CN102201770A - Method for injecting harmonic voltage to restrain harmonic current of PMSM (permanent magnet synchronous motor) - Google Patents

Abstract

The invention provides a method for injecting a harmonic voltage to restrain a harmonic current of a PMSM (permanent magnet synchronous motor), which is characterized in that a ring to restrain the harmonic current is added to realize the closed-loop control for the harmonic current on the basis of extracting harmonic current components in the PMSM in real time, thus calculating to obtain harmonic voltage components which are required to be injected to restrain 5-order and 7-order harmonic currents of the PMSM; and then the obtained harmonic voltage components are injected into a three-phase control voltage in a speed control system of the PMSM so as to offset the 5-order and 7-order harmonic components in a motor current when the PMSM runs, thereby reaching the purpose of restraining the 5-order and 7-order harmonic currents. The method is used to solve the technical difficulty that current ZCP (zero crossing point) is required to detect accurately in a traditional mode to restrain the harmonic current, remarkably improves the current waveform of the motor, effectively restrains the 5-order and 7-order harmonic currents caused by the nonlinear characteristics of an inverter and the air-gap field distortion of the motor, effectively reduces the additional loss caused by the 5-order and 7-order harmonic current components, reduces the electromagnetic torque and the revolving speed pulse of the PMSM and improves the running efficiency and the running reliability of the PMSM.

Description

A kind of control method of injecting harmonic voltage inhibition permagnetic synchronous motor harmonic current

Technical field

The invention belongs to permagnetic synchronous motor harmonic current control field, particularly relate to a kind of the employing and inject the control method that the harmonic voltage mode suppresses the permagnetic synchronous motor harmonic current.

Background technology

In permagnetic synchronous motor (PMSM) steady operation, nonlinear characteristics such as the Dead Time of inverter switch device, tube voltage drop, or the air-gap field distortion that slot effect, winding distribution form, magnetic circuit magnetic saturation effect, rotor magnetic pole structure etc. cause all will cause the motor current waveform distortion, make and contain 5,7,11,13 inferior a series of harmonic components in the current of electric.These harmonic current components, especially 5,7 bigger subharmonic current components of proportion, except meeting produces supplementary load loss in the stator winding of permagnetic synchronous motor and iron core, reduce outside the operational efficiency of motor, also will cause the pulsation of motor electromagnetic torque and rotating speed, noise when increasing the motor operation and reduction motor reliability of operation.At present, how Chinese scholars is to suppressing harmonic current, and particularly 5,7 subharmonic currents have been carried out correlative study work.As disclosed following document:

(1) the solid-rotor permanent-magnet synchronous motor cogging torque weakening method research of selecting based on pole embrace. Proceedings of the CSEE, 2005,25 (15): 146-149.

(2) a kind of rotor of low harmonic wave permagnetic synchronous motor. Chinese invention patent application number: 200410053929.7.

(3)Dead-time?elimination?of?PWM-controlled?inverter?converter?without?separate?power?sources?for?current?polarity?detection?circuit.IEEE?Transactions?on?Industrial?Electronics，2009，56(6)：2121-2127.

(4) voltage compensating method of exporting based on the pulse-width modulation of voltage equivalence. Chinese invention patent application number: 201010268341.9.

Document (1), document (2) are mainly to optimize the motor body design, the sinusoidal degree that improves the air-gap field distribution suppresses because the harmonic current components that the motor gas-gap distortion of field causes, especially 5,7 bigger subharmonic current components, but can't suppress Dead Time, the harmonic current that nonlinear characteristics such as tube voltage drop cause owing to inverter switch device.

Document (3), document (4) mainly adopt the method for current feedback type voltage compensation to suppress the inherent characteristic of inverter switch device and the harmonic current components that Dead Time causes, especially 5,7 bigger subharmonic current components, but can't suppress because the harmonic current that the motor gas-gap distortion of field causes, and the validity of these class methods depends on the detection of current zero-crossing point largely, it is inaccurate that current zero-crossing point detects, and will cause the mistake compensation.Limitation problems such as therefore, this method exists needs to increase new hardware, and algorithm is too complicated, and is poor for applicability.

In the engineering practice, the factor of considering the harmonic current generation is more, and harmonic current content changes with machine operation point is different, and traditional produces the single compensation way more complicated of factor according to harmonic current, and it is not ideal enough that harmonic current is suppressed effect.Thereby the control method that presses for a kind of new, simple and practical inhibition permagnetic synchronous motor harmonic current effectively suppresses the harmonic component in the current of electric, especially suppress 5,7 bigger subharmonic current components of proportion, reduce permagnetic synchronous motor electromagnetic torque and speed ripple, improve the operational efficiency and the operational reliability of motor.

Summary of the invention

The objective of the invention is deficiency at existing permagnetic synchronous motor method for inhibiting harmonic current, a kind of control method that harmonic voltage suppresses the permagnetic synchronous motor harmonic current of injecting is provided, this method has not only avoided needing accurately to detect in the traditional inhibition harmonic current mode technological difficulties of current zero-crossing point, and can also effectively suppress motor 5,7 subharmonic currents that cause because of inverter nonlinear characteristic and the motor gas-gap distortion of field, reduce permagnetic synchronous motor electromagnetic torque and speed ripple, improve the operational efficiency and the operational reliability of motor.

