CN104934943B - Over-pressure safety device, over-voltage protection method and no electrolytic capacitor motor driven systems - Google Patents
Over-pressure safety device, over-voltage protection method and no electrolytic capacitor motor driven systems Download PDFInfo
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- CN104934943B CN104934943B CN201510337347.XA CN201510337347A CN104934943B CN 104934943 B CN104934943 B CN 104934943B CN 201510337347 A CN201510337347 A CN 201510337347A CN 104934943 B CN104934943 B CN 104934943B
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Abstract
The present invention relates to Motor Control Field, discloses a kind of over-pressure safety device, over-voltage protection method and no electrolytic capacitor motor driven systems.Wherein over-pressure safety device includes：Voltage detection module, detects DC bus-bar voltage V in real timedc；Current compensation amount computing module, is connected with voltage detection module, according to the DC bus-bar voltage V of detectiondcWith default safe voltage Vdc_maxCalculating current offset；And current control module, it is connected with current compensation amount computing module, according to the current offset values of calculating and initial current command value generation ultimate current command value, and inverter is adjusted according to ultimate current command value and is inputted to the three-phase current of motor, to avoid no electrolytic capacitor motor driven systems excessive pressure damages.Use above-mentioned over-pressure safety device, method and no electrolytic capacitor motor driven systems; can be according to the DC bus-bar voltage detected in real time and the three-phase current of default safe voltage adjustment motor; and then decline excessive DC bus-bar voltage, realize the purpose of overvoltage protection.
Description
Technical Field
The invention relates to the field of motor control, in particular to an overvoltage protection device, an overvoltage protection method and an electrolytic capacitor-free motor driving system.
Background
Along with the improvement of energy conservation requirements of consumers on electromechanical products, the variable frequency motor driver with higher efficiency is more and more widely applied. The direct current bus voltage of the conventional variable frequency driver is in a stable state, and the inversion part is relatively independent from the input alternating current voltage, so that the control of the inversion part does not need to consider the instantaneous change of the input voltage, and the control method is convenient to realize. However, this design method requires an electrolytic capacitor with a large capacitance, which makes the driver bulky and increases the cost accordingly. In addition, electrolytic capacitors have a limited lifetime and their effective operating time tends to be a bottleneck for the lifetime of the drive.
In order to solve the above problems, a motor driver using an electrolytic capacitor-less capacitor has been proposed in the prior art. The film capacitor with the capacitance value of only 20uF replaces the electrolytic capacitor with the large capacitance value used previously, and the speed regulation of the motor can be realized and the harmonic wave of the input current can be reduced by controlling the shape matching of the instantaneous power of the motor and the alternating current input voltage, so that the high power factor of the motor driver is realized. In addition, the motor driver without electrolytic capacitor has the advantages of low cost and long service life, and is widely applied at present. However, since the filter capacitor with a small capacitance value is adopted in the capacitor-less motor driver, when the motor enters an instantaneous power generation state due to load fluctuation or output torque fluctuation, the voltage across the capacitor will rise rapidly, which may cause the dc bus voltage to exceed the allowable voltage range of the capacitor-less capacitor or power device, and an instantaneous overvoltage phenomenon occurs. In this case, without any protective measures, it would be possible for the motor drive without electrolytic capacitor to be damaged by overvoltage.
Disclosure of Invention
The invention aims to provide an overvoltage protection device, an overvoltage protection method and an electrolytic capacitor-free motor driving system, and aims to solve the problem that the electrolytic capacitor-free motor driving system is damaged due to instantaneous overvoltage in the prior art.
