CN104868807B - A kind of active damping method of Buck circuits brushless DC motor control system - Google Patents
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Abstract
The invention discloses a kind of active damping method of Buck circuits brushless DC motor control system, this method has three kinds of implementations, is Buck electric capacity parallel virtuals resistance, Buck electric capacity series connection virtual resistance, inverter bus series connection virtual resistance respectively；Drive system controls for speed and current double closed loop, and outer shroud is der Geschwindigkeitkreis, is controlled using pi regulator；Inner ring is electric current loop, in order that obtaining inductive current preferably follows set-point, current inner loop uses one circle control；When Buck electric capacity values are smaller, this method can increase the damping of control system, can stablize Buck bus output voltages during commutation rapidly so that electric machine phase current can be quickly returning to steady-state value during commutation, suppress current resonance.The present invention realizes the effect of damping by the control algolithm of system, on the premise of system loss is not increased, is effectively increased system damping, it is suppressed that the resonance of electric machine phase current, improve the stability of control system.
Description
Technical field
The present invention relates to a kind of active damping method of Buck circuits brushless DC motor control system, belong to DC converting
Device-motor-driven field.
Background technology
Brushless DC motor rotor uses permanent-magnet material excitation, due to its small volume, power density height, dynamic adaptable
By force, the features such as easy is controlled, has been widely used for the every field of production and living.But traditional various PWM control modes
Under brshless DC motor, its speed adjustable range is limited by inverter switching device pipe frequency, and high-frequency PWM copped wave can greatly increase
Switching loss.
With the development of Power Electronic Technique, Buck circuits are applied to the occasion of electric machine speed regulation more and more.Control
Switching tube dutycycle can adjusts Buck circuit output voltages, and being highly suitable for some needs the occasion of variable voltage control, especially
In high-speed electric expreess locomotive field, variable voltage control is more widely applied.In order to reduce the volume of Buck converters, typically meeting that design will
In the case of asking, reduce the value of inductance and electric capacity as far as possible.
But when Buck electric capacity values are smaller, it may appear that during brshless DC motor commutation, the phenomenon of capacitance boost.
And during motor commutation, inductive current thinks constant, constant current is connected in equivalent to current source Buck electric capacity and motor impedance
Source, when motor impedance fix and it is smaller when can cause strong current resonance so that electric machine phase current waveform is unstable.
The content of the invention
For the deficiency of above-mentioned background technology, for the stability for suppressing current resonance, improving system, the present invention proposes
A kind of active damping method based on Buck circuit brushless DC motor control systems；This method passes through to ssystem transfer function
Analysis, using the equivalent transformation of control theory, is effectively equivalent to add resistance in the controls, effectively increases and is
The damping of system, it is suppressed that current resonance.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of active damping method of Buck circuits brushless DC motor control system, it is real-time using digital signal processor
Calculate feedback signal n of the motor speed as motor speed ringfed, the motor speed signal n with settingrefSubtract each other and adjusted by PI
Device is controlled, and is obtained rotating speed outer shroud output valve, is set to iLref, and as the set-point of inner ring；Inner ring is electric current loop, numeral
Feedback i of the signal processor real-time sampling Buck inductive currents as current inner loopLfed, with rotating speed outer shroud output valve iLrefSubtract each other
Through one circle control policy control Buck circuits, control signal caused by Buck circuits is by controlling three-phase inverter to control electricity
Machine；
Wherein, by electric machine control system respectively in Buck bus capacitor parallel virtuals resistance, series connection virtual resistance, inverse
Become device bus series connection virtual resistance, increase system damping, it is suppressed that because the parameter of electric machine and Buck circuit parameters mismatch and produce
Strong system resonance.
This method provides a kind of Buck circuits brushless DC motor control system, specifically includes power supply, Buck converters, electricity
Machine and three-phase inverter；
The positive pole of the positive pole connection Buck converters of the power supply, the negative pole of the negative pole connection Buck converters of power supply；
The anode of the forward voltage output end connection three-phase inverter bus of the Buck converters, Buck converters are born
Pole connects the negative terminal of three-phase inverter bus；On the midpoint connection brshless DC motor three-phase of each phase of three-phase inverter.
