CN115051608B - Three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current - Google Patents
Three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current 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
- H02P21/0003—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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The invention relates to a three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current, which obtains alpha-axis current under coordinate systems I, II and III by carrying out new axial positioning coordinate transformation on the bus current according to a state S of a switching tube, and uses a d-axis current instruction value output by a speed loop PI controllerq-axis current command valueObtaining a reference current through the change of the positioning coordinates of the new shaftThis reference value serves as a β -axis current reference value, and the β -axis current is corrected based on an error between the actual current and the reference current. The method only needs to sample one observable vector in one PWM period of the middle and high modulation areas, simplifies an AD sampling algorithm, reduces power consumption and realizes three-phase current reconstruction of single-resistance sampling. The invention does not affect the original PWM waveform, does not lead to effective working area reduction, does not need to design a complex filter compared with a current observation method, and is insensitive to motor parameter change.
Description
Technical Field
The invention belongs to the technical field of motor control, relates to a three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current, and particularly relates to a three-phase current reconstruction method for sampling by a single current sensor.
Background
In motor vector control systems, phase current sensors are typically employed to feed back motor three-phase current information. However, in special application occasions such as aerospace, nuclear energy, dangerous chemical processing and the like, the requirements on the reliability and control precision of a motor driving system are very high, and once a phase current sensor fails due to the influences of current overshoot, radiation and the like, serious production accidents can be caused. Meanwhile, with the development of high integration of an electric drive system, reduction in equipment volume, reduction in cost and improvement in reliability of system operation have become hot spots of concern. Therefore, research on phase current reconstruction technology based on bus current is of great significance, both for redundant control of the motor drive system and for reducing the controller volume.
In practical circuitry, there are many non-ideal factors such as dead time, on-off delay of the switching device, minimum sample-and-hold time of the AD converter, etc. As shown in fig. 1, when the voltage vector on time is smaller than the minimum sampling time t of the AD converter min When the MCU is used, the bus current cannot be accurately sampled, so that a phase current reconstruction blind area is generated. In order to solve the problem, a phase shift compensation method is proposed, and the phase shift compensation method enables the effective voltage vector acting time to meet the minimum sampling time by translating the PWM signal, so that the reconstruction blind area is reduced.However, when the motor is operated in a high duty cycle state, the minimum sampling time cannot be satisfied regardless of the translation of the PWM signal. Meanwhile, the phase shift compensation method can lead to the asymmetry of the output PWM waveform, and the current harmonic component is increased. In addition, although it is studied to predict a current value by using a leber observer and correct an estimated current by using the predicted value when a dead zone is present, the correction gain is constant, and thus the change in error cannot be suitably accommodated. There are also studies on the idea of using a sliding mode to realize dead zone current estimation, where the correction coefficient is the sliding mode gain, and the positive and negative of the gain change with the positive and negative of the error, however, the observer-based method involves complex filter design, gain coefficient setting, and the like. Meanwhile, the observer usually depends on motor parameters, and when the system works for a long time, parameters such as inductance and resistance can change, so that estimation accuracy is affected.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current, which has no influence on the original PWM signal and can realize phase current reconstruction in middle and high unobservable blind areas.
Technical proposal
A three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current is characterized by comprising the following steps:
step 1: sampling bus voltage and current within basic voltage vector action time t to obtain bus current i dc Bus voltage U dc And a corresponding switching tube state S.
