CN112134495A - Open-loop harmonic compensation method for current of permanent magnet synchronous motor - Google Patents
Open-loop harmonic compensation method for current of permanent magnet synchronous motor Download PDFInfo
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- CN112134495A CN112134495A CN202010837360.2A CN202010837360A CN112134495A CN 112134495 A CN112134495 A CN 112134495A CN 202010837360 A CN202010837360 A CN 202010837360A CN 112134495 A CN112134495 A CN 112134495A
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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
- H02P6/28—Arrangements for controlling current
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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
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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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
- H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
- H02P2209/11—Sinusoidal waveform
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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 invention discloses an open-loop harmonic compensation method for current of a permanent magnet synchronous motor, which comprises the following steps: current is given according to d axis
Calculating each subharmonic component i given by the open loop of the d axis by combining the real-time operation angular speed of the permanent magnet synchronous motordhnAnd by its corresponding proportionality coefficient KdnAdjust its amplitude to obtain idcnAnd then to d-axis current loop controller output to d-axis voltage udGiving current according to the q-axis
Calculating each subharmonic component i given by q-axis open loop by combining the real-time running angular speed of the permanent magnet synchronous motorqhnAnd by its corresponding proportionality coefficient KqnAdjust its amplitude to obtain iqcnAnd then to q-axis current loop controller to output q-axis voltage uqAccording to the invention, through open-loop harmonic compensation of the current of the permanent magnet synchronous motor, the current harmonic in the vector control process of the motor can be effectively weakened, and the sine degree of the stator current is improved.
Description
The technical field is as follows:
the invention relates to the technical field of permanent magnet synchronous motor control, in particular to a current control and current harmonic compensation method for a permanent magnet synchronous motor.
Background art:
because of the cogging effect of the permanent magnet synchronous motor or the design reason, the direct-axis armature reaction of the permanent magnet synchronous motor can be generated, so that the main magnetic field of the permanent magnet synchronous motor is distorted, the distortion degree of the main magnetic field can be increased along with the increase of the stator current, and the sine degree of the stator current waveform is influenced, namely the duty ratio of each subharmonic component of the stator current is increased, so that the torque pulsation phenomenon can occur in the running process of the permanent magnet synchronous motor, and obvious and regular vibration and noise are accompanied.
Generally, a current of a three-phase alternating current permanent magnet synchronous motor comprises harmonics of 5 th, 7 th, 11 th, 13 th, 17 th, 19 th and the like, when the running frequency of the motor is lower, the frequency of each harmonic is also lower, a current loop PI controller can play a relatively quick adjusting role so as to inhibit the harmonic, but when the frequency rises, the rated frequency of the motor is particularly reached, and due to the bandwidth limitation of the current loop PI controller, each harmonic cannot be effectively adjusted and inhibited, so that the harmonic compensation needs to be carried out on the current of the permanent magnet synchronous motor.
The Space Vector Pulse Width Modulation (SVPWM) technology has been widely applied in the control of permanent magnet synchronous motors, and the control mode is to convert three-phase current into a two-phase rotating coordinate system to realize the decoupling of torque and excitation, so that the control of the permanent magnet synchronous motor becomes very simple, therefore, each current harmonic wave contained in the three-phase alternating current permanent magnet synchronous motor becomes current harmonic waves of 6 times, 12 times, 18 times, 24 times and the like in the two-phase rotating coordinate system, and the harmonic waves in the two-phase rotating coordinate system are compensated, so that each harmonic component of stator current can be effectively weakened.
The invention content is as follows:
the invention provides an open-loop harmonic compensation method for current of a permanent magnet synchronous motor, which aims to solve the problem of overlarge harmonic content of the permanent magnet synchronous motor in the vector control process.
The technical solution of the invention is as follows:
the open-loop harmonic compensation method for the current of the permanent magnet synchronous motor comprises the following steps:
(a) current is given according to d-axis
Calculating each subharmonic component i given by the open loop of the d axis by combining the real-time operation angular speed of the permanent magnet synchronous motordhnAnd by its corresponding proportionality coefficient KdnAdjust its amplitude to obtain idcnAnd then to d-axis current loop controller output to d-axis voltage ud；
(b) Current is set according to q-axis
Calculating each subharmonic component given by q-axis open loop by combining the real-time running angular speed of the permanent magnet synchronous motor
And by its corresponding proportionality coefficient KqnAdjust its amplitude to obtain iqcnAnd then to q-axis current loop controller to output q-axis voltage uq。
Preferably, the current is given according to the d-axis in step (a)
Calculating each harmonic component i given by d-axis open loopdhnI is calculated according to the following formuladhn：
Wherein n is 6,12,18,24, idhnIs idh6、idh12、idh18、idh24The harmonic components of the d-axis of 6 th order, 12 th order, 18 th order and 24 th order are respectively expressed, omega is the real-time angular speed of the permanent magnet synchronous motor, and t is the current sampling period.
