CN111510028A - Motor equipment and system and method for inhibiting steady-state rotating speed pulsation of permanent magnet synchronous motor - Google Patents

Motor equipment and system and method for inhibiting steady-state rotating speed pulsation of permanent magnet synchronous motor Download PDF

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CN111510028A
CN111510028A CN202010429870.6A CN202010429870A CN111510028A CN 111510028 A CN111510028 A CN 111510028A CN 202010429870 A CN202010429870 A CN 202010429870A CN 111510028 A CN111510028 A CN 111510028A
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signal
compensation
module
permanent magnet
magnet synchronous
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CN111510028B (en
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王宇
沈文
王二峰
吴轩钦
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Shenzhen Invt Electric Co Ltd
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Shenzhen Invt Electric Co Ltd
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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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The application discloses system for restraining permanent magnet synchronous motor steady state rotational speed pulsation includes: a permanent magnet synchronous motor control system main body; the signal conditioning module is used for receiving the current feedback signal and extracting a position tracking error signal (delta theta); an observation module for outputting a position feedback signal based on the received input signal' (Δ θ)
Figure DDA0002500158670000011
And a rotational speed feedback signal
Figure DDA0002500158670000012
So that the main body of the permanent magnet synchronous motor control system feeds back signals according to the position
Figure DDA0002500158670000013
And a rotational speed feedback signal
Figure DDA0002500158670000014
Carrying out closed-loop feedback control on the permanent magnet synchronous motor; a ripple compensation module for constructing a compensation signal for the nth harmonic based on the output signal of the observation modulecn(Δ θ) to cancel an nth harmonic contained in the position tracking error signal (Δ θ), wherein (' (Δ θ) — (Δ θ) -cn(Δ θ). By applying the scheme of the application, the steady-state rotating speed pulsation of the permanent magnet synchronous motor can be effectively inhibited. The application also provides motor equipment and a method for inhibiting the steady-state rotating speed pulsation of the permanent magnet synchronous motor, and the motor equipment and the method have corresponding effects.

Description

Motor equipment and system and method for inhibiting steady-state rotating speed pulsation of permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of automatic control, in particular to a motor device and a system and a method for inhibiting steady-state rotating speed pulsation of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is widely applied to various industrial occasions due to the advantages of large torque density and high energy efficiency, and particularly, the motor is generally required to have the capacity of large torque output at low speed in the occasions of wire drawing machines, injection molding machines, hoisting and lifting and the like. To meet such a requirement, the motor must maintain a relatively precise orientation of the rotor field during operation. In consideration of system cost and reliability, a non-inductive vector observer is often selected to replace a position sensor with high cost in a practical scheme to acquire the rotor position information.
When the permanent magnet synchronous motor runs at a low speed, a non-inductive vector control algorithm based on high-frequency voltage injection is usually selected, and compared with a back electromotive force detection algorithm, the non-inductive vector control algorithm has a higher signal-to-noise ratio, can estimate the position of a rotor magnetic field more reliably, and achieves a better control effect on the rotating speed and the torque. For example, fig. 1 is a block diagram of a commonly-used non-inductive vector control structure of a permanent magnet synchronous motor based on high-frequency voltage injection.
In the high frequency injection algorithm, the input to the observer is a position tracking error signal extracted from the high frequency current response. During the operation of the motor, 1 st, 2 nd and 6 th harmonics are generated in an input signal of an observer respectively due to zero drift of current sampling, gain error and dead zone effect of an inverter, and after the harmonics are amplified by a closed-loop observer, a rotating speed observation error and a position observation error in the form of harmonics are generated and are superposed into feedback signals of rotating speed and position, so that low-frequency pulsation of rotating speed response is generated.
For the problem of the low-frequency ripple, some hardware methods can be used to effectively solve, for example, an operational amplifier and an analog-to-digital converter with high precision and low temperature drift are used to reduce the current sampling error, and the driving pulse is corrected according to the measured value of the three-phase output voltage to suppress the dead zone effect. In the other scheme, a method based on current harmonic detection is adopted to carry out online correction on a current sampling value or online compensation on command stator voltage, so that the method is only suitable for fundamental wave current control of non-high frequency voltage injection although the steady-state rotating speed pulsation of the motor can be suppressed and the parameter information of the motor is not required.
In summary, how to effectively suppress the steady-state rotation speed pulsation of the permanent magnet synchronous motor is a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide motor equipment and a system and a method for inhibiting steady-state rotating speed pulsation of a permanent magnet synchronous motor, so as to effectively inhibit the steady-state rotating speed pulsation of the permanent magnet synchronous motor.
