the bus voltage signal, and extracting a bus voltage fluctuation component; multiplying the extracted bus voltage fluctuation components by coefficients respectively to obtain system damping adjustment signals; thirdly, the method comprises the following steps: selecting the size of an adjusting parameter according to the calculated minimum input impedance required by meeting the stability of the motor driving system; fourthly, the method comprises the following steps: the damping adjustment signal is converted into an alpha and beta axis through inverse park conversion, and the damping adjustment signal is superposed on the alpha axis voltage and the beta axis voltage. The invention is used for the technical field of motor control.

Description

Resonance suppression method for air conditioner driving system of electrolytic capacitor-free permanent magnet synchronous motor
Technical Field
The invention is applied to the technical field of motor control, and particularly relates to a resonance suppression method of a permanent magnet synchronous motor driving system.
Background
The permanent magnet synchronous motor is widely applied to various industrial manufacturing fields due to the advantages of simple structure, reliable operation and high power density, and is commonly used as an outdoor compressor in a household variable frequency air conditioning system. In a conventional air conditioner motor driving system, a large-capacity electrolytic capacitor is generally used to suppress a bus voltage ripple, and a PFC circuit is introduced to adjust a grid-side power factor. However, the electrolytic capacitor is greatly affected by temperature and is easily damaged in an environment with large outdoor temperature difference, so that the air conditioning system is in failure. The electrolytic capacitor with large capacity can be replaced by the thin film capacitor with smaller capacity value, so that the service life of the bus capacitor is prolonged. Because the direct current bus capacitor plays the roles of stabilizing the bus voltage and reducing the voltage ripple, when the capacitance value of the bus capacitor is reduced, the stored energy at the direct current side is reduced, so that the fluctuation amount of the bus voltage is increased, the conduction angle of the rectifying circuit is increased, and the input power factor of the system is increased, thus a power factor correction circuit can be removed, and the system cost is saved.
However, because the PFC circuit is removed, the filter reactor and the DC bus capacitor are reconnected together, so that the mutual action of the filter reactor and the DC bus capacitor generates an LC resonance phenomenon, input current has harmonic waves, and the current of a power grid is polluted. In the currently studied methods, the suppression strategies for the resonance phenomenon can be divided into hardware methods and software methods. The hardware method adjusts the system damping by adding impedance elements in the front-stage circuit, but the addition of the impedance elements increases the system loss and increases the system fault points. The software method can avoid the modification of a hardware circuit, adjust the damping of the system through an advanced control strategy, and can carry out self-adaptive adjustment on the stability of the system by modifying parameters in a program in real time. Therefore, the research of the software resonance suppression method in the driving system of the permanent magnet synchronous motor of the air conditioner without electrolytic capacitor has important theoretical and practical significance.
Disclosure of Invention
The invention aims to solve the problem that after an electrolytic capacitor in the existing air conditioner driving system is replaced by a film capacitor, resonance occurs in the system, and provides a resonance suppression method for an air conditioner driving system of a permanent magnet synchronous motor without the electrolytic capacitor.
The resonance inhibition method of the air conditioner driving system of the permanent magnet synchronous motor without the electrolytic capacitor comprises the following specific processes:
the method comprises the following steps: calculating the total input impedance of the permanent magnet synchronous motor driving system and the conditions met by the stability of the motor driving system;
step two: processing the bus voltage signal, and extracting a bus voltage fluctuation component; fluctuating the extracted bus voltageThe components are multiplied by a factor g, respectivelyvdAnd gvqObtaining system damping adjusting signals of a d axis and a q axis;
step three: selecting a regulating parameter g through the minimum input impedance calculated in the step one and required for meeting the stability of the motor driving systemvdAnd gvqThe size of (d);
step four: the damping adjustment signals u of the formulas (11) and (12) in the step two are processedd_dampAnd uq_dampDamping adjustment signal u of dq axis by inverse park transformd_dampAnd uq_dampConverted to alpha-beta axis and superimposed on alpha-axis voltage uαAnd beta axis voltage uβAnd (4) partial.