In order to achieve the above object, the present invention provides an overvoltage protection device for protecting an electrolytic capacitor-less motor drive system including an inverter for supplying a three-phase current to a motor, wherein the overvoltage protection device includes: a voltage detection module for detecting the DC bus voltage V in real time dc (ii) a A current compensation amount calculation module connected with the voltage detection module and used for calculating the current compensation amount according to the detected DC bus voltage V dc And a preset safety voltage V dc_max Calculating a current compensation value; and a current control module connected with the current compensation amount calculation module and used for generating an initial current instruction value according to the calculated current compensation valueAnd a final current instruction value is obtained, and the three-phase current input to the motor by the inverter is adjusted according to the final current instruction value so as to avoid overvoltage damage of the motor driving system without the electrolytic capacitor.
The invention also provides an electrolytic capacitor-free motor driving system which comprises the overvoltage protection device.
The present invention also provides an overvoltage protection method for protecting an electrolytic capacitor-less motor drive system including an inverter for supplying three-phase current to the motor, wherein the overvoltage protection method includes: real-time detection direct-current bus voltage V dc (ii) a According to the detected DC bus voltage V dc And a preset safety voltage V dc_max Calculating a current compensation value; and generating a final current instruction value according to the calculated current compensation value and the initial current instruction value, and adjusting the three-phase current input to the motor by the inverter according to the final current instruction value so as to avoid overvoltage damage of the motor driving system without the electrolytic capacitor.
According to the technical scheme, the current compensation value is calculated according to the real-time detected direct-current bus voltage and the preset safe voltage, the final current instruction value is generated according to the current compensation value and the initial current instruction value, the three-phase current input to the motor by the inverter can be adjusted according to the final current instruction value, and the three-phase current of the motor can change along with the final current instruction value. Therefore, the voltage of the direct-current bus can be reduced to be lower than the preset safe voltage through the adjustment of the three-phase current of the motor, the purpose of overvoltage protection is achieved, and overvoltage damage of the motor driving system without the electrolytic capacitor is avoided.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of an overvoltage protection device according to an embodiment of the invention;
fig. 2 is a block diagram of a current compensation amount calculation module in an overvoltage protection device according to an embodiment of the present invention;
FIG. 3 is a block diagram of a current control module in an overvoltage protection device in accordance with one embodiment of the invention;
FIG. 4 is a block diagram of an electrolytic capacitor-less motor drive system according to one embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an electrolytic capacitor-less motor drive system according to one embodiment of the present invention; and
fig. 6 is a flow chart of a method of overvoltage protection according to an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a block diagram of an overvoltage protection device according to an embodiment of the invention.
As shown in fig. 1, the present invention provides an overvoltage protection device for protecting an electrolytic capacitor-less motor drive system including an inverter for supplying three-phase current to a motor, wherein the overvoltage protection device includes: a voltage detection module 10 for detecting the DC bus voltage V in real time dc (ii) a A current compensation calculating module 12 connected to the voltage detecting module 10 for calculating the current compensation according to the detected DC bus voltage V dc And a preset safety voltage V dc_max Calculating a current compensation value; and a current control module 14 connected to the current compensation amount calculation module 12, for generating a final current instruction value according to the calculated current compensation value and the initial current instruction value, and adjusting the inverter input according to the final current instruction valueThree-phase current to the motor to avoid overvoltage damage to the electrolytic capacitor-less motor drive system.
The method comprises the steps of detecting the voltage of the direct current bus in real time, calculating a current compensation value according to the voltage of the direct current bus detected in real time and a preset safe voltage, and generating a final current instruction value according to the current compensation value and an initial current instruction value, so that the three-phase current input to the motor by the inverter can be adjusted according to the final current instruction value, and the three-phase current of the motor can change along with the final current instruction value. Therefore, the voltage of the direct-current bus can be reduced to be lower than the preset safe voltage through the adjustment of the three-phase current of the motor, the purpose of overvoltage protection is achieved, and overvoltage damage of the motor driving system without the electrolytic capacitor is avoided.
