CN113839595B - Harmonic wave and unbalanced current suppression method for double three-phase permanent magnet synchronous motor - Google Patents
Harmonic wave and unbalanced current suppression method for double three-phase permanent magnet synchronous motor 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
- 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
- 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
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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
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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
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention relates to a motor current control method, in particular to a double three-phase permanent magnet synchronous motor harmonic wave and unbalanced current suppression method, which comprises the following steps: a) Acquiring current information in the motor, and projecting the current information to an alpha-beta sub-plane and a z 1-z2 sub-plane by using a space decoupling transformation matrix to form current variables i α and i β of an alpha-beta coordinate system under the alpha-beta sub-plane and current variables of a z 1z2 coordinate system under the z 1-z2 sub-planeAndB) Transforming the current variables in the αβ and z 1z2 coordinate systems into the dq and dqz coordinate systems to form current variables in the dq and dqz coordinate systems; c) And eliminating direct current errors of current variables in the dq coordinate system by using a proportional integral controller, and eliminating current harmonics and unbalanced currents of the current variables in the dq and dqz coordinate systems by using an adaptive trap. The invention can eliminate the current unbalance between two sets of windings and the current unbalance between each set of windings in the double three-phase permanent magnet synchronous motor.
Description
Technical Field
The invention relates to a motor device, in particular to a method for restraining harmonic waves and unbalanced currents of a double three-phase permanent magnet synchronous motor.
Background
The three-phase permanent magnet synchronous motor is widely applied in the industrial field due to the advantages of high power density, high efficiency, high torque-current ratio and the like, and various high-performance control methods are becoming mature. However, in the field of large-capacity application, high-voltage and high-power speed regulation is required to be realized through serial and parallel connection of power devices in the aspect of driving, and the problems of voltage sharing and current sharing of the power devices can be caused. The multiphase motor is powered by the multiphase converter, the power is borne by more multiphase stator windings, the power supply voltage required by the motor is lowered under the condition of the same power output, the multiphase motor is an effective way for realizing low-voltage high-power variable-frequency speed regulation, and the converter can realize high-power speed regulation by adopting a low-voltage-level switching device.
However, due to the smaller leakage inductance of the multiphase motor, the smaller harmonic voltage will cause larger stator side harmonic current, thereby causing the system efficiency to be reduced and the control performance to be reduced. Therefore, it is very important to suppress the harmonic current in the double three-phase permanent magnet synchronous motor.
In the prior art, harmonic current and unbalanced current suppression strategies for a double three-phase permanent magnet motor are mainly divided into two types, the first type of method starts from motor body design, and harmonic magnetic potential of the motor is reduced through methods such as stator chute, permanent magnet oblique pole and the like, so that the structure is complex. The second method starts from a control strategy, is based on space vector decoupling control of a double three-phase permanent magnet synchronous motor, adopts a four-vector space voltage vector modulation strategy to enable the modulation voltage to be zero in a z 1-z2 subplane volt-second, and can not inhibit and eliminate harmonic current caused by nonlinearity of an inverter and nonlinearity of a motor body although the generated voltage vector does not contain a z 1-z2 subplane component. In order to realize the control of the current of the z 1-z2 subplane, the voltage error can be compensated through open loop calculation or can be realized through a closed loop current control method, but the realization of the former is usually realized by knowing the nonlinear characteristics of an inverter and a motor in advance, and is difficult to realize; and the traditional PI control method can not achieve a better harmonic current inhibition effect. Due to unbalance of motor structure or unbalance of a driving system, currents among windings may be asymmetrical and unbalanced, and operation efficiency and performance of the motor are affected.
In view of this, it is desirable to provide a method of harmonic and unbalanced current suppression for a dual three-phase permanent magnet synchronous motor.
Disclosure of Invention
The invention aims to provide a harmonic and unbalanced current suppression method for a double three-phase permanent magnet synchronous motor, which can eliminate current unbalance between two sets of windings and unbalance between current of each set of windings in the double three-phase permanent magnet synchronous motor and suppress harmonic current.
