CN103701392A - Current-harmonic compensating method and system based on self-adaptive wave trap - Google Patents
Current-harmonic compensating method and system based on self-adaptive wave trap Download PDFInfo
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Abstract
The invention discloses a current-harmonic compensating method and a current-harmonic compensating system based on a self-adaptive wave trap. The method comprises the following steps of 1) generating a sine signal sin (n.theta) and a cosine signal cos (n.theta) at the same frequency as an appointed harmonic according to a rotating-speed signal theta and an appointed harmonic number n; 2) adjusting the weight omega1 and the kappa of the sine signal and the weight omega2 and the kappa of the cosine signal according to a minimum mean square error algorithm, and enabling the difference value of an input current component and the weighted sum epsilon of the sine signal sin (n.theta) and the cosine signal cos (n.theta) to have the minimum mean square error; 3) subtracting the weighted sum epsilon of the sine signal sin (n.theta) and the cosine signal cos (n.theta) from the input current component to obtain the current component after harmonic signals are removed. Through the current-harmonic compensating system disclosed by the invention, the current harmonic led into a permanent-magnet synchronous motor can be effectively compensated, and therefore the loss, mainly copper and iron loss, caused by higher harmonics in the stator windings and the iron core of the permanent-magnet synchronous motor is reduced, a torque-pulsation phenomenon in the operating process of the permanent-magnet synchronous motor is inhibited, the operating noise is reduced, and the operating stability and reliability of the motor are improved.
Description
Technical field
The invention belongs to permagnetic synchronous motor technical field, more specifically, relate to a kind of current harmonics compensation method and system based on adaptive notch filter.
Background technology
Fig. 1 is the schematic diagram of the control circuit of permagnetic synchronous motor in prior art.As shown in Figure 1, the control circuit of this permagnetic synchronous motor comprises: rotating speed position detecting module 100, current feedback module 200, speed ring PI adjustment module 300, electric current loop PI adjustment module 400 and conversion output module 500.
Wherein, rotating speed position detecting module 100 connects with permagnetic synchronous motor (Permanent Magnet Synchronous Motor, PMSM) 700, by position transducer, detects rotor locus, calculates and obtains tach signal θ and rotor feedback speed n
fdb.
Current feedback module 200, the A phase in the three-phase output current producing with three-phase inverter 600 is connected with B, detects the A phase feedback current i of permagnetic synchronous motor by current sensor
afdbwith B phase feedback current i
bfdb, current feedback module 200 is the A phase feedback current i to permagnetic synchronous motor again
afdbwith B phase feedback current i
bfdbcarry out after Clarke (Clarke) conversion and Parker (Park) conversion, obtain q axle feedback current component i
qfdbwith d axle feedback current component i
dfdb.For example current feedback module 200 can comprise Clarke converter unit 210 and Park converter unit 220, and wherein, Clarke converter unit 210 is by the A phase feedback current i to permagnetic synchronous motor
afdbwith B phase feedback current i
bfdbcarry out Clarke conversion and obtain α phase feedback current i
α fdbwith β phase feedback current i
β fdb, the tach signal θ that Park converter unit 220 calculates acquisition according to rotating speed position detecting module 100 is again to α phase feedback current i
α fdbwith β phase feedback current i
β fdbcarry out Park conversion and obtain q axle feedback current component i
qfdbwith d axle feedback current component i
dfdb.The α phase of describing in the present invention and β refer to the two-phase rest frame (alpha-beta) of permagnetic synchronous motor mutually, and d axle and q axle refer to the two-phase rotating coordinate system (d-q) of permagnetic synchronous motor.
Electric current loop PI adjustment module 400 is for to being received from the q axle reference current i of current feedback module 200
qrefwith q axle feedback current component i
qfdbask the signal after difference to carry out generating q axle reference voltage u after electric current loop PI adjusting
qref, i.e. stator quadrature axis torque component.The d axle reference current i of 400 pairs of receptions of while electric current loop PI adjustment module
drefwith d axle feedback current component i
dfdbask the signal after difference to carry out generating d axle reference voltage u after electric current loop PI adjusting
dref.Wherein, d axle reference current i
drefbe that stator d-axis excitation current component is set to 0, namely permagnetic synchronous motor adopts I
d=0 current control method.