In order to solve the technical problems, the invention provides the following technical scheme:
a system for suppressing the steady-state rotation speed pulsation of permanent-magnet synchronous motor includes
A permanent magnet synchronous motor control system main body;
a signal conditioning observer, and the signal conditioning observer comprises:
the signal conditioning module is used for receiving the current feedback signal and extracting a position tracking error signal (delta theta);
an observation module for outputting a position feedback signal based on the received input signal' (Δ θ)
Figure BDA0002500158650000021
And a rotational speed feedback signal
Figure BDA0002500158650000022
So that the PMSM control system main body feeds back signals according to the position
Figure BDA0002500158650000023
And the rotational speed feedback signal
Figure BDA0002500158650000024
Carrying out closed-loop feedback control on the permanent magnet synchronous motor;
a ripple compensation module for constructing a compensation signal for the nth harmonic based on the output signal of the observation modulecn(Δ θ) to cancel an nth order harmonic contained in the position tracking error signal (Δ θ), wherein (' (Δ θ) — (Δ θ) -cn(Δθ)。
Preferably, the ripple compensation module includes:
a harmonic amplitude extraction unit for extracting a harmonic amplitude K of the nth harmonic from the output signal based on the output signal of the observation modulen；
An integral adjustment unit for adjusting the harmonic amplitude KnAdjusting to obtain the output K of the integral adjusting unitcps(ii) a So that K is output after adjustmentcpsA harmonic amplitude equal to the nth harmonic in the position tracking error signal (Δ θ);
an output unit for connecting
Figure BDA0002500158650000025
As said compensation signalcn(Δ θ) outputting; wherein the content of the first and second substances,
Figure BDA0002500158650000026
an angular frequency of the input to the observation module is
Figure BDA0002500158650000027
And a harmonic signal of the same angular frequency output by the observation module.
Preferably, the observation module is an observation module composed of a PI element and an integration element, and the input signal to the output position feedback signal of the observation module
Figure BDA0002500158650000028
The transfer function of (d) is expressed as:
Figure BDA0002500158650000029
where s is a complex frequency domain operator, ωnIs the bandwidth of the observation module; and is
Figure BDA0002500158650000031
Figure BDA0002500158650000032
For a given speed signal.
Preferably, the harmonic amplitude extraction unit is specifically configured to:
the position feedback signal output by the observation module
Figure BDA0002500158650000033
Subtracting the fundamental component
Figure BDA0002500158650000034
Comparing the obtained difference with
Figure BDA0002500158650000035
After multiplying, inputting the multiplied signals to a low-pass filtering link to extract the position feedback signals
Figure BDA0002500158650000036
Harmonic amplitude K of the nth harmonic comprised thereinnWherein, in the step (A),
Figure BDA0002500158650000037
for a given speed signal.
Preferably, the method further comprises the following steps:
a compensation trigger decision module for judging whether the permanent magnet synchronous motor is in a steady-state operation stage, if so, allowing the pulsation compensation module to output the compensation signalcn(delta theta), if not, the compensation signal output by the pulsation compensation module is outputcn(Δ θ) was adjusted to 0.
Preferably, the compensation trigger decision module is specifically configured to:
when it is judged that
Figure BDA0002500158650000038
When the condition is satisfied and the satisfied duration is greater than or equal to a preset first time threshold, determining that the permanent magnet synchronous motor is in a steady-state operation stage, and allowing the pulse compensation module to output the compensation signalcn(Δθ)；
When it is judged that
Figure BDA0002500158650000039
Fail to stand or determine
Figure BDA00025001586500000310
When the duration of the establishment is less than the first time threshold, determining that the permanent magnet synchronous motor is not in a steady-state operation stage, and outputting a compensation signal output by the pulse compensation modulecn(Δ θ) was adjusted to 0.
Preferably, the compensation signal constructed by the ripple compensation modulecn(Δ θ) is the first compensation signal for the 1 st harmonicc1(Δθ)；
Further comprising:
a second ripple compensation module for constructing a second compensation signal for the 2 nd harmonic based on the output signal of the observation modulec2(Δ θ) to cancel a 2 nd order harmonic contained in the position tracking error signal (Δ θ);
a third ripple compensation module for constructing a third compensation signal for the 6 th harmonic based on the output signal of the observation modulec6(Δ θ) to cancel a 6 th harmonic contained in the position tracking error signal (Δ θ);
wherein ([ Delta ] theta) -c1(Δθ)-c2(Δθ)-c6(Δθ)。
A method for suppressing the steady-state rotation speed pulsation of permanent-magnet synchronous motor includes
A permanent magnet synchronous motor control system main body;
a signal conditioning observer, and the signal conditioning observer comprises:
the signal conditioning module receives the current feedback signal and extracts a position tracking error signal (delta theta);
the observation module outputs a position feedback signal based on the received input signal' (Δ θ)
Figure BDA0002500158650000041
And a rotational speed feedback signal
Figure BDA0002500158650000042
So that the PMSM control system main body feeds back signals according to the position
Figure BDA0002500158650000043
And the rotational speed feedback signal
Figure BDA0002500158650000044
Carrying out closed-loop feedback control on the permanent magnet synchronous motor;
the pulsation compensation module constructs a compensation signal aiming at the nth harmonic wave based on the output signal of the observation modulecn(Δ θ) to cancel an nth order harmonic contained in the position tracking error signal (Δ θ), wherein (' (Δ θ) — (Δ θ) -cn(Δθ)。
Preferably, the method further comprises the following steps:
the compensation triggering decision module judges whether the permanent magnet synchronous motor is in a steady-state operation stage or not, and if so, allows the pulsationThe compensation module outputs the compensation signalcn(delta theta), if not, the compensation signal output by the pulsation compensation module is outputcn(Δ θ) was adjusted to 0.
An electric machine apparatus comprising the system for suppressing steady-state rotation speed pulsation of a permanent magnet synchronous motor according to any one of the above.