In order to achieve the above object, the present invention provides a method for suppressing harmonic and unbalanced current of a double three-phase permanent magnet synchronous motor, comprising the steps of: a) Acquiring current information in the double three-phase permanent magnet synchronous motor, and based on a double three-phase permanent magnet synchronous motor space vector decoupling theory, projecting the current information to an alpha-beta coordinate system under an alpha-beta subplane and a z 1z2 coordinate system under a z 1-z2 subplane by using a space decoupling transformation matrix to form current variables i α and i β under the alpha-beta coordinate system and current variables under the z 1z2 coordinate systemAnd/>B) Current variables i α and i β in the αβ coordinate system and current variable/>, in the z 1z2 coordinate systemAnd/>Transforming into dq and dqz coordinate systems to form current variables i d and i q in dq and current variables i dz and i qz in dqz coordinate systems; c) The direct current errors of the current variables i d and i q under the dq coordinate system are eliminated by utilizing a proportional integral controller, and the adaptive wave trap/>, is utilizedThe current harmonics of the current variables i d and i q in the dq coordinate system and of the current variables i dz and i qz in the dqz coordinate system are eliminated.
Specifically, the current information includes fundamental current, harmonic current, and unbalanced current.
Further specifically, the 12k 1±1(k1 = 1,2,3, …) th harmonic component of the fundamental and harmonic currents is projected to an αβ coordinate system to the α - β sub-plane; the 6k 2±1(k2 =1, 3,5, …) subharmonic component of the harmonic current is projected onto the z 1z2 coordinate system to the z 1-z2 subplane.
Further specifically, the unbalanced current is converted into the dq coordinate system formed as a direct current component and a second harmonic component; the unbalanced current is converted into the dqz coordinate system formed as a second harmonic component.
Further specifically, the spatial decoupling transformation matrix is:
More specifically, the transformation process of the current variables i α and i β of the alpha-beta coordinate system under the alpha-beta sub-plane to the dq coordinate system is as follows:
Wherein [ T park ] is a transformation matrix of a dq coordinate system, theta e is a rotor position angle, and F α and F β are variables of the double three-phase permanent magnet synchronous motor under the alpha-beta subplane;
Current variation of z 1z2 coordinate system under z 1-z2 sub-plane And/>The transformation process to the dqz coordinate system is as follows:
Wherein [ T dqz ] is a transformation matrix of a dqz coordinate system, theta e is a rotor electric angle, And/>And the variable of a z 1z2 coordinate system of the double three-phase permanent magnet synchronous motor under the z 1-z2 sub-plane.
Further specifically, the adaptive trapIs that
Where s is the laplace operator in the transfer function in the frequency domain, ω c＝ξ(kω0), ζ is the damping ratio, ω 0 is the real-time electrical angular frequency of the double three-phase permanent magnet synchronous motor, and k is the order of the harmonic component.
Further specifically, the C(s) is derived from a proportional coefficient and an integral coefficient output by the proportional-integral controller:
Wherein, K p is the proportional coefficient of the proportional-integral controller connected with the adaptive wave trap in parallel, K i is the integral coefficient of the proportional-integral controller, and L and R are the inductance and resistance corresponding to the controlled axis.
Optionally, the adaptive trapCan be discretized into/>
Wherein, T is a sampling period, z is a complex variable e sT defined on a complex plane, and C (z) is a result of using bilinear transformation for C(s), namely:
specifically, the C (z) is derived from the C(s) via bilinear transformation.