The action time t of the basic voltage vector is: the minimum sampling time t is satisfied in one PWM period of the middle and high modulation areas min Is used for the basic voltage vector action time;
an alpha axis in an alpha-beta coordinate system and an A phase in an ABC coordinate system are axially positioned to establish a coordinate system I, an alpha axis in the alpha-beta coordinate system and a B phase in the ABC coordinate system are axially positioned to establish a coordinate system II, and an alpha axis in the alpha-beta coordinate system and a C phase in the ABC coordinate system are axially positioned to establishAnd a coordinate system III. Sampling bus current i according to state S of switch tube dc Carrying out new axial positioning coordinate transformation to obtain alpha-axis actual current I under coordinate systems I, II and III α I 、i α II 、i α III The formula of the new axial positioning coordinate transformation of each coordinate system is as follows:
wherein i is a 、i b 、i c Is a three-phase current which is a three-phase current,is alpha beta axis current, I in coordinate systems I, II and III d 、i q The current is dq axis current, and theta is the electric angle of the motor;
step 2: d-axis current command value output by speed loop PI controllerq-axis current commandValue->The alpha-axis reference current +.A. under the coordinate systems I, II and III is obtained through the corresponding new axial positioning coordinate transformation>Beta-axis reference current +.>Calculating the actual current i of the alpha axis α I 、i α II 、i α III And reference current-> Current error between->Beta-axis actual current +.>And reference current-> Current error between->The following are provided:
step 3: for alpha-axis current errorError with beta-axis current->The expression is simplified:
d-axis feedback current i in steady-state operation process of double closed-loop control system d Near real-time following d-axis current reference currentD-axis current error during system steady state>Simplified current error expression and establishing alpha-axis current error +.>Error with beta-axis current->The relation is as follows:
will be alphaThe trigonometric function in the relation of the shaft current error and the beta shaft current error is constructed as a relative cut-off electrical angleThe associated piecewise functions are as follows:
wherein the electrical angle is cut offThe neighborhood of the electric angle when the tan/cot function value tends to infinity can meet the maximum estimated current error i err_max The required electrical angle;
step 4: error of alpha-axis current at k momentThe β -axis estimated current +_for the k-time in the β -axis current correction expression is brought as the input quantity>Correction is carried out to obtain the estimated current of the beta axis at the moment (k+1)>The beta-axis current correction expression is:
wherein: k is the correction gain;
let the alpha-axis actual current i α I (k+1)、i α II (k+1)、i α III (k+1) and beta-axis estimated currents The A, B, C three-phase current can be obtained by reconstruction through alpha beta-ABC new axial positioning coordinate transformation
In the step 1: under different switching tube states S, the coordinate system selection relation of the new axial positioning coordinate transformation is as follows: when the switch tube states S are (100), (011), the bus current i dc Selecting a coordinate system I to carry out new axial positioning coordinates; when the switch tube states S are (010) and (101), the bus current i dc Selecting a coordinate system II to perform new axial positioning coordinate transformation; when the switching tube states S are (001), (110), the bus current i dc And selecting a coordinate system III to perform new axial positioning coordinate transformation.
In the step 3: the simplified current error calculation formula is as follows:
satisfying the maximum allowable estimated current error i of the system when the tan/cot function value tends to infinity err_max Electric angle of (2) neighborhood cut-off electric angleThe calculation formula is as follows:
in the step 4: the correction expression of the β -axis estimated current in the coordinate systems I, II, III is:where K is the correction gain, using alpha-axis current error +.>Instead of beta-axis current error->The new beta-axis estimated current correction expression is obtained as:where f (θ) is a function of the electrical angle θ as a variable. The β -axis estimated currents in the coordinate systems I, II, III are calculated as follows:
advantageous effects
The invention provides a three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current, which obtains alpha-axis current under coordinate systems I, II and III by carrying out new axial positioning coordinate transformation on the bus current according to a state S of a switching tube, and uses a d-axis current instruction value output by a speed loop PI controllerq-axis current command value +.>Obtaining reference currents in the coordinate systems I, II and III through the new axis positioning coordinate change>Using this reference value as a β -axis current reference value, the β -axis current is corrected based on an error between the actual current and the reference current. Compared with the traditional bus current reconstruction method, the method provided by the patent only needs to sample one observable vector in one PWM period of a middle-high modulation area, simplifies an AD sampling algorithm, reduces power consumption, avoids current reconstruction errors caused by the fact that the action time of a certain basic voltage vector in the same PWM period does not meet the minimum sampling time, and realizes three-phase current reconstruction of single-resistance sampling. Meanwhile, the invention does not change PWM, does not influence the original PWM waveform, does not cause effective working area reduction, and has symmetrical output waveform and less current harmonic compared with a phase shift compensation method and a measurement vector insertion method. Compared with current observation method, no needComplex filters are designed while being insensitive to motor parameter variations.