This method can come by the following technical programs to be realized that it may further comprise the steps:

A) at first gather the stator current signal of motor: the threephase stator current signal i that utilizes current Hall sensor acquisition permagnetic synchronous motor _a, i _b, i _c

B) rotor-position signal of detection motor, the electric angle speed and the electrical degree of calculating motor: utilize rotor-position sensor to detect the rotor position that obtains permagnetic synchronous motor _rAnd rotational speed omega _r, and according to θ _rAnd ω _rCalculate permanent-magnetic synchronous motor rotor electric angle speed omega=p ω _rAnd permanent-magnetic synchronous motor rotor electrical degree θ=p θ _rWherein: p is the number of pole-pairs of motor;

C) with the motor stator current signal i that collects _a, i _b, i _cThrough 5,7 subharmonic current extraction modules, obtain 5 subharmonic d axle component i under 5 subharmonic dq synchronization rotational coordinate axs system respectively _D5thWith 5 subharmonic q axle component i _Q5thAnd 7 subharmonic d axle component i under 7 subharmonic dq synchronization rotational coordinate axs system _D7thWith 7 subharmonic q axle component i _Q7th

D) with i _D5th, i _Q5th, i _D7th, i _Q7thBring 5,7 subharmonic currents into and suppress algoritic module, calculate and obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{D5th_out}With q axle harmonic voltage component u _{Q5th_out}And for suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{D7th_out}With q axle harmonic voltage component u _{Q7th_out}

The d of inhibition permagnetic synchronous motor 5, the 7 required injections of subharmonic current that e) will calculate, q axle harmonic voltage component u _{D5th_out}, u _{Q5th_out}And u _{D7th_out}, u _{Q7th_out}Bringing the calculating of harmonic voltage dq/abc conversion module into and obtaining under the static three-phase abc system of axis is the harmonic voltage component that suppresses permagnetic synchronous motor 5, the 7 required injections of subharmonic current

F) with the control voltage u ' that obtains after the calculating of traditional Permanent-magnet Synchronous-motor Speed Servo System output control voltage computing module _a, u ' _b, u ' _cRespectively with

After doing subtraction, can obtain containing the final control voltage u of the governing system that suppresses 5,7 subharmonic current components _a, u _b, u _c

H) will finally control voltage u _a, u _b, u _cAfter the modulation of space vector pulse width modulation module, obtain the switching signal S of two level voltage type PWM inverters of control permagnetic synchronous motor operation _a, S _b, S _c

Described 5,7 subharmonic current extraction modules comprise that one is tied to the permanent Power Conversion matrix module of 5 subharmonic dq synchronization rotational coordinate axs systems, permanent Power Conversion matrix module and two low pass filters that are tied to 7 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate by static three-phase abc coordinate.With the stator three-phase current signal i that obtains in the step a) _a, i _b, i _cAfter being tied to the permanent Power Conversion matrix module of 5 subharmonic dq synchronization rotational coordinate axs system and being tied to the permanent Power Conversion matrix module of 7 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate via static three-phase abc coordinate respectively, respectively behind low pass filter, obtain 5 subharmonic d, q axle component i under 5 subharmonic dq synchronization rotational coordinate axs system again _D5thAnd i _Q5thAnd 7 subharmonic d, q axle component i under 7 subharmonic dq synchronization rotational coordinate axs system _D7thAnd i _Q7th

The calculation procedure that described 5,7 subharmonic currents suppress algoritic module is:

A) be based upon 5 subharmonic steady state voltage equations (I) and 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames under the 5 subharmonic dq synchronous rotating frames respectively:

Described 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames are

$\left\{\begin{array}{c}{u}_{\mathrm{<figure-callout\; id="5"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">d</figure-callout>}5\mathrm{th}}=5\mathrm{\&omega;}{L}_q{i}_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}+{\mathrm{<figure-callout\; id="5"\; label="Ri\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_d\\ u_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}=-5\mathrm{\&omega;}{L}_d{i}_{\mathrm{<figure-callout\; id="5"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">d</figure-callout>}5\mathrm{th}}+{\mathrm{<figure-callout\; id="5"\; label="Ri\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_q\end{array}\right.---\left(I\right)$

Wherein: u _D5thAnd u _Q5thBe respectively 5 subharmonic voltage d, q component under 5 subharmonic dq synchronous rotating frames; R is the phase resistance value of permanent-magnetic synchronous motor stator winding; L _d, L _qBe respectively the d under the synchronous dq rotatable coordinate axis system, the equivalent inductance of q axle;

Described 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames are

$\left\{\begin{array}{c}{u}_{\mathrm{<figure-callout\; id="7"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">d</figure-callout>}7\mathrm{th}}=-7\mathrm{\&omega;}{L}_q{i}_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}+{\mathrm{<figure-callout\; id="7"\; label="Ri\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_d\\ u_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}=7\mathrm{\&omega;}{L}_d{i}_{\mathrm{<figure-callout\; id="7"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">d</figure-callout>}7\mathrm{th}}+{\mathrm{<figure-callout\; id="7"\; label="Ri\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_q\end{array}\right.---\left(\mathrm{II}\right)$

Wherein: u _D7thAnd u _Q7thBe respectively 7 subharmonic voltage d, q component under 7 subharmonic dq synchronous rotating frames;

B) set up the governing equation group that suppresses 5,7 subharmonic currents respectively:

According to the 5 subharmonic steady state voltage equations of setting up (I) under 5 subharmonic dq synchronous rotating frames, obtain governing equation group (III) with inhibition permagnetic synchronous motor 5 subharmonic currents of cross-product term coupling:

