TWI478480B - A method for compensating current error - Google Patents
A method for compensating current error Download PDFInfo
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Description
本發明係有關於一種應用於馬達之電流誤差補償方法，尤指一種藉由在轉速值介於高轉速設定值與低轉速設定值間時，依據正序列與負序列之序列誤差進行誤差補償之電流誤差補償方法。The invention relates to a current error compensation method applied to a motor, in particular to an error compensation according to a sequence error of a positive sequence and a negative sequence when a rotational speed value is between a high rotational speed set value and a low rotational speed set value. Current error compensation method.
隨著時代的進步與發展，馬達普遍應用於人們的生活當中，進而帶來人們生活相當的便利，其中，由於馬達在運轉時，相電流的量測精準度會影響到其誤差，此誤差一般會影響到轉矩控制的性能而影響馬達的運轉效率，因此馬達在運轉控制上的穩定性，普遍為業界所欲解決的問題。With the advancement and development of the times, motors are widely used in people's lives, which in turn bring people's lives quite convenient. Among them, because the motor is running, the accuracy of the phase current measurement will affect its error. It will affect the performance of the torque control and affect the operating efficiency of the motor. Therefore, the stability of the motor in the operation control is generally a problem that the industry wants to solve.
其中，業界普遍所使用的方法步驟包含有電流讀取；藉由本次偏移量與前次偏移量之和計算出電流偏移量；利用偏移量總和與取樣數之商計算出電流偏移值；以及電流偏移補償之步驟，其中，上述電流控制之電流偏移修正方法為馬達無激磁時(即馬達相電流為零之狀態下)，讀取三相電流值即可得知電流偏移量，接著使用 電流偏移量進行電流偏移值的計算，並進而進行相電流之偏移補償。其中，雖然上述方法可實現電流偏移補償，然而，當馬達溫度漂移造成電流基準值偏移時，上述之補償方法即會失效而產生量測誤差，進而影響到轉矩控制的性能。The method steps commonly used in the industry include current reading; the current offset is calculated by the sum of the offset and the previous offset; and the current is calculated by using the sum of the offset and the number of samples. The offset value; and the step of current offset compensation, wherein the current offset correction method of the current control is when the motor is not excited (ie, the motor phase current is zero), and the three-phase current value is read. Current offset, then use The current offset is used to calculate the current offset value, and further offset compensation of the phase current. Among them, although the above method can realize current offset compensation, when the motor temperature drift causes the current reference value to shift, the above compensation method will fail and generate measurement error, thereby affecting the performance of the torque control.
有鑒於現有對馬達電流誤差進行補償之方法普遍在溫度漂移時，會失效而產生量測誤差，進而影響到轉矩控制的性能之問題。緣此，本發明之主要目的在於提供一種應用於馬達之電流誤差補償方法，其主要是藉由在轉速值介於高轉速設定值與低轉速設定值間時，計算出正序列與負序列之序列誤差，並依據序列誤差對電流進行誤差補償，以解決溫度漂移之問題。In view of the existing method of compensating for the motor current error, the temperature is generally drifted, and the measurement error is generated, thereby affecting the performance of the torque control. Accordingly, the main object of the present invention is to provide a current error compensation method for a motor, which is mainly to calculate a positive sequence and a negative sequence when a rotational speed value is between a high rotational speed set value and a low rotational speed set value. Sequence error, and error compensation of current according to sequence error to solve the problem of temperature drift.
基於上述目的，本發明所採用之主要技術手段係提供一種應用於馬達之電流誤差補償方法，係用以補償一馬達之一二軸電流，馬達包含至少一線圈，並且電性連接於一控制器，應用於馬達之電流誤差補償方法包含(a)擷取馬達之一二軸量測電流；(b)依據二軸量測電流與線圈之一電阻值，運算出一量測電壓；(c)依據量測電壓與控制器之一二軸電壓，運算出一誤差電壓值；(d)判斷馬達之一轉速值是否大於一高轉速設定值；(e)在步驟(d)之判斷結果為否時，判斷轉速值是否小於一低轉速設定值；(f)在步驟(e)之判斷結果為否時，利用誤差電壓值進行一正序列處理，藉以產生一正序列 值，並且利用誤差電壓值進行一負序列處理，藉以產生一負序列值。Based on the above object, the main technical means adopted by the present invention provides a current error compensation method applied to a motor for compensating a biaxial current of a motor, the motor comprising at least one coil, and electrically connected to a controller. The current error compensation method applied to the motor includes (a) one of the two-axis measuring current of the drawing motor; (b) measuring the current and the resistance value of one of the coils according to the two-axis, and calculating a measuring voltage; (c) Calculate an error voltage value based on the measured voltage and one of the two-axis voltage of the controller; (d) determine whether the motor speed value is greater than a high speed set value; (e) the judgment result in step (d) is no When it is determined whether the rotational speed value is less than a low rotational speed set value; (f) when the determination result of the step (e) is negative, performing a positive sequence processing using the error voltage value, thereby generating a positive sequence The value is processed by a negative sequence using the error voltage value to generate a negative sequence value.