By applying the technical scheme provided by the embodiment of the invention, the steady-state rotating speed pulsation of the permanent magnet synchronous motor is inhibited through signal compensation, so the implementation cost of the scheme is not increased, and the scheme can also be applied to the non-inductive vector control scheme of the permanent magnet synchronous motor based on high-frequency voltage injection. In the specific implementation of compensation, the ripple compensation module is arranged, and the output signal of the observation module contains harmonic information, so that a compensation signal for the nth harmonic can be constructed based on the output signal. That is, the ripple compensation module can construct a compensation signal for the nth harmonic based on the output signal of the observation modulecn(Δ θ) to cancel the nth harmonic contained in the position tracking error signal (Δ θ), and the compensated signal, i.e., the input signal of the observation module, can be represented as (Δ θ) — (Δ θ) -cn(Δ θ). It can be seen that, because the input signal of the observation module is compensated according to the output signal of the observation module, the effective inhibition of the steady-state rotating speed pulsation of the permanent magnet synchronous motor is realized. In addition, the dynamic performance of observation can be improved, and the hardware cost cannot be greatly increased.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a non-inductive vector control structure of a permanent magnet synchronous motor based on high-frequency voltage injection;
FIG. 2 is a schematic structural diagram of a system for suppressing steady-state rotational speed ripple of a PMSM according to the present invention;
fig. 3 is a schematic structural diagram of a system for suppressing steady-state rotational speed pulsation of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a ripple compensation module according to an embodiment of the present invention;
FIG. 5 is a graph comparing pre and post compensation effects in one embodiment of the present invention;
fig. 6 is a flowchart illustrating an implementation of a method for suppressing steady-state rotational speed ripple of a permanent magnet synchronous motor according to the present invention.
Detailed Description
The core of the invention is to provide a system for inhibiting the steady-state rotating speed pulsation of the permanent magnet synchronous motor, which can effectively inhibit the steady-state rotating speed pulsation of the permanent magnet synchronous motor.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a system for suppressing steady-state rotational speed ripple of a permanent magnet synchronous motor according to the present invention, where the system for suppressing steady-state rotational speed ripple of a permanent magnet synchronous motor may include
A permanent magnet synchronous motor control system main body;
a signal conditioning observer, and the signal conditioning observer comprises:
a signal conditioning module 10, configured to receive the current feedback signal and extract a position tracking error signal (Δ θ);
an observation module 20 for outputting a position feedback signal based on the received input signal' (Δ θ)
Figure BDA0002500158650000051
And a rotational speed feedback signal
Figure BDA0002500158650000052
So that the main body of the permanent magnet synchronous motor control system feeds back signals according to the position
Figure BDA0002500158650000053
And a rotational speed feedback signal
Figure BDA0002500158650000054
Carrying out closed-loop feedback control on the permanent magnet synchronous motor;
a ripple compensation module 30 for constructing a compensation signal for the nth harmonic based on the output signal of the observation module 20cn(Δ θ) to cancel an nth harmonic contained in the position tracking error signal (Δ θ), wherein (' (Δ θ) — (Δ θ) -cn(Δθ)。
The permanent magnet synchronous motor control system main body and the permanent magnet synchronous motor control system main body are not shown in fig. 2 and fig. 3 in the present application, which show the rest of the permanent magnet synchronous motor control system except for the signal conditioning observer, and the specific structure of the permanent magnet synchronous motor control system main body can refer to the existing relevant data, and the present application is not described again. For example, fig. 1 is a block diagram of a conventional high-frequency voltage injection-based non-inductive vector control structure of a permanent magnet synchronous motor, in which voltage pulse upulIs a high frequency quantity. However, it should be noted that, although the solution of the present application is particularly suitable for the non-inductive vector control based on the high-frequency voltage injection method, at the same time, the solution of the present application may also be applied to other non-inductive vector control based on the closed-loop observer, that is, the specific structure of the permanent magnet synchronous motor control system main body may be another type of structure than that shown in fig. 1.
The signal conditioning observer may be constituted by a signal conditioning module 10, an observation module 20 and a ripple compensation module 30.
The signal conditioning module 10 may receive the current feedback signal and extract the position tracking error signal (Δ θ), and the specific configuration of the signal conditioning module 10 may be set and adjusted according to the actual situation, which may refer to the existing related design.
For example, in one embodiment of FIG. 3, the current feedback signal received by signal conditioning module 10 is specifically current feedback signal i in the α - β coordinate systemα,βThe current feedback signal i under the dq coordinate system can be obtained through coordinate transformationdm,qmIt is emphasized that in this embodiment of fig. 3, the current feedback signal idm,qmNot in the standard dq coordinate system but lags the d-axis by 45, i.e., by-pi/4 adjustment in the signal conditioning module 10 in fig. 3. Of course, in other embodiments, the d-axis may not be lagged, but a standard dq coordinate system may be selected, without affecting the implementation of the present invention, i.e., the solution of the present application may be selected from various existing designs of the signal conditioning module 10. After coordinate transformation, the high frequency content can be obtained by band-pass filtering
Figure BDA0002500158650000061
Finally, the output quantity (Δ θ) of the signal conditioning module 10 can be obtained through signal demodulation, which represents the position tracking error signal.
The internal structure of the observation module 20 may also refer to the existing design, for example, a common structure is the scheme shown in fig. 3, the observation module 20 is the observation module 20 composed of a PI element and an integration element, and in the embodiment of fig. 3, the integration coefficient of the integration element is 1. Of course, in other specific cases, the internal structure of the observation module 20 may be adaptively adjusted according to actual needs.
