CN113179058A - Stepper motor current harmonic suppression method based on harmonic current injection method - Google Patents
Stepper motor current harmonic suppression method based on harmonic current injection method Download PDFInfo
- Publication number
- CN113179058A CN113179058A CN202110728600.XA CN202110728600A CN113179058A CN 113179058 A CN113179058 A CN 113179058A CN 202110728600 A CN202110728600 A CN 202110728600A CN 113179058 A CN113179058 A CN 113179058A
- Authority
- CN
- China
- Prior art keywords
- current
- phase
- harmonic
- motor
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000002347 injection Methods 0.000 title claims abstract description 27
- 239000007924 injection Substances 0.000 title claims abstract description 27
- 230000001629 suppression Effects 0.000 title claims abstract description 16
- 230000003068 static effect Effects 0.000 claims abstract description 12
- 230000001131 transforming effect Effects 0.000 claims abstract description 6
- 238000001914 filtration Methods 0.000 claims abstract description 4
- 239000000126 substance Substances 0.000 claims description 24
- 230000009466 transformation Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000000605 extraction Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000010349 pulsation Effects 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 241000700159 Rattus Species 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- 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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/12—Control or stabilisation of current
-
- 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a method for suppressing current harmonics of a stepping motor based on a harmonic current injection method, which specifically comprises the following steps: setting a reference current, and solving a current difference value of the reference current and the phase current; transforming the current difference into a dq rotation coordinate system; phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current component is obtained through first-order low-pass filtering; regulating the output of the PI controller to be zero through the PI controller to obtain the output of the PI controller, and obtaining harmonic compensation voltage through a harmonic suppression module; adding the harmonic compensation voltage into a current loop to obtain d-axis voltage and q-axis voltage, calculating control voltage, and converting the control voltage into a static coordinate system to obtain phase voltage; the phase voltage is subjected to SPWM modulation, passes through an inverter and is output to a motor. The invention applies the harmonic current injection method to the two-phase hybrid stepping motor to solve the harmonic current component generated in the operation of the two-phase hybrid stepping motor, and has less required modules and low computation amount.
Description
Technical Field
The invention particularly relates to a stepping motor current harmonic suppression method based on a harmonic current injection method.
Background
During the operation of the motor, the smoothness of output torque is reduced due to current harmonics, the system performance is negatively affected, and the loss of a stator winding and an iron core is increased.
In the prior art:
prior art 1: wangxing, bauxu, & ratten. (2020). a five-phase hybrid stepper motor space vector pulse width modulation optimization control strategy capable of suppressing the third harmonic, Nanjing university of aerospace, 052(002), 181-.
The prior art 1 proposes a method: in the five-phase hybrid stepping motor, the purpose of inhibiting the third harmonic is achieved by enabling the voltage space vector synthesized in the third harmonic coordinate system to be 0, so that the torque pulsation of the motor is small, and the motor runs more stably.
Prior art 2: liao Yoghao, Yanshuai, Liu Sha, Yao Jun, (2011) harmonic injection is used for restraining torque ripple of permanent magnet synchronous motor.
The prior art 2 proposes a method: harmonic voltage is obtained through extracting fifth and seventh harmonic currents and passing through a harmonic current loop and is injected into the voltage, so that harmonic components in the operation of the motor are suppressed, and torque pulsation of the motor is suppressed.
However, the method in the prior art 1 is suitable for a five-phase hybrid stepping motor, but not suitable for a two-phase hybrid stepping motor, and the method in the prior art 2 has many modules, a large amount of calculation and a complex algorithm.
Therefore, a method for suppressing the current harmonic of the stepping motor based on the harmonic current injection method is needed, and the problems that the harmonic current injection method is not suitable for a two-phase hybrid stepping motor and the harmonic current injection method in the prior art has more modules, large calculation amount and complex algorithm are solved.
Disclosure of Invention
The invention provides a stepping motor current harmonic suppression method based on a harmonic current injection method, which is applied to a two-phase hybrid stepping motor to solve harmonic current components generated in the operation of the two-phase hybrid stepping motor, and has the advantages of less required modules and low calculation amount. Thereby making up for the deficiencies in the prior art.