(g)依據正序列值與負序列值產生一序列誤差值；(h)對序列誤差值進行一濾波處理，藉以產生一濾波序列值；(i)對濾波序列值進行一積分處理，藉以產生一補償誤差電流值；(j)使二軸量測電流與補償誤差電流值相減，藉以產生一實際電流；以及(k)使二軸電流與實際電流相減，藉以補償二軸電流。其中，正序列處理係將誤差電壓值經過一正相角指數函數、一轉速值、線圈之一電感值、一褶積與一虛根之組合運算而產生正序列值，負序列處理係將誤差電壓值經過一負相角指數函數與電阻值之組合運算而產生負序列值。(g) generating a sequence of error values based on the positive sequence value and the negative sequence value; (h) performing a filtering process on the sequence error value to generate a filtered sequence value; (i) performing an integration process on the filtered sequence value to generate a compensation error current value; (j) subtracting the two-axis measurement current from the compensation error current value to generate an actual current; and (k) subtracting the two-axis current from the actual current to compensate for the two-axis current. Wherein, the positive sequence processing system generates a positive sequence value by a combination of a positive phase angle exponential function, a rotational speed value, a coil inductance value, a convolution and a virtual root, and the negative sequence processing system will error. The voltage value is subjected to a combination of a negative phase angle exponential function and a resistance value to produce a negative sequence value.
另外，上述應用於馬達之電流誤差補償方法之附屬技術手段之較佳實施例中，在步驟(d)之判斷結果為是時，係執行一步驟(d1)利用誤差電壓值進行正序列處理以產生正序列值，且在步驟(e)之判斷結果為是時，係執行一步驟(e1)利用誤差電壓值進行負序列處理以產生負序列值，而高轉速設定值係轉速值的三分之二倍，低轉速設定值係轉速值的三分之一倍。此外，在步驟(g)中，係藉由正序列值與負序列值之和而產生序列誤差值，且序列誤差值係為一權重比。另外，控制器係為一電流控制器，且馬達係為永久磁鐵同步馬達(Permanent-Magnet Aynchronous Motor；PMSM)，而在步驟(h)中，係藉由一低通濾波器進行濾波處理，藉以產生濾波序列值。In addition, in the preferred embodiment of the above-mentioned auxiliary technical means for applying the current error compensation method of the motor, when the determination result of the step (d) is YES, a step (d1) is performed to perform positive sequence processing using the error voltage value. A positive sequence value is generated, and when the result of the determination in the step (e) is YES, a step (e1) is performed using the error voltage value for negative sequence processing to generate a negative sequence value, and the high speed set value is a three-point value of the rotational speed value. Two times, the low speed setpoint is one-third times the speed value. Further, in the step (g), the sequence error value is generated by the sum of the positive sequence value and the negative sequence value, and the sequence error value is a weight ratio. In addition, the controller is a current controller, and the motor is a Permanent-Magnet Aynchronous Motor (PMSM), and in step (h), filtering is performed by a low-pass filter. Generate a filtered sequence value.
因此，藉由本發明所採用之應用於馬達之電流誤差補償方法後，由於是利用序列誤差值與二軸量測電流之誤差、二軸電流以及控制器電壓之關聯性，建立出電流量測誤差補償模型，其不需增加電路之硬體設計，僅需利用回授即可計算出量測誤差所需補償之值，因此，本發明的補償方法在馬達通電狀態下可隨時計算電流偏移值並進行修正，其能有效解決溫度漂移問題所造成之電流偏移，進而增加轉矩控制的穩定性。Therefore, after the current error compensation method applied to the motor adopted by the present invention, the current measurement error is established by using the correlation between the sequence error value and the error of the two-axis measurement current, the two-axis current, and the controller voltage. The compensation model does not need to increase the hardware design of the circuit, and only needs to use the feedback to calculate the value of the compensation required for the measurement error. Therefore, the compensation method of the present invention can calculate the current offset value at any time when the motor is energized. And correction, which can effectively solve the current offset caused by the temperature drift problem, thereby increasing the stability of the torque control.