The q axle reference voltage u of conversion output module 500 for producing according to electric current loop PI adjustment module 400
qrefwith d axle reference voltage u
drefproduction burst width modulated (Pulse Width Modulation, PWM) signal controlling three-phase inverter 600 drives permagnetic synchronous motor 700.
In the prior art, conversion output module 500 further comprises: Parker inverse transformation (Park
-1) unit 510 and space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) unit 520.Wherein, Park
-1unit 510 is for to q axle reference voltage u
qrefwith d axle reference voltage u
drefcarry out Park
-1conversion, generates α phase reference voltage u
α refwith β phase reference voltage u
β ref.Space vector pulse width modulation unit 520, for according to α phase reference voltage u
* α refwith β phase reference voltage u
* β refgenerate pwm signal and control three-phase inverter 600 driving permagnetic synchronous motors 700.
As mentioned above, in the current control method of permagnetic synchronous motor, generally adopt I
d=0 current control method, when the method is controlled, motor does not have direct-axis current, can not produce d-axis armature reaction, and all electric currents of motor are all used for producing electromagnetic torque, and Current Control efficiency is high.But some permagnetic synchronous motor is due to design, and along with the increase of stator current, armature reaction can make main field distortion serious, if now adopt traditional I
d=0 controls, and stator current sine degree is understood obvious variation, and is attended by the harmonic wave of certain rule.The motor that has harmonic wave during therefore for this type of Current Control, need to take special processing, otherwise output power of motor harmonic loss is larger, and electric current loop bandwidth narrows down, the easy overcurrent that causes out of control during high speed.
Summary of the invention
Above defect or Improvement requirement for prior art, the current control method that the present invention is directed to existing permagnetic synchronous motor does not have the larger defect that harmonic compensation function causes motor operating state to worsen, in conjunction with the regularity of harmonic wave, provide a kind of method of utilizing the current harmonics of adaptive notch filter compensation permagnetic synchronous motor.
According to one aspect of the present invention, a kind of current harmonics bucking-out system based on adaptive notch filter is provided, comprise: rotating speed detection module, current feedback module, speed ring PI adjustment module, adaptive notch filter module, electric current loop PI adjustment module, conversion output module, wherein:
Rotating speed detection module, for being connected with permagnetic synchronous motor, detects rotor locus, calculates and obtains tach signal θ and rotor feedback speed n
fdb;
Current feedback module, is connected with B for the A phase of the three-phase output current that produces with three-phase inverter, the A phase feedback current i to permagnetic synchronous motor
afdbwith B phase feedback current i
bfdbcarry out successively respectively after Clarke conversion and Park conversion, obtain q axle feedback current component i
qfdbwith d axle feedback current component i
dfdb;
Speed ring PI adjustment module, for the speed reference n to given
refrotor feedback speed n with described rotating speed detection module output
fdbask the signal after difference to carry out exporting q shaft current reference value i after PI adjusting
qref;
Adaptive notch filter module, for the q axle reference current i to reception
qrefwith q axle feedback current component i
qfdbask the signal after difference to carry out adaptive notch processing, and to d axle command signal i
drefwith the d axle feedback signal i accepting
dfdbask the signal after difference to carry out adaptive notch processing, obtain the q shaft current component i after harmonic compensation
* qwith d shaft current component i
* d, i wherein
dref=0;
Electric current loop PI adjustment module, for the q shaft current component i after harmonic compensation to reception
* qcarry out PI and regulate the rear q of generation axle reference voltage u
qref; Simultaneously to the d shaft current component i after harmonic compensation receiving
* dcarry out PI and regulate the rear d of generation axle reference voltage u
dref;
Conversion output module, the q axle reference voltage u receiving for basis
qrefwith d axle reference voltage u
drefproduction burst bandwidth modulation signals is controlled three-phase inverter to drive permagnetic synchronous motor.