A stepping motor current harmonic suppression method based on a harmonic current injection method specifically comprises the following steps:
step 1, setting a reference current of a motor, and solving a current difference value of the reference current and a phase current; then transforming the current difference value from a static coordinate system into a dq rotation coordinate system;
step 2, phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current components are obtained through first-order low-pass filtering;
step 3, adjusting the control error of the third harmonic current component to zero through a PI controller to obtain the output of the PI controller, and then passing the output of the PI controller through a harmonic suppression module to obtain harmonic compensation voltage;
step 4, adding the harmonic compensation voltage into a current loop to obtain d-axis voltage and q-axis voltage, then calculating control voltage on the basis, and converting the control voltage into a static coordinate system to obtain phase voltage of an A phase and a B phase of the motor;
and 5, modulating the phase voltages of the A phase and the B phase of the motor by SPWM, and outputting the phase voltages to the motor through an inverter.
By converting phase current Ia and Ib of two-phase hybrid stepping motor to
Under the rotating coordinate system, a direct current component is extracted through a first-order low-pass filter, and then the direct current component passes through a PI controller, so that the control error is zero. Therefore, the output of the PI controller obtains the third current harmonic voltage compensation through the harmonic suppression module
And
and by transforming the harmonic wave to a-3 theta rotation coordinate system, the extraction of the third harmonic wave can be simple and easy without changing along with the change of the current frequency. In addition, the current difference value under the static coordinate system is obtained by firstly making a difference between the reference current and the phase current, and the current difference value is converted into the rotating coordinate system through park to carry out PI control. By adopting the method, harmonic wave is ensuredThe accuracy of voltage injection is compensated, the dynamic response characteristic of current is improved, and the speed and the accuracy of control are improved.
Further, step 1 includes the following steps:
step 1.1, the reference current is distributed to the currents of the two phases A and B as follows:
wherein the content of the first and second substances,
and
respectively a reference current of phase a and a reference current of phase B,
and theta is the amplitude of the reference current and is a given angle of the motor.
Further, step 1 includes the following steps:
step 1.2, respectively making difference on reference current and phase current of the phase A and the phase B:
wherein the content of the first and second substances,
and
the difference values of the reference current and the motor phase current in the phase A and the phase B are respectively, and Ia and Ib are respectively the phase currents of the phase A and the phase B of the motor.
Further, step 1 includes the following steps:
step 1.3, the current difference obtained in the step 1.2 is compared
And
conversion to dq rotation coordinate system by park transformation:
wherein the content of the first and second substances,
and
the components of the current difference on the d-axis and q-axis, respectively, and theta is the motor given angle.
Further, step 2 includes the following steps:
step 2.1, phase current of the motor is converted into a-3 theta coordinate system in a park transformation mode:
wherein the content of the first and second substances,
and
for phase current after park conversion
And
theta is a given angle of the motor;
step 2.2, then
And
obtaining phase current through a first-order low-pass filter
And
third harmonic current component in-3 theta coordinate system
And
。
after park conversion, the third harmonic component in the phase current becomes a direct current component in the-3 θ coordinate system, and therefore the third harmonic component can be extracted by the first-order low-pass filter.
Further, in step 3, the third harmonic current component in step 2 is regulated by a PI controller:
in the formulas (7) and (8):
wherein the content of the first and second substances,
and
the third harmonic currents for a given d-axis and q-axis, respectively.
Further, in step 3:
the output of the PI controller is recorded as
And
；
the above-mentioned
And
the formula for obtaining the harmonic compensation voltage through the harmonic suppression module is as follows:
wherein the content of the first and second substances,
and
the voltage is compensated for harmonics.
Further, step 4 includes the following steps:
step 4.1, calculating the control voltage according to the formula:
wherein the content of the first and second substances,
and
d-axis control voltage and q-axis control voltage under a dq rotation coordinate system respectively;
and 4.2, converting the d-axis control voltage and the q-axis control voltage into phase voltages of an A phase and a B phase of the motor under a static coordinate system through inverse park transformation, wherein the formula is as follows:
wherein the content of the first and second substances,
and
phase voltages of A phase and B phase are respectively, and theta is a given angle of the motor.
The invention has the following beneficial effects:
1. the invention applies a harmonic current injection method to a two-phase hybrid stepping motor to solve harmonic current components generated in the operation of the two-phase hybrid stepping motor.
2. The invention realizes simple extraction of the third harmonic wave without changing along with the change of the current frequency.
3. The invention simplifies the calculation process and reduces the operation time of the MCU.
4. The invention ensures the accuracy of harmonic compensation voltage injection, improves the dynamic response characteristic of current, and improves the speed and accuracy of control.