本發明所採用的具體實施例，將藉由以下之實施例及圖式作進一步之說明。The specific embodiments of the present invention will be further described by the following examples and drawings.
1‧‧‧馬達1‧‧‧Motor
2‧‧‧控制器2‧‧‧ Controller
3、3a‧‧‧軸轉換器3, 3a‧‧‧Axis Converter
4‧‧‧變頻器4‧‧‧Inverter
5‧‧‧乘法器5‧‧‧Multiplier
6‧‧‧正序列器6‧‧‧ positive sequencer
7‧‧‧負序列器7‧‧‧negative sequencer
8‧‧‧低通濾波器8‧‧‧Low-pass filter
9‧‧‧積分器9‧‧‧ integrator
100、200‧‧‧波形100, 200‧‧‧ waveform
A‧‧‧區間A‧‧‧ interval
N1‧‧‧第一減法器N1‧‧‧first subtractor
N2‧‧‧加法器N2‧‧‧Adder
N3‧‧‧第二減法器N3‧‧‧second subtractor
N4‧‧‧第三減法器N4‧‧‧ third subtractor
I1‧‧‧二軸電流I1‧‧‧Two-axis current
I2‧‧‧二軸量測電流I2‧‧‧Two-axis measuring current
I3‧‧‧實際電流I3‧‧‧ actual current
第一圖係顯示本發明較佳實施例之應用於馬達之電流誤差補償之硬體架構示意圖；第二與二A圖係顯示本發明較佳實施例之應用於馬達之電流誤差補償方法之流程圖；以及第三圖係顯示本發明較佳實施例之正序列值與負序列值之權重比波形圖。The first figure shows a hardware architecture diagram of current error compensation applied to a motor according to a preferred embodiment of the present invention; and the second and second diagrams show the flow of a current error compensation method applied to a motor according to a preferred embodiment of the present invention. The figure and the third figure show the weight ratio waveform diagram of the positive sequence value and the negative sequence value of the preferred embodiment of the present invention.
由於本發明所提供之本發明較佳實施例之應用於馬達之電流誤差補償中，其組合實施方式不勝枚舉，故在此不再一一贅述，僅列舉一較佳實施例來加以具體說明。Because the preferred embodiment of the present invention provides the current error compensation applied to the motor, the combined implementation manners are numerous, and therefore will not be further described herein, and only a preferred embodiment will be specifically described. .
請參閱第一圖，第一圖係顯示本發明較佳實施例之應用於馬達之電流誤差補償之硬體架構示意圖，如第一圖所 示，本發明較佳實施例之應用於馬達之電流誤差補償方法所使用的硬體架構係包含有一馬達1、一控制器2、二軸轉換器3與3a、一變頻器4、一乘法器5、一正序列器6、一負序列器7、一低通濾波器8以及一積分器9。Please refer to the first figure. The first figure shows a hardware architecture diagram of current error compensation applied to a motor according to a preferred embodiment of the present invention, as shown in the first figure. The hardware architecture used in the current error compensation method applied to the motor according to the preferred embodiment of the present invention includes a motor 1, a controller 2, two-axis converters 3 and 3a, a frequency converter 4, and a multiplier. 5. A positive sequencer 6, a negative sequencer 7, a low pass filter 8, and an integrator 9.
在本發明較佳實施例中，馬達1係為三相式永久磁鐵同步馬達(Permanent-Magnet Aynchronous Motor；PMSM)，但在其他實施例中不限於此，此外，馬達1具有至少一線圈(圖未示)。控制器2係為電流控制器，軸轉換器3係電性連接於控制器2，且軸轉換器3係為二相轉三相軸轉換器，變頻器4係電性連接於軸轉換器3與馬達1，軸轉換器3a係電性連接於變頻器4，而軸轉換器3a係為三相轉二相軸轉換器。In the preferred embodiment of the present invention, the motor 1 is a three-phase permanent magnet synchronous motor (PMSM), but is not limited thereto in other embodiments, and further, the motor 1 has at least one coil (Fig. Not shown). The controller 2 is a current controller, the shaft converter 3 is electrically connected to the controller 2, and the shaft converter 3 is a two-phase to three-phase shaft converter, and the inverter 4 is electrically connected to the shaft converter 3 The shaft converter 3a is electrically connected to the inverter 4, and the shaft converter 3a is a three-phase to two-phase shaft converter.