Firstly, the current of a double three-phase permanent magnet synchronous motor is projected to an alpha-beta subplane and a z 1-z2 subplane through a space decoupling transformation matrix to form current variables i α and i β of an alpha beta coordinate system under the alpha-beta subplane and current variables of a z 1z2 coordinate system under the z 1-z2 subplaneAnd/>And further combining the current variables i α and i β of the alpha-beta coordinate system under the alpha-beta sub-plane with the current variable/>, of the z 1z2 coordinate system under the z 1-z2 sub-planeAnd/>The current variables i d and i q in the dq coordinate system and the current variables i dz and i qz in the dqz coordinate system are formed by transforming the current variables into the dq coordinate system and the dqz coordinate system, so that direct current errors of the current variables i d and i q in the dq coordinate system can be eliminated through a proportional integral controller, and current harmonics of the current variables i d and i q in the dq coordinate system and current harmonics of the current variables i dz and i qz in the dqz coordinate system can be restrained through an adaptive trap, so that the function of eliminating unbalanced currents in a z 1-z2 subplane and an alpha-beta subplane can be achieved, and current unbalance between two sets of windings and unbalance between current phases of each set of windings in the double three-phase permanent magnet synchronous motor can be eliminated.
Additional features and advantages of embodiments of the invention will be set forth in part in the detailed description which follows.
Drawings
FIG. 1 is a step diagram of one example of a method of harmonic and unbalance current suppression for a double three-phase permanent magnet synchronous motor of the present invention;
FIG. 2 is a schematic diagram of a structure of a double three-phase permanent magnet synchronous motor in a method for suppressing harmonic and unbalanced currents of the double three-phase permanent magnet synchronous motor according to the present invention;
FIG. 3 is a current control flow chart of the method of harmonic and unbalance current suppression of a double three-phase permanent magnet synchronous motor of the present invention;
FIG. 4 is a phase current diagram of the double three-phase permanent magnet synchronous motor of the present invention without harmonic current compensation in the harmonic compensation experiment of the unbalanced current suppression method;
FIG. 5 is a wave harmonic current diagram of a phase current without harmonic current compensation in a harmonic compensation experiment of a double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 6 is a current diagram of a dqz coordinate system without harmonic current compensation in the harmonic compensation experiment of the double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 7 is a plot of the harmonic currents of the dqz coordinate system currents without harmonic current compensation in the harmonic compensation experiments of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 8 is a plot of the dq coordinate system current without harmonic current compensation in the harmonic compensation experiment of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 9 is a phase current diagram of harmonic current compensation in a harmonic compensation experiment of a double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 10 is a wave harmonic current plot of phase currents for harmonic current compensation in a harmonic compensation experiment of a double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 11 is a current diagram of a dqz coordinate system for harmonic current compensation in a harmonic compensation experiment of a double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 12 is a plot of the harmonic currents of the dqz coordinate system currents for harmonic current compensation in the harmonic compensation experiments of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 13 is a dq coordinate system current diagram of harmonic current compensation in an imbalance current suppression experiment of a double three-phase permanent magnet synchronous motor harmonic and imbalance current suppression method of the present invention;
FIG. 14 is a phase current diagram of a double three-phase permanent magnet synchronous motor without unbalance current compensation in a harmonic compensation experiment of the method for suppressing unbalance current of the present invention;
FIG. 15 is a plot of the harmonic currents of the respective wave times of the phase currents without unbalance current compensation in the harmonic compensation experiments of the double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 16 is a current diagram of a dqz coordinate system without unbalance current compensation in the harmonic compensation experiment of the double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 17 is a plot of the harmonic currents of the dqz coordinate system currents without unbalance current compensation in the harmonic compensation experiment of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 18 is a current diagram of i d in the dq coordinate system without unbalance current compensation in the harmonic compensation experiment of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 19 is a current plot of i q in the dq coordinate system without unbalance current compensation in the harmonic compensation experiment of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 20 is a plot of the harmonic currents of the dq coordinate system currents without unbalance current compensation in the harmonic compensation experiments of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 21 is a phase current diagram of unbalanced current compensation in a harmonic compensation experiment of a double three-phase permanent magnet synchronous motor harmonic and unbalanced current suppression method of the present invention;