$\left\{\begin{array}{c}{u}_{\mathrm{<figure-callout\; id="5"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">d</figure-callout>}5\mathrm{th}\_\mathrm{out}}=u_{\mathrm{<figure-callout\; id="5"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">d</figure-callout>}5\mathrm{th}}^{\&prime;\&prime;}+u_{\mathrm{<figure-callout\; id="5"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">d</figure-callout>}5\mathrm{th}}^{\&prime;}\\ =R\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="5"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">d</figure-callout>}5\mathrm{th}}+5\mathrm{\&omega;}{L}_q\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}+5\mathrm{\&omega;}{L}_q\left({\mathrm{<figure-callout\; id="5"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)+R\left({\mathrm{<figure-callout\; id="5"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)\\ u_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}\_\mathrm{out}}=u_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}^{\&prime;\&prime;}+u_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}^{\&prime;}\\ =R\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}-5\mathrm{\&omega;}{L}_d\&times;{\mathrm{\&Delta;i}}_{\mathrm{<figure-callout\; id="5"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">d</figure-callout>}5\mathrm{th}}-5\mathrm{\&omega;}{L}_d\left({\mathrm{<figure-callout\; id="5"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)+R\left({\mathrm{<figure-callout\; id="5"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)\end{array}\right.---\left(\mathrm{III}\right)$

Wherein: u " _D5th=R * Δ i _D5th+ 5 ω L _q* Δ i _Q5th, u " _Q5th=R * Δ i _Q5th-5 ω L _d* Δ i _D5th, u " _D5thAnd u " _Q5thBy 5 subharmonic current d axles are given

With feedback i _D5thDifference DELTA i _D5thAnd 5 subharmonic current q axles are given

With feedback i _Q5thDifference DELTA i _Q5thBring 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames into and obtain; Given for 5 subharmonic current component d, q axle

And

All be set at zero; U ' _D5th=5 ω L _q(PI _Iq5th)+R (PI _Id5th), u ' _Q5th=-5 ω L _d(PI _Id5th)+R (PI _Iq5th), u ' _D5thAnd u ' _Q5thBy with Δ i _D5thOutput PI behind 5 d axle PI controllers _Id5thAnd Δ i _Q5thOutput PI behind 5 q axle PI controllers _Iq5thBring 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames into and obtain;

With u " _D5thWith u ' _D5thAddition can obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{D5th_out}With u " _Q5thWith u ' _Q5thAddition can obtain to suppressing the q axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{Q5th_out}

According to the 7 subharmonic steady state voltage equations of setting up (II) under 7 subharmonic dq synchronous rotating frames, obtain governing equation group (IV) with inhibition permagnetic synchronous motor 7 subharmonic currents of cross-product term coupling:

$\left\{\begin{array}{c}{u}_{\mathrm{<figure-callout\; id="7"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">d</figure-callout>}7\mathrm{th}\_\mathrm{out}}=u_{\mathrm{<figure-callout\; id="7"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">d</figure-callout>}7\mathrm{th}}^{\&prime;\&prime;}+u_{\mathrm{<figure-callout\; id="7"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">d</figure-callout>}7\mathrm{th}}^{\&prime;}\\ =R\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="7"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">d</figure-callout>}7\mathrm{th}}-7\mathrm{\&omega;}{L}_q\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}-7\mathrm{\&omega;}{L}_q\left({\mathrm{<figure-callout\; id="7"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)+R\left({\mathrm{<figure-callout\; id="7"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)\\ u_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}\_\mathrm{out}}=u_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}^{\&prime;\&prime;}+u_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}^{\&prime;}\\ =R\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}+7\mathrm{\&omega;}{L}_d\&times;{\mathrm{\&Delta;i}}_{\mathrm{<figure-callout\; id="7"\; label="d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">d</figure-callout>}7\mathrm{th}}+7\mathrm{\&omega;}{L}_d\left({\mathrm{<figure-callout\; id="7"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)+R\left({\mathrm{<figure-callout\; id="7"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)\end{array}\right.---\left(\mathrm{IV}\right)$

Wherein: u " _D7th=R * Δ i _D7th-7 ω L _q* Δ i _Q7th, u " _Q7th=R * Δ i _Q7th+ 7 ω L _d* Δ i _D7th, u " _D7thAnd u " _Q7thBy 7 subharmonic current d axles are given With feedback i _D7thDifference DELTA i _D7thAnd 7 subharmonic current q axles are given

With feedback i _Q7thDifference DELTA i _Q7thBring 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames into and obtain; Given for 7 subharmonic current component d, q axle

And

All be set at zero; U ' _D7th=-7 ω L _q(PI _Iq7th)+R (PI _Id7th), u ' _Q7th=7 ω L _d(PI _Id7th)+R (PI _Iq7th), u ' _D7thAnd u ' _Q7thBy with Δ i _D7thOutput PI behind 7 d axle PI controllers _Id7thAnd Δ i _Q7thOutput PI behind 7 q axle PI controllers _Iq7thBring 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames into and obtain;

With u " _D7thWith u ' _D7thAddition can obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{D7th_out}With u " _Q7thWith u ' _Q7thAddition can obtain to suppressing the q axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{Q7th_out}

Described harmonic voltage dq/abc conversion module also comprises the permanent Power Conversion matrix module and the permanent Power Conversion matrix module that is tied to static three-phase abc coordinate system by 7 subharmonic dq synchronization rotational coordinate axs that are tied to static three-phase abc coordinate system by 5 subharmonic dq synchronization rotational coordinate axs.The d, the q axle harmonic voltage component u that 5,7 subharmonic currents are suppressed inhibition permagnetic synchronous motor 5, the 7 required injections of subharmonic current that obtain after algoritic module calculates _{D5th_out}, u _{Q5th_out}And u _{D7th_out}, u _{Q7th_out}After being tied to the permanent Power Conversion matrix module of static three-phase abc coordinate system and being tied to the permanent Power Conversion matrix module of static three-phase abc coordinate system via 5 subharmonic dq synchronization rotational coordinate axs respectively, obtain 5,7 subharmonic voltage u under the static coordinate axle system by 7 subharmonic dq synchronization rotational coordinate axs _A5th, u _B5th, u _C5thAnd u _A7th, u _B7th, u _C7thu _A5th, u _B5th, u _C5thAnd u _A7th, u _B7th, u _C7thCorrespondence is addition successively, obtains under the static three-phase abc system of axis to suppressing the harmonic voltage component of permagnetic synchronous motor 5, the 7 required injections of subharmonic current

Description of drawings

Fig. 1 is a kind of principle schematic that harmonic voltage suppresses the control method of permagnetic synchronous motor harmonic current of injecting provided by the invention.

