CN103701392B - A kind of current harmonics bucking-out system based on adaptive notch filter - Google Patents

Abstract

The invention discloses a kind of current harmonics compensation method based on adaptive notch filter and system, described method comprises: (1), according to tach signal θ and the harmonic number n specified, generates and the sinusoidal signal sin (n θ) and the cosine signal cos (n θ) that specify the same frequency of harmonic wave; (2) according to the weights ω of least-mean-square error algorithm adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}, make the difference of the weighted sum ε of input current component and sinusoidal signal sin (n θ) and cosine signal cos (n θ) have least mean-square error; (3) deduct the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ) from input current component, obtain the current component after removing harmonic signal.The present invention by current harmonics bucking-out system, can pass into the current harmonics of permagnetic synchronous motor by effective compensation, thus reduces because of the loss that high order harmonic component causes in the stator winding of permagnetic synchronous motor and iron core, mainly copper loss and iron loss; Suppress the torque ripple phenomenon in permagnetic synchronous motor running, reduce running noises; Improve motor operation stability and reliability.

Description

A kind of current harmonics bucking-out system based on adaptive notch filter

Technical field

The invention belongs to permagnetic synchronous motor technical field, more specifically, relate to a kind of current harmonics compensation method based on adaptive notch filter and system.

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 and permagnetic synchronous motor (PermanentMagnetSynchronousMotor, PMSM) 700 connect, and detect rotor locus by position transducer, calculate and obtain tach signal θ and rotor feedback speed n _fdb.

Current feedback module 200, the A phase in the three-phase output current produced with three-phase inverter 600 is connected with B, is detected the A phase feedback currents i of permagnetic synchronous motor by current sensor _afdbwith B phase feedback currents i _bfdb, current feedback module 200 is again to the A phase feedback currents i of permagnetic synchronous motor _afdbwith B phase feedback currents i _bfdbafter carrying out Clarke (Clarke) conversion and Parker (Park) conversion, obtain q axle feedback current component i _qfdbwith d axle feedback current component i _dfdb.Such as 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 currents i to permagnetic synchronous motor _afdbwith B phase feedback currents i _bfdbcarry out Clarke conversion and obtain α phase feedback currents i _{α fdb}with β phase feedback currents i _{β fdb}, Park converter unit 220 calculates the tach signal θ of acquisition to α phase feedback currents i according to rotating speed position detecting module 100 again _{α fdb}with β phase feedback currents i _{β fdb}carry out Park conversion and obtain q axle feedback current component i _qfdbwith d axle feedback current component i _dfdb.The α phase described in the present invention and β phase refer to the two-phase rest frame (alpha-beta) of permagnetic synchronous motor, and d axle and q axle refer to the two-phase rotating coordinate system (d-q) of permagnetic synchronous motor.

Speed control 300 is for speed reference n _refwith rotor feedback speed n _fdbask the signal after difference to carry out speeds control analysis, export q shaft current reference value i _qref.

Electric current loop PI adjustment module 400 is for the q axle reference current i being received from current feedback module 200 _qrefwith q axle feedback current component i _qfdbask the signal after difference to carry out electric current loop PI and regulate rear generation q axle reference voltage u _qref, i.e. stator quadrature axis torque component.Electric current loop PI adjustment module 400 is to the d axle reference current i received simultaneously _drefwith d axle feedback current component i _dfdbask the signal after difference to carry out electric current loop PI and regulate rear generation d axle reference voltage u _dref.Wherein, d axle reference current i _drefnamely stator d-axis excitation current component is set to 0, and namely permagnetic synchronous motor adopts I _dthe current control method of=0.

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 (PulseWidthModulation, PWM) signal controlling three-phase inverter 600 drives permagnetic synchronous motor 700.

In the prior art, convert output module 500 to comprise further: Parker inverse transformation (Park ^-1) unit 510 and space vector pulse width modulation (SpaceVectorPulseWidthModulation, SVPWM) unit 520.Wherein, Park ^-1unit 510 is for q axle reference voltage u _qrefwith d axle reference voltage u _drefcarry out Park ^-1conversion, generates α phase reference voltage u _{α ref}with β phase reference voltage u _{β ref}.Space vector pulse width modulation unit 520, for according to α phase reference voltage u ^* _{α ref}with β phase reference voltage u ^* _{β ref}generate pwm signal control three-phase inverter 600 and drive permagnetic synchronous motor 700.