The voltage detection module 10 may use a module, a component or a circuit capable of detecting voltage, which is known in the art. For a preset safety voltage V dc_max The skilled person can preset it according to the actual situation. Preferably, a safety voltage V is preset dc_max Typically less than the maximum withstand voltage value of the inverter (i.e., the maximum dc bus voltage). For example, when an inverter having a maximum withstand voltage of 600V is used in an electrolytic capacitor-less motor drive system, a safety voltage V is preset dc_max May take the value of 480V. The above examples are merely illustrative and are not intended to limit the present invention.
Fig. 2 is a block diagram of a current compensation amount calculation module in an overvoltage protection device according to an embodiment of the present invention.
As shown in fig. 2, the current compensation amount calculating module 12 in the overvoltage protection device according to an embodiment of the present invention includes: a subtractor 120 for calculating the detected DC bus voltage V dc And the preset safety voltage V dc_max Difference value V between dc_err (ii) a A first PI controller 122 connected to the subtractor 120 for receiving the difference V dc_err Calculating Q-axis current compensation value I q_com0 (ii) a And a limiter 124 connected to the first PI controller 122 for compensating the Q-axis current by the value I q_com0 Is less than zeroFiltering the Q-axis current compensation value to obtain a Q-axis current compensation value I greater than or equal to zero q_com . Referring to fig. 2, first, the detected dc bus voltage V dc And the preset safety voltage V dc_max The difference V between the two is obtained by the subtracter 120 dc_err . (i.e., V) dc -V dc_max ＝V dc_err ) (ii) a Second, the difference V dc_err Obtaining a Q-axis current compensation value I through a first PI controller 122 q_com0 (ii) a Finally, the Q-axis current compensation value I q_com0 The Q-axis current compensation value I greater than or equal to zero is obtained through the amplitude limiter 124 q_com 。
According to an embodiment of the present invention, the first PI controller 122 is based on the difference V by the following formula dc_err Calculating Q-axis current compensation value I q_com0 ：
Wherein, K p >, 0, representing the current control proportional gain coefficient, K i &And gt, 0 represents the current control integral gain coefficient, tau represents time, and t represents the current moment.
According to an embodiment of the present invention, the limiter 124 compensates the Q-axis current by the following formula q_com0 Filtering out the Q-axis current compensation value less than zero to obtain a Q-axis current compensation value I greater than or equal to zero q_com ：
According to an embodiment of the present invention, the overvoltage protection device further includes a current detection module and an angle measurement module, the current detection module is connected to the current control module, and the current detection module is configured to detect an actual current value I of a D-axis of the motor d And Q-axis actual current value I q And the angle measuring module is used for detecting the rotor angle theta of the motor.
The current detecting module may be a module, a component or a circuit capable of detecting current, which is known in the art, and the angle measuring module may be an encoder, but the present invention is not limited thereto.
Fig. 3 is a block diagram of a current control module in an overvoltage protection device according to an embodiment of the invention.
As shown in fig. 3, the current control module 14 according to an embodiment of the present invention includes: an adder 140 for compensating the Q-axis current I greater than or equal to zero q_com And Q-axis initial current command value I q_ref0 Adding the Q-axis final current command value I q_ref (ii) a A second PI controller 142 connected to the adder 140 for controlling the Q-axis final current command value I according to the Q-axis final current command value q_ref D-axis current command value I d_ref And the D-axis actual current value I d And the Q-axis actual current value I q Calculating a D-axis voltage command value V d And Q-axis voltage command value V q (ii) a A coordinate converter 144 connected to the second PI controller 142 for converting the D-axis voltage command value V according to the rotor angle θ d And the Q-axis voltage command value V q Coordinate transformation is carried out to obtain a voltage command value V on a fixed coordinate system α And V β (ii) a A duty ratio calculation controller 146 connected to the coordinate converter 144 for calculating a duty ratio according to the voltage command value V on the fixed coordinate system α And V β And the detected DC bus voltage V dc Calculating a three-phase duty cycle D of the inverter u 、D v And D w And according to the calculated three-phase duty ratio D u 、D v And D w And adjusting the inverter to realize the adjustment of the three-phase current input to the motor by the inverter.