乘法器5係電性連接於軸轉換器3a，且其所設定之乘數係為線圈上的電阻值△R，另外，乘法器5與控制器2經由一第一減法器N1電性連接。正序列器6與負序列器7係可經由一判斷電路(圖未示)與上述之減法器而電性連接於乘法器5，此外，正序列器6與負序列器7並且電性連接於一加法器N2。低通濾波器8係經由上述之加法器N2而與正序列器6、負序列器7電性連接。積分器9係電性連接於低通濾波器8，並且可經由一第二減法器N3而與軸轉換器3a電性連接，此外，積分器9係經由第二減法器N3以及一第三減法器N4而與控制器2電性連接形成回授電路。The multiplier 5 is electrically connected to the shaft converter 3a, and the multiplier is set to the resistance value ΔR on the coil. Further, the multiplier 5 and the controller 2 are electrically connected via a first subtractor N1. The positive sequencer 6 and the negative sequencer 7 are electrically connected to the multiplier 5 via a determining circuit (not shown) and the above-mentioned subtractor. Further, the positive sequencer 6 and the negative sequencer 7 are electrically connected to An adder N2. The low pass filter 8 is electrically connected to the positive sequencer 6 and the negative sequencer 7 via the adder N2 described above. The integrator 9 is electrically connected to the low pass filter 8 and can be electrically connected to the shaft converter 3a via a second subtractor N3. Further, the integrator 9 is connected to the third subtractor N3 and a third subtraction method. The controller N4 is electrically connected to the controller 2 to form a feedback circuit.
為了使本領域所屬技術人員可更了解本發明之技術內容，請一併參閱第一圖、第二與二A圖以及第三圖， 第二與二A圖係顯示本發明較佳實施例之應用於馬達之電流誤差補償方法之流程圖，第三圖係顯示本發明較佳實施例之正序列值與負序列值之權重比波形圖，本發明較佳實施例之應用於馬達之電流誤差補償方法之步驟如下：步驟S101：擷取馬達之一二軸量測電流；步驟S102：依據二軸量測電流與線圈之一電阻值，運算出一量測電壓；步驟S103：依據量測電壓與控制器之一二軸電壓，運算出一誤差電壓值；步驟S104：判斷馬達之一轉速值是否大於一高轉速設定值；步驟S105：判斷轉速值是否小於一低轉速設定值；步驟S106：利用誤差電壓值進行一正序列處理，藉以產生一正序列值，並且利用誤差電壓值進行一負序列處理，藉以產生一負序列值；步驟S107：依據正序列值與負序列值產生一序列誤差值；步驟S108：對序列誤差值進行一濾波處理，藉以產生一濾波序列值；步驟S109：對濾波序列值進行一積分處理，藉以產生一補償誤差電流值；步驟S110：使二軸量測電流與補償誤差電流值相減，藉以產生一實際電流；步驟S111：使二軸電流與實際電流相減，藉以補償二軸 電流；步驟S112：利用誤差電壓值進行正序列處理，藉以產生正序列值；以及步驟S113：利用誤差電壓值進行負序列處理，藉以產生負序列值。In order to make the technical content of the present invention more familiar to those skilled in the art, please refer to the first figure, the second and second A pictures, and the third figure together. 2 and 2A are flowcharts showing a current error compensation method applied to a motor according to a preferred embodiment of the present invention, and a third diagram showing a weight ratio waveform between a positive sequence value and a negative sequence value in a preferred embodiment of the present invention. The steps of the current error compensation method applied to the motor in the preferred embodiment of the present invention are as follows: Step S101: Taking one of the two-axis measurement current of the motor; Step S102: Measuring the current and the resistance value of the coil according to the two-axis measurement Calculating a measured voltage; step S103: calculating an error voltage value according to the measured voltage and one of the controller's two-axis voltage; step S104: determining whether the motor one rotational speed value is greater than a high rotational speed set value; step S105 : determining whether the speed value is less than a low speed set value; step S106: performing a positive sequence processing using the error voltage value, thereby generating a positive sequence value, and performing a negative sequence processing using the error voltage value, thereby generating a negative sequence value; Step S107: generating a sequence of error values according to the positive sequence value and the negative sequence value; and step S108: performing a filtering process on the sequence error value to generate a filter sequence Step S109: performing an integration process on the filtered sequence value to generate a compensated error current value; Step S110: subtracting the two-axis measurement current from the compensated error current value to generate an actual current; and step S111: making the two axes The current is subtracted from the actual current to compensate for the two axes Current; step S112: performing positive sequence processing using the error voltage value to generate a positive sequence value; and step S113: performing negative sequence processing using the error voltage value to generate a negative sequence value.
