CN113659909B - Method and device for suppressing torque/rotation speed pulsation and motor control system - Google Patents
Method and device for suppressing torque/rotation speed pulsation and motor control system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract
The application relates to the technical field of motor control, and discloses a method for inhibiting torque/rotation speed pulsation, which comprises the following steps: calculating the corresponding amplitude at the fundamental frequency of the electric frequency in the kth q-axis current feedback of the motor control system, wherein k=1, 2,3 and …; performing bias compensation on the q-axis current feedback according to the calculation result; and judging whether the bias compensation meets the preset stopping condition. The corresponding amplitude of the fundamental frequency of the electric frequency in the q-axis current feedback of the motor control system is calculated, and the ab phase current is sampled and compensated according to the bias compensation direction, so that the torque/rotation speed pulsation is restrained. In the process of suppressing torque/rotation speed pulsation, parameters such as the rotational inertia of a controlled motor and the viscosity coefficient of the motor are not required to be known in advance, and judgment is completed according to feedback information of a motor control system, so that compatibility and intelligent degree of a torque/rotation speed pulsation suppression strategy of the motor control system are improved. The application also discloses a device for suppressing torque/rotation speed pulsation and a motor control system.
Description
Technical Field
The present application relates to the field of motor control technology, and for example, to a method and apparatus for suppressing torque/rotation speed pulsation, and a motor control system.
Background
The permanent magnet synchronous motor provides excitation by the permanent magnet, so that the motor structure is simpler, and the processing and assembly cost is reduced, therefore, the permanent magnet synchronous motor is widely applied. However, during operation of the permanent magnet synchronous motor, zero offset of the hardware sampling circuit causes bias of current sampling, and the bias of the sampling can causeqThe frequency of occurrence of the shaft current feedback is a periodic fluctuation of the fundamental frequency of the electrical frequency. Because ofqThe shaft current and the motor output torque are in a direct proportion relation, so that torque pulsation can occur in the motor torque, and speed fluctuation with the same frequency occurs in the motor rotating speed, and the operation performance of the permanent magnet synchronous motor control system is affected.
At present, part of the existing rotating speed/torque pulsation suppression methods need to solve the rotating speed fluctuation amplitude corresponding to the fluctuation frequency of a motor system at a certain rotating speed, and then the rotating speed fluctuation amplitude is used for solving the rotating speedqAmplitude of shaft current ripple.
In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:
in the prior art, parameters such as rotational inertia of a controlled motor, viscosity coefficient of the motor and the like need to be known in advance in the process of solving the rotational speed fluctuation amplitude, and the existing rotational speed/torque pulsation suppression strategy cannot be applied to a motor system with unknown parameters.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
The embodiment of the disclosure provides a method and a device for inhibiting torque/rotation speed pulsation and a motor control system, which are used for improving the applicability of a permanent magnet synchronous motor torque/rotation speed pulsation inhibiting strategy.
In some embodiments, the method for suppressing torque/rotational speed pulsations comprises:
calculating a first of the motor control systemskSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback,k=1，2，3…；
according to the calculation result, toqThe shaft current feedback performs bias compensation;
and judging whether the bias compensation meets the preset stopping condition.
In some embodiments, the means for suppressing torque/rotational speed pulsations comprises:
a processor and a memory storing program instructions, the processor being configured to perform a method for suppressing torque/rotational speed ripple as described above when the program instructions are executed.
In some embodiments, the motor control system comprises: such as the device for suppressing torque/rotational speed pulsation described above.