Referring to FIG. 3, first, the Q-axis current compensation value I greater than or equal to zero q_com And Q-axis initial current command value I q_ref0 The Q-axis final current command value I is generated by the adder 140 q_ref (ii) a Next, the Q-axis final current command value I q_ref D-axis current command value I d_ref And the D-axis practiceCurrent value I d And the Q-axis actual current value I q Obtaining a D-axis voltage command value V through a second PI controller d And Q-axis voltage command value V q (ii) a Thirdly, the D-axis voltage command value V d And the Q-axis voltage command value V q Obtaining a voltage command value V on a fixed coordinate system via a coordinate converter 144 α And V β (ii) a Finally, a voltage command value V on the fixed coordinate system α And V β And the detected DC bus voltage V dc The three-phase duty ratio D of the inverter is obtained through the duty ratio calculation controller 146 u 、D v And D w And according to the calculated three-phase duty ratio D u 、D v And D w And adjusting the inverter to realize the adjustment of the three-phase current input to the motor by the inverter.
The second PI controller is a current PI controller. Further, Q-axis initial current command value I q_ref0 And D-axis current command value I d_ref All can be provided by a speed controller of a motor driving system without electrolytic capacitors, and the specific providing process can be realized by adopting the technology in the prior art by a person skilled in the art, and the details are not repeated herein. For D-axis current command value I d_ref It is not affected by instantaneous overvoltage, so the value output by the speed controller of the electrolytic capacitor-less motor drive system can be used directly.
According to an embodiment of the present invention, the second PI controller 142 calculates the D-axis voltage command value V by the following formula d And the Q-axis voltage command value V q ：
V d ＝V d0 -ωL q I q
V q ＝V q0 +ωL d I d +ωK e ，
Wherein, K pd And K id Respectively D-axis current control proportional gain and D-axis current control integral gain, K pq And K iq Proportional gain and integral gain of Q-axis current control, omega is the rotation speed of the motor, K e Is the back emf coefficient of the motor, L d And L q The inductance of the D axis and the inductance of the Q axis are respectively, τ represents time, and t represents the current time.
According to an embodiment of the present invention, the coordinate converter 144 may apply the D-axis voltage command value V to the rotor angle θ according to the following formula d And the Q-axis voltage command value V q Coordinate transformation is carried out to obtain a voltage command value V on the fixed coordinate system α And V β ：
V α ＝V d cosθ-V q sinθ
V β ＝V d sinθ+V q cosθ。
According to an embodiment of the present invention, the duty ratio calculation controller 146 calculates the duty ratio according to the voltage command value V on the fixed coordinate system by the following formula α And V β And the detected DC bus voltage V dc Calculating the three-phase duty ratio D of the inverter u 、D v And D w ：
V u ＝V α
And
D u ＝(V u +0.5V dc )/V dc
D v ＝(V v +0.5V dc )/V dc
D w ＝(V w +0.5V dc )/V dc 。
FIG. 4 is a block diagram of an electrolytic capacitor-less motor drive system according to one embodiment of the present invention.
As shown in fig. 4, the motor driving system without electrolytic capacitor according to the present invention includes the overvoltage protection device described in the above embodiment, the system further includes a speed controller 16 and an inverter (not shown), the speed controller 16 is configured to output a Q-axis initial current command value I q_ref0 And D-axis current command value I d_ref (ii) a The inverter is used for providing three-phase current for the motor. Calculating the three-phase duty cycle D output by the controller 146 according to the duty cycle u 、D v And D w And adjusting the inverter can realize the adjustment of the three-phase current input to the motor by the inverter. Therefore, the purpose of overvoltage protection is realized, and overvoltage damage of a motor driving system without electrolytic capacitor is avoided.
Fig. 5 is a schematic structural diagram of an electrolytic capacitor-less motor driving system according to an embodiment of the present invention.