The invention has the beneficial effects that:
the method calculates the total input impedance of the permanent magnet synchronous motor driving system and the conditions met by the stability of the motor driving system; processing the bus voltage signal, and extracting a bus voltage fluctuation component; multiplying the extracted bus voltage fluctuation components by a coefficient g respectivelyvdAnd gvqObtaining system damping adjusting signals of a d axis and a q axis; selecting the adjusting parameter g through the minimum input impedance according to the minimum input impedance required by the stability of the motor driving systemvdAnd gvqThe size of (d); damping adjustment signal ud_dampAnd uq_dampDamping adjustment signal u of dq axis by inverse park transformd_dampAnd uq_dampConverted to alpha-beta axis and superimposed on alpha-axis voltage uαAnd beta axis voltage uβAnd (4) partial.
After the resonance suppression method provided by the invention is applied to the driving system of the air conditioner permanent magnet compressor without electrolytic capacitor, the resonance phenomenon in the network side current and the bus voltage is effectively suppressed, the harmonic amplitudes of the network side current and the network voltage at the resonance point are respectively reduced to 0.06A and 0.8V from 0.72A and 16.3V when the network side current and the network voltage operate at the rated rotating speed, the amplitudes of each subharmonic are weakened, and the stability is improved.
Drawings
FIG. 1 is a small signal modeling block diagram of the electroless capacitor air conditioner permanent magnet compressor drive system of the present invention; u in FIG. 1inFor grid input of electricity, igFor the mains input current, iinvFor the inverter output current udcFor the output value of the bus voltage, ZinIs an equivalent input impedance at the input side of the load, YinFor equivalent input admittance at the input side of the load, CdcIs the capacitance value of the DC bus capacitor, LgIs the inductance value, R, of the filter reactorgIs the circuit equivalent resistance value;
FIG. 2 is a block diagram of motor dq-axis current signal control in which the effect of PWM drive control signals on current conditions are taken into account, as in FIG. 2
Figure GDA0002684241370000021
For a given value of the dq-axis current,
Figure GDA0002684241370000022
given value for dq-axis voltage, Fid,qIs a dq-axis current controller, GFOCIs a motor system state equation G under a two-phase rotating coordinate systemudIs obtained from the following formula: a is a band pass filter, D is a delay time of a PWM drive control signal, udqFor dq-axis voltage reference signal, idqIs a dq-axis current reference signal;
FIG. 3 is a block diagram of a motor dq-axis current small signal control applied with the present invention, where gvd，qIs gvqAnd gvd，gvdAnd gvqParameters used to adjust system performance;
FIG. 4 is a control block diagram of the inner loop current loop of the LC PMSM air conditioner driving system without electrolytic capacitor of the present invention; the block diagram is that a resonance suppression module is added on a traditional motor driving system; u in FIG. 4dcIs the DC bus voltage, Δ udcIs a fluctuating component of DC bus voltage, PdampFor damping power, PinvIs the inverter power; Δ uαA voltage component of the alpha axis, Δ uβA voltage component on the β axis; u. ofaIs a phase voltage of a in a three-phase stationary coordinate system, ubIs the b-phase voltage u in a three-phase static coordinate systemcC-phase voltage under a three-phase static coordinate system; i.e. iαIs divided into twoAlpha axis current i in phase stationary coordinate systemβIs beta axis current under a two-phase static coordinate system;
Figure GDA0002684241370000031
given value of direct axis current idIs a direct current feedback value;
Figure GDA0002684241370000032
given value of quadrature axis current, iqIs quadrature axis current feedback value;
Figure GDA0002684241370000033
a given value of the direct-axis voltage under a two-phase rotating coordinate system,
Figure GDA0002684241370000034
a quadrature axis voltage given value under a two-phase rotating coordinate system; u. ofdIs a direct-axis voltage output value u under a two-phase rotating coordinate systemqThe quadrature axis voltage output value under the two-phase rotating coordinate system; u. ofαAnd uβThe reference voltage value is obtained by coordinate transformation under a two-phase static coordinate system; - ωrLqiqDecoupling components for direct-axis voltage, omegarLdid+ωrψfThe quadrature axis voltage decoupling component is used, and PI is a PI controller;