Drawings
Fig. 1 is a voltage space vector hexagonal phase current observation region division.
FIG. 2 is a graph of bus current versus phase current in a reconstruction dead zone;
(a) Medium modulation invisible area
(b) High modulation invisible area of voltage vector in regular hexagon
(c) High modulation invisible area with voltage vector outside regular hexagon
Fig. 3 is a transformation coordinate system based on the new axial positioning coordinates.
(a) coordinate System I (B) oriented with the stator A axis and coordinate System II (C) oriented with the stator B axis and coordinate System III (C) oriented with the stator C axis
Fig. 4 is a schematic diagram of a three-phase current reconstruction method based on single bus current new axial positioning coordinate transformation.
Fig. 5 is a waveform diagram of a simulation experiment of current reconstruction according to the present invention.
Comparison of a given rotational speed and feedback rotational speed waveform (B) actual sampled A-phase current and a reconstructed current waveform (C) actual sampled B-phase current and a reconstructed current waveform (d) actual sampled C-phase current and a reconstructed current waveform (e) bus current and a beta-axis estimated current in a waveform (f) coordinate system I, II, III and an alpha-axis current (g) coordinate system I, II, III of a switching tube state S
Detailed Description
The invention will now be further described with reference to examples, figures:
the embodiment provides a three-phase current reconstruction method for single-resistor sampling, which overcomes the defects of the prior art and solves the problem that bus current cannot be accurately sampled in a dead zone in fig. 1. Fig. 4 is a schematic diagram of a three-phase current reconstruction method based on single bus current new axial positioning coordinate transformation, and the method specifically comprises the following implementation steps:
step 1: sampling bus voltage and current within basic voltage vector action time t to obtain bus current i dc Bus voltage U dc And a corresponding switching tube state S. And (3) axially positioning an alpha axis in an alpha-beta coordinate system and an A phase in an ABC coordinate system to establish a coordinate system I, axially positioning an alpha axis in the alpha-beta coordinate system and a B phase in the ABC coordinate system to establish a coordinate system II, and axially positioning an alpha axis in the alpha-beta coordinate system and a C phase in the ABC coordinate system to establish a coordinate system III. Sampling bus current i according to state S of switch tube dc Carrying out new axial positioning coordinate transformation to obtain alpha-axis actual current I under coordinate systems I, II and III α I 、i α II 、i α III 。
The transformation relation between the bus current and the corresponding new axis positioning coordinate in different switching tube states S is shown in table 1:
TABLE 1 Current relationship corresponding to switch tube State S
In this embodiment, the I sector is taken as an example, if the V4 (100) vector acting time is longer than the minimum sampling time t min The V6 (110) vector on time is less than the minimum sampling time t min The bus current sensor collects bus current i in the action time of V4 (100) vector dc And the bus current i dc The new axial positioning coordinate is transformed into a coordinate system I to obtain the alpha-axis actual current I under the coordinate system I α I ；
If the V4 (100) vector is less than the minimum sampling time t min The V6 (110) vector is greater than the minimum sampling time t min The bus current sensor collects bus current i in the action time of V6 (110) vector dc And the bus current i dc Transforming the new axial positioning coordinate into a coordinate system III to obtain an alpha-axis actual current i under the coordinate system III α III ；
Step 2: d-axis current command value output by speed loop PI controllerq-axis current command value +.>The alpha-axis reference current +.A. under the coordinate systems I, II and III is obtained through the corresponding new axial positioning coordinate transformation>Beta-axis reference current +.>Calculating the actual current i of the alpha axis α I 、i α II 、i α III And reference current-> Current error between->And the observer output beta-axis estimated current +.>With reference currentCurrent error between->