A structure of an electrolytic capacitor-less motor driving system according to an embodiment of the present invention is shown in fig. 5, and the system includes: a rectifier circuit 50, a reactor L, an electrolytic capacitor-less C, an inverter 52, and the overvoltage protection device 100 in the above embodiment. The power source connected to the system is an Alternating Current (AC) power source, and an inverter 52 of the system is connected to a motor 54, and the inverter 52 inputs three-phase current to the motor 54. The capacitor C without electrolytic capacitor may be, for example, a thin film capacitor or a ceramic capacitor, and the capacitance value of the thin film capacitor or the ceramic capacitor is small (usually less than 30 uF), so that the main function of the capacitor C is to eliminate a voltage spike caused by switching of the inverter and avoid damage to the inverter caused by the voltage spike.
If the motor is in a power generation state (for example, when the load fluctuates or the output torque fluctuates, the motor may enter the power generation state briefly), the voltage of the film capacitor or the ceramic capacitor will drop and rise rapidly, and the inverter overvoltage damage of the motor driving system without the electrolytic capacitor is easily caused. By using the overvoltage protection device, the motor driving system without the electrolytic capacitor and the overvoltage protection method, provided by the invention, the voltage of the direct-current bus can be reduced to be lower than the preset safe voltage by adjusting the three-phase current of the motor, so that the purpose of overvoltage protection is realized, and the overvoltage damage of the motor driving system without the electrolytic capacitor is avoided.
In FIG. 5, V dc Representing the voltage across a thin-film or ceramic capacitor (i.e. the DC bus voltage V) dc ) Iin denotes the input current, iu, v, w denotes the motor u, v, w three-phase current.
Fig. 6 is a flow chart of a method of overvoltage protection according to an embodiment of the invention.
As shown in fig. 6, the present invention provides an overvoltage protection method for protecting an electrolytic capacitor-less motor driving system including an inverter for supplying a three-phase current to the motor, wherein the overvoltage protection method includes:
s600, detecting the voltage V of the direct current bus in real time dc ；
S602, according to the detected DC bus voltage V dc And a preset safety voltage V dc_max Calculating a current compensation value; and
and S604, generating a final current instruction value according to the calculated current compensation value and the initial current instruction value, and adjusting the three-phase current input to the motor by the inverter according to the final current instruction value so as to avoid overvoltage damage of the motor driving system without the electrolytic capacitor.
The method comprises the steps of detecting the voltage of the direct current bus in real time, calculating a current compensation value according to the voltage of the direct current bus detected in real time and a preset safe voltage, and generating a final current instruction value according to the current compensation value and an initial current instruction value, so that the three-phase current input to the motor by the inverter can be adjusted according to the final current instruction value, and the three-phase current of the motor can change along with the final current instruction value. Therefore, the voltage of the direct-current bus can be reduced to be lower than the preset safe voltage through the adjustment of the three-phase current of the motor, the purpose of overvoltage protection is achieved, and overvoltage damage of the motor driving system without the electrolytic capacitor is avoided.
In the method, step S602 includes:
s6020, calculating the detected DC bus voltage V dc And the preset safety voltage V dc_max Difference value V between dc_err ；
S6022, according to the difference V dc_err Calculating Q-axis current compensation value I q_com0 (ii) a And
s6024, compensating the Q-axis current by the value I q_com0 Filtering the Q-axis current compensation value less than zero to obtain a Q-axis current compensation value I greater than or equal to zero q_com 。
According to one embodiment of the invention, the difference V is determined by the following formula dc_err Calculating Q-axis current compensation value I q_com0 ：
Wherein, K p >, 0, representing the current control proportional gain coefficient, K i &And gt, 0, representing the current control integral gain coefficient, tau representing time, and t representing the current moment.
According to one embodiment of the present invention, the Q-axis current is compensated for value I by the following formula q_com0 Filtering out the Q-axis current compensation value less than zero to obtain a Q-axis current compensation value I greater than or equal to zero q_com ：
According to an embodiment of the invention, the method further comprises:
detecting D-axis actual current value I of motor d And Q-axis actual current value I q (ii) a And
a rotor angle theta of the motor is detected.