The method, the device and the motor control system for suppressing torque/rotation speed pulsation provided by the embodiment of the disclosure can realize the following technical effects:
by calculating the operating motorqAmplitude corresponding to fundamental frequency of electric frequency in shaft current feedback and corresponding to bias compensation directionqShaft current feedback for bias compensationThereby completing the suppression of torque/rotation speed pulsation. In the process of restraining torque/rotating speed pulsation, parameters such as the rotational inertia of a controlled motor and the viscosity coefficient of the motor are not required to be known in advance, and judgment is completed according to feedback information of a motor control system, so that compatibility and intelligent degree of a motor control system restraining torque/rotating speed pulsation strategy are improved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:
FIG. 1 is a control block diagram of a method for suppressing torque/rotational speed ripple provided by an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a method for suppressing torque/rotational speed ripple provided by an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of another method for suppressing torque/rotational speed pulsations provided by an embodiment of the present disclosure;
FIG. 4-1 is a graph of experimental data for one method for suppressing torque ripple provided by embodiments of the present disclosure;
FIG. 4-2 is a graph of experimental data for another method for suppressing torque ripple provided by an embodiment of the present disclosure;
FIG. 5-1 is a graph of experimental data for another method for suppressing torque ripple provided by an embodiment of the present disclosure;
FIG. 5-2 is a graph of experimental data for another method for suppressing torque ripple provided by an embodiment of the present disclosure;
FIG. 6-1 is a graph of experimental data of another method for suppressing rotational speed pulsations provided by an embodiment of the present disclosure;
FIG. 6-2 is a graph of experimental data for another method for suppressing rotational speed pulsations provided by an embodiment of the present disclosure;
FIG. 7-1 is a graph of experimental data of another method for suppressing rotational speed pulsations provided by an embodiment of the present disclosure;
FIG. 7-2 is a graph of experimental data for another method for suppressing rotational speed pulsations provided by an embodiment of the present disclosure;
fig. 8 is a schematic diagram of another apparatus for suppressing torque/rotational speed pulsations provided by an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.
The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The term "plurality" means two or more, unless otherwise indicated.
In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.
The term "corresponding" may refer to an association or binding relationship, and the correspondence between a and B refers to an association or binding relationship between a and B.
Referring to fig. 1, a control block diagram of a method for suppressing torque/rotational speed ripple is provided in accordance with an embodiment of the present disclosure. In an embodiment of the present disclosure, a permanent magnet synchronous motor (PMSM, permanent Magnet Synchronous Motor) hasqShaft current feedbackdShaft current feedback.p 0 Representing the pole pair number of the motor,a、bthe two-phase sampling current is obtained by a current sensor. Based on phase current sampling and electrical angle feedbackθ e DeterminingqShaft current feedbackdShaft current feedback. The current loop PI controller (Proportional Integral Controller) outputs a voltage commandu* dAnd (3) withu* q. Wherein after the speed and the load steady-state operation are determined, the method is toqThe shaft current feedback is discrete fourier transformed (DFT, discrete Fourier Transform) and the bias compensation direction is determined. Based on DFT result paira、bAnd the phase current sampling performs offset compensation, so that the torque/rotating speed pulsation suppression effect of the permanent magnet synchronous motor is realized.
As shown in connection with fig. 2, an embodiment of the present disclosure provides a method for suppressing torque/rotational speed pulsations, comprising:
s01, calculate the firstkSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback,k=1，2，3…。
in the technical scheme, the motor control systemqThe shaft current feedback is obtained by sampling the phase current through Clark and Park conversion. By aligningqAnd carrying out DFT calculation on the shaft current feedback to obtain the corresponding amplitude value at the fundamental frequency of the electric frequency.
S02, the motor control system calculates the following parameters according to the calculation resultqThe shaft current feedback is offset compensated.
In the technical proposal, the pair ofqThe offset compensation of the shaft current feedback requires determining the polarity of the offset, and the calculated drive system is the firstkSecondary timesqThe shaft current feeds back the corresponding amplitude at the fundamental frequency of the electrical frequency and does not represent the bias compensation direction. Thus, in the pairqBefore the shaft current feedback is offset compensated, the offset compensation direction needs to be clear.
S03, judging whether the offset compensation meets a preset stop condition.
By adopting the method for suppressing torque/rotation speed pulsation provided by the embodiment of the disclosure, the motor control system is calculatedqAmplitude corresponding to fundamental frequency of electric frequency in shaft current feedback and corresponding to bias compensation directionqThe shaft current feedback is offset compensated to accomplish torque/rotational speed ripple suppression. In the process of restraining torque/rotating speed pulsation, parameters such as the rotational inertia of a controlled motor and the viscosity coefficient of the motor are not required to be known in advance, and judgment is completed according to feedback information of a motor control system, so that compatibility and intelligent degree of a motor control system restraining torque/rotating speed pulsation strategy are improved.
Optionally, calculating a first of the motor control systemskSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback comprises:
calculating a first of the motor control systemsiSecondary timesqShaft current feedback; according to the firstiSecondary timesqShaft current feedback, calculation of motor control systemkSecondary timesqThe shaft current feedback has a corresponding magnitude at the fundamental frequency of the electrical frequency.