FIG. 22 is a plot of the harmonic currents of the respective wave times of the phase currents for unbalance current compensation in the harmonic compensation experiments of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 23 is a current diagram of a dqz coordinate system for unbalance current compensation in a harmonic compensation experiment of a double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 24 is a plot of the harmonic currents of the dqz coordinate system currents for unbalance current compensation in the harmonic compensation experiments of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 25 is a current diagram of i d in the dq coordinate system for unbalance current compensation in the harmonic compensation experiment of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
FIG. 26 is a current diagram of i q in the dq coordinate system for unbalance current compensation in the harmonic compensation experiment of the double three phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention;
Fig. 27 is a plot of the harmonic currents of the dq coordinate system currents for unbalance current compensation in the harmonic compensation experiments of the double three-phase permanent magnet synchronous motor harmonic and unbalance current suppression method of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
As shown in fig. 1, as an embodiment of the method for suppressing harmonic and unbalanced currents of a double three-phase permanent magnet synchronous motor of the present invention, the method includes the steps of: a) Acquiring current information in the double three-phase permanent magnet synchronous motor, and based on a double three-phase permanent magnet synchronous motor space vector decoupling theory, projecting the current information to an alpha beta coordinate system under an alpha-beta subplane and a z 1z2 coordinate system under a z 1-z2 subplane by using a space decoupling transformation matrix to form current variables i α and i β of the alpha beta coordinate system under the alpha-beta subplane and current variables of a z 1z2 coordinate system under the z 1-z2 subplaneAnd/>
B) The current variables i α and i β in the alpha beta coordinate system and the current variable in the z 1z2 coordinate systemAnd/>Transforming into dq and dqz coordinate systems to form current variables i d and i q in dq and current variables i dz and i qz in dqz coordinate systems;
C) The direct current errors of the current variables i d and i q in the dq coordinate system are eliminated by using a proportional integral controller, and the current harmonics of the current variables i d and i q in the dq coordinate system and the current variables i dz and i qz in the dqz coordinate system are eliminated by using an adaptive notch filter.
The invention relates to a harmonic and unbalanced current suppression method of a double three-phase permanent magnet synchronous motor, which comprises the steps of firstly projecting current of the double three-phase permanent magnet synchronous motor onto an alpha-beta coordinate system under an alpha-beta subplane and a z 1z2 coordinate system under a z 1-z2 subplane through a space decoupling transformation matrix to form current variables i α and i β of the alpha-beta subplane under the alpha-beta coordinate system and current variables of a z 1z2 coordinate system under the z 1-z2 subplaneAnd/>And further combining the current variables i α and i β in the alpha beta coordinate system and the current variable/>, in the z 1-z2 sub-planeAnd/>The current variables i d and i q in the dq coordinate system and the current variables i dz and i qz in the dqz coordinate system are formed by transforming the current variables into the dq coordinate system and the dqz coordinate system, so that the imbalance of harmonic currents and currents can be suppressed and eliminated through a proportional integral controller and an adaptive trap connected in series in a closed loop control circuit, specifically, the direct current errors of the current variables i d and i q in the dq coordinate system are suppressed and eliminated through the proportional integral controller, and the current harmonics of the current variables i d and i q in the dq coordinate system and the current harmonics of the current variables i dz and i qz in the dqz coordinate system are eliminated through the adaptive trap, so that the effect of suppressing the imbalance currents and the harmonic currents in the z 1-z2 subplane and the alpha-beta subplane can be achieved.
As shown in fig. 2 and fig. 3, taking the double three-phase permanent magnet synchronous motor shown in fig. 2 as an example (where the d-axis given current is i d *, the q-axis given current is i q *, the d-axis given voltage is v d *, the q-axis given voltage is v q *, the α -axis given voltage is v α *, the β -axis given voltage is v q *, the dz-axis given current is i dz *, the qz-axis given current is i qz *, the dz-axis given voltage is v dz *, the qz-axis given voltage is v qz *, the z 1-axis given voltage is v 21 *, the z 2-axis given voltage is v z2 *, the o 1-axis given voltage is v o1 *, the o 2-axis given voltage is v o2 *,va *、vb and *vc * are given values of the first set of winding phase voltages, and v x *、vy * and v z * are given values of the second set of winding phase voltages), and the phase angle between stators of two sets of stator windings (ABC winding and XYZ winding) is θ s.