Preferably, the current is set according to the q-axis in the step (b)
Calculating each harmonic component i given by q-axis open loopqhnI is calculated according to the following formulaqhn：
Wherein n is 6,12,18,24, iqhnIs iqh6、iqh12、iqh18、iqh24The harmonic components of the q-axis of 6 th order, 12 th order, 18 th order and 24 th order are respectively shown, omega is the real-time angular speed of the permanent magnet synchronous motor, and t is the current sampling period.
Preferably, each harmonic component i of the d-axisdhnBy its corresponding proportionality coefficient KdnAdjust its amplitude to obtain idcnI is calculated according to the following formuladcn：
idcn＝Kdn×idhn
Wherein idcnIs idc6、idc12、idc18、idc24D-axis 6 th, 12 th, 18 th and 24 th harmonic component compensation values, KdnIs Kd6、Kd12、Kd18、Kd24The d-axis 6 th, 12 th, 18 th and 24 th harmonic component ratios are respectively expressedExample coefficient, and then the voltage is added to the d-axis current loop controller to output d-axis voltage ud。
Preferably, each harmonic component i of the q-axisqhnBy its corresponding proportionality coefficient KqnAdjust its amplitude to obtain iqcnI is calculated according to the following formulaqcn：
Wherein iqcnIs iqc6、iqc12、iqc18、iqc24D-axis 6 th, 12 th, 18 th and 24 th harmonic component compensation values, KqnIs Kq6、Kq12、Kq18、Kq24Respectively representing the proportionality coefficients of harmonic components of 6 th order, 12 th order, 18 th order and 24 th order of d axis, and then being added to a q-axis current loop controller to output q-axis voltage uq。
Preferably, the motor is a permanent magnet synchronous motor.
The invention has the beneficial effects that:
1. the open-loop harmonic compensation method for the current of the permanent magnet synchronous motor adopts an open-loop harmonic compensation mode, not only effectively compensates each subharmonic component of the current of the permanent magnet synchronous motor, but also is not influenced by current sampling precision, electromagnetic interference and other factors due to the open-loop mode.
2. The open-loop harmonic compensation method for the current of the permanent magnet synchronous motor adjusts and compensates the amplitude of the harmonic through the proportional coefficient corresponding to each harmonic, and can accurately and pertinently solve the problem of each harmonic compensation.
Description of the drawings:
FIG. 1 is a system block diagram of a permanent magnet synchronous motor SVPWM control;
FIG. 2 is a system block diagram of an open loop harmonic compensation method employing permanent magnet synchronous motor current;
FIG. 3 is a schematic diagram of a phase U current waveform of a permanent magnet synchronous motor without an open loop harmonic compensation method;
FIG. 4 is a schematic diagram of harmonic noise of U-phase current of a permanent magnet synchronous motor without an open-loop harmonic compensation method;
FIG. 5 is a schematic diagram of a phase U current waveform of a permanent magnet synchronous motor adopting an open loop harmonic compensation method;
FIG. 6 is a schematic diagram of the harmonic noise of the phase U current of a permanent magnet synchronous motor using an open loop harmonic compensation method;
the specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention is realized on the basis of SVPWM control of a permanent magnet synchronous motor, and a system block diagram of the SVPWM control of the permanent magnet synchronous motor is shown in figure 1. In FIG. 1,. omega.*And omega respectively represent a given rotational speed and a feedback rotational speed,
respectively representing d-axis given current and q-axis given current, id、iqRepresenting d-axis and q-axis feedback currents, u, respectivelyd、uqRespectively, d-axis voltage and q-axis voltage, and theta represents an electrical angle when the motor is operated.
Specifically, when the current is converted to the dq-axis rotating coordinate system, the current harmonics on the dq-axis are harmonics of 6 th, 12 th, 18 th, 24 th, and the like.
Specifically, as shown in FIG. 2, the dashed box represents the open-loop harmonic compensation module, i, using the present inventiondhn、iqhnRepresenting the respective harmonic components given by the open-loop of the d-and q-axes, respectively, Kdn、KqnProportional coefficients, i, representing the amplitude of the harmonic to be compensated for, corresponding to each harmonic of the d-axis and q-axis, respectivelydcn、iqcnAnd respectively representing the compensation quantity of each harmonic wave of the d axis and the q axis.