In the method, step S604 includes:
s6040, and enabling the Q-axis current greater than or equal to zeroOffset value I q_com And Q-axis initial current command value I q_ref0 Adding the Q-axis final current command value I q_ref ；
S6042, according to the Q axis final current instruction value I q_ref D-axis current command value I d_ref And the D-axis actual current value I d And the Q-axis actual current value I q Calculating a D-axis voltage command value V d And Q-axis voltage command value V q ；
S6044, according to the rotor angle theta, the D-axis voltage instruction value V d And the Q-axis voltage command value V q Coordinate transformation is carried out to obtain a voltage command value V on a fixed coordinate system α And V β ；
S6046, according to the voltage command value V on the fixed coordinate system α And V β And the detected DC bus voltage V dc Calculating a three-phase duty cycle D of the inverter u 、D v And D w And according to the calculated three-phase duty ratio D u 、D v And D w And adjusting the inverter to realize the adjustment of the three-phase current input to the motor by the inverter.
According to one embodiment of the present invention, the D-axis voltage command value V is calculated by the following formula d And the Q-axis voltage command value V q ：
V d ＝V d0 -ωL q I q
V q ＝V q0 +ωL d I d +ωK e ，
Wherein, K pd And K id Respectively, D-axis current control proportional gain and D-axis current control productFractional gain, K pq And K iq Proportional gain and integral gain of Q-axis current control, omega is the rotation speed of the motor, K e Is the back emf coefficient of the motor, L d And L q The inductance of the D axis and the inductance of the Q axis are respectively, τ represents time, and t represents the current time.
According to one embodiment of the present invention, the D-axis voltage command value V is set according to the rotor angle θ by the following equation d And the Q-axis voltage command value V q Coordinate transformation is carried out to obtain a voltage command value V on the fixed coordinate system α And V β ：
V α ＝V d cosθ-V q sinθ
V β ＝V d sinθ+V q cosθ。
According to an embodiment of the present invention, the voltage command value V on the fixed coordinate system is calculated by the following formula α And V β And the detected DC bus voltage V dc Calculating a three-phase duty cycle D of the inverter u 、D v And D w ：
V u ＝V α
And
D u ＝(V u +0.5V dc )/V dc
D v ＝(V v +0.5V dc )/V dc
D w ＝(V w +0.5V dc )/V dc 。
the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention can be made, and the same should be considered as the disclosure of the present invention as long as the idea of the present invention is not violated.
Claims (19)
1. An overvoltage protection device for protecting an electrolytic capacitor-less motor drive system including an inverter for providing three-phase current to a motor, wherein the overvoltage protection device comprises:
a voltage detection module for detecting the DC bus voltage V in real time dc ；
A current compensation quantity calculating module connected with the voltage detecting module and used for calculating the current compensation quantity according to the detected DC bus voltage V dc And a preset safety voltage V dc_max Calculating a current compensation value; and
and the current control module is connected with the current compensation quantity calculation module and used for generating a final current instruction value according to the calculated current compensation value and the initial current instruction value and adjusting the three-phase current input to the motor by the inverter according to the final current instruction value so as to avoid overvoltage damage of the motor driving system without the electrolytic capacitor.
2. The overvoltage protection device of claim 1, wherein the current compensation amount calculation module comprises:
a subtractor for calculating the detected DC bus voltage V dc And the preset safety voltage V dc_max Difference value V between dc_err ；
First PI controlA subtractor connected to the subtractor for subtracting the difference V dc_err Calculating Q-axis current compensation value I q_com0 (ii) a And
a limiter connected with the first PI controller for compensating the Q-axis current by a value I q_com0 Filtering out the Q-axis current compensation value less than zero to obtain a Q-axis current compensation value I greater than or equal to zero q_com 。
3. The overvoltage protection device of claim 2, wherein the first PI controller is based on the difference V by the following equation dc_err Calculating Q-axis current compensation value I q_com0 ：
Wherein, K p >, 0, representing the current control proportional gain coefficient, K i &And gt, 0, representing the current control integral gain coefficient, tau representing time, and t representing the current moment.