In the conventional design, the output (Δ θ) of the signal conditioning module 10 is directly used as the input of the observation module 20, and in the solution of the present application, the (Δ θ) is compensated and then input to the observation module 20. That is, in the solution of the present application, the observation module 20 outputs the position feedback signal according to the received input signal' (Δ θ)
Figure BDA0002500158650000071
And a rotational speed feedback signal
Figure BDA0002500158650000072
So that the main body of the permanent magnet synchronous motor control system feeds back signals according to the position
Figure BDA0002500158650000073
And a rotational speed feedback signal
Figure BDA0002500158650000074
And carrying out closed-loop feedback control on the permanent magnet synchronous motor.
In the present application, it is considered that, since the observation module 20 has a definite transfer function, the harmonic in the input signal of the observation module 20 and the harmonic observation error wave included in the output signal of the observation module 20 have a definite amplitude relationship and phase relationship, and therefore, the present application considers that the harmonic information in the output signal of the observation module 20 is used to construct a corresponding compensation amount to compensate the input harmonic of the observation module 20.
Specifically, the ripple compensation module 30 is provided, and the ripple compensation module 30 may construct a compensation signal for the nth harmonic based on the output signal of the observation module 20cn(Δ θ) to cancel an nth harmonic contained in the position tracking error signal (Δ θ), wherein (' (Δ θ) — (Δ θ) -cn(Δθ)。
In general, the ripple compensation module 30 may be designed to be based on the position feedback signal output by the observation module 20
Figure BDA0002500158650000075
Constructing a compensation signal for the nth harmoniccn(Δ θ).
In one embodiment of the present invention, the ripple compensation module 30 may include:
a harmonic amplitude extraction unit for extracting the harmonic amplitude K of the nth harmonic from the output signal based on the output signal of the observation module 20n；
Integral adjustment unit for adjusting harmonic amplitude KnAdjusting to obtain the output K of the integral adjusting unitcps(ii) a So that K is output after adjustmentcpsEqual to the position tracking error signal (Δ θ) harmonic amplitude of the nth harmonic;
an output unit for connecting
Figure BDA0002500158650000076
As compensation signalscn(Δ θ) outputting; wherein the content of the first and second substances,
Figure BDA0002500158650000077
the angular frequency input for the observation module 20 is
Figure BDA0002500158650000078
And the harmonic signals of the same angular frequency output by the observation module 20.
The harmonic amplitude extraction unit needs to extract the harmonic amplitude K of the nth harmonic from the output signal based on the output signal of the observation module 20nThe specific extraction manner of the harmonic amplitude extraction unit may be designed according to actual needs, for example, the specific implementation manner adopted in fig. 4 is a specific amplitude extraction manner, and specifically, in the implementation manner of fig. 4, the harmonic amplitude extraction unit is specifically configured to:
position feedback signal to be output by the observation module 20
Figure BDA0002500158650000079
Subtracting the fundamental component
Figure BDA00025001586500000710
Comparing the obtained difference with
Figure BDA0002500158650000081
After multiplication, the signal is input to a low-pass filtering link to extract a position feedback signal
Figure BDA0002500158650000082
Harmonic amplitude K of the nth harmonic comprised thereinnWherein, in the step (A),
Figure BDA0002500158650000083
for a given speed signal.
Taking into account position feedback signals
Figure BDA0002500158650000084
Of the position feedback signal
Figure BDA0002500158650000085
Subtracting the fundamental component
Figure BDA0002500158650000086
Then, the dc offset and the harmonic component of the nth harmonic can be obtained, and considering that only one harmonic component is usually obvious in the harmonic component of the nth harmonic, the formula can be expressed as follows:
Figure BDA0002500158650000087
it can be seen that in this equation, the DC offset K is listed0And a harmonic component of the nth harmonic of the nth harmonics
Figure BDA0002500158650000088
n can be selected according to actual need, and this application can compensate for any one kind of harmonic in the n subharmonics as required promptly, of course, in practical application, n will select for a certain numerical value in 1, 2, 6 usually.
Will be provided with
Figure BDA0002500158650000089
Multiplication, one can get:
Figure BDA00025001586500000810
it can be seen that the amplitude K of the nth harmonic component can be extracted through a low-pass filtering linkn. And it should be emphasized that, in order to avoid errors, the low-pass filtering section in the harmonic amplitude extraction unit should be selected to have a cut-off angular frequency far lower than that of the harmonic amplitude extraction unit
Figure BDA00025001586500000811
The low-pass filtering step of (1).