Optionally, calculating a first of the motor control systemsiSecondary timesqShaft current feedback, comprising:
acquisition ofa、b、cSampling current of three-phase current; according toa、b、cSampling current of three-phase current, calculating the first of motor control systemiSecondary timesqShaft current feedback.
In practical application, the current sensor can obtain the currentaSampling current and phasebThe sampling current of the phase is then determined according to equation (1)cSampling current of phase:
（1）
wherein,i c_sample representative ofcThe phase is sampled for the current and,i a_sample representative ofaThe phase is sampled for the current and,i b_sample representative ofbPhase sampling current.
Alternatively, calculate according to equation (2)Motor control system NoiSecondary timesqShaft current feedback:
（2）
wherein,θ e is a feedback value of the electrical angle,iis an integer greater than or equal to zero.
Optionally, the electrical angle feedback value is calculated according to equation (3):
（3）
wherein,f base is thatqShaft current generation frequency isf base I.e., the fundamental frequency,tis the run time.
Optionally, the fundamental frequency is determined according to equation (4):
（4）
wherein,speedfor the current rotational speed of the motor,p 0 representing the pole pair number of the motor.
In some alternative implementations, as shown in connection with fig. 2, the disclosed embodiments provide another method for suppressing torque/rotational speed pulsations, comprising:
s11, the motor control system judges whether the system enters a stable state or not;
s12, the motor control system calculates the first motor control systemkSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback,k=1，2，3…。
s13, the motor control system calculates the following parameters according to the calculation resultqThe shaft current feedback is offset compensated.
S14, the motor control system judges whether the offset compensation meets a preset stop condition.
Optionally, determining whether the system enters a steady state includes:
under the condition that the current rotating speed of the motor control system is kept unchanged within the preset time, the motor control system is considered to enter a stable state; or alternatively, the first and second heat exchangers may be,
for controlling the motor during a predetermined period of timeqIn the case where the shaft current feedback remains unchanged, the motor control system is considered to enter a steady state.
In practical application, the current rotation speed of the motor control system is an acquirable value, and the motor control systemqThe shaft current feedback is determined by the above-described formulas (1), (2), (3) and (4).
Optionally, calculating the first of the motor control systems according to equation (5)kSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback:
（5）
wherein delta isi qk Is the firstkSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback,I Rek is the firstkSecondary timesqThe magnitude of the real part of the shaft current feedback,I Imk is the firstkSecondary timesqThe shaft current feeds back the magnitude of the imaginary part.
Alternatively, the first is calculated according to equation (6)kSecondary timesqAmplitude of real part of shaft current feedback:
（6）
wherein,Nfor the total number of sample points,i q_sample (i) Is the firstiSecondary timesqThe feedback of the shaft current is provided,mis equal to the sampling frequencyf s 、One-time fundamental frequencyf base The amount associated with the total number of sampling points N,i∈N。
alternatively, the first is calculated according to equation (7)kSecondary timesqAmplitude of the shaft current feedback imaginary part:
（7）
wherein,Nfor the total number of sample points,i q_sample (i) Is the firstiSecondary timesqThe feedback of the shaft current is provided,mis equal to the sampling frequencyf s 、One-time fundamental frequencyf base The amount associated with the total number of sampling points N,i∈N。
optionally, the total sampling point number N is calculated according to equation (8):
（8）
wherein,f s is the sampling frequency.
In practical application, the preset periodmIn theory, the values should be as much as possible, so that the calculation of the amplitude of the real part and the amplitude of the imaginary part will be more accurate, but in the actual working condition, the load or other objective factors should be considered to influence the formed mutation. Therefore, in the present technical solution, the period is presetmThe value of (2) is a positive integer less than 5.
Thus, by obtaininga、b、cSampling current of three-phase current to obtainqShaft current feedback, therebyqShaft current feedback determinationqThe corresponding amplitude at the fundamental frequency of the electric frequency in the shaft current feedback can provide a data base for the follow-up torque/rotation speed pulsation suppression without predicting parameters such as the rotational inertia of a controlled motor, the viscosity coefficient of the motor and the like in advance and adding redundant hardware.