4. The overvoltage protection device of claim 3, wherein the limiter compensates the Q-axis current by a value I by q_com0 Filtering out the Q-axis current compensation value less than zero to obtain a Q-axis current compensation value I greater than or equal to zero q_com ：
5. The overvoltage protection device according to any one of claims 2 to 4, wherein the overvoltage protection device further comprises a current detection module and an angle measurement module, the current detection module is connected with the current control module and is used for detecting the D-axis actual current value I of the motor d And Q-axis actual current value I q And the angle measuring module is used for detecting the rotor angle theta of the motor.
6. The overvoltage protection device of claim 5, wherein the current control module comprises:
an adder for adding the Q-axis current compensation value I greater than or equal to zero q_com And Q-axis initial current command value I q_ref0 Adding the Q-axis final current command value I q_ref ；
A second PI controller connected with the adder and used for controlling the Q-axis final current instruction value I q_ref D-axis current command value I d_ref And the D-axis actual current value I d And the Q-axis actual current value I q Calculating a D-axis voltage command value V d And Q-axis voltage command value V q ；
A coordinate converter connected with the second PI controller and used for converting the D-axis voltage command value V according to the rotor angle theta d And the Q-axis voltage command value V q Coordinate transformation is carried out to obtain a voltage command value V on a fixed coordinate system α And V β ；
A duty ratio calculation controller connected with the coordinate converter and used for calculating the duty ratio according to the voltage command value V on the fixed coordinate system α And V β And the detected DC bus voltage V dc Calculating the three-phase duty ratio D of the inverter u 、D v And D w And according to the calculated three-phase duty ratio D u 、D v And D w And adjusting the inverter to realize the adjustment of the three-phase current input to the motor by the inverter.
7. The overvoltage protection device according to claim 6, wherein the second PI controller calculates the D-axis voltage command value V by the following formula d And the Q-axis voltage command value V q ：
V d ＝V d0 -ωL q I q
V q ＝V q0 +ωL d I d +ωK e ，
Wherein, K pd And K id Respectively, D-axis current control proportional gain and D-axis current control integral gain, K pq And K iq Respectively Q-axis current control proportional gain and current control integral gain, omega is the rotation speed of the motor, K e Is the back emf coefficient of the motor, L d And L q The inductance of the D axis and the inductance of the Q axis are respectively, τ represents time, and t represents the current time.
8. The overvoltage protection device according to claim 6, wherein the coordinate converter applies the D-axis voltage command value V according to the rotor angle θ by the following formula d And the Q-axis voltage command value V q Coordinate transformation is carried out to obtain a voltage command value V on the fixed coordinate system α And V β ：
V α ＝V d cosθ-V q sinθ
V β ＝V d sinθ+V q cosθ。
9. The overvoltage protection device of claim 6, wherein the duty cycle calculation controller calculates the command voltage value V from the fixed coordinate system according to the following formula α And V β And the detected DC bus voltage V dc Calculating a three-phase duty cycle D of the inverter u 、D v And D w ：
V u ＝V α
And
D u ＝(V u +0.5V dc )/V dc
D v ＝(V v +0.5V dc )/V dc
D w ＝(V w +0.5V dc )/V dc 。
10. an electrolytic capacitor-less motor drive system comprising an overvoltage protection device as claimed in any one of claims 1 to 9.