It is further noted that, as described above,
Figure BDA00025001586500000812
in this equation, only the DC offset K is listed0And a harmonic component of the nth harmonic of the nth harmonics
Figure BDA00025001586500000813
It is considered that only a certain harmonic component is usually significant, i.e.,
Figure BDA00025001586500000814
the condition for this equation is the position feedback signal output by the observation module 20
Figure BDA00025001586500000815
Contains only harmonics of a single frequency. However, even the position feedback signal
Figure BDA00025001586500000816
When 2 or more harmonics of different frequencies are contained simultaneously, i.e., even if
Figure BDA0002500158650000091
The right side of the expression needs to increase the sinusoidal quantity of other frequencies besides the sinusoidal quantity of n, 2n times, and the extracted direct current quantity can still be the amplitude quantity K of the nth harmonic component through the set low-pass filtering linkn。
That is, the feedback signal is independent of position
Figure BDA0002500158650000092
The position feedback signal contains several harmonic waves with different frequencies
Figure BDA0002500158650000093
Subtracting the fundamental component
Figure BDA0002500158650000094
Then the obtained difference is compared with
Figure BDA0002500158650000095
After the multiplied signals are input to a low-pass filtering link, position feedback signals can be extracted
Figure BDA0002500158650000096
Harmonic amplitude K of the nth harmonic comprised thereinn. Of course, as described above, the low-pass filtering element should be chosen to have a cut-off frequency far below the cut-off frequency
Figure BDA0002500158650000097
The low-pass filtering step of (1).
The harmonic amplitude extraction unit extracts the harmonic amplitude K of the nth harmonicnHowever, it cannot be based directly on KnThe compensation signal is constructed because the harmonic amplitude KnIs the harmonic amplitude K in the output signal of the observation module 20nCompensation signal of the present applicationcn(Δ θ) is a compensation for the input to the observation module 20, and therefore, a conversion of the amplitude is also required.
When amplitude conversion is performed, this embodiment is implemented by an integral adjustment unit, which may specifically adjust the harmonic amplitude KnAdjusting to obtain the output K of the integral adjusting unitcps(ii) a So that K is output after adjustmentcpsA harmonic amplitude equal to the nth harmonic in the position tracking error signal (Δ θ); i.e. K of the output of the integral regulating unitcpsAn amplitude quantity is indicated, which should be equal to the harmonic amplitude of the nth harmonic in the tracking error signal (Δ θ).
It will be appreciated that the integral adjustment unit may adjust KnWhen the value is 0 as the regulation target, according to the regulation rule of closed loop regulation, when K isnWhen the value is 0, the compensation loop reaches a steady state, and at this time, the content of the nth harmonic in the signal output by the observation module 20 is 0, so that the corresponding motor rotation speed pulsation is eliminated. The integral coefficient Kc of the integral adjustment unit may then be based on realThe requirements for the pulsation suppression rate in the actual application are set appropriately.
Output K of integral regulating unitcpsBased on the position feedback signal output by the observation module 20
Figure BDA0002500158650000098
The amplitude of the nth harmonic in the input signal of the observation module 20, and thus K, is determined from the harmonic information in (a)cpsMultiplication by
Figure BDA0002500158650000099
A compensation signal can be determinedcn(Δ θ). I.e. the output unit can
Figure BDA00025001586500000910
As compensation signalscn(Δ θ) is output.
Wherein the content of the first and second substances,
Figure BDA00025001586500000911
the angular frequency input for the observation module 20 is
Figure BDA00025001586500000912
And the harmonic signals of the same angular frequency output by the observation module 20.
Figure BDA0002500158650000101
The specific values of (a) may be influenced by the structure of the observation module 20. For example, when the observation module 20 has the structure of fig. 3, the observation module 20 is an observation module 20 composed of a PI element and an integration element, and the input signal to the output position feedback signal of the observation module 20
Figure BDA0002500158650000102
The transfer function of (a) is a typical type II transfer function, which can be expressed as:
Figure BDA0002500158650000103
where s is a complex frequency domain operator，ωnIs the bandwidth of the observation module 20; then
Figure BDA0002500158650000104
Figure BDA0002500158650000105
For a given speed signal.
Further, in an embodiment of the present invention, considering that the system for suppressing the steady-state rotation speed ripple of the permanent magnet synchronous motor described above in the present application is generally effective in the steady-state operation stage of the motor, therefore, in order to avoid the influence on the dynamic performance of the observation module 20, in an embodiment, the compensation may be enabled only in the steady-state operation.
That is, in this embodiment, the method may further include:
a compensation trigger decision module 40 for determining whether the PMSM is in a steady-state operation stage, and if so, allowing the ripple compensation module 30 to output a compensation signalcn(Δ θ), if not, the compensation signal output by the ripple compensation module 30cn(Δ θ) was adjusted to 0.
For example, in the embodiments of fig. 3 and 4, a design with a compensation trigger decision module 40 is used.
The manner of determining whether the permanent magnet synchronous motor is in the steady-state operation stage specifically adopted by the compensation trigger decision module 40 may be selected according to actual needs, for example, in an embodiment of the present invention, the compensation trigger decision module 40 may specifically be configured to:
when it is judged that
Figure BDA0002500158650000106
When the time duration is greater than or equal to the preset first time duration threshold, it is determined that the permanent magnet synchronous motor is in the steady-state operation stage, and the pulse compensation module 30 is allowed to output the compensation signalcn(Δθ)；
When it is judged that
Figure BDA0002500158650000107
Make upImmediately, or judge
Figure BDA0002500158650000108
When the duration of the establishment is less than the first time threshold, determining that the permanent magnet synchronous motor is not in a steady-state operation stage, and outputting a compensation signal output by the pulse compensation module 30cn(Δ θ) was adjusted to 0.