Optionally, bias compensating the q-axis current feedback according to the calculation result includes:
judging the offset compensation direction; in the case that the bias compensation direction is positive, the first bias compensation mode is adoptedqThe shaft current feedback performs bias compensation; in the case that the bias compensation direction is reversed, the second bias compensation mode is adoptedqThe shaft current feedback is offset compensated.
Optionally, in a first offset compensation modeqThe shaft current feedback performs bias compensation, comprising:
according to the firstkSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback,for a pair ofaSampling current and phasebThe sampling current of the phase is compensated in the forward direction; according to positive compensationaSampling current of phase and after forward compensationbThe sampling current of the phase is recalculatedqShaft current feedback.
Alternatively, a pair according to formula (9)aSampling current and phasebThe sampling current of the phase is forward compensated:
（9）
wherein,i a_sample_new to be compensated foraThe sampling current of the phase is set to be,i b_sample_new to be compensated forbSampling current of the phase.
Optionally, in a second bias compensation modeqShaft current feedback compensates, comprising:
according to the firstkSecondary timesqCorresponding amplitude at fundamental frequency of electric frequency in shaft current feedbackaSampling current and phasebThe sampling current of the phase is compensated reversely; according to back-compensatedaPhase sampling current and back-compensatedbThe sampling current of the phase is recalculatedqShaft current feedback.
Alternatively, a pair according to formula (10)aSampling current and phasebThe sampling current of the phase is compensated reversely:
（10）
wherein,i a_sample_new to be compensated foraThe sampling current of the phase is set to be,i b_sample_new to be compensated forbSampling current of the phase.
In practical application, calculate againqShaft current feedback can be understood as being compensatedaSampling current of phase and compensatedbSubstituting the phase sampling current into the formulas (1) and (2) to finish the current pairingqOffset compensation of shaft current feedback. It will be appreciated that in the event that the preset stop condition is not met, forqThe bias compensation of the shaft current feedback is continuously performed, and after the bias compensation direction is determined, the bias compensation mode corresponding to the bias compensation direction is continuously performedqThe shaft current feedback is offset compensated.
Optionally, determining the offset compensation direction includes: by deltai qk Analog computationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 The method comprises the steps of carrying out a first treatment on the surface of the At deltai qk Delta greater than the analog calculationi qk+1 In the case of (2), the bias compensation direction is considered to be reverse; at deltai qk Less than the delta of the analog calculationi qk+1 In the case of (2), the bias compensation direction is considered to be the forward direction.
In practical application, delta is utilizedi qk Analog computationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 It can be understood that deltai qk Indicating when no offset compensation is performedqCorresponding amplitude, delta, of fundamental frequency of electric frequency in shaft current feedbacki qk+1 Representing the analog offset after compensationqThe shaft current feedback has a corresponding magnitude at the fundamental frequency of the electrical frequency.
Alternatively, use is made of deltai qk Analog computationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 Comprising:
in a second offset compensation modeqThe shaft current feedback is subjected to bias compensation to obtain a bias compensated shaft currentqShaft current feedbacki q_sample_new The method comprises the steps of carrying out a first treatment on the surface of the According to offset compensationqShaft current feedbacki q_sample_new Analog computationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 。
In practical application, the calculation is simulatedqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback can be understood as being after the offset compensation is calculated according to the analog of the formulas (5), (6), (7) and (8)qThe shaft current feedback has a corresponding magnitude at the fundamental frequency of the electrical frequency. It should be appreciated that delta is utilizedi qk Analog computationqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback is deltai qk+1 In the embodiment of the disclosure, the second bias compensation mode is adopted for theqThe shaft current feedback is offset compensated. Also, a first bias compensation mode pair can be selectedqThe shaft current feedback is used for bias compensation, and the corresponding bias compensation direction judging condition is that delta is seti qk Delta greater than analog calculationi qk+1 In the case of (2), the bias compensation direction is considered to be the forward direction; at deltai qk Less than the delta of the analog calculationi qk+1 In the case of (2), the bias compensation direction is regarded as reverse.
In the technical proposal of the method, the device,athe sampling current of a phase can be expressed according to equation (11):
（11）
wherein,i a representation ofaActual current of phase, deltai a Representation ofaA dc bias of the phase sampling current.
bThe sampling current of a phase may be represented by equation (12):
（12）
wherein,i b representation ofbActual current of phase, deltai b Representation ofbA dc bias of the phase sampling current.