FIG. 5 is a waveform diagram of a power grid current experiment when the resonance suppression method proposed by the present invention is not adopted;
FIG. 6 is a Fourier analysis of the grid current without the resonance suppression method proposed by the present invention;
FIG. 7 is a waveform diagram of a bus voltage test without the resonance suppression method proposed by the present invention;
FIG. 8 is a Fourier analysis of bus voltage without the resonance suppression method proposed by the present invention;
FIG. 9 is a waveform diagram of a power grid current experiment when the resonance suppression method proposed by the present invention is adopted;
FIG. 10 is a Fourier analysis of the grid current when the resonance suppression method proposed by the present invention is employed;
FIG. 11 is a waveform diagram of a bus voltage experiment when the resonance suppression method proposed by the present invention is employed;
fig. 12 is a fourier analysis diagram of the bus voltage when the resonance suppression method proposed by the present invention is adopted.
Detailed Description
The first embodiment is as follows: the resonance suppression method of the air-conditioning driving system of the electrolytic capacitor-free permanent magnet synchronous motor in the embodiment comprises the following specific processes:
the present invention will now be described more fully hereinafter with reference to the accompanying drawings. With reference to fig. 1 and 12, the present invention provides a resonance suppression method for an air-conditioning driving system of a permanent magnet synchronous motor without an electrolytic capacitor, where the resonance suppression method is used to suppress a resonance phenomenon in the motor driving system, and specifically includes the following steps:
the method comprises the following steps: the resonance phenomenon in the electrolytic capacitor-free driving system is caused by the resonance phenomenon generated by the direct current bus capacitor and the filter reactor, and in order to inhibit the resonance phenomenon in an actual system, the system stability is maintained and the resonance is inhibited by increasing the system impedance. Calculating the total input impedance of a permanent magnet synchronous motor driving system and the conditions met by the stability of the motor driving system according to the parameters of the permanent magnet synchronous motor body and the parameters of a vector control system control loop thereof;
step two: and calculating to obtain the impedance of the system by adjusting the bus voltage fluctuation signal. Therefore, the bus voltage signal can be processed, and the bus voltage fluctuation component is extracted; the fluctuation information of the bus voltage can be extracted by a band-pass filter, and the cutoff frequency of the band-pass filter is set as the fluctuation frequency of the bus voltage. Multiplying the extracted bus voltage fluctuation component by coefficients gvd and gvq respectively to obtain a system damping adjustment signal of a d axis and a q axis;
step three: selecting a regulating parameter g through the minimum input impedance calculated in the step one and required for meeting the stability of the motor driving systemvdAnd gvqThe size of (d);
step four: in a practical system, a motor driving system adopts a double closed-loop vector control system for control,wherein the outer ring is a rotating speed ring, and the inner ring is a current ring. Since the resonant frequency of the system is generally greater than the bandwidth of the inner loop current loop, injecting the damping signal into the current does not achieve a good effect. Therefore, the injection is selected to be carried out in the voltage signal, and the damping adjustment signals u of the formulas (11) and (12) in the step two are usedd_dampAnd uq_dampDamping adjustment signal u of dq axis by inverse park transformd_dampAnd uq_dampAlpha-axis voltage u converted to alpha-beta axis and superimposed in vector control systemαAnd beta axis voltage uβAnd (4) partial.
Since the resonance frequency generated by the bus capacitor and the reactor usually exceeds the bandwidth of the inner loop current loop, signal injection in the current loop cannot achieve a good effect. Thus, the injection in the voltage signal is selected. The dq axis damping signal is converted into an alpha beta axis for injection through inverse park conversion, so that the resonance phenomenon of a motor driving system without electrolytic capacitor is inhibited, and the system stability is improved.