In fig. 3 and 4, when it is determined that the permanent magnet synchronous motor is in the steady-state operation stage, sw may be set to 1, and correspondingly, when it is determined that the permanent magnet synchronous motor is not in the steady-state operation stage, sw may be set to 0. The specific value of the first time threshold may also be set according to the actual situation, for example, may be set to 30 ms.
In addition, in the foregoing embodiments of the present application, the nth harmonic is taken as an example for explanation, that is, the foregoing embodiments describe compensation for a harmonic of a certain frequency, and n may be arbitrarily selected. In a few cases, there are cases where harmonics of two or more frequencies are present at the same time, for example, in actual operation of the motor, dead zone effects and current sampling errors may occur at the same time. For the case of two or more frequency harmonics, an alternative is to compensate the most significant harmonic, for example, in the operating range below 1Hz, the influence of the dead zone effect is significant, the rotation speed ripple is mainly embodied as 6-fold frequency ripple, and at this time, the number n of compensating harmonics may be set to 6. When the operating frequency is higher than 1Hz, the influence of the current sampling error is more obvious, the rotating speed pulsation is mainly reflected as one-time or two-time frequency pulsation, at the moment, the number n of compensating harmonic waves is set to be 1 or 2, and the number n can be specifically set according to the actual condition of a hardware platform.
Fig. 5 shows the comparison of the steady-state responses before and after compensation when the operating frequency of the motor is 0.5Hz, and it can be seen from the comparison result that the compensation scheme adopted by the invention can effectively suppress the rotation speed pulsation.
Further, 2 or more harmonics of different frequencies may be simultaneously compensated.
For example, in the present inventionIn one embodiment, the ripple compensation module 30 constructs a compensation signalcn(Δ θ) is the first compensation signal for the 1 st harmonicc1(Δθ)；
The method can also comprise the following steps:
a second ripple compensation module for constructing a second compensation signal for the 2 nd harmonic based on the output signal of the observation module 20c2(Δ θ) to cancel out the 2 nd order harmonic contained in the position tracking error signal (Δ θ);
a third ripple compensation module for constructing a third compensation signal for the 6 th harmonic based on the output signal of the observation module 20c6(Δ θ) to cancel out a 6 th harmonic contained in the position tracking error signal (Δ θ);
wherein ([ Delta ] theta) -c1(Δθ)-c2(Δθ)-c6(Δθ)。
In this embodiment, 3 ripple compensation modules 30 are provided in parallel to compensate for the 1 st, 2 nd, and 6 th harmonics, respectively. It is to be understood that the specific structures of the second ripple compensation module 30 and the third ripple compensation module 30 in this embodiment may refer to the above description of the ripple compensation module 30, and a description thereof will not be repeated here. Because the 1 st harmonic, the 2 nd harmonic and the 6 th harmonic are compensated in the embodiment, the effect of inhibiting the steady-state rotating speed pulsation of the permanent magnet synchronous motor is further improved. The 1 st, 2 nd and 6 th harmonics are also the 3 highest in frequency of occurrence.
That is, when M kinds of harmonics need to be compensated, M parallel ripple compensation modules may be set, where M is a positive integer.
By applying the technical scheme provided by the embodiment of the invention, the steady-state rotating speed pulsation of the permanent magnet synchronous motor is inhibited through signal compensation, so the implementation cost of the scheme is not increased, and the scheme can also be applied to the non-inductive vector control scheme of the permanent magnet synchronous motor based on high-frequency voltage injection. In the present embodiment, the ripple compensation module 30 is provided to perform compensation, and the output signal of the observation module 20 contains harmonic information, so that the second target can be constructed based on the output signalCompensation signal of nth harmonic. That is, the ripple compensation module 30 may construct a compensation signal for the nth harmonic based on the output signal of the observation module 20cn(Δ θ) to cancel the nth harmonic contained in the position tracking error signal (Δ θ), and the compensated signal, i.e., the input signal of the observation module 20, can be represented as (Δ θ) — (Δ θ) -cn(Δ θ). It can be seen that, because the input signal of the observation module 20 is compensated according to the output signal of the observation module 20, the effective suppression of the steady-state rotating speed pulsation of the permanent magnet synchronous motor is realized. In addition, the dynamic performance of observation can be improved, and the hardware cost cannot be greatly increased.
Corresponding to the above system embodiments, the embodiments of the present invention further provide a method for suppressing steady-state rotation speed pulsation of a permanent magnet synchronous motor, which can be referred to in correspondence with the above. Referring to fig. 6, the method for suppressing the steady-state rotation speed ripple of the permanent magnet synchronous motor may include:
step S101: the signal conditioning module receives the current feedback signal and extracts a position tracking error signal (delta theta);
step S102: the observation module outputs a position feedback signal based on the received input signal' (Δ θ)
Figure BDA0002500158650000121
And a rotational speed feedback signal
Figure BDA0002500158650000122
So that the main body of the permanent magnet synchronous motor control system feeds back signals according to the position
Figure BDA0002500158650000123
And a rotational speed feedback signal
Figure BDA0002500158650000124
Carrying out closed-loop feedback control on the permanent magnet synchronous motor;
step S103: the ripple compensation module constructs a compensation signal aiming at the nth harmonic wave based on the output signal of the observation modulecn(Δ θ) to cancel out the nth time included in the position tracking error signal (Δ θ)Harmonics;
wherein ([ Delta ] theta) -cn(Δθ)。
In an embodiment of the present invention, step S103 specifically includes:
the method comprises the following steps: the harmonic amplitude extraction unit extracts the harmonic amplitude K of the nth harmonic in the output signal based on the output signal of the observation modulen；
Step two: integral regulating unit pair harmonic amplitude KnAdjusting to obtain the output K of the integral adjusting unitcps(ii) a So that K is output after adjustmentcpsA harmonic amplitude equal to the nth harmonic in the position tracking error signal (Δ θ);
step three: the output unit is to
Figure BDA0002500158650000131
As compensation signalscn(Δ θ) outputting; wherein the content of the first and second substances,
Figure BDA0002500158650000132
the angular frequency input to the observation module is
Figure BDA0002500158650000133
And the harmonic signal of the same angular frequency output by the observation module.