This method provides a kind of Buck circuits brushless DC motor control system, wherein giving Buck electric capacity parallel virtual electricity
Resistance, is equivalent to virtual resistance one end and is connected with power cathode, the other end and one end of Buck electric capacity and one end of Buck inductance
It is connected；Specifically include following steps：
Step 1, the capacitance voltage u in sampling Buck converters in a controlling cycle start timecf；
Step 2, when brshless DC motor commutation, digital signal processor calculates motor speed and turned as motor in real time
The feedback of fast ring, subtract each other with the motor speed value of setting and be adjusted by pi regulator, as the output valve of motor speed ring,
That is inductive current reference value iLref；
Step 3, the circuit expressions formula of the control system is formulated, and carries out Laplace transformation, system is drawn according to Laplace transformation
Current loop control structure, and to the structure carry out equivalent transformation；
Step 4, obtained u will be sampled in step 1cfIt is handled as follows, the virtual resistance being first multiplied by needed for the system
1/R reciprocal, inductor current signal value of feedback i is obtained multiplied by with inductive current one circle control transmission function G (s)Lsig_fed；
Step 5, by inductor current signal value of feedback iLsig_fedAs inductive current reference value iLrefNegative-feedback, add
To inductor current signal reference value iLrefInput.
Obtained u will be sampled in Laplace transformationcfIt is converted into inductor current signal value of feedback iLsig_fed, its formula is as follows
It is shown：
In formula：iLsig_fed(s) it is inductor current signal value of feedback under complex frequency domain；
ucf(s) it is capacitance voltage value under complex frequency domain；
R is the virtual resistance resistance of Buck electric capacity parallel connection in the control system under complex frequency domain；
G (s) is inductive current one circle control transmission function under complex frequency domain, under one circle control mode, inductive current
Value of feedback follows set-point, and G (s) is approximately 1.
This method provides a kind of Buck circuits brushless DC motor control system, wherein giving Buck electric capacity series connection connection virtual electricity
Resistance, one end of virtual resistance one end Buck electric capacity are connected, and the other end is connected with one end of Buck inductance；This method include with
Lower step：
Step 1, the capacitance current i in sampling Buck converters in a controlling cycle start timecf；
Step 2, when brshless DC motor commutation, digital signal processor calculates motor speed and turned as motor in real time
The feedback of fast ring, it is adjusted with the motor speed set-point of setting by pi regulator, as the output valve of motor speed ring,
That is inductive current reference value iLref；
Step 3, the circuit expressions formula of the control system is formulated, and carries out Laplace transformation, system is drawn according to Laplace transformation
Current loop control structure, and to the structure carry out equivalent transformation；
Step 4, obtained i will be sampled in step 1cfIt is handled as follows, the virtual resistance being first multiplied by needed for the system
Resistance R, multiplied by with the inverse of the impedance of the phase of motor oneInductive current one circle control transmission function G (s) is multiplied by, will
Feedback quantity moves on to control signal end, obtains inductor current signal value of feedback iLsig_fed；
Step 5, by inductor current signal value of feedback iLsig_fedInductive current reference value i is added to as negative-feedbackLref。
Obtained i will be sampled in pull-type changecfIt is converted into inductor current signal value of feedback iLsig_fed, its formula is as follows
It is shown：
In formula, all variables are all the values under complex frequency domain；
iLsig_fed(s) it is inductor current signal value of feedback under complex frequency domain；
icf(s) it is capacitance current value under complex frequency domain；
R is the value of the virtual resistance that Buck electric capacity is connected in the control system under complex frequency domain；
For the phase of impedance of motor one complex frequency domain inverse；
G (s) is inductive current one circle control transmission function under complex frequency domain, under one circle control mode, inductive current
Feedback quantity follows specified rate all the time, therefore G (s) is approximately 1.