Specifically, as shown in fig. 2, the open-loop harmonic compensation method for the current of the permanent magnet synchronous motor according to the present invention includes the following specific implementation steps:
current is given according to d axis
Calculating each harmonic component i given by d-axis open loopdhnI is calculated according to the following formuladhn：
Wherein n is 6,12,18,24, idhnIs idh6、idh12、idh18、idh24The harmonic components of the d-axis of 6 th order, 12 th order, 18 th order and 24 th order are respectively expressed, omega is the real-time angular speed of the permanent magnet synchronous motor, and t is the current sampling period.
Current is set according to q axis
Calculating each harmonic component i given by q-axis open loopqhnI is calculated according to the following formulaqhn：
Wherein n is 6,12,18,24, iqhnIs iqh6、iqh12、iqh18、iqh24The harmonic components of the q-axis of 6 th order, 12 th order, 18 th order and 24 th order are respectively shown, omega is the real-time angular speed of the permanent magnet synchronous motor, and t is the current sampling period.
By its corresponding proportionality coefficient KdnAdjust its amplitude to obtain idcnI is calculated according to the following formuladcn：
Wherein idcnIs idc6、idc12、idc18、idc24D-axis 6 th, 12 th, 18 th and 24 th harmonic component compensation values, KdnIs Kd6、Kd12、Kd18、Kd24And respectively represent the proportionality coefficients of 6 th harmonic components, 12 th harmonic components, 18 th harmonic components and 24 th harmonic components of the d axis.
D-axis harmonic compensation idcnApplied to the output of the current loop controller to d-axis voltage ud。
By its corresponding proportionality coefficient KqnAdjust its amplitude to obtain iqcnI is calculated according to the following formulaqcn：
Wherein iqcnIs iqc6、iqc12、iqc18、iqc24Respectively representing 6 th, 12 th, 18 th and 24 th harmonic component compensation values, KqnIs Kq6、Kq12、Kq18、Kq24The scale factors of the harmonic components of the orders 6,12,18 and 24 are shown respectively.
Compensating the q-axis harmonics by iqcnApplied to the output of the current loop controller to the q-axis voltage uq。
Specifically, if i is calculated firstdhn,idcnWhile computing iqhn，iqcnAlternatively, the step a and the step b are performed simultaneously, and it is only required to ensure that each harmonic component is calculated first, and then the compensation amount is calculated.
The following is a description of an example of the test of the effect of harmonic compensation according to the present invention. A permanent magnet synchronous motor with large harmonic influence is selected, the rated rotating speed is 167rpm, namely 27.8Hz, and the rated current is 27A. When the open-loop harmonic compensation is not performed, the U-phase current is shown in FIG. 3, and the harmonic noise test is shown in FIG. 4, which shows that 180.8Hz harmonic noise is 39.7dB, and the content of 5 th harmonic and 7 th harmonic is relatively large. When the open-loop harmonic compensation method is adopted, the U-phase current is shown in FIG. 5, the harmonic noise test is shown in FIG. 6, 180.8Hz harmonic noise of 37.4dB is shown, 5 th harmonic and 7 th harmonic are obviously weakened, and the sine degree of the current is also obviously improved.
The SVPWM control method is not only suitable for the SVPWM control system of the permanent magnet synchronous motor with current detection, but also suitable for the SVPWM control system of the permanent magnet synchronous motor without current detection.
The working principle of the invention is as follows: current is set through dq axis
According to the feedback rotation speed omega, i is calculateddhn、iqhn(n is 6,12,18,24), represents the harmonic component compensation values of 6 th, 12 th, 18 th and 24 th of d axis and q axis, and passes through the proportionality coefficient K corresponding to the harmonic quantity of 5 th, 7 th, 11 th, 13 th, 17 th, 19 th and the like in the background technologydn、KqnCalculate idcn、iqcnA value of (d) is added to u through a current loop controllerd、uqIn the method, the sine degree compensation of each phase current is completed, namely, each harmonic wave is calculated, each harmonic wave is compensated by using a proportionality coefficient, and each compensation quantity is added to u through a current loop controllerd、uqAnd the sine degree of each phase of current is better through inverse Park conversion.
The above description is only a preferred embodiment of the present invention, and all other embodiments obtained by those skilled in the art without any inventive work shall fall within the scope of the present invention.
Claims (6)
1. The open-loop harmonic compensation method for the current of the permanent magnet synchronous motor is characterized by comprising the following steps of:
(a) current is given according to d-axis
Calculating each subharmonic component i given by the open loop of the d axis by combining the real-time operation angular speed of the permanent magnet synchronous motordhnAnd by its corresponding proportionality coefficient KdnAdjust its amplitude to obtain idcnAnd then to the d-axis current loop controller output tod-axis voltage ud；
(b) Current is set according to q-axis
Calculating each subharmonic component i given by q-axis open loop by combining the real-time running angular speed of the permanent magnet synchronous motorqhnAnd by its corresponding proportionality coefficient KqnAdjust its amplitude to obtain iqcnAnd then to q-axis current loop controller to output q-axis voltage uq。
2. Method for open-loop harmonic compensation of permanent magnet synchronous motor current according to claim 1, characterized in that in step (a) the current is given according to d-axis
Calculating each harmonic component i given by d-axis open loopdhnI is calculated according to the following formuladhn：
Wherein n is 6,12,18,24, idhnIs idh6、idh12、idh18、idh24The harmonic components of the d-axis of 6 th order, 12 th order, 18 th order and 24 th order are respectively expressed, omega is the real-time angular speed of the permanent magnet synchronous motor, and t is the current sampling period.