Drawings
Fig. 1 is a schematic development diagram of a step motor current harmonic suppression method based on a harmonic current injection method according to the present invention.
Detailed Description
It should be apparent that the embodiments described below are some, but not all embodiments 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise specifically indicated and limited.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
As shown in fig. 1, the present embodiment provides a method for suppressing a current harmonic of a stepping motor based on a harmonic current injection method, which specifically includes the following steps:
step 1, setting a reference current of a motor, and solving a current difference value of the reference current and a phase current; then transforming the current difference value from a static coordinate system into a dq rotation coordinate system;
step 2, phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current components are obtained through first-order low-pass filtering;
step 3, adjusting the control error of the third harmonic current component to zero through a PI controller to obtain the output of the PI controller, and then passing the output of the PI controller through a harmonic suppression module to obtain harmonic compensation voltage;
step 4, adding the harmonic compensation voltage into a current loop to obtain d-axis voltage and q-axis voltage, then calculating control voltage on the basis, and converting the control voltage into a static coordinate system to obtain phase voltage of an A phase and a B phase of the motor;
and 5, modulating the phase voltages of the A phase and the B phase of the motor by SPWM, and outputting the phase voltages to the motor through an inverter.
Phase current Ia and phase current Ib of the two-phase hybrid stepping motor are converted to a-3 theta rotating coordinate system, a direct current component is extracted through a first-order low-pass filter, and then the direct current component passes through a PI controller to enable the control error to be zero. Therefore, the output of the PI controller obtains the third current harmonic voltage compensation through the harmonic suppression module
And
and by transforming the harmonic wave to a-3 theta rotation coordinate system, the extraction of the third harmonic wave can be simple and easy without changing along with the change of the current frequency. In addition, the current difference value under the static coordinate system is obtained by firstly making a difference between the reference current and the phase current, and the current difference value is converted into the rotating coordinate system through park to carry out PI control. By adopting the method, the accuracy of harmonic compensation voltage injection is ensured, and the current is improvedAnd the dynamic response characteristic improves the speed and accuracy of control.
In the step 1, the method comprises the following steps:
step 1.1, the reference current is distributed to the currents of the two phases A and B as follows:
wherein the content of the first and second substances,
and
respectively a reference current of phase a and a reference current of phase B,
and theta is the amplitude of the reference current and is a given angle of the motor.
In the step 1, the method also comprises the following steps:
step 1.2, respectively making difference on reference current and phase current of the phase A and the phase B:
wherein the content of the first and second substances,
and
reference current and motor in A phase and B phase respectivelyThe phase current difference values, Ia and Ib, are the phase currents of the A phase and the B phase of the motor respectively.
In the step 1, the method also comprises the following steps:
step 1.3, the current difference obtained in the step 1.2 is compared
And
conversion to dq rotation coordinate system by park transformation:
wherein the content of the first and second substances,
and
the components of the current difference on the d-axis and q-axis, respectively, and theta is the motor given angle.
In the step 2, the method comprises the following steps:
step 2.1, phase current of the motor is converted into a-3 theta coordinate system in a park transformation mode:
wherein the content of the first and second substances,
and
for phase current after park conversion
And
theta is a given angle of the motor;
step 2.2, then
And
obtaining phase current through a first-order low-pass filter
And
third harmonic current component in-3 theta coordinate system
And
。
after park conversion, the third harmonic component in the phase current becomes a direct current component in the-3 θ coordinate system, and therefore the third harmonic component can be extracted by the first-order low-pass filter.
In step 3, the third harmonic current component in step 2 is regulated by a PI controller:
in the formulas (7) and (8):
wherein the content of the first and second substances,
and
the third harmonic currents for a given d-axis and q-axis, respectively.
In the step 3:
the output of the PI controller is recorded as
And
；
the above-mentioned
And
the formula for obtaining the harmonic compensation voltage through the harmonic suppression module is as follows:
wherein the content of the first and second substances,
and
the voltage is compensated for harmonics.
In the step 4, the method comprises the following steps:
step 4.1, calculating the control voltage according to the formula:
wherein the content of the first and second substances,
and
d-axis control voltage and q-axis control voltage under a dq rotation coordinate system respectively;
and 4.2, converting the d-axis control voltage and the q-axis control voltage into phase voltages of an A phase and a B phase of the motor under a static coordinate system through inverse park transformation, wherein the formula is as follows:
wherein the content of the first and second substances,
and
phase voltages of A phase and B phase are respectively, and theta is a given angle of the motor.