According to (1),qfrequency in shaft current feedbackf based The fluctuation of (2) can be expressed by the following formula (13):
（13）
wherein delta isi q Representation ofqFrequency in shaft current feedbackf based γ represents an angle related to three-phase currents of a, b, and c, and in practical applications, γ may be represented by the formula (14):
（14）
further, in practical application, the commercial ac permanent magnet servo motor driver mostly adopts high-precision resistor to complete current feedback sampling, and for the determined driver, the current sampling circuit design is identical, so that the driver can be considered to be under any working conditiona、bThe two-phase current sampling bias is the same, i.e., delta can be consideredi a ≈Δi b Further to the formula (14), the formula (15) can be obtained:
（15）
further, the formula (15) is brought into the formula (13) to obtain the formula (16):
（16）
thus, it can be seen that Δi q The magnitude of (d) and deltai a Directly related to the magnitude of (i) by compensating for the current sample offset deltai a Can realize the pair ofqFrequency in shaft current feedbackf based Is effective in suppressing the fluctuation of the (c). And then in consideration ofa、bUnder the condition of two-phase current sampling bias, combining the formula (11) and the formula (12), and comparingaSampling current and phasebThe phase sampling current is offset compensated, thus realizing the purpose ofqFrequency in shaft current feedbackf based Is effective in suppressing the fluctuation of the (c).
Thus, by determiningqThe corresponding amplitude value at the fundamental frequency of the electric frequency in the shaft current feedback determines the offset compensation direction and performs the compensation according to the compensation mode corresponding to the compensation directionqThe shaft current feedback is offset compensated. In the bias compensation process, the motor control system feeds back information to complete judgment and compensation, and a data basis is provided for the follow-up torque/rotation speed pulsation suppression.
Optionally, the bias compensation satisfies a preset stop condition, including:
acquisition ofFirst, thek+2After secondary bias compensationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+2 The method comprises the steps of carrying out a first treatment on the surface of the At deltai qk+2 Considering that the bias compensation meets a preset stopping condition under the condition that the bias compensation is smaller than a preset amplitude value;
optionally, the bias compensation satisfies a preset stop condition, including:
acquisition of the firstkAfter +1 bias compensationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 And the firstk+2After secondary bias compensationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+2 The method comprises the steps of carrying out a first treatment on the surface of the At deltai qk+2 Greater than deltai qk+1 In the case of (a), then consider the firstkThe +1 offset compensation satisfies a preset stop condition.
In practical applications, it should be appreciated that Δi qk+1 Representing the offset compensatedqCorresponding amplitude, delta, of fundamental frequency of electric frequency in shaft current feedbacki qk+2 Expressed in deltai qk+1 On the basis of (1) and after offset compensation againqThe shaft current feedback has a corresponding magnitude at the fundamental frequency of the electrical frequency. When the correct compensation direction is determined, if the value (e.g. deltai qk+2 ) Greater than the previous time value (e.g. deltai qk+1 ) When finally determining the firstkThe compensation value of +1 times is a value satisfying a preset stop condition.
Thus, in the case where the bias compensation satisfies the preset stop condition, the alignment is considered to be completedqOffset compensation of the shaft current feedback, i.e. corresponds to suppressing torque/rotational speed ripple of the motor control system. In the process of restraining torque/rotating speed pulsation, parameters such as the rotational inertia of a controlled motor and the viscosity coefficient of the motor are not required to be known in advance, and judgment is completed according to feedback information of a motor control system, so that compatibility and intelligent degree of a motor control system restraining torque/rotating speed pulsation strategy are improved.
In practical application, as shown in fig. 4-1 and 4-2, the servo motor (pole pair number is 3) of a numerical control machine tool is not used for suppressing torque under the condition that the machine tool is used for machining workpieces when the fundamental frequency is 25HzIn the case of the method of the/rotational speed pulsation,qthe shaft current feedback waveform is shown in figure 4-1,qthe fast fourier transform analysis (FFT, fast Fourier transform) of the shaft current feedback waveform is shown in fig. 4-2, at 25HzqThe shaft current harmonic amplitude is 0.45A.