As mentioned above, in the current control method of permagnetic synchronous motor, generally I is adopted _dthe current control method of=0, when the method controls, 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, along with the increase of stator current, it is serious that armature reaction can make main field distort, now according to traditional I _d=0 controls, and stator current sine degree can obviously be deteriorated, and is attended by the harmonic wave of certain rule.Therefore for the motor that there is harmonic wave during this type of Current Control, need to take special process, otherwise output power of motor harmonic loss is comparatively large, and electric current loop bandwidth narrows, easily out of controlly during high speed cause overcurrent.

Summary of the invention

For above defect or the Improvement requirement of 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 utilizing adaptive notch filter to compensate the current harmonics of permagnetic synchronous motor.

According to one aspect of the present invention, provide a kind of current harmonics bucking-out system based on adaptive notch filter, comprise: Rotating speed measring 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 measring module, for being connected with permagnetic synchronous motor, detecting rotor locus, calculating and obtaining tach signal θ and rotor feedback speed n _fdb;

Current feedback module, is connected with B, to the A phase feedback currents i of permagnetic synchronous motor for the A phase in the three-phase output current that produces with three-phase inverter _afdbwith B phase feedback currents i _bfdbafter carrying out Clarke conversion and Park conversion respectively successively, obtain q axle feedback current component i _qfdbwith d axle feedback current component i _dfdb;

Speed ring PI adjustment module, for given speed reference n _refwith the rotor feedback speed n that described Rotating speed measring module exports _fdbask the signal after difference to carry out PI and regulate rear output q shaft current reference value i _qref;

Adaptive notch filter module, for the q axle reference current i to reception _qrefwith q axle feedback current component i _qfdbthe signal after difference is asked to carry out adaptive notch process, and to d axle command signal i _drefwith the d axle feedback signal i accepted _dfdbask the signal after difference to carry out adaptive notch process, obtain the q shaft current component i after harmonic compensation ^* _qwith d shaft current component i ^* _d, wherein i _dref=0;

Electric current loop PI adjustment module, for the q shaft current component i after harmonic compensation to reception ^* _qcarry out generating q axle reference voltage u after PI regulates _qref; Simultaneously to the d shaft current component i after harmonic compensation received ^* _dcarry out generating d axle reference voltage u after PI regulates _dref;

Conversion output module, for the q axle reference voltage u that basis receives _qrefwith d axle reference voltage u _drefproduction burst bandwidth modulation signals controls 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-adaptative 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 tach signal θ recorded according to Rotating speed measring module and the harmonic number n specified;

Q axle weight calculation unit, for the difference according to the q shaft current component of input q axle adaptive notch filter module and the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ), the weights ω of adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}, with the difference of the q shaft current component of input q axle adaptive notch filter module, there is least mean-square error to make the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ); 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-adaptative adjustment unit, for the weights ω of sinusoidal signal obtained according to q axle weight calculation unit _{1, k}with the weights ω of 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 ε obtain trap compensate after q shaft current component.

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-adaptative 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 tach signal θ recorded according to Rotating speed measring module and the harmonic number n specified;

D axle weight calculation unit, for the difference according to the d shaft current component of input d axle adaptive notch filter module and the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ), the weights ω of adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}, with the difference of the d shaft current component of input d axle adaptive notch filter module, there is least mean-square error to make the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ); 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 accepted _dfdbask the signal after difference;

D axle self-adaptative adjustment unit, for the weights ω of sinusoidal signal obtained according to d axle weight calculation unit _{1, k}with the weights ω of 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 ε obtain trap compensate after d shaft current component.

Particularly, the weights ω of described weight calculation unit adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}adjust according to following formula for utilizing:

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, is the positive constant according to convergence of algorithm Speed Setting.

According to one aspect of the present invention, additionally provide a kind of current harmonics compensation method based on adaptive notch filter, described method comprises:

(1) according to tach signal θ and the harmonic number n specified, generate and the sinusoidal signal sin (n θ) and the cosine signal cos (n θ) that specify the same frequency of harmonic wave;

(2) according to the weights ω of least-mean-square error algorithm adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}, make the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ) and the difference of input current component have least mean-square error;

(3) deduct the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ) from input current component, obtain the current component after removing harmonic signal.