Fig. 2 is d under abc coordinate under the static three-phase abc coordinate system, the 5 subharmonic dq synchronous rotating frames _5thq5thD under coordinate, the 7 subharmonic dq synchronous rotating frames _7thq7thCoordinate and synchronous dq rotatable coordinate axis system be the graph of a relation of dq coordinate down.

Fig. 3 is the principle schematic of 5,7 subharmonic current extraction modules.

Fig. 4 is that 5,7 subharmonic currents suppress to calculate u in the algoritic module _{D5th_out}And u _{Q5th_out}Principle schematic.

Fig. 5 is that 5,7 subharmonic currents suppress to calculate u in the algoritic module _{D7th_out}And u _{Q7th_out}Principle schematic.

Fig. 6 is the principle schematic of harmonic voltage dq/abc conversion module.

Fig. 7 is the oscillogram of prior art, and wherein: Fig. 7 (a) and (b), (c), (d), (e) are followed successively by 6 pulsation of three-phase current waveform, A phase current waveform, A phase current frequency spectrum, motor speed and the motor speed of prior art.

Fig. 8 is the waveform effect figure after the invention process, and wherein: Fig. 8 (a) and (b), (c), (d), (e) are followed successively by 6 pulsation of three-phase current waveform, A phase current waveform, A phase current frequency spectrum, motor speed and motor speed after the invention process.

Embodiment

The invention will be further described below in conjunction with the drawings and specific embodiments.

A kind of control method of injecting harmonic voltage inhibition permagnetic synchronous motor harmonic current, it comprises controlling object permagnetic synchronous motor 3, the two level voltage type PWM inverters 1 that are connected with permanent-magnetic synchronous motor stator, the current Hall transducer 2 that is used for the threephase stator current detecting, be used to detect the rotor-position sensor 4 and the control Control of PMSM loop of permanent-magnet synchronous motor rotor position, wherein: control loop comprises 5 again, 7 subharmonic current extraction modules 5,5,7 subharmonic currents suppress algoritic module 6, harmonic voltage dq/abc conversion module 7, traditional Permanent-magnet Synchronous-motor Speed Servo System output control voltage computing module 8 and space vector pulse width modulation module 9.

With reference to Fig. 1, a kind of control method of injecting harmonic voltage inhibition permagnetic synchronous motor harmonic current, its concrete implementation step is as follows:

A) utilize current Hall transducer 2 to gather the threephase stator current signal i of permagnetic synchronous motor 3 _a, i _b, i _c

B) utilize rotor-position sensor 4 to detect the rotor position that obtains permagnetic synchronous motor _rAnd rotational speed omega _r, and according to θ _rAnd ω _rCalculate permanent-magnetic synchronous motor rotor electric angle speed omega=p ω _rAnd permanent-magnetic synchronous motor rotor electrical degree θ=p θ _r

C) with the motor stator current signal i that collects _a, i _b, i _cThrough 5,7 subharmonic current extraction modules 5, obtain 5 subharmonic d axle component i under 5 subharmonic dq synchronization rotational coordinate axs system respectively _D5thWith 5 subharmonic q axle component i _Q5thAnd 7 subharmonic d axle component i under 7 subharmonic dq synchronization rotational coordinate axs system _D7thWith 7 subharmonic q axle component i _Q7th

D) with i _D5th, i _Q5th, i _Q7th, i _Q7thBring 5,7 subharmonic currents into and suppress algoritic module 6, calculate and obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{D5th_out}With q axle harmonic voltage component u _{Q5th_out}And for suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{D7th_out}With q axle harmonic voltage component u _{Q7th_out}

The d of inhibition permagnetic synchronous motor 5, the 7 required injections of subharmonic current that e) will calculate, q axle harmonic voltage component u _{D5th_out}, u _{Q5th_out}And u _{D7th_out}, u _{Q7th_out}Bringing 7 calculating of harmonic voltage dq/abc conversion module into and obtaining under the static three-phase abc system of axis is the harmonic voltage component that suppresses permagnetic synchronous motor 5, the 7 required injections of subharmonic current

F) with the control voltage u ' that obtains after 8 calculating of traditional Permanent-magnet Synchronous-motor Speed Servo System output control voltage computing module _a, u ' _b, u ' _cRespectively with

After doing subtraction, can obtain containing the final control voltage u of the governing system that suppresses 5,7 subharmonic current components _a, u _b, u _c

H) will finally control voltage u _a, u _b, u _cAfter 9 modulation of space vector pulse width modulation module, obtain the switching signal S of two level voltage type PWM inverters 1 of control permagnetic synchronous motor 3 operations _a, S _b, S _c