Further, described adaptive notch filter module comprises q axle adaptive notch filter module, and described q axle adaptive notch filter module comprises q axle cosine and sine signal generation unit, q axle weight calculation unit and q axle self adaptation adjustment unit, wherein:
Q axle cosine and sine signal generation unit, generates and harmonic wave same frequency or relevant sinusoidal signal sin (n θ) and cosine signal cos (n θ) for the harmonic number n of the tach signal θ that records according to rotating speed detection module and appointment;
Q axle weight calculation unit, for according to the difference of the weighted sum ε of the q shaft current component of input q axle adaptive notch filter module and sinusoidal signal sin (n θ) and cosine signal cos (n θ), adjusts the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, so that the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ) has least mean-square error with the difference of the q shaft current component of input q axle adaptive notch filter module; The q shaft current component of described input q axle adaptive notch filter module is q axle reference current i
qrefwith q axle feedback current component i
qfdbask the signal after difference;
Q axle self adaptation adjustment unit, for the weights ω of the sinusoidal signal that obtains according to q axle weight calculation unit
1, kweights ω with cosine signal
2, k, try to achieve the weighted sum ε of sinusoidal signal and cosine signal, and the q shaft current component of input q axle adaptive notch filter module is deducted to ε obtain the q shaft current component after trap compensation.
Further, described trapper module comprises d axle adaptive notch filter module, and described d axle adaptive notch filter module comprises d axle cosine and sine signal generation unit, d axle weight calculation unit and d axle self adaptation adjustment unit, wherein:
D axle cosine and sine signal generation unit, generates and harmonic wave same frequency or relevant sinusoidal signal sin (n θ) and cosine signal cos (n θ) for the harmonic number n of the tach signal θ that records according to rotating speed detection module and appointment;
D axle weight calculation unit, for according to the difference of the weighted sum ε of the d shaft current component of input d axle adaptive notch filter module and sinusoidal signal sin (n θ) and cosine signal cos (n θ), adjusts the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, so that the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ) has least mean-square error with the difference of the d shaft current component of input d axle adaptive notch filter module; The d shaft current component of described input d axle adaptive notch filter module is d axle command signal i
drefwith the d axle feedback signal i accepting
dfdbask the signal after difference;
D axle self adaptation adjustment unit, for the weights ω of the sinusoidal signal that obtains according to d axle weight calculation unit
1, kweights ω with cosine signal
2, k, try to achieve the weighted sum ε of sinusoidal signal and cosine signal, and the d shaft current component of input d axle adaptive notch filter module is deducted to ε obtain the d shaft current component after trap compensation.
Particularly, described weight calculation unit is adjusted the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, kfor utilizing according to following formula adjustment:
W (k+1)=W (k)+2 μ e (k) X (k), wherein:
X(k)＝[sin(n·θ),cos(n·θ)]
W(k)＝[ω
1,k,ω
2,k]
e(k)＝i(k)-y(k)
y(k)＝X
T(k)W(k)
I (k) represents input current component, and μ represents iteration step length, for according to the positive constant of convergence of algorithm Speed Setting.
According to one aspect of the present invention, a kind of current harmonics compensation method based on adaptive notch filter is also provided, described method comprises:
(1), according to the harmonic number n of tach signal θ and appointment, generate and specify harmonic wave with sinusoidal signal sin (n θ) and cosine signal cos (n θ) frequently;
(2) according to least-mean-square error algorithm, adjust the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, make sinusoidal signal sin (n θ) and the weighted sum ε of cosine signal cos (n θ) and the difference of input current component there is least mean-square error;
(3) from input current component, deduct the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ), obtain removing the current component after harmonic signal.
Particularly, in described step (2), according to least-mean-square error algorithm, adjust the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, for utilizing according to following formula adjustment:
W (k+1)=W (k)+2 μ e (k) X (k), wherein:
X(k)＝[sin(n·θ),cos(n·θ)]
W(k)＝[ω
1,k,ω
2,k]
e(k)＝i(k)-y(k)
y(k)＝X
T(k)W(k)
I (k) represents input current component, and μ represents iteration step length, for according to the positive constant of convergence of algorithm Speed Setting.
In general, the above technical scheme of conceiving by the present invention compared with prior art, owing to having set up current harmonics bucking-out system, can effective compensation passes into the current harmonics of permagnetic synchronous motor, thereby:
(1) loss causing because of high order harmonic component in the stator winding of minimizing permagnetic synchronous motor and iron core is mainly copper loss and iron loss;
(2) suppress the torque ripple phenomenon in permagnetic synchronous motor running, reduce running noises, therefore can improve motor operation stability and reliability.
Accompanying drawing explanation
Fig. 1 is the control block diagram of permanent magnetic synchronous motor AC servo systems in prior art;
Fig. 2 is the permagnetic synchronous motor control block diagram based on the compensation of adaptive notch filter current harmonics in the present invention;
Fig. 3 is the structural representation of adaptive notch filter in the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each execution mode of described the present invention, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
The present invention proposes a kind of permagnetic synchronous motor current harmonics compensation method based on adaptive notch filter, on the current control method of existing Id=0, carry out the compensation of current harmonics, experimental results show that and can have the current harmonics of certain rule to compensate to frequency, eliminate current harmonics, the sinusoidal degree of threephase stator electric current while correcting vector control.
Referring to Fig. 2, is the permagnetic synchronous motor control block diagram of adaptive notch filter current harmonics compensation according to the present invention.As shown in Figure 2, this bucking-out system at least comprises: rotating speed detection module 100, current feedback module 200, speed ring PI adjustment module 300, trapper module 800, electric current loop PI adjustment module 400, conversion output module 500.
Below the function of above-mentioned modules is specifically introduced, wherein the present invention compensates current harmonics by trapper module especially, threephase stator current sinusoidal degree when correcting vector is controlled.
Rotating speed detection module 100 is connected with permagnetic synchronous motor 700, by position transducer, detects rotor locus, calculates and obtains tach signal θ and rotor feedback speed n
fdb.
Current feedback module 200, the A phase in the three-phase output current producing with three-phase inverter 600 is connected with B, the A phase feedback current i to permagnetic synchronous motor 700
afdbwith B phase feedback current i
bfdbcarry out after Clarke conversion and Park conversion, obtain q axle feedback current component i
qfdbwith d axle feedback current component i
dfdb.
Speed ring PI adjustment module 300 is for to speed reference n
refwith rotor feedback speed n
fdbask the signal after difference to carry out exporting q shaft current reference value i after PI adjusting
qref.
Electric current loop PI adjustment module 400, for the q shaft current component i after harmonic compensation to reception
* qcarry out PI and regulate the rear q of generation axle reference voltage u
qref; Simultaneously to the d shaft current component i after harmonic compensation receiving
* dcarry out PI and regulate the rear d of generation axle reference voltage u
dref;
The q axle reference voltage u that 500 pairs of output modules of conversion receive
qrefwith d axle reference voltage u
drefproduction burst width modulated (Pulse Width Modulation, PWM) signal controlling three-phase inverter 600 drives permagnetic synchronous motor 700.
Fig. 3 is the structural representation of adaptive notch filter, in adaptive notch filter block diagram, in Fig. 3, with q shaft current trap, is adjusted into example, and the current signal of input is i
q, the current signal after trap adjustment is i
* q, trapper module 800 further comprises: cosine and sine signal generation unit 810, self adaptation adjustment unit 820 and weight calculation unit 830.
Wherein cosine and sine signal generation unit 810, and the tach signal θ recording according to rotating speed detection module 100 and the harmonic number n of appointment generate and harmonic wave same frequency or relevant sinusoidal signal sin (n θ) and cosine signal cos (n θ).
Self adaptation adjustment unit 820, for the weights ω of the sinusoidal signal that obtains according to weight calculation unit 830
1, kweights ω with cosine signal
2, k, try to achieve the weighted sum ε of sinusoidal signal and cosine signal, and current component deducted to sinusoidal signal and the q shaft current component i of cosine signal sum ε after adjusted
* q.
Particularly, weight calculation unit 830, take q as example, according to q shaft current component i
qwith difference, sinusoidal signal sin (n θ) and the cosine signal cos (n θ) of the weighted sum ε of sinusoidal signal and cosine signal, adjust the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, by the mode of feedback regulation, make the q shaft current component i after regulating
* qhave least mean-square error, its specific algorithm is as follows:
Sum up adaptive notch filter compensation q shaft current phase harmonic processes as follows:
According to tach signal θ and harmonic wave frequency n, generate and specify harmonic wave with frequency sine and cosine ripple,
According to the weights ω of the continuous modified weight coefficient matrix of LMS adaptive algorithm
1, k, ω
2, k, until the weighted sum ε of sinusoidal signal and cosine signal and the harmonic wave of required filtering enough approach;
From original signal, deduct ε, income value is the current component of removing after harmonic signal.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. the current harmonics bucking-out system based on adaptive notch filter, is characterized in that, comprising: rotating speed detection module, current feedback module, speed ring PI adjustment module, adaptive notch filter module, electric current loop PI adjustment module, conversion output module, wherein:
Described rotating speed detection module, for being connected with permagnetic synchronous motor, detects rotor locus, calculates and obtains tach signal θ and rotor feedback speed n
fdb;
Described current feedback module, is connected with B for the A phase of the three-phase output current that produces with three-phase inverter, the A phase feedback current i to permagnetic synchronous motor
afdbwith B phase feedback current i
bfdbcarry out successively respectively after Clarke conversion and Park conversion, obtain q axle feedback current component i
qfdbwith d axle feedback current component i
dfdb;
Described speed ring PI adjustment module, for the speed reference n to given
refrotor feedback speed n with described rotating speed detection module output
fdbask the signal after difference to carry out exporting q shaft current reference value i after PI adjusting
qref;
Described adaptive notch filter module, for the q axle reference current i to reception
qrefwith q axle feedback current component i
qfdbask the signal after difference to carry out adaptive notch processing, and to d axle command signal i
drefwith the d axle feedback signal i accepting
dfdbask the signal after difference to carry out adaptive notch processing, obtain the q shaft current component i after harmonic compensation
* qwith d shaft current component i
* d, i wherein
dref=0;
Described electric current loop PI adjustment module, for the q shaft current component i after harmonic compensation to reception
* qcarry out PI and regulate the rear q of generation axle reference voltage u
qref; Simultaneously to the d shaft current component i after harmonic compensation receiving
* dcarry out PI and regulate the rear d of generation axle reference voltage u
dref;
Described conversion output module, the q axle reference voltage u receiving for basis
qrefwith d axle reference voltage u
drefproduction burst bandwidth modulation signals is controlled three-phase inverter to drive permagnetic synchronous motor.