The invention has the following beneficial effects:
1. the invention applies a harmonic current injection method to a two-phase hybrid stepping motor to solve harmonic current components generated in the operation of the two-phase hybrid stepping motor.
2. The invention realizes simple extraction of the third harmonic wave without changing along with the change of the current frequency.
3. The invention simplifies the calculation process and reduces the operation time of the MCU.
4. The invention ensures the accuracy of harmonic compensation voltage injection, improves the dynamic response characteristic of current, and improves the speed and accuracy of control.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. A stepping motor current harmonic suppression method based on a harmonic current injection method is characterized by comprising the following steps:
step 1, setting a reference current of a motor, and solving a current difference value of the reference current and a phase current; then transforming the current difference value from a static coordinate system into a dq rotation coordinate system;
step 2, phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current components are obtained through first-order low-pass filtering;
step 3, adjusting the control error of the third harmonic current component to zero through a PI controller to obtain the output of the PI controller, and then passing the output of the PI controller through a harmonic suppression module to obtain harmonic compensation voltage;
step 4, adding the harmonic compensation voltage into a current loop to obtain d-axis voltage and q-axis voltage, then calculating control voltage on the basis, and converting the control voltage into a static coordinate system to obtain phase voltage of an A phase and a B phase of the motor;
and 5, modulating the phase voltages of the A phase and the B phase of the motor by SPWM, and outputting the phase voltages to the motor through an inverter.
2. The method for suppressing the current harmonic wave of the stepping motor based on the harmonic wave current injection method as claimed in claim 1, wherein the step 1 comprises the following steps:
step 1.1, the reference current is distributed to the currents of the two phases A and B as follows:
wherein the content of the first and second substances,
and
respectively a reference current of phase a and a reference current of phase B,
and theta is the amplitude of the reference current and is a given angle of the motor.
3. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 2, wherein the step 1 further comprises the steps of:
step 1.2, respectively making difference on reference current and phase current of the phase A and the phase B:
wherein the content of the first and second substances,
and
the difference values of the reference current and the motor phase current in the phase A and the phase B are respectively, and Ia and Ib are respectively the phase currents of the phase A and the phase B of the motor.
4. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 3, wherein the step 1 further comprises the steps of:
step 1.3, the current difference obtained in the step 1.2 is compared
And
conversion to dq rotation coordinate system by park transformation:
wherein the content of the first and second substances,
and
the components of the current difference on the d-axis and q-axis, respectively, and theta is the motor given angle.
5. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 1, wherein the step 2 comprises the steps of:
step 2.1, phase current of the motor is converted into a-3 theta coordinate system in a park transformation mode:
wherein the content of the first and second substances,
and
for phase current after park conversion
And
theta is a given angle of the motor;
step 2.2, then
And
obtaining phase current through a first-order low-pass filter
And
third harmonic current component in-3 theta coordinate system
And
。
6. the method for suppressing the current harmonic of the stepping motor based on the harmonic current injection method as claimed in claim 1, wherein in step 3, the third harmonic current component in step 2 is adjusted by a PI controller:
in the formulas (7) and (8):
wherein the content of the first and second substances,
and
the third harmonic currents for a given d-axis and q-axis, respectively.
7. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 6, wherein in step 3:
the output of the PI controller is recorded as
And
；
the above-mentioned
And
the formula for obtaining the harmonic compensation voltage through the harmonic suppression module is as follows:
wherein the content of the first and second substances,
and
the voltage is compensated for harmonics.
8. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 1, wherein the step 4 comprises the steps of:
step 4.1, calculating the control voltage according to the formula:
wherein the content of the first and second substances,
and
d-axis control voltage and q-axis control voltage under a dq rotation coordinate system respectively;
and 4.2, converting the d-axis control voltage and the q-axis control voltage into phase voltages of an A phase and a B phase of the motor under a static coordinate system through inverse park transformation, wherein the formula is as follows:
wherein the content of the first and second substances,
and
phase voltages of A phase and B phase are respectively, and theta is a given angle of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110728600.XA CN113179058B (en) | 2021-06-29 | 2021-06-29 | Stepper motor current harmonic suppression method based on harmonic current injection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110728600.XA CN113179058B (en) | 2021-06-29 | 2021-06-29 | Stepper motor current harmonic suppression method based on harmonic current injection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113179058A true CN113179058A (en) | 2021-07-27 |
| CN113179058B CN113179058B (en) | 2021-09-28 |
Family
ID=76927971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110728600.XA Active CN113179058B (en) | 2021-06-29 | 2021-06-29 | Stepper motor current harmonic suppression method based on harmonic current injection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113179058B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114665776A (en) * | 2022-05-23 | 2022-06-24 | 深圳市杰美康机电有限公司 | Control method and system for dynamic decoupling of closed-loop stepping motor and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101043195A (en) * | 2006-03-17 | 2007-09-26 | 日本伺服株式会社 | Stepping motor control apparatus |
| CN108448965A (en) * | 2018-03-20 | 2018-08-24 | 浙江理工大学 | The heavily loaded closed loop drive system and method for two-phase hybrid stepping motor |
| KR20200112506A (en) * | 2019-03-22 | 2020-10-05 | 엘지전자 주식회사 | Motor control system and method for reducing harmonics of the motor control system |
| CN111987956A (en) * | 2020-08-10 | 2020-11-24 | 沈阳工业大学 | Torque ripple suppression method for direct-drive wind turbine generator |
-
2021
- 2021-06-29 CN CN202110728600.XA patent/CN113179058B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101043195A (en) * | 2006-03-17 | 2007-09-26 | 日本伺服株式会社 | Stepping motor control apparatus |
| CN108448965A (en) * | 2018-03-20 | 2018-08-24 | 浙江理工大学 | The heavily loaded closed loop drive system and method for two-phase hybrid stepping motor |
| KR20200112506A (en) * | 2019-03-22 | 2020-10-05 | 엘지전자 주식회사 | Motor control system and method for reducing harmonics of the motor control system |
| CN111987956A (en) * | 2020-08-10 | 2020-11-24 | 沈阳工业大学 | Torque ripple suppression method for direct-drive wind turbine generator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114665776A (en) * | 2022-05-23 | 2022-06-24 | 深圳市杰美康机电有限公司 | Control method and system for dynamic decoupling of closed-loop stepping motor and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113179058B (en) | 2021-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8159161B2 (en) | Motor control device | |
| US20090251096A1 (en) | Method and apparatus for torque ripple reduction | |
| US7282886B1 (en) | Method and system for controlling permanent magnet motor drive systems | |
| CN110518852B (en) | Harmonic injection-based current harmonic suppression method for permanent magnet synchronous motor | |
| US10848087B2 (en) | Control arrangment for a generator | |
| CN104579080A (en) | Torque pulsation inhibition method for permanent magnet synchronous motor | |
| CN111726046B (en) | Asymmetric six-phase PMSM model prediction flux linkage control method considering duty ratio optimization | |
| CN108988725B (en) | Permanent magnet synchronous motor current harmonic suppression system and method adopting improved complex vector PI controller | |
| CN111293946B (en) | Method for suppressing harmonic current of motor | |
| CN113179058B (en) | Stepper motor current harmonic suppression method based on harmonic current injection method | |
| CN111835256A (en) | MMC-based variable frequency speed regulation control method for permanent magnet synchronous motor | |
| CN113809959B (en) | Harmonic current injection method, computer readable storage medium and apparatus for suppressing vehicle higher order noise | |
| Lin et al. | A novel modulation-based current harmonic control strategy for PMSM considering current measurement error and asymmetric impedance | |
| CN110429883B (en) | Harmonic current suppression for AC motors | |
| CN107919832A (en) | Synchronous magnetic resistance motor sensorless control system and method based on power back-off | |
| CN114301361B (en) | Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control | |
| CN111371363B (en) | Motor maximum torque current ratio control method and device based on signal injection | |
| Lyu et al. | A Novel Harmonic Current Control Method for Torque Ripple Reduction of SPMSM Considering DC-Link Voltage Limit | |
| CN115395851A (en) | Method for expanding linear modulation region of driving system of electrolytic capacitor-free permanent magnet synchronous motor | |
| CN111769775A (en) | Harmonic current control method and system for motor three-phase current imbalance | |
| CN112134495A (en) | Open-loop harmonic compensation method for current of permanent magnet synchronous motor | |
| CN110707975A (en) | Control method of multiphase belt suspension capacitor motor drive topology | |
| JP5652701B2 (en) | Motor drive control device | |
| CN111669091B (en) | Direct torque control method for motor | |
| CN109687796B (en) | Closed-loop phase compensation control method and device of multiphase permanent magnet synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |