CN104767458A - Square wave distortion compensation method and device of induction motor control system - Google Patents
Square wave distortion compensation method and device of induction motor control system Download PDFInfo
- Publication number
- CN104767458A CN104767458A CN201510222409.2A CN201510222409A CN104767458A CN 104767458 A CN104767458 A CN 104767458A CN 201510222409 A CN201510222409 A CN 201510222409A CN 104767458 A CN104767458 A CN 104767458A
- Authority
- CN
- China
- Prior art keywords
- voltage
- phase
- current
- pwm
- input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
Abstract
The invention relates to the technical field of induction motor control systems, in particular to a square wave distortion compensation method of an induction motor control system. The two-phase current of a motor is collected, an exciting current component i<M> and a torque current component i<T> are obtained, three paths of complementary driving signals are generated by a target voltage component U<M> and a target voltage component U<T>, and an inverter drive motor is driven to run. Power source angle frequency w is obtained, integration is carried out on w to obtain the rotor flux vector position theta<wr>, a gain coefficient a<M> and a gain coefficient a<T> of a low-pass filter are obtained through i<M> and i<T>, and i<M> and i<T> are filtered. Theta<wr>, the filtered i<M> and reconstructed three-phase current are obtained. The actual output duty ratio and the duty ratio error T<comp>/T<PWM> of a VSI are obtained, three-phase error voltage is calculated and overlapped into target output voltage, and feedforward compensation is completed. A compensation device comprises a microcontroller, a voltage collection device, a comparer, a D/A conversion circuit, a current sensor, an encoder, a signal transmission link and the voltage source inverter (VSI). The phase lag phenomenon generated after filtering is eliminated, current polarity judgment is accurate, and the system square wave distortion compensation effect is good.
Description
Technical field
The present invention relates to inductive motor control system technical field, say in detail be a kind of to edge slope distortion cause be difficult to quantize error voltage compensate, improve delayed phase phenomenon after filtering, current polarity judges precisely, system square wave distortion compensation effect is good, the square wave distortion compensation method of the inductive motor control system that the overall performance of AC induction motor control system is good and device.
Background technology
We know, in today of scientific and technological high speed development, the control theory of AC induction motor (ACIM) reaches its maturity, but idealized owing to carrying out the characteristic of inverter and signal condition link in the process setting up control algolithm, thus often directly can not obtain expected effect in systems in practice.Cause the Basic Problems of this obstacle be inverter square wave export distortion, square wave exports the common problem that aberration problems is voltage source inverter (VSI), it not only weakens electric machine control system performance, also limit the superiority of advanced control algorithm.
As shown in Figure 1, in order to prevent upper and lower bridge simultaneously open-minded, need to add Dead Time in desirable pwm signal; In order to ensure in VSI that multiple switching devices in parallel can by safety, reliably drive, often need to add signal amplifier part, signal isolator part etc.The circuit link such as level conversion in figure, isolation, high low side drive, recommend constitutes the transmission link of PWM square-wave signal.The square wave that these similar square-wave signals conditioning link all inevitably makes VSI export produces distortion, and the form of PWM square wave distortion mainly contains four kinds: amplitude distortion, phase distortion, duty ratio distortion, edge slope distortion.
The principal element causing PWM square wave to distort has:
(1) in pwm signal, Dead Time is added;
(2) transmission link on/off postpones;
(3) transmission link on/off characteristic is inconsistent;
(4) on/off of voltage source inverter postpones;
(5) the on/off characteristic of voltage source inverter is inconsistent;
(6) forward conduction voltage drop of voltage source inverter and diode drop;
(7) parasitic capacitance of device for power switching.
The causality that these factors above-mentioned and PWM square wave distort is as Fig. 2.
As shown in Figure 3, owing to adding Dead Time in desirable pwm signal, waveform is by desirable complementary square wave PWM
#1become PWM
#2; PWM
#2signal inputs to VSI after square-wave signal conditioning link, and output waveform is PWM
#3,, the switching device of this signal Direct driver VSI.
U
idealin the drawings as with reference to waveform, by PWM
#1produce, its action effect is equal to the target phase voltage U in algorithm
*.U
actualit is the actual waveform of VSI output.With PWM
#3waveform is compared, because the on/off of switching device postpones, and U
actualcreate the change of duty ratio.Meanwhile, U
actualamplitude be also subject to forward conduction voltage drop U
sATwith diode drop U
dimpact.Δ U represents desired output voltage U
idealwith actual output voltage U
actualbetween difference.Utilize that Fig. 3 just can distort on amplitude, phase distortion, duty ratio distortion impact quantize.
Phase distortion does not almost affect system, and amplitude distortion and duty ratio distortion then make the error occurring between the phase voltage of actual output and desirable phase voltage being difficult to ignore, and this voltage error makes control system key index decline, and reduces overall performance.To be distorted by amplitude and the duty ratio voltage error ratio caused that distorts is easier to quantize, utilize the mean value principle of PWM just can calculate error voltage size that each cycle causes.
After labor is carried out to the square wave distortion process of Fig. 3, the error voltage expression formula (V phase is identical with W phase form) of U phase can be derived:
ΔU
U＝U
pri·sgn(i
U)+U
sub(a)
Wherein,
In expression formula above, T
dfor the Dead Time arranged in program;
with
be respectively unlatching and the turn-off delay of square-wave signal conditioning link;
with
be respectively unlatching and the turn-off delay of VSI.Forward conduction voltage drop U
sATwith diode drop U
d; T
compfor the make-up time, be U
prifundamental component, simultaneously U
priΔ U
uchief component;
be the target voltage in program, its excursion is-U
dC/ 2 ~ U
dC/ 2; i
uu phase current, sign function sgn (i
u) for obtaining U phase current polarity.
The voltage error formula essence that formula (a) defines is exactly the voltage swing that U phase needs to compensate, after going out bucking voltage by formulae discovery, be added on target output voltage, just can be completed the feedforward compensation of the distortion of the other side's wave amplitude, duty ratio distortion.Analytical formula (a) is known, realize compensating accurately, needs to obtain bucking voltage size and compensation two important informations on opportunity, if can not this 2 point of accurate assurance, compensation effect will be caused undesirable, even increase the weight of wave distortion.
Error voltage amplitude is by U in formula (b)
priwith U in formula (c)
subdefinition, U in formula
dCwith
two easily obtain; U
sATand U
dvalue obtain by technical manual.U
primake-up time T in expression formula
compbeing changed by Dead Time, the level time that causes due to PWM transmission link and the on/off of power device forms time of delay, is the chief component of error voltage.
As shown in Figure 4, in figure, the edge of terminal voltage is not change by the rule of similar step, but along slope slow rise/fall.This phenomenon mainly causes due to the diode in switching device and parasitic capacitance, and more obvious when current amplitude is less.When current amplitude is less than a certain threshold value, start to occur that terminal voltage waveform edge slope distorts, when phase current is less than zero, the rising edge generation slope distortion of terminal voltage waveform, when phase current is greater than zero, the trailing edge generation slope distortion of terminal voltage waveform; Rate of change and the parasitic capacitance capacitive reactance of terminal voltage edge slope are inversely proportional to, and the amplitude size of electric current is directly proportional.
Can know from Fig. 4, when current over-zero, the distortion of square wave edge slope makes phase voltage create other a part of error.Owing to being subject to having a strong impact on of the factors such as switching device microcosmic parasitic parameter, operating mode, the quantification of this fractional error is comparatively difficult, and is not easy to compensate.
Along with the electric machine control system application based on VSI is day by day extensive, the loss in efficiency that square wave aberration problems is macroscopically caused, energy loss and other performance losss receive publicity day by day, especially at some high performance applications, effective compensation is carried out to square wave distortion and becomes the necessary means improving electric system performance.Existing the circuit of effective compensation is carried out to square wave distortion and method of a great variety.But the error voltage being difficult to quantize all existed edge slope distortion causes cannot compensate, the error that after filtering, delayed phase, current polarity judge is large, and system square wave distortion compensation weak effect, the overall performance of AC induction motor control system is low.
Summary of the invention
The object of the invention is to solve above-mentioned the deficiencies in the prior art, there is provided a kind of to compensate the error voltage being difficult to quantize that edge slope distortion causes, improve delayed phase phenomenon after filtering, current polarity judges precisely, system square wave distortion compensation effect is good, the square wave distortion compensation method of the inductive motor control system that the overall performance of AC induction motor control system is good and device.
The present invention solves the technical scheme that above-mentioned the deficiencies in the prior art adopt:
A square wave distortion compensation method for inductive motor control system, is characterized in that comprising the steps:
A, gather AC induction motor any biphase current, by after magnitude of current digitlization successively through CLARKE (AB/ α β), PARK (α β/MT) changes in coordinates, obtain the excitation current component i under two-phase rotating coordinate system
mwith torque current component i
t;
B, by target exciting current
with target torque electric current
the excitation current component i obtained with step a
mwith torque current component i
task poor, the difference of trying to achieve is regulated by PID controller, export target voltage component U
mand U
t;
C, by U
mand U
tthree road drive singal are obtained through space vector pulse width modulation (SVPWM) after anti-PARK (MT/ α β) conversion;
D, the three road drive singal using step c to obtain produce the drive singal of three tunnel complementations through PWM generation module;
The drive singal of the three tunnel complementations that e, use steps d obtain is through transmission link rear drive voltage source inverter (VSI), and voltage source inverter drive motors operates;
The tach signal ω of f, collection AC induction motor
r, excitation current component i
mwith torque current component i
t, utilize formula
ω=ω
se+ ω
r, try to achieve power supply angular frequency, rotor flux linkage vector position can be tried to achieve to ω integration
ω in formula
se, R
r, L
rbe respectively the self-induction of slip frequency, rotor windings resistance, rotor windings;
G, collection i
mand i
t, try to achieve unit interval i
mand i
tabsolute value (the i.e. i of variable quantity
mand i
trate of change absolute value) input as rate of change adaptive controller with the rate of change absolute value threshold value of setting, export adjustable filter gain factor alpha respectively
mand α
t;
H, the α adopting step g to obtain
mand α
tas the gain coefficient of low pass filter, respectively to excitation current component i
mwith torque current component i
tfiltering;
I, utilize current rotor flux linkage vector position
filtered excitation current component i
mwith torque current component i
tthrough anti-PARK (MT/ α β), anti-CLARKE (α β/AB) changes in coordinates, rebuild three-phase current;
J, system dc busbar voltage fixed proportion dividing potential drop is obtained real-time reference voltage U
ref;
K, collection AC induction motor U, V, W three-phase voltage, fixed proportion dividing potential drop obtains the comparative voltage U of three-phase voltage
1, V
1, W
1, by real-time reference voltage respectively with the comparative voltage U of three-phase voltage
1, V
1, W
1compared by comparator, export edge transition signal Uedge, Vedge, Wedge;
L, the edge capture module that edge transition signal Uedge, Vedge, Wedge are inputted MCU, obtain U, V, W three-phase adjacent rising edges of edge signal and time difference t of trailing edge separately
a, t
b, t
c, t
a, t
b, t
crespectively with the periodic quantity T of desirable PWM
pWMbe division (t
a, t
b, t
c)/T
pWM, obtain the duty ratio of the actual output of VSI;
M, judge the polarity of current flow according to the three-phase current rebuild; Desirable for MCU PWM duty ratio is deducted the duty ratio of the actual output of the VSI obtained according to feedback signal capture module, obtain duty cycle error T
comp/ T
pWM.According to formula (a) Δ U
u=U
prisgn (i
u)+U
subcalculate three-phase error voltage, namely the voltage swing compensated is needed, this bucking voltage transforms to two-phase rest frame by CLARKE (AB/ α β) coordinate transform from three-phase static coordinate system, be added to target output voltage two-phase rest frame under component in, this completes feedforward compensation.