Alpha-axis current error in three coordinate systemsError with beta-axis currentThe formula is as follows:
in the embodiment, the action time of the vector V4 (100) of the I sector is longer than the minimum sampling time t min The V6 (110) vector on time is less than the minimum sampling time t min For example, the d-axis current command value output by the speed loop PI controllerq-axis current command value +.>The alpha-axis reference current is obtained by transforming the new axial positioning coordinate to the coordinate system I>Beta-axis reference current->The calculation results are as follows:
calculating the actual current and the reference current of the alpha axis under the coordinate system ICurrent error between->And an estimated current of the beta-axis in the coordinate system I>And reference current->Current error between->The calculation results are as follows:
step 3: for alpha-axis current errorError with beta-axis current->The expression is simplified:
d-axis feedback current i in steady-state operation process of double closed-loop control system d Near real-time following d-axis current reference currentD-axis current error during system steady state>The simplified current error expression is:
establishing alpha-axis current errorError with beta-axis current->The relation is as follows:
calculating the cut-off electrical angle range delta theta of tan/cot function c : the maximum estimated current error amplitude allowed by the system is i err_max In the coordinate systems I, II and III, the maximum value of the current estimation error and the cut-off electric angle delta theta c The relationship of (2) is as follows:
the trigonometric function in the relation between the alpha-axis current error and the beta-axis current error is constructed as a relative cut-off electric angleThe associated piecewise functions are as follows:
wherein the electrical angle is cut offThe neighborhood of the electric angle when the tan/cot function value tends to infinity can meet the maximum estimated current error i err_max The required electrical angle;
in the embodiment, the action time of the vector V4 (100) of the I sector is longer than the minimum sampling time t min The V6 (110) vector on time is less than the minimum sampling time t min For example, an alpha-axis current error in coordinate system IBeta-axis current errorThe following can be simplified:
constructing alpha-axis current error in coordinate system IError with beta-axis current->The relation of (2) is:
the piecewise function of the design trigonometric function tan/cot is:
step 4: error of alpha-axis current at k momentThe β -axis estimated current +_for the k-time in the β -axis current correction expression is brought as the input quantity>Correction is carried out to obtain the estimated current of the beta axis at the moment (k+1)>The beta-axis current correction expression is:
wherein: k is the correction gain;
let the alpha-axis actual current i α I (k+1)、i α II (k+1)、i α III (k+1) and beta-axis estimated currents The A, B, C three-phase current can be obtained by reconstruction through alpha beta-ABC new axial positioning coordinate transformation
In order to verify the effectiveness of the proposed algorithm, a simulation model is built on a Matlab/Simulink simulation platform for verification. The simulation parameters are as follows: bus voltage 311V, given rotation speed 1500r/min,4 pairs of poles, stator resistance 0.515 omega, stator inductance 0.001715H, rotor flux 0.085456Wb, switching frequency 10KHz, no-load starting, and loading 2.5 N.m after 0.1 s.
The simulation result of the proposed three-phase current reconstruction method based on the single bus current new axial positioning coordinate transformation is shown in fig. 5. Fig. 5 is a graph of phase current versus actual phase current and alpha-axis current versus beta-axis current reconstructed by the reconstruction method of the present invention.