步驟開始後，隨即執行步驟S101擷取馬達之一二軸量測電流。其中，在此步驟中，控制器2會接收一與二軸電流I1相關之電流誤差並產生二軸電壓，且軸轉換器3會將二軸電壓轉為三相，而變頻器4係將三相電壓輸出至馬達，軸轉換器3a係量測此三相電流(圖未示)並將其自三相轉換為二相，而擷取有二軸量測電流I2。After the step is started, step S101 is performed to extract one of the two-axis measurement currents of the motor. Wherein, in this step, the controller 2 receives a current error related to the two-axis current I1 and generates a two-axis voltage, and the axis converter 3 converts the two-axis voltage into three phases, and the inverter 4 is three The phase voltage is output to the motor, and the shaft converter 3a measures the three-phase current (not shown) and converts it from three phases to two phases, and draws the two-axis measurement current I2.
在執行完步驟S101後，隨即執行步驟S102依據二軸量測電流與線圈之一電阻值，運算出一量測電壓。其中，在此步驟S102中，在擷取出二軸量測電流I2後，會經過乘法器5進行運算，其主要係將二軸量測電流I2乘以線圈上的電阻值△R，進而運算出量測電壓Vm，其中，電阻值△R可為一精確或不精確之值，其可視實際狀況進行調整。After step S101 is performed, step S102 is performed to calculate a measured voltage according to the two-axis measuring current and one of the coil resistance values. In this step S102, after the two-axis measurement current I2 is extracted, the multiplier 5 performs calculation, which is mainly obtained by multiplying the two-axis measurement current I2 by the resistance value ΔR on the coil, and then calculating The voltage Vm is measured, wherein the resistance value ΔR can be an accurate or inaccurate value, which can be adjusted according to actual conditions.
在執行完步驟S102後，隨即執行步驟S103依據量測電壓與控制器之一二軸電壓，運算出一誤差電壓值，具體而言，在此步驟中，係藉由上述之第一減法器N1，將量測電壓Vm與控制器2上的輸出電壓Vout相減後，係運算出誤差電壓值△V。After step S102 is performed, step S103 is executed to calculate an error voltage value according to the measured voltage and one of the two-axis voltage of the controller. Specifically, in this step, the first subtractor N1 is used. After subtracting the measured voltage Vm from the output voltage Vout on the controller 2, the error voltage value ΔV is calculated.
在執行完步驟S103後，隨即執行步驟S104判斷馬達之一轉速值是否大於一高轉速設定值。其中，在此步驟 中，係藉由上述之判斷電路來判斷馬達1現在運轉的轉速值ω是否大於預設的高轉速設定值，且此高轉速設定值係可設定為轉速值ω的三分之二倍，當然在其他實施例中並不限於此，其係可視實務上的狀況調整。After step S103 is performed, step S104 is performed to determine whether the value of one of the motor speeds is greater than a high speed set value. Among them, at this step In the above, the determination circuit determines whether the current rotational speed value ω of the motor 1 is greater than a preset high rotational speed set value, and the high rotational speed set value can be set to be two-thirds of the rotational speed value ω, of course. In other embodiments, it is not limited thereto, and it is adjusted according to the situation in practice.
在步驟S104之判斷結果為否時，係執行步驟S105判斷轉速值是否小於一低轉速設定值。其中，在此步驟中，係藉由上述之判斷電路來判斷馬達1現在運轉的轉速值ω是否小於預設的低轉速設定值，且此低轉速設定值一般係可設定為轉速值ω的三分之一倍，當然在其他實施例中並不限於此，其係可視實務上的狀況調整。When the result of the determination in the step S104 is NO, the step S105 is executed to determine whether the rotational speed value is smaller than a low rotational speed set value. In this step, it is determined by the above-mentioned judging circuit whether the current running speed value ω of the motor 1 is less than a preset low speed setting value, and the low speed setting value is generally set to three of the rotation speed value ω. One-fold times, of course, it is not limited to this in other embodiments, and it is adjusted according to the situation in practice.