Rate of change adaptive controller in the present invention described in g step is PID controller.
A square wave distortion compensation apparatus for inductive motor control system, is characterized in that comprising microcontroller, voltage collecting device, comparator, D/A change-over circuit, current sensor, encoder, signal transmission link and voltage source inverter (VSI), voltage collecting device comprises No. four bleeder circuits, wherein the input of No. three bleeder circuits is connected with the three phase mains wiring of AC induction motor respectively, output is connected with the inverting input of three comparators respectively, the input of No. one bleeder circuit is connected with the DC bus of voltage source inverter, output is connected with the in-phase input end of three comparators, the output of three comparators catches input pin with three of microcontroller respectively and is connected, any two of the input of current sensor and the three phase mains wiring of AC induction motor are connected, the output of current sensor is connected with two analog input pins of microcontroller respectively, encoder input is connected with AC induction motor output shaft, encoder output is connected with two encoder input pins of microcontroller, (six tunnels) PWM output pin of microcontroller is connected with the input of signal transmission link respectively, and (six tunnels) output of signal transmission link is extremely connected with (six entirely control device) control of voltage source inverter respectively, three road outputs of voltage source inverter are connected with the three phase mains wiring of AC induction motor.During work, current sensor gathers any biphase current of AC induction motor, and sensor output signal is input to two analog input pins of microcontroller; By after magnitude of current digitlization successively through CLARKE (AB/ α β), PARK (α β/MT) changes in coordinates, obtain the excitation current component i under two-phase rotating coordinate system
mwith torque current component i
t.By the process of microcontroller (MCU) internal processes, by target exciting current
with target torque electric current
with the excitation current component i obtained
mwith torque current component i
task poor, the difference of trying to achieve is regulated by PID controller, export target voltage component U
mand U
t.By U
mand U
tthree road drive singal are obtained through space vector pulse width modulation (SVPWM) after anti-PARK (MT/ α β) conversion.Use the three road drive singal that obtain to produce the drive singal of three tunnel complementations through the PWM generation module of microcontroller, the PWM output pin respectively by microcontroller is input to transmission link circuit, obtains the drive singal after six tunnels process; Use the six drive singal driving voltage sources, road type inverter (VSI) obtained, voltage source inverter drive motors operates.Encoder gathers the tach signal of AC induction motor, and the signal that encoder exports is input to microcontroller encoder input pin, and tachometric survey (eQEP) module in microcontroller calculates actual motor speed ω
r.Utilize the motor speed ω obtained
r, excitation current component i
mwith torque current component i
t, utilize formula
ω=ω
se+ ω
r, try to achieve power supply angular frequency, rotor flux linkage vector position can be tried to achieve to ω integration
ω in formula
se, R
r, L
rbe respectively the self-induction of slip frequency, rotor windings resistance, rotor windings; Gather i
mand i
t, try to achieve unit interval i
mand i
tabsolute value (the i.e. i of variable quantity
mand i
trate of change absolute value) input as rate of change adaptive controller (used herein is PID controller) with the rate of change absolute value threshold value of setting, export adjustable filter gain factor alpha respectively
mand α
t; α
mand α
tas the gain coefficient of low pass filter, respectively to excitation current component i
mwith torque current component i
tfiltering; Utilize current rotor flux linkage vector position
filtered excitation current component i
mwith torque current component i
tthrough anti-PARK (MT/ α β), anti-CLARKE (α β/AB) changes in coordinates, rebuild three-phase current; System dc busbar voltage fixed proportion dividing potential drop is obtained real-time reference voltage U
ref; Gather AC induction motor U, V, W three-phase voltage, fixed proportion dividing potential drop obtains the comparative voltage U of three-phase voltage
1, V
1, W
1, by the comparative voltage U of three-phase voltage
1, V
1, W
1be connected respectively to "-" input of 3 comparators, real-time reference voltage be connected to "+" input of 3 comparators, compared by comparator, export edge transition signal Uedge, Vedge, Wedge; Edge transition signal Uedge, Vedge, Wedge are input to the seizure input pin of microcontroller, obtain U, V, W three-phase adjacent rising edges of edge signal and time difference t of trailing edge separately
a, t
b, t
c, t
a, t
b, t
crespectively with the periodic quantity T of desirable PWM
pWMbe division (t
a, t
b, t
c)/T
pWM, obtain the duty ratio of the actual output of VSI; The polarity of current flow is judged according to the three-phase current rebuild; Desirable for MCU PWM duty ratio is deducted the duty ratio of the actual output of the VSI obtained according to feedback signal capture module, obtain duty cycle error T
comp/ T
pWM; Again according to formula Δ U
u=U
prisgn (i
u)+U
subcalculate three-phase error voltage, namely the voltage swing compensated is needed, this bucking voltage transforms to two-phase rest frame by CLARKE (AB/ α β) coordinate transform from three-phase static coordinate system, be added to target output voltage two-phase rest frame under component in, this completes feedforward compensation.Device and method provided by the invention compensates the error voltage being difficult to quantize that edge slope distortion causes, improve delayed phase phenomenon after filtering, current polarity judges precisely, system square wave distortion compensation effect is good, reduce loss in efficiency and the energy loss of electric system, make the overall performance of inductive motor control system better, be particularly useful for requirement electric system and there is high performance occasion.
Accompanying drawing explanation
Fig. 1 is the signal transmission link block diagram of PWM square-wave signal.
Fig. 2 is the causality schematic diagram of PWM square wave distortion.
Fig. 3 is the schematic diagram of the distortion of square wave amplitude, phase distortion, duty ratio distortion producing cause.
Fig. 4 is the schematic diagram of PWM square wave edge slope distorted version.
Fig. 5 is the schematic diagram of square wave distortion compensation method in the present invention.
Fig. 6 is the flow chart of square wave distortion compensation method in the present invention.
Fig. 7 is the electrical block diagram of square wave distortion compensation apparatus in the present invention.
Fig. 8 is the potential-divider network structural representation of voltage collecting device in the present invention.