With reference to Fig. 3, described 5,7 subharmonic current extraction modules 5 comprise that a permanent Power Conversion matrix module 10, that is tied to 5 subharmonic dq synchronization rotational coordinate axs systems by static three-phase abc coordinate is tied to permanent Power Conversion matrix module 12 and two low pass filters 11 and 13 of 7 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate.With the stator three-phase current signal i that obtains in the step a) _a, i _b, i _cAfter being tied to the permanent Power Conversion matrix module 10 of 5 subharmonic dq synchronization rotational coordinate axs system and being tied to the permanent Power Conversion matrix module 12 of 7 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate via static three-phase abc coordinate respectively, respectively behind low pass filter 11 and 13, obtain 5 subharmonic d, q axle component i under 5 subharmonic dq synchronization rotational coordinate axs system again _D5thAnd i _Q5thAnd 7 subharmonic d, q axle component i under 7 subharmonic dq synchronization rotational coordinate axs system _D7thAnd i _Q7thWherein: the permanent Power Conversion that is tied to 5 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate is

The permanent Power Conversion that is tied to 7 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate is

With reference to Fig. 4, Fig. 5, the calculation procedure that described 5,7 subharmonic currents suppress algoritic module 6 is:

A) be based upon 5 subharmonic steady state voltage equations (I) and 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames under the 5 subharmonic dq synchronous rotating frames respectively:

Described 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames are

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="5"\; label="u\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">u</figure-callout>}}_d=5\mathrm{\&omega;}{L}_{\mathrm{<figure-callout\; id="5"\; label="q\; i\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}}{i}_q{5\mathrm{th}}_{}+{\mathrm{<figure-callout\; id="5"\; label="Ri\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_d& \\ u_q{5\mathrm{th}}_{}=-5\mathrm{\&omega;}{L}_d{i}_{d5\mathrm{th}}+{\mathrm{<figure-callout\; id="5"\; label="Ri\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_q\end{array}\right.---\left(I\right)$

Wherein: u _D5thAnd u _Q5thBe respectively 5 subharmonic voltage d, q component under 5 subharmonic dq synchronous rotating frames; R is the phase resistance value of permanent-magnetic synchronous motor stator winding; L _d, L _qBe respectively the d under the synchronous dq rotatable coordinate axis system, the equivalent inductance of q axle;

Described 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames are

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="7"\; label="u\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">u</figure-callout>}}_d=-7\mathrm{\&omega;}{L}_{\mathrm{<figure-callout\; id="7"\; label="q\; i\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}}{i}_q{7\mathrm{th}}_{}+{\mathrm{<figure-callout\; id="7"\; label="Ri\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_d& \\ u_q{7\mathrm{th}}_{}=7\mathrm{\&omega;}{L}_d{i}_{d7\mathrm{th}}+{\mathrm{<figure-callout\; id="7"\; label="Ri\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">Ri</figure-callout>}}_q\end{array}\right.---\left(\mathrm{II}\right)$

Wherein: u _D7thAnd u _Q7thBe respectively 7 subharmonic voltage d, q component under 7 subharmonic dq synchronous rotating frames;

B) set up the governing equation group that suppresses 5,7 subharmonic currents respectively:

According to steps A) the middle 5 subharmonic steady state voltage equations of setting up (I) under 5 subharmonic dq synchronous rotating frames, obtain governing equation group (III) with inhibition permagnetic synchronous motor 5 subharmonic currents of cross-product term coupling:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="5"\; label="u\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">u</figure-callout>}}_d=u_{d5\mathrm{th}}^{\&prime;\&prime;}+{\mathrm{<figure-callout\; id="5"\; label="u\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">u</figure-callout>}}_d^{5\mathrm{th}}\\ =R\&times;\mathrm{\&Delta;}{i}_{d5\mathrm{th}}+5\mathrm{\&omega;}{L}_q\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}+5\mathrm{\&omega;}{L}_q\left({\mathrm{<figure-callout\; id="5"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)+R\left({\mathrm{<figure-callout\; id="5"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)\\ {\mathrm{<figure-callout\; id="5"\; label="u\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">u</figure-callout>}}_q={\mathrm{<figure-callout\; id="5"\; label="u\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">u</figure-callout>}}_q^{5\mathrm{th}}+{\mathrm{<figure-callout\; id="5"\; label="u\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">u</figure-callout>}}_q^{5\mathrm{th}}\\ =R\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="5"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">q</figure-callout>}5\mathrm{th}}-5\mathrm{\&omega;}{L}_d\&times;{\mathrm{\&Delta;i}}_{d5\mathrm{th}}-5\mathrm{\&omega;}{L}_d\left({\mathrm{<figure-callout\; id="5"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)+R\left({\mathrm{<figure-callout\; id="5"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000051.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)\end{array}\right.---\left(\mathrm{III}\right)$

Wherein: u " _D5th=R * Δ i _D5th+ 5 ω L _q* Δ i _Q5th, u " _Q5th=R * Δ i _Q5th-5 ω L _d* Δ i _D5th, u " _D5thAnd u " _Q5thBy 5 subharmonic current d axles are given

With feedback i _D5thDifference DELTA i _D5thAnd 5 subharmonic current q axles are given

With feedback i _Q5thDifference DELTA i _Q5thBring 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames into and obtain; Given for 5 subharmonic current component d, q axle

And

All be set at zero; U ' _D5th=5 ω L _q(PI _Iq5th)+R (PI _Id5th), u ' _Q5th=-5 ω L _d(PI _Id5th)+R (PI _Iq5th), u ' _D5thAnd u ' _Q5thBy with Δ i _D5thOutput PI behind 5 d axle PI controllers _Id5thAnd Δ i _Q5thOutput PI behind 5 q axle PI controllers _Iq5thBring 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames into and obtain;