Particularly, the weights ω of sinusoidal signal is adjusted in described step (2) according to least-mean-square error algorithm _{1, k}with the weights ω of cosine signal _{2, k}, adjust according to following formula for utilizing:

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, is the positive constant according to convergence of algorithm Speed Setting.

In general, the above technical scheme conceived by the present invention compared with prior art, owing to having set up current harmonics bucking-out system, can pass into the current harmonics of permagnetic synchronous motor by effective compensation, thus:

(1) reduce because of the loss that high order harmonic component causes in the stator winding of permagnetic synchronous motor and iron core, mainly copper loss and iron loss;

(2) suppress the torque ripple phenomenon in permagnetic synchronous motor running, reduce running noises, therefore, it is possible to 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 based on the permagnetic synchronous motor control block diagram that adaptive notch filter current harmonics compensates 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 clearly understand, 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, be not intended to limit the present invention.In addition, if below in described each execution mode of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.

The present invention proposes a kind of permagnetic synchronous motor current harmonics compensation method based on adaptive notch filter, the current control method of existing Id=0 carries out the compensation of current harmonics, experiment proves the current harmonics of certain rule can be had to compensate to frequency, eliminate current harmonics, the sine degree of threephase stator electric current during rectification vector control.

Referring to Fig. 2, is the permagnetic synchronous motor control block diagram that adaptive notch filter current harmonics according to the present invention compensates.As shown in Figure 2, this bucking-out system at least comprises: Rotating speed measring 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.

Be specifically introduced the function of above-mentioned modules below, wherein the present invention is compensated current harmonics by trapper module especially, threephase stator current sinusoidal degree when correcting vector controls.

Rotating speed measring module 100 is connected with permagnetic synchronous motor 700, detects rotor locus by position transducer, 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 produced with three-phase inverter 600 is connected with B, to the A phase feedback currents i of permagnetic synchronous motor 700 _afdbwith B phase feedback currents i _bfdbafter carrying out 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 speed reference n _refwith rotor feedback speed n _fdbask the signal after difference to carry out PI and regulate rear output q shaft current reference value i _qref.

Trapper module 800, for the q axle reference current i to reception _qrefwith q axle feedback current component i _qfdbthe signal after difference is asked to process, and to d axle command signal i _drefwith the d axle feedback signal i accepted _dfdbask the signal after difference to process, to eliminate the harmonic component on q axle and d axle, obtain the q shaft current component i after harmonic compensation ^* _qwith d shaft current component i ^* _d, wherein i _dref=0;

Electric current loop PI adjustment module 400, for the q shaft current component i after harmonic compensation to reception ^* _qcarry out generating q axle reference voltage u after PI regulates _qref; Simultaneously to the d shaft current component i after harmonic compensation received ^* _dcarry out generating d axle reference voltage u after PI regulates _dref;

Conversion output module 500 is to the q axle reference voltage u received _qrefwith d axle reference voltage u _drefproduction burst width modulated (PulseWidthModulation, PWM) signal controlling three-phase inverter 600 drives permagnetic synchronous motor 700.

Fig. 3 is the structural representation of adaptive notch filter, and in adaptive notch filter block diagram, in figure 3, be adjusted to example with q shaft current trap, the current signal of input is i _q, the current signal after trap adjustment is i ^* _q, trapper module 800 comprises further: cosine and sine signal generation unit 810, self-adaptative adjustment unit 820 and weight calculation unit 830.

Wherein cosine and sine signal generation unit 810, the tach signal θ recorded according to Rotating speed measring the module 100 and harmonic number n specified generates and harmonic wave same frequency or relevant sinusoidal signal sin (n θ) and cosine signal cos (n θ).

Weight calculation unit 830, for the difference of the weighted sum ε according to current component and sinusoidal signal and cosine signal, the weights ω of adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}, to make the q shaft current component i after regulating ^* _qthere is least mean-square error;

Self-adaptative adjustment unit 820, for the weights ω of sinusoidal signal obtained according to weight calculation unit 830 _{1, k}with the weights ω of cosine signal _{2, k}, try to achieve the weighted sum ε of sinusoidal signal and cosine signal, and current component is deducted sinusoidal signal and cosine signal sum ε adjusted after q shaft current component i ^* _q.