Fig. 9 is PWM square wave edge slope distortion equivalent compensation schematic diagram.
Figure 10 is when not carrying out square wave distortion compensation to inductive motor control system, the U phase voltage of target and the phase voltage waveform of actual U phase voltage.
Figure 11 when to be existing method carry out square wave distortion compensation to inductive motor control system, the U phase voltage of target and the phase voltage waveform of actual U phase voltage.
Figure 12 when to be the present invention carry out square wave distortion compensation to inductive motor control system, the U phase voltage of target and the phase voltage waveform of actual U phase voltage.
Figure 13 be square wave distortion compensation is not carried out to inductive motor control system, existing method carries out to inductive motor control system square wave distortion compensation and the present invention to carry out target U phase voltage and reality after square wave distortion compensation U phase voltage Error Graph to inductive motor control system.
Embodiment
The square wave distortion compensation method of inductive motor control system as shown in Figure 5, is characterized in that comprising the steps:
A, gather AC induction motor any biphase current, by after magnitude of current digitlization successively through CLARKE (AB/ α β), PARK (α β/MT) changes in coordinates, obtain the excitation current component i under two-phase rotating coordinate system
mwith torque current component i
t;
B, by target exciting current
with target torque electric current
the excitation current component i obtained with step a
mwith torque current component i
tregulated by PID controller, export target voltage component U
mand U
t;
C, by U
mand U
tthree road drive singal are obtained through space vector pulse width modulation (SVPWM) after anti-PARK (MT/ α β) conversion;
D, the three road drive singal using step c to obtain produce the drive singal of three tunnel complementations through PWM generation module;
The drive singal of the three tunnel complementations that e, use steps d obtain is through transmission link rear drive voltage source inverter (VSI), and voltage source inverter drive motors operates;
The tach signal ω of f, collection AC induction motor
r, excitation current component i
mwith torque current component i
t, utilize formula
ω=ω
se+ ω
r, try to achieve power supply angular frequency, rotor flux linkage vector position can be tried to achieve to ω integration
ω in formula
se, R
r, L
rbe respectively the self-induction of slip frequency, rotor windings resistance, rotor windings;
G, collection i
mand i
t, try to achieve unit interval i
mand i
tabsolute value (the i.e. i of variable quantity
mand i
trate of change absolute value) with setting rate of change absolute value threshold value as the input of rate of change adaptive controller (PID controller), export adjustable filter gain factor alpha respectively
mand α
t;
H, the α adopting step g to obtain
mand α
tas the gain coefficient of low pass filter, respectively to excitation current component i
mwith torque current component i
tfiltering;
I, utilize current rotor flux linkage vector position
filtered excitation current component i
mwith torque current component i
tthrough anti-PARK (MT/ α β), anti-CLARKE (α β/AB) changes in coordinates, rebuild three-phase current;
J, system dc busbar voltage fixed proportion dividing potential drop is obtained real-time reference voltage U
ref;
K, collection AC induction motor U, V, W three-phase voltage, fixed proportion dividing potential drop obtains the comparative voltage U of three-phase voltage
1, V
1, W
1, by real-time reference voltage respectively with the comparative voltage U of three-phase voltage
1, V
1, W
1compared by comparator, export edge transition signal Uedge, Vedge, Wedge;
L, the edge capture module that edge transition signal Uedge, Vedge, Wedge are inputted MCU, obtain U, V, W three-phase adjacent rising edges of edge signal and time difference t of trailing edge separately
a, t
b, t
c, t
a, t
b, t
crespectively with the periodic quantity T of desirable PWM
pWMbe division (t
a, t
b, t
c)/T
pWM, obtain the duty ratio of the actual output of VSI;
M, judge the polarity of current flow according to the three-phase current rebuild; Desirable for MCU PWM duty ratio is deducted the duty ratio of the actual output of the VSI obtained according to feedback signal capture module, obtain duty cycle error T
comp/ T
pWM.According to formula (a) Δ U
u=U
prisgn (i
u)+U
subcalculate three-phase error voltage, namely the voltage swing compensated is needed, this bucking voltage transforms to two-phase rest frame by CLARKE (AB/ α β) coordinate transform from three-phase static coordinate system, be added to target output voltage two-phase rest frame under component in, this completes feedforward compensation.
This method compensates the error voltage being difficult to quantize that edge slope distortion causes, improve delayed phase phenomenon after filtering, current polarity judges precisely, system square wave distortion compensation effect is good, reduce loss in efficiency and the energy loss of electric system, make the overall performance of inductive motor control system better, be particularly useful for requirement electric system and there is high performance occasion.
As illustrated in flow chart as shown in fig. 6, its specific works flow process is as follows: self-adaptive current polarity judgment part: 1) controller gathers any biphase current of motor by current sensor, in MCU, A/D module converts becomes corresponding digital quantity, and calculates corresponding three-phase current actual value.Excitation current component i is obtained afterwards by AB/ α β (CLARKE), α β/MT (PARK) coordinate transform
mwith torque current component i
t; 2) by unit of account time i
mand i
tvariable quantity obtain excitation current component i
mwith torque current component i
trate of change absolute value; 3) set current changing rate absolute value threshold value, by the adjustment of rate of change adaptive controller (PID controller), when rate of change absolute value is larger, export larger filter gain coefficient, improve the rapidity of filter; When rate of change absolute value is less, adopt less filter gain coefficient, improve the accuracy of filter; 4) by low-pass digital filter program segment, to the excitation current component i of input
mwith torque current component i
tcarry out filtering; 5) obtain code device signal according to MCU relevant pins, and calculate the actual speed of rotor, in conjunction with excitation current component i by eQEP module in MCU
mwith torque current component i
t, calculate flux linkage position of the rotor angle; 6) filtered excitation current component i is utilized
mwith torque current component i
tcarry out anti-PARK, anti-CLARKE conversion and MT/ α β, α β/AB coordinate transform and regain motor three-phase current; 7) according to the 6th) step or three-phase electricity flow valuve positive and negative, determine the polarity of electric current, namely when U phase current be on the occasion of time, get sign function sgn (i
u) be 1; When U phase current is negative value, get sign function sgn (i
u) be-1.Biphase current carries out polarity judgement by this equally in addition, and so far motor three-phase current polarity has judged.Self-adaptive current polarity judges, can according to the gain coefficient of current changing rate absolute value dynamic conditioning low pass filter, when rate of change absolute value is larger, namely system is in state migration procedure, adopt larger filter gain coefficient, improve the rapidity of filter; When rate of change absolute value is less, namely system is in comparatively stable state, adopts less filter gain coefficient, improves the accuracy of filter.Improve delayed phase phenomenon after filtering, current polarity judges that precisely system square wave distortion compensation effect is good, reduces loss in efficiency and the energy loss of electric system, make the overall performance of inductive motor control system better, be particularly useful for requirement electric system and there is high performance occasion.
Adaptive equalization time measurement part: 1) system dc busbar voltage fixed proportion dividing potential drop is obtained real-time reference voltage U
ref; 2) MCU edge capture module catches Uedge, Vedge, Wedge tri-edge transition signals on relevant pins, and trigger MCU interruption, obtain U, V, W three-phase adjacent rising edges of edge signal and time difference of trailing edge separately by the value in capture module register, gone out the duty ratio of the actual output of VSI afterwards by formulae discovery; 3) according to register value in PWM module in MCU, desirable target duty ratio is obtained; 4) desirable for MCU PWM duty ratio is deducted the duty ratio of the actual output of the VSI obtained according to feedback signal capture module, obtain duty cycle error T
comp/ T
pWM; 5) bucking voltage component is calculated according to 2.1 Chinese styles (b) and (c).
Finally according to current polarity and bucking voltage component, calculate the voltage magnitude of feedforward according to 2.1 Chinese styles (a), after CLARKE conversion, the target voltage component that is added to realizes feedforward compensation.
The square wave distortion compensation apparatus of inductive motor control system as shown in Figure 7,8, is characterized in that comprising microcontroller, voltage collecting device, comparator, D/A change-over circuit, current sensor, encoder, signal transmission link and voltage source inverter (VSI), voltage collecting device comprises No. four bleeder circuits, wherein the input of No. three bleeder circuits is connected with the three phase mains wiring of AC induction motor respectively, output is connected with the inverting input of three comparators respectively, the input of No. one bleeder circuit is connected with the DC bus of voltage source inverter, output is connected with the in-phase input end of three comparators, the output of three comparators catches input pin with three of microcontroller respectively and is connected, any two of the input of current sensor and the three phase mains wiring of AC induction motor are connected, the output of current sensor is connected with two analog input pins of microcontroller respectively, encoder input is connected with AC induction motor output shaft, encoder output is connected with two encoder input pins of microcontroller, six road PWM output pins of microcontroller are connected with the input of signal transmission link respectively, and six road outputs of signal transmission link are extremely connected with six controls entirely controlling device of voltage source inverter respectively, three road outputs of voltage source inverter are connected with the three phase mains wiring of AC induction motor.
As shown in Figure 9, if can ensure that reference voltage equals the half of terminal voltage after dividing potential drop, so in figure, under upper trigonometric sum, the area of triangular portions just can ensure equal, and actual like this export (trapezoidal portions area) just can represent with pulsewidth equivalent in figure (rectangle part area).Therefore, just can be directly measured out by the edge equivalent duty cycle error caused that distorts, system need to carry out complicated special processing.Adopt the method that adaptive voltage of the present invention detects, even if when DC bus-bar voltage fluctuates, also can ensure when with DC bus for reference point time, real-time reference voltage U
refequal comparative voltage U always
1, V
1, W
1half, just can ensure the area equation of triangular portions under upper trigonometric sum in Fig. 9, such reality exports (trapezoidal portions area) and just can represent with pulsewidth equivalent in figure (rectangle part area), completes compensation to the equivalent duty cycle error caused that distorts due to edge.When DC bus-bar voltage fluctuates, adopt adaptive voltage detection method of the present invention, can ensure when with DC bus for reference point time, real-time reference voltage U
refequal comparative voltage U always
1, V
1, W
1half, just can ensure the area equation of triangular portions under upper trigonometric sum in Fig. 9, such reality exports (trapezoidal portions area) and just can represent with pulsewidth equivalent in figure (rectangle part area), and the error equivalence duty ratio realizing causing distorting due to edge compensates.Reduce loss in efficiency and the energy loss of electric system, make the overall performance of inductive motor control system better, be particularly useful for requirement electric system and there is high performance occasion.
TMS320F28335 digital processing chip selected by microcontroller described in the present embodiment, during work, current sensor gathers any biphase current of AC induction motor, and sensor output signal is input to 50 pins and 52 pins of TMS320F28335 digital processing chip; By after magnitude of current digitlization successively through CLARKE (AB/ α β), PARK (α β/MT) changes in coordinates, obtain the excitation current component i under two-phase rotating coordinate system
mwith torque current component i
t.By the process of microcontroller (MCU) internal processes, by target exciting current
with target torque electric current
with the excitation current component i obtained
mwith torque current component i
task poor, the difference of trying to achieve is regulated by PID controller, export target voltage component U
mand U
t.By U
mand U
tthree road drive singal are obtained through space vector pulse width modulation after anti-PARK (MT/ α β) conversion.The three road drive singal that obtain are used to produce the drive singal of three tunnel complementations through the PWM generation module of microcontroller, be input to transmission link circuit respectively by 23,24,25 pins of TMS320F28335 digital processing chip and 73,74,75 pins, obtain the drive singal after six tunnels process; Use the six drive singal driving voltage sources, road type inverter (VSI) obtained, voltage source inverter drive motors operates.Encoder gathers the tach signal of AC induction motor, and the signal that encoder exports is input to 64 pins and 65 pins of TMS320F28335 digital processing chip, and the eQEP module in MCU calculates actual motor speed ω
r.Utilize the motor speed ω obtained
r, excitation current component i
mwith torque current component i
t, utilize formula
ω=ω
se+ ω
r, try to achieve power supply angular frequency, rotor flux linkage vector position can be tried to achieve to ω integration
ω in formula
se, R
r, L
rbe respectively the self-induction of slip frequency, rotor windings resistance, rotor windings; Gather i
mand i
t, try to achieve unit interval i
mand i
tabsolute value (the i.e. i of variable quantity
mand i
trate of change absolute value) with setting rate of change absolute value threshold value as the input of rate of change adaptive controller (PID controller), export adjustable filter gain factor alpha respectively
mand α
t; Adopt low pass filter, its gain coefficient α
mand α
t(constantly being adjusted by rate of change adaptation mechanism), respectively to excitation current component i
mwith torque current component i
tfiltering; Utilize current rotor flux linkage vector position θ
ψ r, filtered excitation current component i
mwith torque current component i
tthrough anti-PARK (MT/ α β), anti-CLARKE (α β/AB) changes in coordinates, rebuild three-phase current;
Potential-divider network in Fig. 7 adopts bleeder circuit as shown in Figure 8, and this bleeder circuit gathers motor U, V, W three-phase voltage, obtains the comparative voltage U of three-phase voltage after electric resistance partial pressure
1, V
1, W
1(level meets 3.3V control system); This bleeder circuit acquisition system DC bus-bar voltage, obtains real-time reference voltage U through electric resistance partial pressure
ref.The divider resistance adopted in potential-divider network meets relation R1=R3=R5, R2=R4=R6,
such relation can ensure when with DC bus for reference point time, U
refjust U is equaled
1, V
1, W
1half.By the comparative voltage U of three-phase voltage
1, V
1, W
1be connected respectively to "-" input of 3 comparators, by real-time reference voltage U
refbe connected to "+" input of 3 comparators, compared by comparator, export edge transition signal Uedge, Vedge, Wedge; Edge transition signal Uedge, Vedge, Wedge are input to 12,16 and 18 pins of TMS320F28335 digital processing chip, obtain U, V, W three-phase adjacent rising edges of edge signal and time difference t of trailing edge separately
a, t
b, t
c, t
a, t
b, t
crespectively with the periodic quantity T of desirable PWM
pWMbe division (t
a, t
b, t
c)/T
pWM, obtain the duty ratio of the actual output of VSI.The polarity of current flow is judged according to the three-phase current rebuild; Desirable for MCU PWM duty ratio is deducted the duty ratio of the actual output of the VSI obtained according to feedback signal capture module, obtain duty cycle error T
comp/ T
pWM; Again according to formula Δ U
u=U
prisgn (i
u)+U
subcalculate three-phase error voltage, namely the voltage swing compensated is needed, this bucking voltage transforms to two-phase rest frame by CLARKE (AB/ α β) coordinate transform from three-phase static coordinate system, be added to target output voltage two-phase rest frame under component in, this completes feedforward compensation.
The adaptive hardware circuit that first the present invention utilizes frequency response characteristic good and related software realize the Measurement accuracy of make-up time, then the method utilizing self adaptation phase current to rebuild realizes the accurate judgement of current polarity, feedforward compensation is carried out in conjunction with these two aspects information, like this, target voltage in program just can be exported exactly, thus improves inverter wave form output quality.The error voltage being difficult to quantize that edge slope distortion causes is compensated, improve delayed phase phenomenon after filtering greatly, current polarity judges precisely, system square wave distortion compensation effect is good, reduce loss in efficiency and the energy loss of electric system, make the overall performance of inductive motor control system better, be particularly useful for requirement electric system and there is high performance occasion.
As shown in Figure 10,11 and 12, all comprise U phase voltage and the target U phase voltage of reconstruction in three figure, in Figure 10,11 and 12, curve 1 is the U phase voltage of target, curve 2 is actual U phase voltage.The phase voltage value of rebuilding is undertaken rebuilding by the duty ratio of feedback obtaining, and this experiment is carried out under the speed of 60r/min.Figure 10 is phase voltage waveform figure when not carrying out square wave distortion compensation to system, as can be seen from waveform, in order to make up because square wave distorts the current loss caused, target phase voltage significantly improves by control algolithm, this easily causes voltage vector saturated in advance, influential system dynamic response performance.Figure 11 and Figure 12 have employed existing method respectively and (adopts open loop fixed amplitude compensation policy, only for the method that Dead Time compensates) and compensation method of the present invention, carry out analysis to the compensation result of method can find out, compensation method effect of the present invention is better, make actual output substantially equal with target phase voltage, namely square wave distortion is obviously compensated.Figure 13 is the U phase voltage Error Graph of target U phase voltage under three kinds of modes and reconstruction, in Figure 13, curve 1 is target U phase voltage and actual U phase voltage Error Graph when not carrying out square wave distortion compensation to inductive motor control system, curve 2 is adopt existing method to carry out target U phase voltage and actual U phase voltage Error Graph after square wave distortion compensation to inductive motor control system, and curve 3 be adopt the present invention to carry out the U phase voltage Error Graph of target U phase voltage and reality after square wave distortion compensation to inductive motor control system.