With u " _D5thWith u ' _D5thAddition can obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{D5th_out}With u " _Q5thWith u ' _Q5thAddition can obtain to suppressing the q axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{Q5th_out}

According to steps A) the middle 7 subharmonic steady state voltage equations of setting up (II) under 7 subharmonic dq synchronous rotating frames, obtain governing equation group (IV) with inhibition permagnetic synchronous motor 7 subharmonic currents of cross-product term coupling:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="7"\; label="u\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">u</figure-callout>}}_d=u_{d7\mathrm{th}}^{\&prime;\&prime;}+{\mathrm{<figure-callout\; id="7"\; label="u\; d"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">u</figure-callout>}}_d^{7\mathrm{th}}\\ =R\&times;\mathrm{\&Delta;}{i}_{d7\mathrm{th}}-7\mathrm{\&omega;}{L}_q\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}-7\mathrm{\&omega;}{L}_q\left({\mathrm{<figure-callout\; id="7"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)+R\left({\mathrm{<figure-callout\; id="7"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)\\ {\mathrm{<figure-callout\; id="7"\; label="u\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">u</figure-callout>}}_q={\mathrm{<figure-callout\; id="7"\; label="u\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">u</figure-callout>}}_q^{7\mathrm{th}}+{\mathrm{<figure-callout\; id="7"\; label="u\; q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">u</figure-callout>}}_q^{7\mathrm{th}}\\ =R\&times;\mathrm{\&Delta;}{i}_{\mathrm{<figure-callout\; id="7"\; label="q"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">q</figure-callout>}7\mathrm{th}}+7\mathrm{\&omega;}{L}_d\&times;{\mathrm{\&Delta;i}}_{d7\mathrm{th}}+7\mathrm{\&omega;}{L}_d\left({\mathrm{<figure-callout\; id="7"\; label="PI\; id"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{id}}\right)+R\left({\mathrm{<figure-callout\; id="7"\; label="PI\; iq"\; filenames="HSA00000508041000011.png,HSA00000508041000041.png"\; state="\{\{state\}\}">PI</figure-callout>}}_{\mathrm{iq}}\right)\end{array}\right.---\left(\mathrm{IV}\right)$

Wherein: u " _D7th=R * Δ i _D7th-7 ω L _q* Δ i _Q7th, u " _Q7th=R * Δ i _Q7th+ 7 ω L _d* Δ i _D7th, u " _D7thAnd u " _Q7thBy 7 subharmonic current d axles are given

With feedback i _D7thDifference DELTA i _D7thAnd 7 subharmonic current q axles are given With feedback i _Q7thDifference DELTA i _Q7thBring 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames into and obtain; Given for 7 subharmonic current component d, q axle

And

All be set at zero; U ' _D7th=-7 ω L _q(PI _Iq7th)+R (PI _Id7th), u ' _Q7th=7 ω L _d(PI _Id7th)+R (PI _Iq7th), u ' _D7thAnd u ' _Q7thBy with Δ i _D7thOutput PI behind 7 d axle PI controllers _Id7thAnd Δ i _Q7thOutput PI behind 7 q axle PI controllers _Iq7thBring 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames into and obtain;

With u " _D7thWith u ' _D7thAddition can obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{D7th_out}With u " _Q7thWith u ' _Q7thAddition can obtain to suppressing the q axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{Q7th_out}

With reference to Fig. 6, described harmonic voltage dq/abc conversion module 7 also comprises the permanent Power Conversion matrix module 14 and the permanent Power Conversion matrix module 15 that is tied to static three-phase abc coordinate system by 7 subharmonic dq synchronization rotational coordinate axs that are tied to static three-phase abc coordinate system by 5 subharmonic dq synchronization rotational coordinate axs.The d, the q axle harmonic voltage component u that 5,7 subharmonic currents are suppressed inhibition permagnetic synchronous motor 5, the 7 required injections of subharmonic current that obtain after algoritic module 6 calculates _{D5th_out}, u _{Q5th_out}And u _{D7th_out}, u _{Q7th_out}After being tied to the permanent Power Conversion matrix module 14 of static three-phase abc coordinate system via 5 subharmonic dq synchronization rotational coordinate axs respectively and being tied to the permanent Power Conversion matrix module 15 of static three-phase abc coordinate system, obtain 5,7 subharmonic voltage u under the static coordinate axle system by 7 subharmonic dq synchronization rotational coordinate axs _A5th, u _B5th, u _C5thAnd u _A7th, u _B7th, u _C7thu _A5th, u _B5th, u _C5thAnd u _A7th, u _B7th, u _C7thCorrespondence is addition successively, obtains under the static three-phase abc system of axis to suppressing the harmonic voltage component of permagnetic synchronous motor 5, the 7 required injections of subharmonic current

Wherein: the permanent Power Conversion that is tied to static three-phase abc coordinate system by 5 subharmonic dq synchronization rotational coordinate axs is

The permanent Power Conversion that is tied to static three-phase abc coordinate system by 7 subharmonic dq synchronization rotational coordinate axs is

The invention has the beneficial effects as follows:

1. on the basis of the harmonic current components in the extract real-time permagnetic synchronous motor, the mode that suppresses ring by adding harmonic current, realization is to the closed-loop control of harmonic current, and then calculate to suppressing the harmonic voltage component of permagnetic synchronous motor 5, the required injection of 7 subharmonic currents, and the harmonic voltage component that obtains is injected in the three phase control voltages in the Permanent-magnet Synchronous-motor Speed Servo System, 5,7 order harmonic components when offsetting the motor operation in the current of electric have reached the purpose that suppresses 5,7 subharmonic currents. Therefore, 5,7 subharmonic current inhibition methods provided by the invention have not only avoided needing accurately to detect in the traditional inhibition harmonic current mode technological difficulties of current zero-crossing point, and the motor 5,7 subharmonic currents that cause because of inverter nonlinear characteristic and the motor gas-gap distortion of field of establishment simultaneously.