Particularly, weight calculation unit 830, for q, according to q shaft current component i _qwith difference, the sinusoidal signal sin (n θ) and cosine signal cos (n θ) of the weighted sum ε of sinusoidal signal and cosine signal, the weights ω of adjustment sinusoidal signal _{1, k}with the weights ω of 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:

$\left\{\begin{array}{c}X\left(k\right)=[\sin (n\·\mathrm{\θ}),\cos (n\·\mathrm{\θ})]\\ W\left(k\right)=\left[{\mathrm{\ω}}_{1,k}{\mathrm{\ω}}_{2,k}\right]\\ y\left(k\right)=X^T\left(k\right)W\left(k\right)\\ e\left(k\right)=i_q\left(k\right)-y\left(k\right)\\ W(k+1)=W\left(k\right)+2\mathrm{\μe}\left(k\right)X\left(k\right)\end{array}\right.$

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 harmonic wave of the weighted sum ε of sinusoidal signal and cosine signal and required filtering is enough close;

Deduct ε from original signal, income value is the current component after removing 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 amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims (4)

1. based on a current harmonics bucking-out system for adaptive notch filter, it is characterized in that, comprising: Rotating speed measring 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 measring module, for being connected with permagnetic synchronous motor, detecting rotor locus, calculating and obtaining tach signal θ and rotor feedback speed n _fdb;

Described current feedback module, is connected with B, to the A phase feedback currents i of permagnetic synchronous motor for the A phase in the three-phase output current that produces with three-phase inverter _afdbwith B phase feedback currents i _bfdbafter carrying out Clarke conversion and Park conversion respectively successively, obtain q axle feedback current component i _qfdbwith d axle feedback current component i _dfdb;

Described speed ring PI adjustment module, for given speed reference n _refwith the rotor feedback speed n that described Rotating speed measring module exports _fdbask the signal after difference to carry out PI and regulate rear output q shaft current reference value i _qref;

Described adaptive notch filter module, for the q axle reference current i to reception _qrefwith q axle feedback current component i _qfdbthe signal after difference is asked to carry out adaptive notch process, and to d axle command signal i _drefwith the d axle feedback signal i accepted _dfdbask the signal after difference to carry out adaptive notch process, obtain the q shaft current component i after harmonic compensation ^* _qwith d shaft current component i ^* _d, wherein i _dref=0;

Described electric current loop PI adjustment module, for the q shaft current component i after harmonic compensation to reception ^* _qcarry out generating q axle reference voltage u after PI regulates _qref; Simultaneously to the d shaft current component i after harmonic compensation received ^* _dcarry out generating d axle reference voltage u after PI regulates _dref;

Described conversion output module, for the q axle reference voltage u that basis receives _qrefwith d axle reference voltage u _drefproduction burst bandwidth modulation signals controls 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-adaptative adjustment unit, wherein:

Q axle cosine and sine signal generation unit, generates and the sinusoidal signal sin (n θ) of harmonic wave same frequency and cosine signal cos (n θ) for the tach signal θ recorded according to Rotating speed measring module and the harmonic number n specified;

Q axle weight calculation unit, for the difference according to the q shaft current component of input q axle adaptive notch filter module and the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ), the weights ω of adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}, with the difference of the q shaft current component of input q axle adaptive notch filter module, there is least mean-square error to make the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ); 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-adaptative adjustment unit, for the weights ω of sinusoidal signal obtained according to q axle weight calculation unit _{1, k}with the weights ω of 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 ε obtain trap compensate after q shaft current component.

3. current harmonics bucking-out system as claimed in claim 1, 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-adaptative 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 tach signal θ recorded according to Rotating speed measring module and the harmonic number n specified;

D axle weight calculation unit, for the difference according to the d shaft current component of input d axle adaptive notch filter module and the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ), the weights ω of adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}, with the difference of the d shaft current component of input d axle adaptive notch filter module, there is least mean-square error to make the weighted sum ε of sinusoidal signal sin (n θ) and cosine signal cos (n θ); 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 accepted _dfdbask the signal after difference;

D axle self-adaptative adjustment unit, for the weights ω of sinusoidal signal obtained according to d axle weight calculation unit _{1, k}with the weights ω of 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 ε obtain trap compensate after d shaft current component.

4. current harmonics bucking-out system as claimed in claim 2 or claim 3, is characterized in that, the weights ω of described weight calculation unit adjustment sinusoidal signal _{1, k}with the weights ω of cosine signal _{2, k}be specially to utilize and adjust according to following formula:

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, is the positive constant according to convergence of algorithm Speed Setting.