Example 1
As an embodiment of the method for suppressing harmonic and unbalanced currents of the double three-phase permanent magnet synchronous motor of the present invention, if the phase angle between stators of the double three-phase permanent magnet synchronous motor in fig. 2 isThe performance parameters of the windings are the same, namely the windings of the double three-phase permanent magnet synchronous motor are symmetrical, but the motor counter potential has larger harmonic voltages of 5 times and 7 times, phase currents (taking a current i A of an A phase and a current i X of an X phase as an example) of the motor are shown in fig. 4, as can be seen from fig. 4, the phase currents i A and i X are not purely sinusoidal, and as shown in fig. 5, the 5 th harmonic current and the 7 th harmonic current in the harmonic currents are dominant, so that the phase currents need to be analyzed, and the analysis steps are as follows:
Firstly, based on a space vector decoupling theory of a double three-phase permanent magnet synchronous motor, a space decoupling transformation matrix [ T 6 ] is utilized to project fundamental wave current, 12k 1±1(k1 =1, 2,3, …) subharmonic components of harmonic current and unbalanced current in phase currents i A and i X onto an alpha-beta coordinate system of an alpha-beta subplane, so as to form current variables i α and i β under the alpha-beta coordinate system; the 6k 2±1(k2 = 1,3,5, …) subharmonic component in the phase current and the unbalanced current are projected onto the z 1z2 coordinate system to the z 1-z2 sub-plane, forming the current variation in the z 1z2 coordinate system And/>The zero sequence component in the phase current is projected to the o 1-o2 subplane, but the zero sequence component is not considered because the o 1-o2 subplane has zero voltage vector when the neutral points of the two sets of three-phase windings are isolated, and no loss is generated. The spatial decoupling transformation matrix [ T 6 ] is as follows:
Subsequently, the current variables i α and i β in the αβ coordinate system are transformed into the dq coordinate system by the transformation matrix [ T park ] of the dq coordinate system, and the specific transformation procedure is as follows:
And then the current variable in the z 1z2 coordinate system And/>The transformation matrix [ T dqz ] of the dqz coordinate system is transformed into the dqz coordinate system, and the specific transformation is as follows:
Where θ e is the rotor position angle, F is the variable of the double three-phase permanent magnet synchronous motor under the relevant sub-plane, which may be the stator resistance R s, the stator voltage v, the stator current i, the stator flux linkage ψ s or the permanent magnet flux linkage ψ f, it is understood that here F α and F β are the current variables i α and i β, And/>Is the current variable/>And/>Thus forming current variables i d and i q in the dq coordinate system, and current variables i dz and i qz in the dqz coordinate system.
As shown in fig. 6, the current variables i dz and i qz converted to the dqz coordinate system are harmonic currents, and as can be seen from fig. 7, the 6 th harmonic current of the harmonic current is dominant after the conversion to the dqz coordinate system; as shown in fig. 8, the current variables i d and i q converted to dq coordinate system have no 6 th harmonic current, i d and i q are only direct current components, so that suppression and elimination of the 6 th harmonic current of the harmonic current in dqz coordinate system are required, for example, a proportional integral controller and an adaptive trap with a center frequency of 6 times frequency can be used to suppress and eliminate the 6 th harmonic current of the dz-axis harmonic current in dqz coordinate system, and the working process expression of the adaptive trap is as followsThe method comprises the following steps:
Where s is the laplace operator in the frequency domain transfer function, ω c＝ξ(kω0), ζ is the damping ratio, ω 0 is the real-time electrical angular frequency of the double three-phase permanent magnet synchronous motor, k is the dominant wave order in the harmonic component in the dqz coordinate system, therefore where k=6; specifically, C(s) is derived from the proportional and integral coefficients output by the proportional-integral controller:
Wherein, K p is the proportional coefficient of the proportional-integral controller connected with the adaptive wave trap in parallel, K i is the integral coefficient of the proportional-integral controller, and L and R are the inductance and resistance corresponding to the controlled axis.