3. Method for open-loop harmonic compensation of permanent magnet synchronous machine current according to claim 1, characterized in that in step (b) the current is given according to the q-axis
Calculating each harmonic component i given by q-axis open loopqhnI is calculated according to the following formulaqhn：
Wherein n is 6,12,18,24, iqhnIs iqh6、iqh12、iqh18、iqh24The harmonic components of the q-axis of 6 th order, 12 th order, 18 th order and 24 th order are respectively shown, omega is the real-time angular speed of the permanent magnet synchronous motor, and t is the current sampling period.
4. Method for open-loop harmonic compensation of permanent magnet synchronous motor currents according to claim 2, characterized in that the individual harmonic components i of the d-axisdhnBy its corresponding proportionality coefficient KdnAdjust its amplitude to obtain idcnI is calculated according to the following formuladcn：
idcn＝Kdn×idhn
Wherein idcnIs idc6、idc12、idc18、idc24D-axis 6 th, 12 th, 18 th and 24 th harmonic component compensation values, KdnIs Kd6、Kd12、Kd18、Kd24Respectively representing the proportionality coefficients of harmonic components of 6 th order, 12 th order, 18 th order and 24 th order of the d-axis, and then being applied to a d-axis current loop controller to output a d-axis voltage ud。
5. Method for open-loop harmonic compensation of PMSM currents according to claim 4, characterised in that the q-axis subharmonic component iqhnBy its corresponding proportionality coefficient KqnAdjust its amplitude to obtain iqcnI is calculated according to the following formulaqcn：
iqcn＝Kqn×iqhn
Wherein iqcnIs iqc6、iqc12、iqc18、iqc24D-axis 6 th, 12 th, 18 th and 24 th harmonic component compensation values, KqnIs Kq6、Kq12、Kq18、Kq24Representing d-axis harmonics 6,12,18,24, respectivelyThe wave component proportionality coefficient is added to the q-axis current loop controller to output the q-axis voltage uq。
6. The method of claim 1, wherein the electric machine is a permanent magnet synchronous machine.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112003519A (en) * | 2019-05-27 | 2020-11-27 | 中车株洲电力机车研究所有限公司 | Single-current flux-weakening control method, device and system for permanent magnet synchronous motor |
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| US20130099707A1 (en) * | 2011-09-27 | 2013-04-25 | Masayuki Okubo | Brushless motor control method, brushless motor control device and electric power steering apparatus |
| US20130300334A1 (en) * | 2011-01-18 | 2013-11-14 | Daikin Industries, Ltd. | Power conversion apparatus |
| CN103973191A (en) * | 2014-04-09 | 2014-08-06 | 东南大学 | Default phase fault-tolerant control method of nine-phase flux-switching permanent magnetic motor |
| CN104935235A (en) * | 2015-06-19 | 2015-09-23 | 上海新时达电气股份有限公司 | Current harmonic suppression method for electric motor |
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2020
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| CN1322397A (en) * | 1998-09-04 | 2001-11-14 | 通力股份公司 | Method for controlling current-regulated motor |
| US20130300334A1 (en) * | 2011-01-18 | 2013-11-14 | Daikin Industries, Ltd. | Power conversion apparatus |
| US20130099707A1 (en) * | 2011-09-27 | 2013-04-25 | Masayuki Okubo | Brushless motor control method, brushless motor control device and electric power steering apparatus |
| CN103973191A (en) * | 2014-04-09 | 2014-08-06 | 东南大学 | Default phase fault-tolerant control method of nine-phase flux-switching permanent magnetic motor |
| CN104935235A (en) * | 2015-06-19 | 2015-09-23 | 上海新时达电气股份有限公司 | Current harmonic suppression method for electric motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112003519A (en) * | 2019-05-27 | 2020-11-27 | 中车株洲电力机车研究所有限公司 | Single-current flux-weakening control method, device and system for permanent magnet synchronous motor |
| CN112003519B (en) * | 2019-05-27 | 2022-02-11 | 中车株洲电力机车研究所有限公司 | Single-current flux-weakening control method, device and system for permanent magnet synchronous motor |
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