2. improved the operational efficiency of permagnetic synchronous motor. Shown in Fig. 7 (a), (b), the motor current waveform harmonic component of prior art is heavier, serious wave distortion occurs. Motor current waveform after the invention process has clear improvement, and sinusoidal degree obviously improves, shown in Fig. 8 (a), (b). Motor A phase current is carried out FFT conversion (the current of electric fundamental frequency is 3Hz), shown in Fig. 7 (c) and Fig. 8 (c), in the current of electric 5 times, 7 order harmonic components drop to 0.93% and 0.33% from 34.11% and 10.81% respectively, and total harmonic distortion THD drops to 12.55% from 36.94%. In the three phase electric machine electric current after the invention process 5 times and 7 subharmonic currents have obtained good inhibition, and this will effectively reduce the added losses that caused by 5,7 subharmonic current components, improve the operational efficiency of permagnetic synchronous motor.

3. reduce permagnetic synchronous motor electromagnetic torque and speed ripple, improved the operational reliability of motor. Comparison diagram 7 (d) and Fig. 8 (d) can find out that the motor speed fluctuation after the invention process obviously reduces. 6 pulsation of the motor torque that cause 5 times, 7 subharmonic currents produce can show in the fluctuation of motor speed, so the motor speed waveform is obtained Fig. 7 (e) and Fig. 8 (e) through the FFT conversion, can be found out by Fig. 7 (e) and Fig. 8 (e): 6 pulsation of motor speed have obtained good inhibition. This will effectively reduce rotating speed and the electromagnetic torque pulsation that is caused by 5,7 subharmonic current components, the noise when reducing the motor operation and raising motor reliability of operation.

Claims (4)

1. one kind is injected the control method that harmonic voltage suppresses the permagnetic synchronous motor harmonic current, it is characterized in that this method is made of following steps:

A) at first gather the stator current signal of motor: the threephase stator current signal i that utilizes current Hall sensor acquisition permagnetic synchronous motor _a, i _b, i _c

B) rotor-position signal of detection motor, the electric angle speed and the electrical degree of calculating motor: utilize rotor-position sensor to detect the rotor position that obtains permagnetic synchronous motor _rAnd rotational speed omega _r, and according to θ _rAnd ω _rCalculate permanent-magnetic synchronous motor rotor electric angle speed omega=p ω _rAnd permanent-magnetic synchronous motor rotor electrical degree θ=p θ _rWherein: p is the number of pole-pairs of motor;

C) with the motor stator current signal i that collects _a, i _b, i _cThrough 5,7 subharmonic current extraction modules, obtain 5 subharmonic d axle component i under 5 subharmonic dq synchronization rotational coordinate axs system respectively _D5thWith 5 subharmonic q axle component i _Q5thAnd 7 subharmonic d axle component i under 7 subharmonic dq synchronization rotational coordinate axs system _D7thWith 7 subharmonic q axle component i _Q7th

D) with i _D5th, i _Q5th, i _D7th, i _Q7thBring 5,7 subharmonic currents into and suppress algoritic module, calculate and obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{D5th_out}With q axle harmonic voltage component u _{Q5th_out}And for suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{D7th_out}With q axle harmonic voltage component u _{Q7th_out}

The d of inhibition permagnetic synchronous motor 5, the 7 required injections of subharmonic current that e) will calculate, q axle harmonic voltage component u _{D5th_out}, u _{Q5th_out}And u _{D7th_out}, u _{Q7th_out}Bringing the calculating of harmonic voltage dq/abc conversion module into and obtaining under the static three-phase abc system of axis is the harmonic voltage component that suppresses permagnetic synchronous motor 5, the 7 required injections of subharmonic current

F) with the control voltage u ' that obtains after the calculating of traditional Permanent-magnet Synchronous-motor Speed Servo System output control voltage computing module _a, u ' _b, u ' _cRespectively with

After doing subtraction, can obtain containing the final control voltage u of the governing system that suppresses 5,7 subharmonic current components _a, u _b, u _c

H) will finally control voltage u _a, u _b, u _cAfter the modulation of space vector pulse width modulation module, obtain the switching signal S of two level voltage type PWM inverters of control permagnetic synchronous motor operation _a, S _b, S _c

2. a kind of control method that harmonic voltage suppresses the permagnetic synchronous motor harmonic current of injecting according to claim 1, it is characterized in that described 5,7 subharmonic current extraction modules comprise that also one is tied to the permanent Power Conversion matrix module of 5 subharmonic dq synchronization rotational coordinate axs systems, permanent Power Conversion matrix module and two low pass filters that are tied to 7 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate by static three-phase abc coordinate.With the stator three-phase current signal i that obtains in the step a) _a, i _b, i _cAfter being tied to the permanent Power Conversion matrix module of 5 subharmonic dq synchronization rotational coordinate axs system and being tied to the permanent Power Conversion matrix module of 7 subharmonic dq synchronization rotational coordinate axs system by static three-phase abc coordinate via static three-phase abc coordinate respectively, respectively behind low pass filter, obtain 5 subharmonic d, q axle component i under 5 subharmonic dq synchronization rotational coordinate axs system again _D5thAnd i _Q5thAnd 7 subharmonic d, q axle component i under 7 subharmonic dq synchronization rotational coordinate axs system _D7thAnd i _Q7th