In particular, an adaptive trapCan also be transformed into/>, by z-transformation
Wherein, T is a sampling period, z is a complex variable e sT defined on a complex plane, and C (z) is a result of using bilinear transformation for C(s), namely:
After the suppression and elimination of the self-adaptive wave trap, current variables i dz and i qz belonging to harmonic current in dqz coordinate system are shown in fig. 11, and the current ripple is smaller, which means that the harmonic component is well suppressed and eliminated; FFT analysis of i dz and i qz currents as shown in FIG. 12, the 6 th harmonic current dominant in the harmonic currents is also well suppressed; and as shown in fig. 13, the current variables i d and i q in the dq coordinate system also have no 6 th harmonic current or obvious harmonic current; in addition, the total harmonic distortion value THD of the phase current without harmonic compensation in fig. 4=8.45%, whereas the total harmonic distortion value THD of the phase current after harmonic compensation in fig. 9=0.44%, and the 5 th and 7 th harmonics in the phase current FFT analysis as shown in fig. 10 have been suppressed and eliminated. Therefore, the adaptive wave trap can generate good suppression and elimination effects on harmonic waves in phase currents, and the embodiment also shows that the method for suppressing harmonic waves and unbalanced currents of the double three-phase permanent magnet synchronous motor can have good suppression and elimination effects on harmonic currents of the double three-phase permanent magnet synchronous motor.
Example 2
As an embodiment of the method for suppressing harmonic and unbalanced currents of the double three-phase permanent magnet synchronous motor of the present invention, the phase angle between stators of the double three-phase permanent magnet synchronous motor shown in fig. 2The performance parameters of the windings are different, namely, the windings of the double three-phase permanent magnet synchronous motor are asymmetric, and the motor counter electromotive force has larger 5 times and 7 times harmonic voltages, so that the phase currents (taking the current i A of the A phase and the current i X of the X phase as examples) of the motor are shown in fig. 14, and as shown in fig. 14, the phase currents i A and i X are not pure and have different magnitudes, and in addition, as shown in fig. 15, the odd harmonic currents in the harmonic currents are dominant, so that the phase currents need to be analyzed, and the analysis steps are as follows:
Firstly, based on a space vector decoupling theory of a double three-phase permanent magnet synchronous motor, a space decoupling transformation matrix [ T 6 ] is utilized to project fundamental wave current, 12k 1±1(k1 =1, 2,3, …) subharmonic components of harmonic current and unbalanced current in phase currents i A and i X onto an alpha-beta coordinate system of an alpha-beta subplane, so as to form current variables i α and i β under the alpha-beta coordinate system; the 6k 2±1(k2 = 1,3,5, …) subharmonic component in the phase current and the unbalanced current are projected onto the z 1z2 coordinate system to the z 1-z2 sub-plane, forming a current variable in the z 1z2 coordinate system And/>The zero sequence component in the phase current is projected to the o 1-o2 sub-plane, but since the o 1-o2 sub-plane is zero when the neutral points of the two sets of three-phase windings are isolated, no consideration is required. The spatial decoupling transformation matrix [ T 6 ] is as follows:
Subsequently, the current variables i α and i β under the α - β sub-plane are transformed into the dq coordinate system by the transformation matrix [ T park ] of the dq coordinate system, and the specific transformation procedure is as follows:
And then the current variable in the z 1z2 coordinate system And/>The transformation matrix [ T dqz ] of the dqz coordinate system is transformed into the dqz coordinate system, and the specific transformation is as follows:
Where θ e is the rotor position angle, F is the variable of the double three-phase permanent magnet synchronous motor under the relevant sub-plane, which may be the stator resistance R s, the stator voltage v, the stator current i, the stator flux linkage ψ s or the permanent magnet flux linkage ψ f, it is understood that here F α and F β are the current variables i α and i β, And/>Is the current variable/>And/>Thus forming current variables i d and i q in the dq coordinate system, and current variables i dz and i qz in the dqz coordinate system.