In an embodiment of the present invention, the observation module is an observation module consisting of a PI element and an integration element, and the input signal to the output position feedback signal of the observation module
Figure BDA0002500158650000134
The transfer function of (d) is expressed as:
Figure BDA0002500158650000135
where s is a complex frequency domain operator, ωnIs the bandwidth of the observation module; and is
Figure BDA0002500158650000136
Figure BDA0002500158650000137
For a given speed signal.
In an embodiment of the present invention, the first step specifically includes:
the harmonic amplitude extraction unit feeds back the position feedback signal output by the observation module
Figure BDA0002500158650000138
Subtracting the fundamental component
Figure BDA0002500158650000139
Comparing the obtained difference with
Figure BDA00025001586500001310
After multiplication, the signal is input to a low-pass filtering link to extract a position feedback signal
Figure BDA00025001586500001311
Harmonic amplitude K of the nth harmonic comprised thereinnWherein, in the step (A),
Figure BDA00025001586500001312
for a given speed signal.
In one embodiment of the present invention, the method further comprises:
the compensation triggering decision module judges whether the permanent magnet synchronous motor is in a steady-state operation stage, and if so, the pulse compensation module is allowed to output a compensation signalcn(Delta theta), if not, the compensation signal output by the ripple compensation modulecn(Δ θ) was adjusted to 0.
In an embodiment of the invention, the compensation triggering decision module judges whether the permanent magnet synchronous motor is in a steady-state operation stage, and if so, the pulse compensation module is allowed to output the compensation signalcn(Delta theta), if not, the compensation signal output by the ripple compensation modulecnThe (Δ θ) is adjusted to 0, and specifically includes:
when it is judged that
Figure BDA00025001586500001313
When the condition is satisfied and the duration of the establishment is greater than or equal to a preset first time threshold, determining that the permanent magnet synchronous motor is in a steady-state operation stage, and allowing the pulse compensation module to output a compensation signalcn(Δθ)；
When it is judged that
Figure BDA00025001586500001314
Fail to stand or determine
Figure BDA00025001586500001315
When the duration of the establishment is less than the first time threshold, determining that the permanent magnet synchronous motor is not in a steady-state operation stage, and outputting a compensation signal output by the pulse compensation modulecn(Δ θ) was adjusted to 0.
In an embodiment of the invention, the compensation signal is constructed by a ripple compensation modulecn(Δ θ) is the first compensation signal for the 1 st harmonicc1(Δθ)；
Further comprising:
the second ripple compensation module constructs a second compensation signal for the 2 nd harmonic based on the output signal of the observation modulec2(Δ θ) to cancel out the 2 nd order harmonic contained in the position tracking error signal (Δ θ);
the third ripple compensation module constructs a third compensation signal aiming at the 6 th harmonic wave based on the output signal of the observation modulec6(Δ θ) to cancel out a 6 th harmonic contained in the position tracking error signal (Δ θ);
wherein ([ Delta ] theta) -c1(Δθ)-c2(Δθ)-c6(Δθ)。
Corresponding to the above method and system embodiments, the present invention further provides an electric machine apparatus, which may include the system for suppressing the steady-state rotation speed pulsation of the permanent magnet synchronous motor in any of the above embodiments, and reference may be made to the above in correspondence with each other, and a description thereof will not be repeated here.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The principle and the implementation of the present invention are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. A system for restraining the steady-state rotation speed pulsation of a permanent magnet synchronous motor is characterized by comprising
A permanent magnet synchronous motor control system main body;
a signal conditioning observer, and the signal conditioning observer comprises:
the signal conditioning module is used for receiving the current feedback signal and extracting a position tracking error signal (delta theta);
an observation module for outputting a position feedback signal based on the received input signal' (Δ θ)
Figure FDA0002500158640000011
And a rotational speed feedback signal
Figure FDA0002500158640000012
So that the PMSM control system main body feeds back signals according to the position
Figure FDA0002500158640000013
And the rotational speed feedback signal
Figure FDA0002500158640000014
Carrying out closed-loop feedback control on the permanent magnet synchronous motor;
a ripple compensation module for constructing a compensation signal for the nth harmonic based on the output signal of the observation modulecn(Δ θ) to cancel an nth order harmonic contained in the position tracking error signal (Δ θ), wherein (' (Δ θ) — (Δ θ) -cn(Δθ)。
2. The system for suppressing steady-state rotational speed ripple of a permanent magnet synchronous motor according to claim 1, wherein the ripple compensation module comprises:
a harmonic amplitude extraction unit for extracting a harmonic amplitude K of the nth harmonic from the output signal based on the output signal of the observation modulen；
An integral adjustment unit for adjusting the harmonic amplitude KnAdjusting to obtain the output K of the integral adjusting unitcps(ii) a So that K is output after adjustmentcpsIs equal to the position tracking error signal (Delta theta)) The harmonic amplitude of the nth harmonic in (a);
an output unit for connecting
Figure FDA0002500158640000015
As said compensation signalcn(Δ θ) outputting; wherein the content of the first and second substances,
Figure FDA0002500158640000016
an angular frequency of the input to the observation module is
Figure FDA0002500158640000017
And a harmonic signal of the same angular frequency output by the observation module.