In practical application, as shown in fig. 5-1 and 5-2, when a numerical control machine servo motor (pole pair number is 3) is used for machining a workpiece by a machine tool at a fundamental frequency of 25Hz, when the method for suppressing torque/rotation speed pulsation in the technical scheme is adopted,qthe shaft current feedback waveform is shown in figure 5-1,qthe FFT analysis of the shaft current feedback waveform is shown in fig. 5-2, where the current harmonic amplitude at 25Hz is reduced to 0.08244a, which is 18.5% of the compensation for the previous harmonic.
In practical application, as shown in fig. 6-1 and fig. 6-2, the servo motor (pole pair number is 3) of a numerical control machine tool, when the fundamental frequency is 25Hz, and when the method for suppressing torque/rotation speed pulsation in the technical scheme is not adopted in the case of machining a workpiece by the machine tool, the speed feedback waveform is shown in fig. 6-1, the FFT analysis of the speed feedback waveform is shown in fig. 6-2, and at this time, the speed harmonic amplitude at 25Hz is 0.1587r/min.
In practical application, as shown in fig. 7-1 and 7-2, when the servo motor (pole pair number is 3) of a numerical control machine tool is used for machining a workpiece at a fundamental frequency of 25Hz, and the method for suppressing torque/rotation speed pulsation in the technical scheme is adopted, the speed feedback waveform is shown in fig. 7-1, the FFT analysis of the speed feedback waveform is shown in fig. 7-2, and at this time, the speed harmonic amplitude at 25Hz is 0.02248r/min, which is 14.2% of the previous harmonic compensation.
As shown in connection with fig. 8, an embodiment of the present disclosure provides an apparatus for suppressing torque/rotational speed pulsation, including a processor (processor) 100 and a memory (memory) 101. Optionally, the apparatus may further comprise a communication interface (Communication Interface) 102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via the bus 103. The communication interface 102 may be used for information transfer. The processor 100 may invoke logic instructions in the memory 101 to perform the method for suppressing torque/rotational speed ripple of the above-described embodiments.
Further, the logic instructions in the memory 101 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product.
The memory 101 is a computer readable storage medium that can be used to store a software program, a computer executable program, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes functional applications and data processing by running program instructions/modules stored in the memory 101, i.e. implements the method for suppressing torque/rotational speed ripple in the above-described embodiments.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal device, etc. Further, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.
The embodiment of the disclosure provides a motor control system, which comprises the device for suppressing torque/rotation speed pulsation.
Embodiments of the present disclosure may be embodied in a software product stored on a storage medium, including one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of a method according to embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium including: a plurality of media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or a transitory storage medium.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this disclosure is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, when used in the present disclosure, the terms "comprises," "comprising," and/or variations thereof, mean that the recited features, integers, steps, operations, elements, and/or components are present, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the embodiments disclosed herein, the disclosed methods, articles of manufacture (including but not limited to devices, apparatuses, etc.) may be practiced in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units may be merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to implement the present embodiment. In addition, each functional unit in the embodiments of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (7)
1. A method for suppressing torque/rotational speed pulsations, characterized in that the following steps are repeated until a preset stop condition is met:
calculating a first of the motor control systemskSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback,k=1，2，3…；
according to the calculation result, toqThe shaft current feedback performs bias compensation;
the pair is according to the calculation resultqThe shaft current feedback performs bias compensation, comprising:
judging the offset compensation direction;
in the case that the bias compensation direction is positive, the first bias compensation mode is adoptedqThe shaft current feedback performs bias compensation;
in the case that the bias compensation direction is reversed, the second bias compensation mode is adoptedqThe shaft current feedback performs bias compensation;
the determining the offset compensation direction includes:
by deltai qk Analog computationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 ；
At the deltai qk Delta greater than the analog calculationi qk+1 In the case of (2), the bias compensation direction is considered to be reverse;
at the deltai qk Less than the delta of the analog calculationi qk+1 In the case of (2), the bias compensation direction is considered to be the forward direction;