As shown in fig. 16, the current variables i dz and i qz converted to the dqz coordinate system belong to harmonic currents, and as can be seen from fig. 17, after conversion to the dqz coordinate system, fundamental components of the harmonic currents and 6 th harmonic currents and 2 nd harmonic currents are dominant; the current variables i d and i q converted into the dq coordinate system are shown in fig. 18 and 19, and as shown in fig. 20, the 2 nd harmonic of the harmonic current component is dominant.
Therefore, suppression and elimination of fundamental wave component of harmonic current in dqz coordinate system, 6 th harmonic current and 2 nd harmonic of harmonic current in dq coordinate system are required, for example, a proportional integral controller and an adaptive trap with center frequency of 6 times frequency can be used to suppress and eliminate 6 th harmonic current of dz-axis harmonic current in dqz coordinate system, and transfer function expression of the adaptive trapThe method comprises the following steps:
Where s is the laplace operator in the frequency domain transfer function, ω c＝ξ(kω0), ζ is the damping ratio, ω 0 is the real-time electrical angular frequency of the double three-phase permanent magnet synchronous motor, k is the dominant wave order in the harmonic component in the dqz coordinate system, therefore where k=6; of course, it is understood that the center frequency of the adaptive trap can be changed according to the wave number of the harmonic to be eliminated, for example, if the 2 nd harmonic current of the harmonic current in the dqz coordinate system is suppressed and eliminated, the adaptive trap should be set to be a frequency multiple of the center frequency 2, where k=2; specifically, C(s) is derived from the proportional and integral coefficients output by the proportional-integral controller:
Wherein, K p is the proportional coefficient of the proportional-integral controller connected with the self-adaptive wave trap in parallel, K i is the integral coefficient of the proportional-integral controller, L is the dz-axis inductance, and R is the stator winding resistance.
In particular, an adaptive trapIt is also able to be converted (discretized) to/>, by z-conversion
Wherein T is the sampling period, z is a complex variable e sT defined on the complex plane, C (z) is the result of C(s) after bilinear transformation, i.e
After the suppression and elimination of the self-adaptive wave trap, current variables i dz and i qz belonging to harmonic currents in dqz coordinate system are shown in fig. 23, and the average current and current ripple of the current variables are close to 0, which means that unbalanced current and harmonic components are well suppressed and eliminated; as shown in fig. 24, the dominant dc component and the 2 nd and 6 th harmonic currents in dqz coordinate system are also well suppressed; as shown in fig. 25, 26 and 27, the 2 nd harmonic in the dq coordinate system current variables i d and i q is well suppressed, so that the current variables i d and i q tend to be more stable; in addition, the total harmonic distortion value THD of the phase current without harmonic compensation in fig. 14=9.41%, and the total harmonic distortion value THD of the phase current after harmonic compensation in fig. 21=0.32%, and the odd harmonics in the phase current are already suppressed and eliminated as shown in fig. 22, so that the adaptive wave trap can generate good suppression and elimination effects on the harmonics in the phase current, and the embodiment also illustrates that the method for suppressing the harmonic and unbalanced current of the double three-phase permanent magnet synchronous motor of the present invention can have good suppression and elimination effects on the unbalance between the phases of each set of winding currents in the double three-phase permanent magnet synchronous motor.
The foregoing details of the optional implementation of the embodiment of the present invention have been described in conjunction with the accompanying drawings, but the embodiment of the present invention is not limited to the specific details of the foregoing implementation, and various simple modifications may be made to the technical solution of the embodiment of the present invention within the scope of the technical concept of the embodiment of the present invention, where all the simple modifications belong to the protection scope of the embodiment of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations of embodiments of the present invention are not described in detail.