Claims (3)
1. a square wave distortion compensation method for inductive motor control system, is characterized in that comprising the steps:
A, gather AC induction motor any biphase current, by after magnitude of current digitlization successively through CLARKE (AB/ α β), PARK (α β/MT) changes in coordinates, obtain the excitation current component i under two-phase rotating coordinate system
mwith torque current component i
t;
B, by target exciting current
with target torque electric current
the excitation current component i obtained with step a
mwith torque current component i
task poor, the difference of trying to achieve is regulated by PID controller, export target voltage component U
mand U
t;
C, by U
mand U
tthree road drive singal are obtained through space vector pulse width modulation (SVPWM) after anti-PARK (MT/ α β) conversion;
D, the three road drive singal using step c to obtain produce the drive singal of three tunnel complementations through PWM generation module;
The drive singal of the three tunnel complementations that e, use steps d obtain is through transmission link rear drive voltage source inverter (VSI), and voltage source inverter drive motors operates;
The tach signal ω of f, collection AC induction motor
r, excitation current component i
mwith torque current component i
t, utilize formula
ω=ω
se+ ω
r, try to achieve power supply angular frequency, rotor flux linkage vector position can be tried to achieve to ω integration
ω in formula
se, R
r, L
rbe respectively the self-induction of slip frequency, rotor windings resistance, rotor windings;
G, collection i
mand i
t, try to achieve unit interval i
mand i
tthe absolute value of variable quantity and the rate of change absolute value threshold value of setting as the input of rate of change adaptive controller, export adjustable filter gain factor alpha respectively
mand α
t;
H, the α adopting step g to obtain
mand α
tas the gain coefficient of low pass filter, respectively to excitation current component i
mwith torque current component i
tfiltering;
I, utilize current rotor flux linkage vector position
filtered excitation current component i
mwith torque current component i
tthrough anti-PARK (MT/ α β), anti-CLARKE (α β/AB) changes in coordinates, rebuild three-phase current;
J, system dc busbar voltage fixed proportion dividing potential drop is obtained real-time reference voltage U
ref;
K, collection AC induction motor U, V, W three-phase voltage, fixed proportion dividing potential drop obtains the comparative voltage U of three-phase voltage
1, V
1, W
1, by real-time reference voltage respectively with the comparative voltage U of three-phase voltage
1, V
1, W
1compared by comparator, export edge transition signal Uedge, Vedge, Wedge;
L, the edge capture module that edge transition signal Uedge, Vedge, Wedge are inputted MCU, obtain U, V, W three-phase adjacent rising edges of edge signal and time difference t of trailing edge separately
a, t
b, t
c, t
a, t
b, t
crespectively with the periodic quantity T of desirable PWM
pWMbe division (t
a, t
b, t
c)/T
pWM, obtain the duty ratio of the actual output of VSI;
M, judge the polarity of current flow according to the three-phase current rebuild; Desirable for MCU PWM duty ratio is deducted the duty ratio of the actual output of the VSI obtained according to feedback signal capture module, obtain duty cycle error T
comp/ T
pWM; According to formula (a) Δ U
u=U
prisgn (i
u)+U
subcalculate three-phase error voltage, namely the voltage swing compensated is needed, this bucking voltage transforms to two-phase rest frame by CLARKE (AB/ α β) coordinate transform from three-phase static coordinate system, be added to target output voltage two-phase rest frame under component in, this completes feedforward compensation.
2. the square wave distortion compensation method of inductive motor control system according to claim 1, is characterized in that the rate of change adaptive controller described in g step is PID controller.
3. a square wave distortion compensation apparatus for inductive motor control system, is characterized in that comprising microcontroller, voltage collecting device, comparator, D/A change-over circuit, current sensor, encoder, signal transmission link and voltage source inverter (VSI), voltage collecting device comprises No. four bleeder circuits, wherein the input of No. three bleeder circuits is connected with the three phase mains wiring of AC induction motor respectively, output is connected with the inverting input of three comparators respectively, the input of No. one bleeder circuit is connected with the DC bus of voltage source inverter, output is connected with the in-phase input end of three comparators, the output of three comparators catches input pin with three of microcontroller respectively and is connected, any two of the input of current sensor and the three phase mains wiring of AC induction motor are connected, the output of current sensor is connected with two analog input pins of microcontroller respectively, encoder input is connected with AC induction motor output shaft, encoder output is connected with two encoder input pins of microcontroller, the PWM output pin of microcontroller is connected with the input of signal transmission link respectively, and the output of signal transmission link is extremely connected with the control of voltage source inverter respectively, three road outputs of voltage source inverter are connected with the three phase mains wiring of AC induction motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510222409.2A CN104767458A (en) | 2015-05-05 | 2015-05-05 | Square wave distortion compensation method and device of induction motor control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510222409.2A CN104767458A (en) | 2015-05-05 | 2015-05-05 | Square wave distortion compensation method and device of induction motor control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104767458A true CN104767458A (en) | 2015-07-08 |
Family
ID=53649121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510222409.2A Pending CN104767458A (en) | 2015-05-05 | 2015-05-05 | Square wave distortion compensation method and device of induction motor control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104767458A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105811839A (en) * | 2016-03-22 | 2016-07-27 | 王大方 | Method for determining phase current polarity in voltage compensation of permanent magnet synchronous motor |
| CN105827175A (en) * | 2016-02-29 | 2016-08-03 | 国网安徽省电力公司淮北供电公司 | Electric automobile vector control system nonlinear compensation method and system |