This method provides a kind of Buck circuits brushless DC motor control system, wherein, connected to three-phase inverter bus
Virtual resistance, it is equivalent to virtual resistance one end Buck electric capacity and Buck inductance one end and is connected, other end three-phase inverter
Bus is connected；This method comprises the following steps：
Step 1, inverter bus current is sampled in a controlling cycle start time, ignores motor phase during commutation herein
Influence of the change of impedance series-parallel system to damped coefficient, inverter bus current are designated as i instead of phase currentbus；
Step 2, when brshless DC motor commutation, digital signal processor calculates motor speed and turned as motor in real time
The feedback of fast ring, it is adjusted with the motor speed set-point of setting by pi regulator, as the output valve of motor speed ring,
Namely inductive current reference value iLrefiLref；
Step 3, the circuit expressions formula of the control system is formulated, and carries out Laplace transformation, system is drawn according to Laplace transformation
Current loop control structure, and to the structure carry out equivalent transformation；
Step 4, obtained i will be sampled in step 1busIt is handled as follows, the virtual resistance being first multiplied by needed for the system
Resistance R, multiplied by with the complex frequency domain impedance Cs of Buck electric capacity, inductive current one circle control transmission function G (s) is multiplied by, will be fed back
Amount moves on to control signal end, obtains inductor current signal value of feedback iLsig_fed；
Step 5, by inductor current signal value of feedback iLsig_fedInductive current reference value i is added to as negative-feedbackLref。
Obtained i will be sampled in Laplace transformationbusIt is converted into inductor current signal value of feedback iLsig_fed, its formula is as follows
It is shown：iLsig_fed(s)=ibus(s)RCsG(s)；
In formula, all variables are all the values under complex frequency domain
iLsig_fed(s) it is inductor current signal value of feedback under complex frequency domain；
Ibus(s) it is three-phase inverter bus current under complex frequency domain；
R is the value of the virtual resistance that inverter bus is connected in the control system under complex frequency domain；
Cs is the complex frequency domain impedance of Buck electric capacity under complex frequency domain；
G (s) is inductive current one circle control transmission function under complex frequency domain, under one circle control mode, inductive current
Value of feedback follows set-point, and G (s) is approximately 1.
The present invention compared with prior art, has following technique effect using above technical scheme：
In order to suppress the resonance characteristic of parallel resonance, the stability of system is improved, simplest method is exactly to be returned in electric capacity
Resistance in series or in parallel increases the damping of system on road, i.e., passive damped method.But the increase of damping resistance, on the one hand may be used
The filtering performance of harmonic wave can be influenceed, on the other hand also can seriously increase system loss, reduces system effectiveness.Especially high-power
Occasion, damping resistance heating are serious.
The present invention is effectively increased system damping, suppression system resonance, and improve control on the premise of system loss is not increased
The stability of system operation processed, equivalent transformation is carried out by Laplace transformation to ssystem transfer function, substitutes actual damping with control
Resistance, realize damping action.
Brief description of the drawings
Fig. 1 is Buck circuit BLDCM Drive System equivalent circuit diagrams；
Fig. 2 is Buck circuit BLDCM Drive System speed and current double closed loop equivalent control block diagrams；
Fig. 3 be it is equivalent after electric capacity and load circuit figure；
Fig. 4 is the electric machine phase current oscillogram without active damping method；
Fig. 5 is the load circuit figure of capacitive branch parallel connection damping resistance；
Fig. 6 is the Buck circuit brshless DC motor current loop control structure charts of capacitive branch parallel resistance；
Fig. 7 is the Buck circuit brshless DC motor electric current ring structure equivalent structure transformation figures of capacitive branch parallel resistance；
Fig. 8 is the electric machine phase current oscillogram under Buck capacitive branch parallel virtual resistive methods；
Fig. 9 is the load circuit figure of capacitive branch series damping resistor；
Figure 10 is the Buck circuit brshless DC motor current loop control structure charts of capacitive branch series resistance；
Figure 11 is the Buck circuit brshless DC motor electric current ring structure equivalent structure transformation figures of capacitive branch series resistance；
Figure 12 is the electric machine phase current oscillogram that Buck capacitive branch is connected under virtual resistance method；
Figure 13 is the load circuit figure of inverter bus series damping resistor；
Figure 14 is the Buck circuit brshless DC motor current loop control structure charts of inverter bus series resistance；
Figure 15 is the Buck circuit brshless DC motor electric current ring structure equivalent structure transformations of inverter bus series resistance
Figure；
Figure 16 is the electric machine phase current oscillogram that inverter bus is connected under virtual resistance method.