said pair in a first offset compensation modeqThe shaft current feedback performs bias compensation, comprising:
according to the firstkSecondary timesqCorresponding amplitude at fundamental frequency of electric frequency in shaft current feedbackaSampling current and phasebThe sampling current of the phase is compensated in the forward direction; according to positive compensationaSampling current of phase and after forward compensationbThe sampling current of the phase is recalculatedqShaft current feedback;
for the following wayaSampling current and phasebThe sampling current of the phase is forward compensated:
wherein,i a_sample_new to be compensated foraThe sampling current of the phase is set to be,i b_sample_new to be compensated forbSampling current, delta of phasei qk Is the firstkSecondary timesqThe corresponding amplitude value at the fundamental frequency of the electric frequency in the shaft current feedback;
said pair in a second bias compensation modeqShaft current feedback compensates, comprising:
according to the firstkSecondary timesqCorresponding amplitude at fundamental frequency of electric frequency in shaft current feedbackaSampling current and phasebThe sampling current of the phase is compensated reversely; according to back-compensatedaPhase sampling current and back-compensatedbThe sampling current of the phase is recalculatedqShaft current feedback;
for the following wayaSampling current and phasebThe sampling current of the phase is compensated reversely:
wherein,i a_sample_new to be compensated foraThe sampling current of the phase is set to be,i b_sample_new to be compensated forbSampling current of the phase;
judging whether the bias compensation meets the preset stopping condition or not;
the bias compensation satisfies a preset condition, including:
acquisition of the firstk+2After secondary bias compensationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+2 ；
At the deltai qk+2 Considering that the bias compensation meets a preset condition under the condition that the bias compensation is smaller than a preset amplitude value; or alternatively, the first and second heat exchangers may be,
acquisition of the firstkAfter +1 bias compensationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 ；
At the deltai qk+2 Greater than deltai qk+1 In the case of (a), then consider the firstkThe +1 offset compensation satisfies a preset condition.
2. The method of claim 1, wherein the motor control system is calculated as followskSecondary timesqThe corresponding amplitude at the fundamental frequency of the electrical frequency in the shaft current feedback:
wherein,I Rek is the firstkSecondary timesqThe magnitude of the real part of the shaft current feedback,I Imk is the firstkSecondary timesqThe shaft current feeds back the magnitude of the imaginary part.
3. The method according to claim 2, characterized in that the calculation of the th is performed as followskSecondary timesqAmplitude of real part of shaft current feedbackI Rek ：
Wherein,Nfor the total number of sample points,i q_sample (i) Is the firstiSecondary timesqThe feedback of the shaft current is provided,mis equal to the sampling frequencyf s 、One-time fundamental frequencyf base The amount associated with the total number of sampling points N,i∈N。
4. the method according to claim 2, characterized in that the calculation of the th is performed as followskSecondary timesqAmplitude of the imaginary part of the shaft current feedbackI Imk ：
Wherein,Nfor the total number of sample points,i q_sample (i) Is the firstiSecondary timesqThe feedback of the shaft current is provided,mis equal to the sampling frequencyf s 、One-time fundamental frequencyf base The amount associated with the total number of sampling points N,i∈N。
5. the method of claim 1, wherein the utilizing deltai qk Analog computationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 Comprising:
in a second offset compensation modeqThe shaft current feedback is subjected to bias compensation to obtain a bias compensated shaft currentqShaft current feedbacki q_sample_new ；
According to offset compensationqShaft current feedbacki q_sample_new Analog computationqCorresponding amplitude delta at fundamental frequency of electric frequency in shaft current feedbacki qk+1 。
6. An apparatus for suppressing torque/rotational speed ripple comprising a processor and a memory storing program instructions, wherein the processor is configured to perform the method for suppressing torque/rotational speed ripple of any one of claims 1 to 5 when the program instructions are executed.
7. A motor control system comprising the apparatus for suppressing torque/rotational speed ripple of claim 6.
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| CN110880895A (en) * | 2019-11-26 | 2020-03-13 | 华中科技大学 | Method for determining q-axis current compensation value of permanent magnet synchronous motor and method for suppressing pulsation |
| CN112398413A (en) * | 2019-08-12 | 2021-02-23 | 乐星电气(无锡)有限公司 | Frequency converter torque lifting system and method and frequency converter |
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| CN112398413A (en) * | 2019-08-12 | 2021-02-23 | 乐星电气(无锡)有限公司 | Frequency converter torque lifting system and method and frequency converter |
| CN110880895A (en) * | 2019-11-26 | 2020-03-13 | 华中科技大学 | Method for determining q-axis current compensation value of permanent magnet synchronous motor and method for suppressing pulsation |
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