FIG. 1 is a small signal model from an impedance perspective for an electrolytic capacitor-less motor drive system, where ZinThe motor drive system input impedance from an input perspective. The input impedance of the system can be calculated through parameters of discrete devices of each part of the motor driving system. Fig. 2 is a current small signal PWM model expression of the motor, in which the influence of the bus voltage fluctuation signal on the d-axis and q-axis currents can be obtained through the block diagram in consideration of the delay effect of the PWM driving signal. Fig. 3 is a PWM model expression of a motor current small signal to which the method is applied, where a is a band pass filter and D is a PWM delay. The bus voltage signal passes through the band-pass filter to obtain a bus voltage fluctuation signal, and the damping signal obtained by the bus voltage fluctuation signal is subjected to voltage injection to adjust the system impedance, so that the system impedance is increased to be higher than a minimum impedance value meeting the stability condition, and the system is adjusted to be stable.
Fig. 4 is a block diagram of an algorithm of an electrolytic capacitor-free motor driving system to which a resonance suppression algorithm is applied. The control system adopts a double closed-loop vector control system, wherein the outer ring is a rotating speed ring, and the inner ring is a current ring. The controllers of the rotating speed loop and the current loop adopt PI controllers,the difference between the set value and the feedback value is adjusted. And the three-phase current of the motor stator is converted by Clark and Park coordinates to obtain the dq-axis current under a two-phase rotating coordinate system. The motor position and rotating speed information is obtained by a position-sensorless observation algorithm. The resonance suppression link comprises the following steps: firstly, the bus voltage signal udcObtaining a bus voltage fluctuation signal delta u through a band-pass filterdc(ii) a The bus voltage ripple signal is multiplied by a factor gvdAnd gvqObtaining a damping adjustment signal under the dq axis; converting the damping adjustment signal under the dq axis into an alpha beta coordinate system through Clark transformation, and converting the damping adjustment signal under the u axis into the alpha beta coordinate systemαAnd uβInjection is performed to increase the damping of the system to suppress the resonance phenomenon.
The second embodiment is as follows: the present embodiment is different from the first embodiment in that the resonance phenomenon in the electrolytic capacitor-free driving system in the first step is caused by a resonance phenomenon generated between the dc bus capacitor and the filter reactor, and in order to suppress the resonance phenomenon in an actual system, it is necessary to maintain system stability and suppress resonance by increasing system impedance. Calculating the total input impedance of a permanent magnet synchronous motor driving system and the conditions met by the stability of the motor driving system according to the parameters of the permanent magnet synchronous motor body and the parameters of a vector control system control loop thereof; the specific process is as follows:
when the permanent magnet synchronous motor runs, an impedance signal model of the motor driving system is established from the input side of the power grid (namely an impedance model looking into the input port of the power grid),
Figure GDA0002684241370000051
Figure GDA0002684241370000052
in the formula, Δ represents a signal variable, Δ ud、ΔuqRespectively the output voltage signal variation of d and q axes of the motor driving system under a two-phase rotating coordinate system,
Figure GDA0002684241370000057
the voltage reference value signal variation, delta u, of d and q axes of the motor driving system under a two-phase rotating coordinate systemdcIs the DC bus voltage signal variation, ud0、uq0The output voltage DC components u of d and q axes under a two-phase rotating coordinate systemdc0The direct current component of the bus voltage, A represents a band-pass filter, and D represents the delay time of the PWM driving control signal;
obtaining the total input impedance of the motor driving system:
Figure GDA0002684241370000053
in the formula, YinIs the total input impedance of the motor drive system; Δ iinvIs the inverter current signal variation; Δ udcThe voltage signal variation of the direct current bus is the bus voltage fluctuation component; u. ofdc0Is the bus voltage DC component; p is a radical ofnThe number of pole pairs of the motor is; psifIs a permanent magnet flux linkage; l isdIs a d-axis inductor; l isqIs a q-axis inductor; i.e. idD-axis current average; omegam0Setting a rotating speed value; t ise0Outputting a base torque value for the compressor; gdd、GdqThe influence of the fluctuation quantity of the bus voltage on the motor is shown;
the stability equation satisfied by the motor drive system stability is:
Figure GDA0002684241370000054
in the formula, CdcThe capacitance value is the capacitance value of the direct current bus capacitor; l isgThe inductance value of the filter reactor; rgIs the circuit equivalent resistance value; calculating the minimum input impedance required by meeting the stability of the motor driving system through an equation (7);
the minimum input impedance is calculated as:
Figure GDA0002684241370000055
in the formula (I), the compound is shown in the specification,
Figure GDA0002684241370000056
is the minimum input impedance.
Other steps and parameters are the same as those in the first embodiment.
The third concrete implementation mode: in this embodiment, the G is different from the first or second embodimentdd、GdqThe expression is as follows:
Figure GDA0002684241370000061
Figure GDA0002684241370000062
in the formula, GFOCA motor model equation under a dq axis coordinate system; fidA current controller for the d-axis; fiqA current controller being a q-axis; a is a band-pass filter; d is the delay time of the PWM driving control signal; gudIs the back electromotive force coefficient.
Other steps and parameters are the same as those in the first or second embodiment.
The fourth concrete implementation mode: the difference between this embodiment and one of the first to third embodiments is that the back electromotive force coefficient GudIs obtained from the following formula:
Figure GDA0002684241370000063
in the formula of Udc0The average value of the DC bus voltage is obtained; omegaeThe electrical frequency at which the permanent magnet synchronous motor operates.
Other steps and parameters are the same as those in one of the first to third embodiments.
The fifth concrete implementation mode: this embodiment and the detailed descriptionThe difference between the first expression and the fourth expression is that the impedance of the system can be obtained by adjusting the bus voltage fluctuation signal through calculation in the first step in the second step. Therefore, the bus voltage signal can be processed, and the bus voltage fluctuation component is extracted; the fluctuation information of the bus voltage can be extracted by a band-pass filter, and the cutoff frequency of the band-pass filter is set as the fluctuation frequency of the bus voltage. Multiplying the extracted bus voltage fluctuation components by a coefficient g respectivelyvdAnd gvqObtaining system damping adjusting signals of a d axis and a q axis; the specific process is as follows:
and processing the bus voltage through a band-pass filter to obtain a bus voltage fluctuation signal with corresponding frequency.
The band-pass filter expression is:
Figure GDA0002684241370000064
in the formula, ωBIs the center frequency of the band-pass filter; s represents a complex variable in a Laplace transform;
the bus voltage ripple component in the DC bus voltage can be extracted by the band-pass filter and multiplied by the coefficient gvdAnd gvqThe damping signal is input into the motor system, so that the influence of the resonance phenomenon in the motor driving system without electrolytic capacitor on the running performance of the permanent magnet synchronous motor can be eliminated.
The direct current bus voltage is processed by a band-pass filter to obtain a direct current bus voltage signal variation, namely a bus voltage fluctuation component (a fluctuation component of the direct current bus voltage near a resonant frequency), and an expression formula is shown as follows:
Figure GDA0002684241370000065
in the formula udcIs a dc bus voltage; Δ udcThe voltage signal variation of the direct current bus is the bus voltage fluctuation component;
the expression of the damping adjustment signal is further obtained as follows:
ud_damp＝gvd·Δudc (11)
uq_damp＝gvq·Δudc (12)
in the formula, gvdAnd gvqFor parameters used to adjust the performance of the system, ud_dampFor the system damping adjustment signal of d-axis, uq_dampThe signal is adjusted for q-axis system damping.
Other steps and parameters are the same as in one of the first to fourth embodiments.
The sixth specific implementation mode: in this embodiment, the adjustment parameter g is selected from the minimum input impedance calculated in step one to meet the requirement of the motor driving system stability in step three, which is different from one of the first to fifth embodimentsvdAnd gvqThe size of (d); the specific process is as follows:
after injecting the damping adjustment signal to the permanent magnet synchronous motor drive system (α β axis), the total input impedance of the permanent magnet synchronous motor drive system becomes:
Figure GDA0002684241370000071
wherein the content of the first and second substances,
Figure GDA0002684241370000072
Figure GDA0002684241370000073
in the formula, Gdq_cThe influence of the fluctuation of the bus voltage on the actual current of the q axis after the damping adjusting signal is injected; gdd_cThe influence of the fluctuation of the bus voltage on the actual current of the d axis after the damping adjusting signal is injected; i.e. iqIs the average value of the q-axis current;
satisfying the motor drive calculated in the first stepMinimum input impedance required for system stability, calculating parameter gvdAnd gvqA value of (d);
Figure GDA0002684241370000074
other steps and parameters are the same as those in one of the first to fifth embodiments.
The seventh embodiment: the difference between this embodiment and one of the first to sixth embodiments is that in the fourth step, in the actual system, the motor driving system is controlled by using a double closed-loop vector control system, where an outer ring is a rotation speed ring and an inner ring is a current ring. Since the resonant frequency of the system is generally greater than the bandwidth of the inner loop current loop, injecting the damping signal into the current does not achieve a good effect. Therefore, the injection is selected to be carried out in the voltage signal, and the damping adjustment signals u of the formulas (11) and (12) in the step two are usedd_dampAnd uq_dampDamping adjustment signal u of dq axis by inverse park transformd_dampAnd uq_dampAlpha-axis voltage u converted to alpha-beta axis and superimposed in vector control systemαAnd beta axis voltage uβA moiety; the specific process is as follows:
the conversion formula is as follows:
Figure GDA0002684241370000081
in the formula uα_dampFor voltage damping signals injected into the alpha axis, uβ_dampTo inject the voltage damping signal into the β axis, θ is the angle between the dq axis and the α β axis.
Other steps and parameters are the same as those in one of the first to sixth embodiments.
The following examples were used to demonstrate the beneficial effects of the present invention:
the first embodiment is as follows:
the preparation method comprises the following steps:
the effectiveness of the resonance inhibition method provided by the invention is verified on an air-conditioning platform of the permanent magnet synchronous motor without electrolytic capacitor. The parameters of the experimental platform are set as follows: the power grid voltage is 220V, the power grid frequency is 50Hz, the direct current bus capacitance is film capacitance, the capacitance value is 20 muF, the input side inductance filter is 2.5mH, the d-axis inductance is 7.9mH, the q-axis inductance is 11.7mH, the rotor flux linkage is 0.11Wb, the number of pole pairs of the rotor is 3, the rated power is 1.0kW, the rated rotating speed is 3000r/min, and the stator resistance is 2.75 omega. All control algorithms in the experiment were done in the rassa RX 62T. The switching and sampling frequency was set to 10 kHz.
Fig. 5 is a waveform diagram of a power grid current experiment when the resonance suppression method proposed by the present invention is not adopted. Fig. 6 is a fourier analysis diagram of the grid current when the resonance suppression method proposed by the present invention is not adopted. Fig. 7 is a waveform diagram of a bus voltage experiment when the resonance suppression method proposed by the present invention is not adopted. Fig. 8 is a fourier analysis diagram of the bus voltage when the resonance suppression method proposed by the present invention is not employed. The waveform diagram shows that obvious resonance phenomenon exists in the power grid current and the bus voltage, and the Fourier analysis waveform shows that the harmonic amplitude near the resonance point is large. Fig. 9 is a waveform diagram of a power grid current experiment when the resonance suppression method provided by the invention is adopted. Fig. 10 is a fourier analysis diagram of the grid current when the resonance suppression method proposed by the present invention is adopted. Fig. 11 is a waveform diagram of a bus voltage experiment when the resonance suppression method proposed by the present invention is adopted. Fig. 12 is a fourier analysis diagram of the bus voltage when the resonance suppression method proposed by the present invention is adopted. According to the oscillogram, after the resonance suppression method provided by the method is adopted, the resonance phenomenon in the current and the bus voltage of the power grid is suppressed, and the harmonic amplitude near the resonance point is obviously reduced by analyzing the waveform through Fourier.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.

Claims (7)

1. The resonance suppression method of the air conditioner driving system of the permanent magnet synchronous motor without electrolytic capacitor is characterized in that: the method comprises the following specific processes:
the method comprises the following steps: calculating the total input impedance of the permanent magnet synchronous motor driving system and the conditions met by the stability of the motor driving system;
step two: processing the bus voltage signal, and extracting a bus voltage fluctuation component; multiplying the extracted bus voltage fluctuation components by a coefficient g respectivelyvdAnd gvqObtaining system damping adjusting signals of a d axis and a q axis;
step three: selecting a regulating parameter g through the minimum input impedance calculated in the step one and required for meeting the stability of the motor driving systemvdAnd gvqThe size of (d);
step four: adjusting the damping signal u in the step twod_dampAnd uq_dampDamping adjustment signal u of dq axis by inverse park transformd_dampAnd uq_dampConverted to alpha-beta axis and superimposed on alpha-axis voltage uαAnd beta axis voltage uβAnd (4) partial.
2. The resonance suppression method of the air conditioner driving system of the permanent magnet synchronous motor without the electrolytic capacitor as recited in claim 1, wherein: calculating the total input impedance of the permanent magnet synchronous motor driving system and the conditions met by the stability of the motor driving system in the first step; the specific process is as follows:
when the permanent magnet synchronous motor runs, an impedance signal model of a motor driving system is established,
Figure FDA0002684241360000011
Figure FDA0002684241360000012
in the formula, Δ represents a signal variable, Δ ud、ΔuqThe variation of output voltage signals of d and q axes of the motor driving system under a two-phase rotating coordinate system, delta ud ref、Δuq refThe voltage reference value signal variation, delta u, of d and q axes of the motor driving system under a two-phase rotating coordinate systemdcIs the DC bus voltage signal variation, ud0、uq0The output voltage DC components u of d and q axes under a two-phase rotating coordinate systemdc0The direct current component of the bus voltage, A represents a band-pass filter, and D represents the delay time of the PWM driving control signal;
obtaining the total input impedance of the motor driving system:
Figure FDA0002684241360000013
in the formula, YinIs the total input impedance of the motor drive system; Δ iinvIs the inverter current signal variation; Δ udcThe voltage signal variation of the direct current bus is the bus voltage fluctuation component; u. ofdc0Is the bus voltage DC component; p is a radical ofnThe number of pole pairs of the motor is; psifIs a permanent magnet flux linkage; l isdIs a d-axis inductor; l isqIs a q-axis inductor; i.e. idD-axis current average; omegam0Setting a rotating speed value; t ise0Outputting a base torque value for the compressor; gdd、GdqThe influence of the fluctuation quantity of the bus voltage on the motor is shown;
the stability equation satisfied by the motor drive system stability is:
Figure FDA0002684241360000021
in the formula, CdcThe capacitance value is the capacitance value of the direct current bus capacitor; l isgThe inductance value of the filter reactor; rgIs the circuit equivalent resistance value; calculating the minimum input impedance required by meeting the stability of the motor driving system through an equation (7);
the minimum input impedance is calculated as:
Figure FDA0002684241360000022
in the formula (I), the compound is shown in the specification,
Figure FDA0002684241360000023
is the minimum input impedance.
3. The resonance suppression method of the air conditioner driving system of the permanent magnet synchronous motor without the electrolytic capacitor as recited in claim 2, characterized in that: the G isdd、GdqThe expression is as follows:
Figure FDA0002684241360000024
Figure FDA0002684241360000025
in the formula, GFOCA motor model equation under a dq axis coordinate system; fidA current controller for the d-axis; fiqA current controller being a q-axis; a is a band-pass filter; d is the delay time of the PWM driving control signal; gudIs the back electromotive force coefficient.
4. The resonance suppression method of the air conditioner driving system of the permanent magnet synchronous motor without the electrolytic capacitor as recited in claim 3, characterized in that: the back electromotive force coefficient GudIs obtained from the following formula:
Figure FDA0002684241360000026
in the formula of Udc0The average value of the DC bus voltage is obtained; omegaeThe electrical frequency at which the permanent magnet synchronous motor operates.
5. Resonance suppression of the air-conditioning driving system of the electrolytic capacitor-free permanent magnet synchronous motor according to claim 4The method is characterized in that: in the second step, the bus voltage signal is processed, and the bus voltage fluctuation component is extracted; multiplying the extracted bus voltage fluctuation components by a coefficient g respectivelyvdAnd gvqObtaining system damping adjusting signals of a d axis and a q axis; the specific process is as follows:
the band-pass filter expression is:
Figure FDA0002684241360000027
in the formula, ωBIs the center frequency of the band-pass filter; s represents a complex variable in a Laplace transform;
the direct current bus voltage is processed by a band-pass filter to obtain the direct current bus voltage signal variable quantity, namely the bus voltage fluctuation component, and the expression is as follows:
Figure FDA0002684241360000031
in the formula udcIs a dc bus voltage; Δ udcThe voltage signal variation of the direct current bus is the bus voltage fluctuation component;
the expression of the damping adjustment signal is further obtained as follows:
ud_damp＝gvd·Δudc (11)
uq_damp＝gvq·Δudc (12)
in the formula, gvdAnd gvqFor parameters used to adjust the performance of the system, ud_dampFor the system damping adjustment signal of d-axis, uq_dampThe signal is adjusted for q-axis system damping.
6. The resonance suppression method of the air conditioner driving system of the permanent magnet synchronous motor without the electrolytic capacitor as recited in claim 5, characterized in that: in the third step, the motor driving system meeting the requirements calculated in the first stepMinimum input impedance required for stability selects the tuning parameter gvdAnd gvqThe size of (d); the specific process is as follows:
after injecting the damping adjustment signal into the permanent magnet synchronous motor drive system, the total input impedance of the permanent magnet synchronous motor drive system becomes:
Figure FDA0002684241360000032
wherein the content of the first and second substances,
Figure FDA0002684241360000033
Figure FDA0002684241360000034
in the formula, Gdq_cThe influence of the fluctuation of the bus voltage on the actual current of the q axis after the damping adjusting signal is injected; gdd_cThe influence of the fluctuation of the bus voltage on the actual current of the d axis after the damping adjusting signal is injected; i.e. iqIs the average value of the q-axis current;
calculating a parameter g through the minimum input impedance required by the motor driving system stability calculated in the step onevdAnd gvqA value of (d);
Figure FDA0002684241360000035
7. the resonance suppression method of the air-conditioning driving system of the permanent magnet synchronous motor without the electrolytic capacitor as recited in claim 6, characterized in that: in the fourth step, the damping adjustment signal u in the second step is transmitted to the first stepd_dampAnd uq_dampDamping adjustment signal u of dq axis by inverse park transformd_dampAnd uq_dampConverted to alpha-beta axis and superimposed on alpha-axis voltage uαAnd beta axis electricityPress uβA moiety;
the specific process is as follows:
the conversion formula is as follows:
Figure FDA0002684241360000041
in the formula uα_dampFor voltage damping signals injected into the alpha axis, uβ_dampTo inject the voltage damping signal into the β axis, θ is the angle between the dq axis and the α β axis.
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