3. The system for suppressing the steady-state rotating speed pulsation of the PMSM according to claim 2, wherein the observation module is an observation module consisting of a PI (proportional integral) link and an integration link, and the input signal to the output position feedback signal of the observation module
Figure FDA0002500158640000018
The transfer function of (d) is expressed as:
Figure FDA0002500158640000019
where s is a complex frequency domain operator, ωnIs the bandwidth of the observation module; and is
Figure FDA00025001586400000110
Figure FDA00025001586400000111
For a given speed signal.
4. The system for suppressing the steady-state rotating speed pulsation of the permanent magnet synchronous motor according to claim 2, wherein the harmonic amplitude extraction unit is specifically configured to:
the position feedback signal output by the observation module
Figure FDA0002500158640000021
Subtracting the fundamental component
Figure FDA0002500158640000022
Comparing the obtained difference with
Figure FDA0002500158640000023
After multiplying, inputting the multiplied signals to a low-pass filtering link to extract the position feedback signals
Figure FDA0002500158640000024
Harmonic amplitude K of the nth harmonic comprised thereinnWherein, in the step (A),
Figure FDA0002500158640000025
for a given speed signal.
5. The system for suppressing steady-state rotational speed ripple of a permanent magnet synchronous motor according to any one of claims 1 to 4, further comprising:
a compensation trigger decision module for judging whether the permanent magnet synchronous motor is in a steady-state operation stage, if so, allowing the pulsation compensation module to output the compensation signalcn(delta theta), if not, the compensation signal output by the pulsation compensation module is outputcn(Δ θ) was adjusted to 0.
6. The system for suppressing steady-state rotational speed ripple of a permanent magnet synchronous motor according to claim 5, wherein the compensation trigger decision module is specifically configured to:
when it is judged that
Figure FDA0002500158640000026
When the set-up duration is greater than or equal to a preset first time threshold, determining that the permanent magnet synchronous motor is in steady-state operationA line phase and allowing the ripple compensation module to output the compensation signalcn(Δθ)；
When it is judged that
Figure FDA0002500158640000027
Fail to stand or determine
Figure FDA0002500158640000028
When the duration of the establishment is less than the first time threshold, determining that the permanent magnet synchronous motor is not in a steady-state operation stage, and outputting a compensation signal output by the pulse compensation modulecn(Δ θ) was adjusted to 0.
7. The system for suppressing steady-state rotational speed ripple of a PMSM according to claim 1, wherein the ripple compensation module constructs a compensation signalcn(Δ θ) is the first compensation signal for the 1 st harmonicc1(Δθ)；
Further comprising:
a second ripple compensation module for constructing a second compensation signal for the 2 nd harmonic based on the output signal of the observation modulec2(Δ θ) to cancel a 2 nd order harmonic contained in the position tracking error signal (Δ θ);
a third ripple compensation module for constructing a third compensation signal for the 6 th harmonic based on the output signal of the observation modulec6(Δ θ) to cancel a 6 th harmonic contained in the position tracking error signal (Δ θ);
wherein ([ Delta ] theta) -c1(Δθ)-c2(Δθ)-c6(Δθ)。
8. A method for restraining the steady-state rotation speed pulsation of a permanent magnet synchronous motor is characterized by comprising
A permanent magnet synchronous motor control system main body;
a signal conditioning observer, and the signal conditioning observer comprises:
the signal conditioning module receives the current feedback signal and extracts a position tracking error signal (delta theta);
the observation module outputs a position feedback signal based on the received input signal' (Δ θ)
Figure FDA0002500158640000031
And a rotational speed feedback signal
Figure FDA0002500158640000032
So that the PMSM control system main body feeds back signals according to the position
Figure FDA0002500158640000033
And the rotational speed feedback signal
Figure FDA0002500158640000034
Carrying out closed-loop feedback control on the permanent magnet synchronous motor;
the pulsation compensation module constructs a compensation signal aiming at the nth harmonic wave based on the output signal of the observation modulecn(Δ θ) to cancel an nth order harmonic contained in the position tracking error signal (Δ θ), wherein (' (Δ θ) — (Δ θ) -cn(Δθ)。
9. The method for suppressing steady-state rotational speed ripple of a permanent magnet synchronous motor according to claim 8, further comprising:
the compensation triggering decision module judges whether the permanent magnet synchronous motor is in a steady-state operation stage, and if so, the pulsation compensation module is allowed to output the compensation signalcn(delta theta), if not, the compensation signal output by the pulsation compensation module is outputcn(Δ θ) was adjusted to 0.
10. An electrical machine arrangement, characterized by comprising a system for suppressing steady state speed ripple of a permanent magnet synchronous machine according to any of claims 1 to 7.
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