In addition, any combination of various embodiments of the present invention may be performed, so long as the concept of the embodiments of the present invention is not violated, and the disclosure of the embodiments of the present invention should also be considered.
Claims (6)
1. The method for restraining harmonic waves and unbalanced currents of the double three-phase permanent magnet synchronous motor is characterized by comprising the following steps of:
A) Acquiring current information in a double three-phase permanent magnet synchronous motor, and projecting the current information to an alpha-beta sub-plane and an alpha-beta sub-plane by using a space decoupling transformation matrix based on a space vector decoupling theory of the double three-phase permanent magnet synchronous motor -/>Sub-planes to form the current variation/>, of the alpha-beta coordinate system under the alpha-beta sub-planeAnd/>And/>-/>Sub-planar lower/>Current variable of coordinate System/>AndWherein the spatial decoupling transformation matrix is:
；
b) Variable current in the alpha beta coordinate system And/>And said/>Current variable in coordinate System/>And/>Transformed into the dq coordinate system and into the dqz coordinate system to form the current variable/>, in the dq coordinate systemAnd/>And current variable/>, in dqz coordinate systemAnd/>；
C) Eliminating current variable in dq coordinate system by using proportional integral controllerAnd/>And utilize adaptive trap/>Eliminating the current variable/>, in the dq coordinate systemAnd/>And the current variable/>, in the dqz coordinate systemAnd/>Is said adaptive trap/>The real-time electrical angular frequency of the double three-phase permanent magnet synchronous motor is obtained by:
Where s is the Laplacian in the transfer function in the frequency domain, For damping ratio,/>Corresponds to the real-time electrical angular frequency of the double three-phase permanent magnet synchronous motor, k is the order of harmonic components,/>The proportional coefficient and the integral coefficient output by the proportional-integral controller are obtained by:
Wherein, For the proportional coefficient of a proportional-integral controller in parallel with an adaptive trap,/>And L and R are the inductance and the resistance corresponding to the controlled axis for the integral coefficient of the proportional-integral controller.
2. The method of claim 1, wherein the current information includes fundamental current, harmonic current, and unbalance current.
3. The method for suppressing harmonic and unbalanced currents in a double three-phase permanent magnet synchronous motor according to claim 2, wherein the 12 th of the fundamental current and harmonic current-Projection of a harmonic component of + -1 th order to the alpha-beta coordinate system of the alpha-beta sub-plane, wherein k 1 = 1,2,3, …; 6 th/>, of the harmonic currentProjection of + -1 th harmonic components to the/>-/>Said/>, of sub-planesA coordinate system, wherein k 2 =1, 3,5, ….
4. The method of suppressing harmonic and unbalanced currents of a double three-phase permanent magnet synchronous motor according to claim 3, wherein the unbalanced currents are converted into dc components and second harmonic components formed in the dq coordinate system; the unbalanced current is converted into the dqz coordinate system formed as a second harmonic component.
5. The method of harmonic and unbalanced current suppression of a double three-phase permanent magnet synchronous motor according to any one of claims 1 to 4, wherein the current variation of the αβ coordinate system under the α - β sub-planeAnd/>The transformation process to the dq coordinate system is:
Wherein, Is a transformation matrix of dq coordinate system,/>For rotor position angle,/>And/>The variable of the double three-phase permanent magnet synchronous motor under the alpha-beta subplane is;
The said -/>Sub-planar lower/>-/>Current variable of coordinate System/>And/>The transformation process to the dqz coordinate system is as follows:
Wherein, Is a transformation matrix of dqz coordinate system,/>For rotor electrical angle,/>And/>At the/>, for the double three-phase permanent magnet synchronous motor-/>Sub-planar lower/>And (3) a variable of a coordinate system.
6. The method of suppressing harmonic and unbalanced currents in a double three-phase permanent magnet synchronous motor of claim 5, wherein the adaptive notch filterCan be discretized into/>：
Wherein T is the sampling period and z is a complex variable defined on the complex plane，
。
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