在步驟S105之判斷結果為否時，隨即執行步驟S106利用誤差電壓值進行一正序列處理，藉以產生一正序列值，並且利用誤差電壓值進行一負序列處理，藉以產生一負序列值。其中，在此步驟中，係藉由正序列器6進行正序列處理，而正序列處理係指誤差電壓值△V經過一正相角指數函數、一轉速值ω、線圈之一電感值△L、一褶積*與一虛根j之組合的運算而產生正序列值，進一步而言，在本發明較佳實施例中，上述之正相角指數函數例如是e jθr ，而轉速值ω與電感值△L係取倒數，也就是說，上述正序列值為j與()的摺積。When the result of the determination in step S105 is NO, step S106 is performed to perform a positive sequence processing using the error voltage value, thereby generating a positive sequence value, and performing a negative sequence processing using the error voltage value, thereby generating a negative sequence value. In this step, the positive sequencer 6 performs positive sequence processing, and the positive sequence processing refers to the error voltage value ΔV passing through a positive phase angle exponential function, a rotational speed value ω, and an inductance value of the coil ΔL. And a combination of a convolution* and a virtual root j produces a positive sequence value. Further, in a preferred embodiment of the invention, the positive phase angle exponential function is e jθr , and the rotational speed value ω is The inductance value ΔL is the reciprocal, that is, the above positive sequence value is j and ( ) the convolution.
另外，係藉由負序列器7進行負序列處理，負序列處理係指誤差電壓值△V經過一負相角指數函數與電阻值△R之組合的運算而產生負序列值，進一步而言，上述之負相角指數函數例如是e -jθr ，且電阻值△R係取倒數， 也就是說，上述負序列值為。In addition, negative sequence processing is performed by the negative sequencer 7, which means that the error voltage value ΔV is subjected to a combination of a negative phase angle exponential function and a resistance value ΔR to generate a negative sequence value. Further, a negative phase angle of the above-described exponential function, for example, e -jθr, and the resistance value of △ R system taking the reciprocal, that is the negative sequence value .
在執行完步驟S106後，隨即執行步驟S107依據正序列值與負序列值產生一序列誤差值。其中，在此步驟中，係先將正序列值與負序列值藉由加法器N2的運算後，產生出序列誤差值，且此序列誤差值係為高轉速設定值與低轉速設定值間之一權重比，進一步而言，權重比係指高轉速設定值與低轉速設定值之間(第三圖所示之區間A)，正序列值與負序列值所佔的比例(第三圖中係正區間權重圖，複數個負序列值係以波形100表示，複數個正序列值係以波形200表示，其係藉由複數次的運算所產生；其中，負區間權重圖係與第三圖相對稱，不再以圖示之)，當馬達1操作於高轉速區間時，正序列值所佔之比例係大於負序列值，若操作於低轉速區間時，負序列值所佔之比例係大於正序列值。After step S106 is performed, step S107 is executed to generate a sequence of error values based on the positive sequence value and the negative sequence value. In this step, the positive sequence value and the negative sequence value are first calculated by the adder N2 to generate a sequence error value, and the sequence error value is between the high speed set value and the low speed set value. A weight ratio, further, the weight ratio refers to the ratio between the high speed set value and the low speed set value (the interval A shown in the third figure), the ratio of the positive sequence value to the negative sequence value (in the third figure) A positive interval weight map, a plurality of negative sequence values are represented by a waveform 100, and a plurality of positive sequence values are represented by a waveform 200, which is generated by a plurality of operations; wherein the negative interval weight map and the third map Relatively speaking, no longer shown in the figure), when the motor 1 is operated in the high speed range, the proportion of the positive sequence value is greater than the negative sequence value, and when operating in the low speed range, the ratio of the negative sequence value is Greater than the positive sequence value.
在執行完步驟S107後，隨即執行步驟S108對序列誤差值進行一濾波處理，藉以產生一濾波序列值。其中，在此步驟中，係將上述之序列誤差值藉由低通濾波器8進行低通濾波處理，進而產生濾波序列值。After step S107 is performed, step S108 is performed to perform a filtering process on the sequence error value, thereby generating a filtered sequence value. In this step, the sequence error value described above is subjected to low-pass filtering processing by the low-pass filter 8, thereby generating a filtered sequence value.