3. according to claim 1,2 described a kind of control methods that harmonic voltage suppresses the permagnetic synchronous motor harmonic current of injecting, it is characterized in that described 5,7 subharmonic currents suppress algoritic module and also comprise following calculation procedure:

A) be based upon 5 subharmonic steady state voltage equations (I) and 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames under the 5 subharmonic dq synchronous rotating frames respectively:

Described 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames are

Wherein: u _D5thAnd u _Q5thBe respectively 5 subharmonic voltage d, q component under 5 subharmonic dq synchronous rotating frames; R is the phase resistance value of permanent-magnetic synchronous motor stator winding; L _d, L _qBe respectively the d under the synchronous dq rotatable coordinate axis system, the equivalent inductance of q axle;

Described 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames are

Wherein: u _D7thAnd u _Q7thBe respectively 7 subharmonic voltage d, q component under 7 subharmonic dq synchronous rotating frames;

B) set up the governing equation group that suppresses 5,7 subharmonic currents respectively:

According to the 5 subharmonic steady state voltage equations of setting up (I) under 5 subharmonic dq synchronous rotating frames, obtain governing equation group (III) with inhibition permagnetic synchronous motor 5 subharmonic currents of cross-product term coupling:

Wherein: u " _D5th=R * Δ i _D5th+ 5 ω L _q* Δ i _Q5th, u " _Q5th=R * Δ i _Q5th-5 ω L _d* Δ i _D5th, u " _D5thAnd u " _Q5thBy 5 subharmonic current d axles are given

With feedback i _D5thDifference DELTA i _D5thAnd 5 subharmonic current q axles are given With feedback i _Q5thDifference DELTA i _Q5thBring 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames into and obtain; Given for 5 subharmonic current component d, q axle

And

All be set at zero; U ' _D5th=5 ω L _q(PI _Iq5th)+R (PI _Id5th), u ' _Q5th=-5 ω L _d(PI _Id5th)+R (PI _Iq5th), u ' _D5thAnd u ' _Q5thBy with Δ i _D5thOutput PI behind 5 d axle PI controllers _Id5thAnd Δ i _Q5thOutput PI behind 5 q axle PI controllers _Iq5thBring 5 subharmonic steady state voltage equations (I) under 5 subharmonic dq synchronous rotating frames into and obtain;

With u " _D5thWith u ' _D5thAddition can obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{D5th_out}With u " _Q5thWith u ' _Q5thAddition can obtain to suppressing the q axle harmonic voltage component u of the required injection of permagnetic synchronous motor 5 subharmonic currents _{Q5th_out}

According to the 7 subharmonic steady state voltage equations of setting up (II) under 7 subharmonic dq synchronous rotating frames, obtain governing equation group (IV) with inhibition permagnetic synchronous motor 7 subharmonic currents of cross-product term coupling:

Wherein: u " _D7th=R * Δ i _D7th-7 ω L _q* Δ i _Q7th, u " _Q7th=R * Δ i _Q7th+ 7 ω L _d* Δ i _D7th, u " _D7thAnd u " _Q7thBy 7 subharmonic current d axles are given With feedback i _D7thDifference DELTA i _D7thAnd 7 subharmonic current q axles are given With feedback i _Q7thDifference DELTA i _Q7thBring 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames into and obtain; Given for 7 subharmonic current component d, q axle And

All be set at zero; U ' _D7th=-7 ω L _q(PI _Iq7th)+R (PI _Id7th), u ' _Q7th=7 ω L _d(PI _Id7th)+R (PI _Iq7th), u ' _Q7thAnd u ' _Q7thBy with Δ i _D7thOutput PI behind 7 d axle PI controllers _Id7thAnd Δ i _Q7thOutput PI behind 7 q axle PI controllers _Iq7thBring 7 subharmonic steady state voltage equations (II) under 7 subharmonic dq synchronous rotating frames into and obtain;

With u " _D7thWith u ' _D7thAddition can obtain to suppressing the d axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{D7th_out}With u " _Q7thWith u ' _Q7thAddition can obtain to suppressing the q axle harmonic voltage component u of the required injection of permagnetic synchronous motor 7 subharmonic currents _{Q7th_out}

4. according to claim 1,2,3 described a kind of control methods that harmonic voltage suppresses the permagnetic synchronous motor harmonic current of injecting, it is characterized in that described harmonic voltage dq/abc conversion module also comprises the permanent Power Conversion matrix module and the permanent Power Conversion matrix module that is tied to static three-phase abc coordinate system by 7 subharmonic dq synchronization rotational coordinate axs that are tied to static three-phase abc coordinate system by 5 subharmonic dq synchronization rotational coordinate axs.The d, the q axle harmonic voltage component u that 5,7 subharmonic currents are suppressed inhibition permagnetic synchronous motor 5, the 7 required injections of subharmonic current that obtain after algoritic module calculates _{D5th_out}, u _{Q5th_out}And u _{D7th_out}, u _{Q7th_out}After being tied to the permanent Power Conversion matrix module of static three-phase abc coordinate system and being tied to the permanent Power Conversion matrix module of static three-phase abc coordinate system via 5 subharmonic dq synchronization rotational coordinate axs respectively, obtain 5,7 subharmonic voltage u under the static coordinate axle system by 7 subharmonic dq synchronization rotational coordinate axs _A5th, u _B5th, u _C5thAnd u _A7th, u _B7th, u _C7thu _A5th, u _B5th, u _C5thAnd u _A7th, u _B7th, u _C7thCorrespondence is addition successively, obtains under the static three-phase abc system of axis to suppressing the harmonic voltage component of permagnetic synchronous motor 5, the 7 required injections of subharmonic current

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