Embodiment
The present invention provides a kind of active damping method of Buck circuits brushless DC motor control system, to make the present invention's
Purpose, technical scheme and effect are clearer, clearly, and referring to the drawings and give an actual example that the present invention is described in more detail.
It should be appreciated that specific implementation described herein is not intended to limit the present invention only to explain the present invention.
The technical scheme of invention is described in detail below in conjunction with the accompanying drawings：
A kind of active damping method of Buck circuits brushless DC motor control system provided by the invention, it is based on conventional
Buck circuits brushless DC motor control system expansion, specifically include power supply, Buck converters, motor and three-phase inversion
Device；The positive pole of the positive pole connection Buck converters of the power supply, the negative pole of the negative pole connection Buck converters of power supply；
The anode of the forward voltage output end connection three-phase inverter bus of the Buck converters, Buck converters are born
Pole connects the negative terminal of three-phase inverter bus；On the midpoint connection brshless DC motor three-phase of each phase of three-phase inverter.
This method, there are three kinds of forms of expression, be illustrated respectively：
As shown in Fig. 2 the drive system is speed and current double closed loop control system, wherein outer shroud is der Geschwindigkeitkreis, numeral letter
Number processor calculates feedback n of the motor speed as motor speed ring in real timefed, n is given with the motor speed of settingrefBy
Pi regulator is controlled, and rotating speed outer shroud output valve is set to i as the given of current inner loopLref.Inner ring is electric current loop, numeral
Feedback i of the signal processor real-time sampling Buck inductive currents as current inner loopLfed.Fig. 3 is system equivalent circuit diagram, in nothing
Under the control system of active damping method, electric machine phase current waveform as shown in figure 4, phase current generated during commutation it is strong
Concussion.
Embodiment 1：Buck electric capacity parallel virtual resistance
(1) Fig. 5 is the increase in the equivalent circuit diagram after damping resistance.As shown in figure 5, motor commutation moment inductive current
Keep continuous, can be considered constant-current source, its current value is iL.Electric capacity CfInductance both ends, r are connected in parallel on motor phase windingsmFor motor phase
Resistance, LmFor motor phase inductance.R is increased virtual resistance resistance, and equivalent parallel is at electric capacity both ends.According to Fig. 5, in multifrequency
Domain row write circuit equation is as follows：
iR(s) .R=ucf(s)
iphase(s).(Lms+rm)=ucf(s)
iLfed(s)=icf(s)+iR(s)+iphase(s)
In formula, icf(s) it is capacitance current under complex frequency domain；
iR(s) it is damping resistance electric current under complex frequency domain；
iLfed(s) it is inductive current actual value under complex frequency domain；
R is resistance in parallel with electric capacity under complex frequency domain；
ucf(s) it is capacitance voltage under complex frequency domain；
iphase(s) it is electric machine phase current under complex frequency domain；
Lm(s) it is motor phase inductance under complex frequency domain；
rmFor motor phase resistance under complex frequency domain；
According to above-mentioned complex frequency domain equation, the Buck circuits brushless dc that can make capacitive branch parallel resistance is electromechanical
Ring control structure figure is flowed, as shown in Figure 6.
(2) in order to the damping action of virtual resistance is embodied by control algolithm, it is necessary to by containing damping resistance R's
Branch road processes.Equivalence changes are done according to control theory, obtain equivalent block diagram as shown in Figure 7.
(3) as shown in fig. 7, the current loop control structure indicates core concept proposed by the present invention：Sampled capacitor voltage
ucf, first by ucf1/R is multiplied by, wherein R is the resistance of virtual resistance, multiplied by with inductive current one circle control transmission function G (s),
Obtain inductor current signal value of feedback iLsig_fed.Negative-feedback of the value as inductive current reference value.
In order to verify set forth herein the virtual resistance shunt capacitances of Buck circuit brushless DC motor control systems have
Influence of the source damping method to current resonance.Fig. 8 is the electric machine phase current under the active damping method of virtual resistance shunt capacitance
Oscillogram, wherein 0.5 ohm of damping resistance value.It can be seen that because of the presence of virtual resistance, add and be
The damping of system, electric machine phase current resonance have obtained greatly suppressing, and electric machine phase current can realize fast and stable during commutation.
Embodiment 2：Buck electric capacity series connection virtual resistance
(1) Fig. 9 is the increase in the equivalent circuit diagram after damping resistance.As shown in figure 9, motor commutation moment inductive current
Keep continuous, can be considered constant-current source, its current value is iL.Electric capacity CfInductance both ends, r are connected in parallel on motor phase windingsmFor motor phase
Resistance, LmFor motor phase inductance.R is increased virtual resistance resistance, and equivalent series are on capacitive branch.According to Fig. 9, multiple
Frequency domain row write circuit equation is as follows：
iphase(Lms+rm)=ucf
iLfed=icf+iphase
In formula, icf(s) it is capacitance current under complex frequency domain；
R is the resistance that complex frequency domain is connected with electric capacity；
ucf(s) it is capacitance voltage under complex frequency domain；
iphase(s) it is electric machine phase current under complex frequency domain；
iLfed(s) it is inductive current actual value under complex frequency domain；
Lm(s) it is motor phase inductance under complex frequency domain；
rmFor motor phase resistance under complex frequency domain；
According to above-mentioned complex frequency domain equation, the Buck circuits brushless dc that can make capacitive branch series resistance is electromechanical
Ring control structure figure is flowed, as shown in Figure 10.Wherein iLrefIt is current inner loop inductive current reference value, iLfedIt is inductive current reality
Value.G (s) is inductive current actual value and the transmission function of set-point, under inductive current monocycle control method, transmission function
Approximation can regard 1 as.
(2) as shown in Figure 10,11, the current loop control structure indicates core concept proposed by the present invention：Sampling obtains
IcfIt is handled as follows, the resistance R for the virtual resistance being first multiplied by needed for the system, multiplied by with the inverse of the impedance of the phase of motor oneFeedback quantity is moved on into control signal end, obtains inductor current signal offset iLsig_fed。
In order to verify set forth herein the virtual resistance series capacitances of Buck circuit brushless DC motor control systems have
Influence of the source damping method to current resonance, Figure 12 are the electric machine phase current under the active damping method of virtual resistance series capacitance
Oscillogram.Wherein 1 ohm of damping resistance value.It can be seen that because of the presence of virtual resistance, system is added
Damping, electric machine phase current resonance obtained greatly suppressing, and electric machine phase current can realize fast and stable during commutation.
Embodiment 3：Inverter bus series connection virtual resistance
(1) Figure 13 is the increase in the equivalent circuit diagram after damping resistance.As shown in figure 13, motor commutation moment inductance electricity
Stream keeps continuous, can be considered constant-current source, its current value is iL.Electric capacity CfInductance both ends, r are connected in parallel on motor phase windingsmFor motor
Phase resistance, LmFor motor phase inductance.R is increased virtual resistance resistance, and equivalent series are on inverter bus branch road.According to
Figure 13, it is as follows in complex frequency domain row write circuit equation：
ibus(Lms+rm)=ucf
iLfed=icf+ibus
In formula, icf(s) it is capacitance current under complex frequency domain；
R is the resistance connected under complex frequency domain with inverter bus；
ucf(s) it is capacitance voltage under complex frequency domain；
ibus(s) it is inverter bus current under complex frequency domain；
iLfed(s) it is inductive current actual value under complex frequency domain；
Lm(s) it is motor phase inductance under complex frequency domain；
rmFor motor phase resistance under complex frequency domain；
According to above-mentioned complex frequency domain equation, the Buck circuits brushless dc that can make capacitive branch series resistance is electromechanical
Ring control structure figure is flowed, as shown in figure 14.Wherein iLrefIt is current inner loop inductive current reference value, iLfedIt is inductor current feedback
Value.