| CN106059547A (en) * | 2016-08-08 | 2016-10-26 | 北京华宸文鼎科技发展有限公司 | Dead-zone compensation method and device in PWM |
| CN106597328A (en) * | 2016-10-26 | 2017-04-26 | 乐视控股（北京）有限公司 | Motor magnetic ring polarity detection circuit and system |
| CN110692192A (en) * | 2017-05-31 | 2020-01-14 | 三菱电机株式会社 | Control device for AC motor |
| CN110843550A (en) * | 2019-11-14 | 2020-02-28 | 深圳市福瑞电气有限公司 | Method for eliminating low-speed jitter of electric automobile |
| CN111122897A (en) * | 2019-12-23 | 2020-05-08 | 无锡物联网创新中心有限公司 | Spindle rotating speed capturing method in magnetoelectric single spindle detection system and related device |
| CN111525867A (en) * | 2020-04-03 | 2020-08-11 | 中国第一汽车股份有限公司 | Motor drive control platform |
| CN113740601A (en) * | 2021-09-27 | 2021-12-03 | 佛山市顺德区美的电子科技有限公司 | Phase current acquisition method, device, equipment, system and storage medium |
| CN113866480A (en) * | 2016-02-16 | 2021-12-31 | 操纵技术Ip控股公司 | Detection of offset errors in phase current measurements for motor control systems |
| WO2023004618A1 (en) * | 2021-07-28 | 2023-02-02 | 褚启平 | Adaptive current control method and system for alternating current servo motor |
-
2015
- 2015-05-05 CN CN201510222409.2A patent/CN104767458A/en active Pending
Non-Patent Citations (1)
| Title |
|---|
| WANG DAFANG ET AL.: "A Feedback-Type Phase Voltage Compensation Strategy Based on Phase Current Reconstruction for ACIM Drives", 《IEEE TRANSACTIONS ON POWER ELECTRONICS》 * |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113866480A (en) * | 2016-02-16 | 2021-12-31 | 操纵技术Ip控股公司 | Detection of offset errors in phase current measurements for motor control systems |
| CN105827175B (en) * | 2016-02-29 | 2018-01-23 | 国网安徽省电力公司淮北供电公司 | Electric automobile vector control system non-linear compensation method and system |
| CN105827175A (en) * | 2016-02-29 | 2016-08-03 | 国网安徽省电力公司淮北供电公司 | Electric automobile vector control system nonlinear compensation method and system |
| CN105811839A (en) * | 2016-03-22 | 2016-07-27 | 王大方 | Method for determining phase current polarity in voltage compensation of permanent magnet synchronous motor |
| CN106059547B (en) * | 2016-08-08 | 2018-12-04 | 无锡华宸控制技术有限公司 | Dead-zone compensation method and device in a kind of PWM |
| CN106059547A (en) * | 2016-08-08 | 2016-10-26 | 北京华宸文鼎科技发展有限公司 | Dead-zone compensation method and device in PWM |
| CN106597328A (en) * | 2016-10-26 | 2017-04-26 | 乐视控股（北京）有限公司 | Motor magnetic ring polarity detection circuit and system |
| CN110692192A (en) * | 2017-05-31 | 2020-01-14 | 三菱电机株式会社 | Control device for AC motor |
| CN110692192B (en) * | 2017-05-31 | 2023-02-21 | 三菱电机株式会社 | Control device for AC motor |
| CN110843550A (en) * | 2019-11-14 | 2020-02-28 | 深圳市福瑞电气有限公司 | Method for eliminating low-speed jitter of electric automobile |
| CN110843550B (en) * | 2019-11-14 | 2021-06-18 | 深圳市福瑞电气有限公司 | Method for eliminating low-speed jitter of electric automobile |
| CN111122897A (en) * | 2019-12-23 | 2020-05-08 | 无锡物联网创新中心有限公司 | Spindle rotating speed capturing method in magnetoelectric single spindle detection system and related device |
| CN111525867A (en) * | 2020-04-03 | 2020-08-11 | 中国第一汽车股份有限公司 | Motor drive control platform |
| CN111525867B (en) * | 2020-04-03 | 2022-04-05 | 中国第一汽车股份有限公司 | Motor drive control platform |
| WO2023004618A1 (en) * | 2021-07-28 | 2023-02-02 | 褚启平 | Adaptive current control method and system for alternating current servo motor |
| GB2623245A (en) * | 2021-07-28 | 2024-04-10 | Tianjin Saixiang Tech Co Ltd | Adaptive current control method and system for alternating current servo motor |
| CN113740601A (en) * | 2021-09-27 | 2021-12-03 | 佛山市顺德区美的电子科技有限公司 | Phase current acquisition method, device, equipment, system and storage medium |
| CN113740601B (en) * | 2021-09-27 | 2023-10-20 | 佛山市顺德区美的电子科技有限公司 | Phase current acquisition method, apparatus, device, system and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104767458A (en) | Square wave distortion compensation method and device of induction motor control system | |
| CN102437805B (en) | Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor | |
| CN105141201A (en) | Magnetic-suspension control moment gyro high-speed motor positionless commutation error correction control system and method | |
| DE102013207121A1 (en) | System for controlling a controlled variable of a rotating machine | |
| Dafang et al. | A feedback-type phase voltage compensation strategy based on phase current reconstruction for ACIM drives | |
| CN110071669A (en) | A kind of permanent magnet synchronous motor vector controlled " dead time effect " compensation method | |
| US9716454B2 (en) | Driving circuit and driving method for permanent magnet synchronous motor | |
| CN103647492A (en) | Brushless direct-current motor stator flux linkage identification method | |
| DE102011001109A1 (en) | Engine control method and apparatus and electric power steering system | |
| CN104901600A (en) | Sensorless control method of permanent magnet synchronous motor in wide rotating speed scope | |
| CN113285481B (en) | Grid-connected converter inductance parameter online estimation method, prediction control method and system | |
| CN103762924A (en) | Torque output control system of permanent magnet synchronous motor | |
| CN103888042B (en) | The identified off-line method of AC induction motor mutual inductance parameter | |
| CN102320252A (en) | Control method of electric bicycle | |
| CN104201960A (en) | Maximum torque current ratio control method for permanent-magnet synchronous reluctance motor | |
| CN102931902A (en) | Dead-time compensation system and method | |
| CN103872960B (en) | Vector controller based on software dead-time compensation | |
| CN108199633A (en) | The suppressing method of phase current reconstruction error under high PWM switching frequencies | |
| CN104124909B (en) | Method and device for controlling single-cycle current real-time modulation PMW (pulse-width modulation) and vehicle with device | |
| CN103457498A (en) | Motor excitation device and dead-time compensation method thereof | |
| CN103647482A (en) | Brushless DC (direct current) motor 180-degree square wave control method and module and converter | |
| CN104038114B (en) | The sine voltage drive system of simplex winding DC brushless motor and control method thereof | |
| CN1177404C (en) | Dead-zone compensation method of frequency converter | |
| CN105958887B (en) | A kind of inverter dead zone compensation system applied in vector controlled and compensation method | |
| CN204947952U (en) | The square wave distortion compensation apparatus of inductive motor control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150708 |
|
| WD01 | Invention patent application deemed withdrawn after publication |