在執行完步驟S108後，隨即執行步驟S109對濾波序列值進行一積分處理，藉以產生一補償誤差電流值。其中，在此步驟中，主要是藉由積分器9對濾波序列值進行積分處理，進而產生一補償誤差電流值，而此積分處理即為現有之積分方式，因此不再贅述。After step S108 is performed, step S109 is performed to perform an integration process on the filtered sequence value to generate a compensated error current value. In this step, the filter sequence value is integrated by the integrator 9 to generate a compensation error current value, and the integration process is the existing integration mode, and therefore will not be described again.
在執行完步驟S109後，隨即執行步驟S110使二軸量測電流與補償誤差電流值相減，藉以產生一實際電流。其 中，在此步驟中，可將所產生的補償誤差電流值乘上上述之正相角指數函數e jθr 後，藉由上述之第二減法器N3與二軸量測電流I2相減，進而產生實際電流I3。After step S109 is performed, step S110 is performed to subtract the two-axis measurement current from the compensation error current value, thereby generating an actual current. In this step, after the generated compensation error current value is multiplied by the positive phase angle index function e jθr , the second subtractor N3 and the two-axis measurement current I2 are subtracted, thereby generating Actual current I3.
在執行完步驟S110後，隨即執行步驟S111使二軸電流與實際電流相減，藉以補償二軸電流。其中，在此步驟中，係藉由上述用以回授之第三減法器N4使二軸電流I1與實際電流I3相減，藉以達到補償二軸電流I1，進而達到電流控制之目的。After step S110 is performed, step S111 is performed to subtract the two-axis current from the actual current, thereby compensating the two-axis current. In this step, the two-axis current I1 is subtracted from the actual current I3 by the third subtractor N4 for feedback, thereby achieving the compensation of the two-axis current I1, thereby achieving the purpose of current control.
另外，在步驟S104之判斷結果為是時，隨即執行步驟S112利用誤差電壓值進行正序列處理，藉以產生正序列值。其中，在此步驟中，由於馬達1是以高轉速在運轉，因此是採用同上述之正序列處理對誤差電壓值△V來運算出正序列值。Further, when the result of the determination in step S104 is YES, step S112 is performed to perform positive sequence processing using the error voltage value, thereby generating a positive sequence value. In this step, since the motor 1 is operating at a high rotational speed, the positive sequence value is calculated by using the positive sequence processing described above for the error voltage value ΔV.
此外，在步驟S105之判斷結果為是時，隨即執行步驟S113利用誤差電壓值進行負序列處理，藉以產生負序列值。其中，在此步驟中，由於馬達1是以低轉速在運轉，因此是採用同上述之負序列處理對誤差電壓值△V來運算出負序列值。Further, when the result of the determination in step S105 is YES, step S113 is performed to perform negative sequence processing using the error voltage value, thereby generating a negative sequence value. Here, in this step, since the motor 1 is operating at a low rotational speed, the negative sequence value is calculated by using the negative sequence processing described above with respect to the error voltage value ΔV.
綜合以上所述，由於是利用序列誤差值與二軸量測電流之誤差、二軸電流以及控制器電壓之關聯性，建立出電流量測誤差補償模型，其不需增加電路之硬體設計，僅需利用回授即可計算出量測誤差所需補償之值，因此，本發明的補償方法在馬達通電狀態下可隨時計算電流偏移值並進行修正，其能有效解決溫度漂移問題所造成之電流偏移，進而增加轉矩控制的穩定性。In summary, since the correlation between the sequence error value and the error of the two-axis measurement current, the two-axis current, and the controller voltage is used, the current measurement error compensation model is established, which does not need to increase the hardware design of the circuit. The compensation value required for the measurement error can be calculated only by using the feedback. Therefore, the compensation method of the present invention can calculate the current offset value and correct it at any time when the motor is energized, which can effectively solve the temperature drift problem. The current is offset, which in turn increases the stability of the torque control.
藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本發明之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.
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| US6650081B2 (en) * | 2001-08-09 | 2003-11-18 | Hitachi, Ltd. | Synchronous motor driving system |
| CN102545740A (en) * | 2012-01-09 | 2012-07-04 | 南京航空航天大学 | Low-speed position sensorless control method for surface mounted permanent magnet synchronous motor |
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