Claims (4)
1. A three-phase current reconstruction method based on new axial positioning coordinate transformation of bus current is characterized by comprising the following steps:
step 1: sampling bus voltage and current within basic voltage vector action time t to obtain bus current i dc Bus voltage U dc A corresponding switching tube state S;
the action time t of the basic voltage vector is: the minimum sampling time t is satisfied in one PWM period of the middle and high modulation areas min Is used for the basic voltage vector action time;
an alpha axis in an alpha-beta coordinate system and an A phase in an ABC coordinate system are axially positioned to establish a coordinate system I, an alpha axis in the alpha-beta coordinate system and a B phase in the ABC coordinate system are axially positioned to establish a coordinate system II, and an alpha axis in the alpha-beta coordinate system and a C phase in the ABC coordinate system are axially positioned to establish a coordinate system III; sampling bus current i according to state S of switch tube dc The new axial positioning coordinate transformation is carried out to obtain the alpha-axis actual current i under the coordinate systems I, II and III α Ⅰ 、i α Ⅱ 、i α Ⅲ The formula of the new axial positioning coordinate transformation of each coordinate system is as follows:
wherein i is a 、i b 、i c Is a three-phase current which is a three-phase current,is alpha beta axis current, i under the coordinate systems I, II and III d 、i q The current is dq axis current, and theta is the electric angle of the motor;
step 2: d-axis current command value output by speed loop PI controllerq-axis current command value +.>The alpha-axis reference current +.A. under the coordinate systems I, II and III is obtained through the corresponding new axial positioning coordinate transformation>Beta axisReference currentCalculating the actual current i of the alpha axis α Ⅰ 、i α Ⅱ 、i α Ⅲ And reference current-> Error in current betweenBeta-axis actual current i β Ⅰ 、i β Ⅱ 、i β Ⅲ And reference current-> Current error between->The following are provided:
step 3: for alpha-axis current errorError with beta-axis current->The expression is simplified:
d-axis feedback current i in steady-state operation process of double closed-loop control system d Near real-time following d-axis current reference currentD-axis current error during system steady state>Simplified current error expression and establishing alpha-axis current error +.>Error with beta-axis current->The relation is as follows:
the trigonometric function in the relation between the alpha-axis current error and the beta-axis current error is constructed as a relative cut-off electric angleThe associated piecewise functions are as follows:
wherein the electrical angle is cut offThe neighborhood of the electric angle when the tan/cot function value tends to infinity can meet the maximum estimated current error i err_max The required electrical angle;
step 4: error of alpha-axis current at k momentThe β -axis estimated current +_for the k-time in the β -axis current correction expression is brought as the input quantity>Correction is carried out to obtain the estimated current of the beta axis at the moment (k+1)>The beta-axis current correction expression is:
wherein: k is the correction gain;
let the alpha-axis actual current i α Ⅰ (k+1)、i α Ⅱ (k+1)、i α Ⅲ (k+1) and beta-axis estimated currents The A, B, C three-phase current can be obtained by reconstruction through alpha beta-ABC new axial positioning coordinate transformation
2. The method according to claim 1, wherein: in the step 1: under different switching tube states S, the coordinate system selection relation of the new axial positioning coordinate transformation is as follows: when the switch tube states S are (100), (011), the bus current i dc Selecting a coordinate system I to carry out new axial positioning coordinates; when the switch tube states S are (010) and (101), the bus current i dc Selecting a coordinate system II to perform new axial positioning coordinate transformation; when the switching tube states S are (001), (110), the bus current i dc And selecting a coordinate system III to perform new axial positioning coordinate transformation.
3. The method according to claim 1, wherein: in the step 3: the simplified current error calculation formula is as follows:
satisfying the maximum allowable estimated current error i of the system when the tan/cot function value tends to infinity err_max Electric angle of (2) neighborhood cut-off electric angleThe calculation formula is as follows:
4. the method according to claim 1, wherein: in the step 4: the correction expression of the beta-axis estimated current under the coordinate systems I, II and III is as follows:where K is the correction gain, using alpha-axis current errorInstead of beta-axis current error->The new beta-axis estimated current correction expression is obtained as: />Wherein f (θ) is a function of the electrical angle θ as a variable; the beta-axis estimated currents in the coordinate systems I, II and III are calculated as follows:
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