(2) as shown in figure 15, the current loop control structure indicates core concept proposed by the present invention：What sampling obtained
ibusIt is handled as follows, the resistance R for the virtual resistance being first multiplied by needed for the system, multiplied by with the complex frequency domain impedance of Buck electric capacity
Cs, feedback quantity is moved on into control signal end, obtain inductor current signal offset iLsig_fed。
In order to verify set forth herein the virtual resistance series capacitances of Buck circuit brushless DC motor control systems have
Influence of the source damping method to current resonance, Figure 16 are the electric machine phase current under the active damping method of virtual resistance series capacitance
Oscillogram.Wherein 2 ohm of damping resistance value.It can be seen that because of the presence of virtual resistance, system is added
Damping, electric machine phase current resonance obtained greatly suppressing, and electric machine phase current can realize fast and stable during commutation.
It should be noted that the phase current impact of commutation start time, is due to the Buck circuit brshless DC motor controls
Caused by system processed have chosen small capacitances, scope etc is not discussed in the present invention.
In summary, the active damping method of Buck circuit brushless DC motor control systems proposed by the invention, lead to
The control algolithm of system is crossed to realize the effect of damping, on the premise of system loss is not increased, is effectively increased system resistance
Buddhist nun, it is suppressed that the resonance of electric machine phase current, improve the stability of control system.The algorithm can be in brshless DC motor commutation
Period efficiently reduces impact of the busbar voltage to electric machine phase current, it is suppressed that electric machine phase current resonance, realizes good control
Effect processed.
It is understood that for those of ordinary skills, can be with technique according to the invention scheme and its hair
Bright design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Protect scope.
Claims (8)
- A kind of 1. active damping method of Buck circuits brushless DC motor control system, it is characterised in that：Using data signal Processor calculates feedback signal n of the motor speed as motor speed ring in real timefed, the motor speed signal n with settingrefSubtract each other It is controlled by pi regulator, obtains rotating speed outer shroud output valve, be set to iLref, and as the set-point of inner ring；Inner ring is Electric current loop, feedback i of the digital signal processor real-time sampling Buck inductive currents as current inner loopLfed, it is defeated with rotating speed outer shroud Go out value iLrefSubtract each other through one circle control policy control Buck circuits, control signal is by controlling three contraries caused by Buck circuits Become device with controlled motor；The anode of the forward voltage output end connection three-phase inverter bus of the Buck circuits, the negative pole connection three of Buck circuits The negative terminal of phase inverter bus；Wherein, respectively by Buck bus capacitor parallel virtuals resistance either Buck bus capacitors connect virtual resistance or In inverter bus series connection virtual resistance, increase system damping, it is suppressed that because of the parameter of electric machine and Buck circuit parameters mismatch Caused strong system resonance.
- 2. a kind of active damping method of Buck circuits brushless DC motor control system according to claim 1, it is special Sign is：This method provides a kind of Buck circuits brushless DC motor control system, specifically includes power supply, Buck circuits, motor And three-phase inverter；The positive pole of the positive pole connection Buck circuits of the power supply, the negative pole of the negative pole connection Buck circuits of power supply；The anode of the forward voltage output end connection three-phase inverter bus of the Buck circuits, the negative pole connection three of Buck circuits The negative terminal of phase inverter bus；On the midpoint connection brshless DC motor three-phase of each phase of three-phase inverter.
- 3. a kind of active damping method of Buck circuits brushless DC motor control system according to claim 2, it is special Sign is：This method provides a kind of Buck circuits brushless DC motor control system, wherein Buck electric capacity parallel virtual resistance is given, It is equivalent to virtual resistance one end to be connected with power cathode, the other end and one end of Buck electric capacity and one end phase of Buck inductance Even；Specifically include following steps：Step 1, the capacitance voltage u in sampling Buck circuits in a controlling cycle start timecf；Step 2, when brshless DC motor commutation, digital signal processor calculates motor speed as motor speed ring in real time Feedback, subtract each other with the motor speed value of setting and be adjusted by pi regulator, as the output valve of motor speed outer shroud, i.e., Inductive current reference value iLref；Step 3, the circuit expressions formula of the control system is formulated, and carries out Laplace transformation, the electricity of system is drawn according to Laplace transformation Ring control structure is flowed, and equivalent transformation is carried out to the structure；Step 4, obtained u will be sampled in step 1cfIt is handled as follows, the inverse for the virtual resistance being first multiplied by needed for the system 1/R, inductor current signal value of feedback i is obtained multiplied by with inductive current one circle control transmission function G (s)Lsig_fed；Step 5, by inductor current signal value of feedback iLsig_fedAs inductive current reference value iLrefNegative-feedback, be added to electricity Inducing current reference value iLrefInput.