2. current harmonics bucking-out system as claimed in claim 1, it is characterized in that, described adaptive notch filter module comprises q axle adaptive notch filter module, described q axle adaptive notch filter module comprises q axle cosine and sine signal generation unit, q axle weight calculation unit and q axle self adaptation adjustment unit, wherein:
Q axle cosine and sine signal generation unit, for tach signal θ and the harmonic number n generation of appointment and sinusoidal signal sin (n θ) and the cosine signal cos (n θ) of harmonic wave same frequency recording according to rotating speed detection module;
Q axle weight calculation unit, for according to the difference of the weighted sum ε of the q shaft current component of input q axle adaptive notch filter module and sinusoidal signal sin (n θ) and cosine signal cos (n θ), adjusts the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, so that the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ) has least mean-square error with the difference of the q shaft current component of input q axle adaptive notch filter module; The q shaft current component of described input q axle adaptive notch filter module is q axle reference current i
qrefwith q axle feedback current component i
qfdbask the signal after difference;
Q axle self adaptation adjustment unit, for the weights ω of the sinusoidal signal that obtains according to q axle weight calculation unit
1, kweights ω with cosine signal
2, k, try to achieve the weighted sum ε of sinusoidal signal and cosine signal, and the q shaft current component of input q axle adaptive notch filter module is deducted to ε obtain the q shaft current component after trap compensation.
3. current harmonics bucking-out system as claimed in claim 1 or 2, it is characterized in that, described trapper module comprises d axle adaptive notch filter module, and described d axle adaptive notch filter module comprises d axle cosine and sine signal generation unit, d axle weight calculation unit and d axle self adaptation adjustment unit, wherein:
D axle cosine and sine signal generation unit, generates and harmonic wave same frequency or relevant sinusoidal signal sin (n θ) and cosine signal cos (n θ) for the harmonic number n of the tach signal θ that records according to rotating speed detection module and appointment;
D axle weight calculation unit, for according to the difference of the weighted sum ε of the d shaft current component of input d axle adaptive notch filter module and sinusoidal signal sin (n θ) and cosine signal cos (n θ), adjusts the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, so that the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ) has least mean-square error with the difference of the d shaft current component of input d axle adaptive notch filter module; The d shaft current component of described input d axle adaptive notch filter module is d axle command signal i
drefwith the d axle feedback signal i accepting
dfdbask the signal after difference;
D axle self adaptation adjustment unit, for the weights ω of the sinusoidal signal that obtains according to d axle weight calculation unit
1, kweights ω with cosine signal
2, k, try to achieve the weighted sum ε of sinusoidal signal and cosine signal, and the d shaft current component of input d axle adaptive notch filter module is deducted to ε obtain the d shaft current component after trap compensation.
4. current harmonics bucking-out system as claimed in claim 2 or claim 3, is characterized in that, described weight calculation unit is adjusted the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, kbe specially and utilize according to following formula adjustment:
W (k+1)=W (k)+2 μ e (k) X (k), wherein:
X(k)＝[sin(n·θ),cos(n·θ)]
W(k)＝[ω
1,k,ω
2,k]
e(k)＝i(k)-y(k)
y(k)＝X
T(k)W(k)
I (k) represents input current component, and μ represents iteration step length, for according to the positive constant of convergence of algorithm Speed Setting.
5. the current harmonics compensation method based on adaptive notch filter, is characterized in that, described method comprises:
(1), according to the harmonic number n of tach signal θ and appointment, generate and specify harmonic wave with sinusoidal signal sin (n θ) and cosine signal cos (n θ) frequently;
(2) according to least-mean-square error algorithm, adjust the weights ω of sinusoidal signal
1, kweights ω with cosine signal
2, k, make sinusoidal signal sin (n θ) and the weighted sum ε of cosine signal cos (n θ) and the difference of input current component there is least mean-square error;
(3) from input current component, deduct the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ), obtain removing the current component after harmonic signal.
6. current harmonics compensation method as claimed in claim 5, is characterized in that, adjusts the weights ω of sinusoidal signal in described step (2) according to least-mean-square error algorithm
1, kweights ω with cosine signal
2, k, be specially and utilize according to following formula adjustment:
W (k+1)=W (k)+2 μ e (k) X (k), wherein:
X(k)＝[sin(n·θ),cos(n·θ)]
W(k)＝[ω
1,k,ω
2,k]
e(k)＝i(k)-y(k)
y(k)＝X
T(k)W(k)
I (k) represents input current component, and μ represents iteration step length, for according to the positive constant of convergence of algorithm Speed Setting.
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