- 4. a kind of active damping method of Buck circuits brushless DC motor control system according to claim 3, it is special Sign is：Obtained u will be sampled in Laplace transformationcfIt is converted into inductor current signal value of feedback iLsig_fed, the following institute of its formula Show：<mrow> <msub> <mi>i</mi> <mrow> <mi>L</mi> <mi>s</mi> <mi>i</mi> <mi>g</mi> <mo>_</mo> <mi>f</mi> <mi>e</mi> <mi>d</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mn>1</mn> <mi>R</mi> </mfrac> <mi>G</mi> <mo>(</mo> <mi>s</mi> <mo>)</mo> <msub> <mi>u</mi> <mrow> <mi>c</mi> <mi>f</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>In formula：iLsig_fed(s) it is inductor current signal value of feedback under complex frequency domain；ucf(s) it is capacitance voltage value under complex frequency domain；R is the virtual resistance resistance of Buck electric capacity parallel connection in the control system under complex frequency domain；G (s) is inductive current one circle control transmission function under complex frequency domain, under one circle control mode, inductor current feedback Value follows set-point, and G (s) is approximately 1.
- 5. a kind of active damping method of Buck circuits brushless DC motor control system according to claim 2, it is special Sign is：This method provides a kind of Buck circuits brushless DC motor control system, wherein Buck electric capacity series connection virtual resistance is given, The one end for being equivalent to virtual resistance one end Buck electric capacity is connected, and the other end is connected with one end of Buck inductance；This method comprises the following steps：Step 1, the capacitance current i in sampling Buck circuits in a controlling cycle start timecf；Step 2, when brshless DC motor commutation, digital signal processor calculates motor speed as motor speed ring in real time Feedback, be adjusted with the motor speed set-point of setting by pi regulator, as the output valve of motor speed outer shroud, i.e., Inductive current reference value iLref；Step 3, the circuit expressions formula of the control system is formulated, and carries out Laplace transformation, the electricity of system is drawn according to Laplace transformation Ring control structure is flowed, and equivalent transformation is carried out to the structure；Step 4, obtained i will be sampled in step 1cfIt is handled as follows, the resistance for the virtual resistance being first multiplied by needed for the system R, multiplied by with the inverse of the impedance of the phase of motor oneInductive current one circle control transmission function G (s) is multiplied by, will be fed back Amount moves on to control signal end, obtains inductor current signal value of feedback iLsig_fed, wherein, rmFor motor phase resistance, LmFor motor phase Inductance；Step 5, by inductor current signal value of feedback iLsig_fedInductive current reference value i is added to as negative-feedbackLref。
- 6. a kind of active damping method of Buck circuits brushless DC motor control system according to claim 5, it is special Sign is：Obtained i will be sampled in pull-type changecfIt is converted into inductor current signal value of feedback iLsig_fed, the following institute of its formula Show：<mrow> <msub> <mi>i</mi> <mrow> <mi>L</mi> <mi>s</mi> <mi>i</mi> <mi>g</mi> <mo>_</mo> <mi>f</mi> <mi>e</mi> <mi>d</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>i</mi> <mrow> <mi>c</mi> <mi>f</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mi>R</mi> <mfrac> <mn>1</mn> <mrow> <msub> <mi>r</mi> <mi>m</mi> </msub> <mo>+</mo> <msub> <mi>L</mi> <mi>m</mi> </msub> <mi>s</mi> </mrow> </mfrac> <mi>G</mi> <mo>(</mo> <mi>s</mi> <mo>)</mo> <mo>;</mo> </mrow>In formula, all variables are all the values under complex frequency domain；iLsig_fed(s) it is inductor current signal value of feedback under complex frequency domain；icf(s) it is capacitance current value under complex frequency domain；R is the value of the virtual resistance that Buck electric capacity is connected in the control system under complex frequency domain；For the phase of impedance of motor one complex frequency domain inverse；G (s) is inductive current one circle control transmission function under complex frequency domain, under one circle control mode, inductor current feedback Amount follows specified rate all the time, therefore G (s) is approximately 1.
- 7. a kind of active damping method of Buck circuits brushless DC motor control system according to claim 2, it is special Sign is：This method provides a kind of Buck circuits brushless DC motor control system, wherein, connected to three-phase inverter bus empty Intend resistance, be equivalent to virtual resistance one end Buck electric capacity and Buck inductance one end and be connected, other end three-phase inverter is female Line is connected；This method comprises the following steps：Step 1, inverter bus current is sampled in a controlling cycle start time, ignores motor phase of impedance during commutation herein Influence of the change of series-parallel system to damped coefficient, inverter bus current are designated as i instead of phase currentbus；Step 2, when brshless DC motor commutation, digital signal processor calculates motor speed as motor speed ring in real time Feedback, be adjusted with the motor speed set-point of setting by pi regulator, as the output valve of motor speed outer shroud, It is exactly inductive current reference value iLref；Step 3, the circuit expressions formula of the control system is formulated, and carries out Laplace transformation, the electricity of system is drawn according to Laplace transformation Ring control structure is flowed, and equivalent transformation is carried out to the structure；Step 4, obtained i will be sampled in step 1busIt is handled as follows, the resistance for the virtual resistance being first multiplied by needed for the system R, multiplied by with the complex frequency domain impedance Cs of Buck electric capacity, inductive current one circle control transmission function G (s) is multiplied by, feedback quantity is moved To control signal end, inductor current signal value of feedback i is obtainedLsig_fed；Step 5, by inductor current signal value of feedback iLsig_fedInductive current reference value i is added to as negative-feedbackLref。
- 8. a kind of active damping method of Buck circuits brushless DC motor control system according to claim 7, it is special Sign is：Obtained i will be sampled in Laplace transformationbusIt is converted into inductor current signal value of feedback iLsig_fed, the following institute of its formula Show：iLsig_fed(s)=ibus(s)RCsG(s)；In formula, all variables are all the values under complex frequency domainiLsig_fed(s) it is inductor current signal value of feedback under complex frequency domain；Ibus(s) it is three-phase inverter bus current under complex frequency domain；R is the value of the virtual resistance that inverter bus is connected in the control system under complex frequency domain；Cs is the complex frequency domain impedance of Buck electric capacity under complex frequency domain；G (s) is inductive current one circle control transmission function under complex frequency domain, under one circle control mode, inductor current feedback Value follows set-point, and G (s) is approximately 1.
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| CN110266229B (en) * | 2019-07-23 | 2020-12-11 | 哈尔滨工业大学 | Resonance suppression method for air conditioner driving system of electrolytic capacitor-free permanent magnet synchronous motor |
| CN110504874B (en) * | 2019-08-19 | 2021-04-27 | 南京信息工程大学 | Brushless direct current motor boosting rotating speed closed-loop control method |
| CN111711401B (en) * | 2020-06-24 | 2023-07-18 | 中国科学院光电技术研究所 | Current correction method without sensor in motor control system |
| CN113258775A (en) * | 2021-06-07 | 2021-08-13 | 长沙理工大学 | Active damping control method for direct-current micro-grid |
| CN114421827B (en) * | 2021-12-31 | 2024-03-22 | 北京工业大学 | Multi-state variable feedback active damping control method for permanent magnet synchronous motor |
| CN114583934B (en) * | 2022-05-06 | 2022-07-26 | 浙江富特科技股份有限公司 | Control unit, power conversion device and method for inhibiting output voltage ripple |
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