11. An overvoltage protection method for protecting an electrolytic capacitor-less motor drive system including an inverter for supplying three-phase current to the motor, wherein the overvoltage protection method comprises:
real-time detection direct-current bus voltage V dc ；
According to the detected DC bus voltage V dc And a preset safety voltage V dc_max Calculating a current compensation value; and
and generating a final current instruction value according to the calculated current compensation value and the initial current instruction value, and adjusting the three-phase current input to the motor by the inverter according to the final current instruction value so as to avoid overvoltage damage of the motor driving system without the electrolytic capacitor.
12. The method of claim 11, wherein the overvoltage protection is based on the detected dc bus voltage V dc And a preset safety voltage V dc_max Calculating the current compensation value includes:
calculating the detected DC bus voltage V dc And the preset safety voltage V dc_max Difference value V between dc_err ；
According to the difference value V dc_err Calculating Q-axis current compensation value I q_com0 (ii) a And
compensating the Q-axis current by a value I q_com0 Filtering out the Q-axis current compensation value less than zero to obtain a Q-axis current compensation value I greater than or equal to zero q_com 。
13. The overvoltage protection method according to claim 12, wherein the difference V is determined by the following formula dc_err Calculating Q-axis current compensation value I q_com0 ：
Wherein, K p >, 0, representing the current control proportional gain coefficient, K i &And gt, 0 represents the current control integral gain coefficient, tau represents time, and t represents the current moment.
14. The overvoltage protection method according to claim 13, wherein the Q-axis current compensation value I is calculated by the following formula q_com0 Filtering the Q-axis current compensation value less than zero to obtain a Q-axis current compensation value I greater than or equal to zero q_com ：
15. The overvoltage protection method according to any one of claims 12-14, wherein the method further comprises:
detecting D-axis actual current value I of motor d And Q-axis actual current value I q (ii) a And
a rotor angle theta of the motor is detected.
16. The overvoltage protection method of claim 15, wherein the generating a final current command value according to the calculated current compensation value and an initial current command value, and adjusting the three-phase current input to the motor by the inverter according to the final current command value comprises:
compensating the Q-axis current greater than or equal to zero by the value I q_com And Q-axis initial current command value I q_ref0 Adding the Q-axis final current command value I q_ref ；
According to the Q-axis final current instruction value I q_ref D-axis current command value I d_ref And the D-axis actual current value I d And the Q-axis actual current value I q Calculating a D-axis voltage command value V d And Q-axis voltage command value V q ；
According to the rotor angle theta, the D-axis voltage instruction value V is obtained d And the Q-axis voltage command value V q Coordinate transformation is carried out to obtain a voltage command value V on a fixed coordinate system α And V β ；
According to the voltage command value V on the fixed coordinate system α And V β And the detected DC bus voltage V dc Calculating the three-phase duty ratio D of the inverter u 、D v And D w And according to the calculated three-phase duty ratio D u 、D v And D w And adjusting the inverter to realize the adjustment of the three-phase current input to the motor by the inverter.
17. The overvoltage protection method according to claim 16, wherein the D-axis voltage command value V is calculated by the following formula d And the Q-axis voltage command value V q ：
V d ＝V d0 -ωL q I q
V q ＝V q0 +ωL d I d +ωK e ，
Wherein, K pd And K id Respectively D-axis current control proportional gain and D-axis current control integral gain, K pq And K iq Respectively Q-axis current control proportional gain and current control integral gain, omega is the rotation speed of the motor, K e Is the back emf coefficient of the motor, L d And L q The D-axis inductance and the Q-axis inductance are respectively, τ represents time, and t represents the current time.
18. The overvoltage protection method according to claim 16, wherein the D-axis voltage command value V is given in accordance with the rotor angle θ by the following formula d And the Q-axis voltage command value V q Performing coordinate transformation to obtain a voltage command value V on the fixed coordinate system α And V β ：
V α ＝V d cosθ-V q sinθ
V β ＝V d sinθ+V q cosθ。
19. The overvoltage protection method according to claim 16, wherein the voltage command value V on the fixed coordinate system is calculated by the following formula α And V β And the detected DC bus voltage V dc Calculating a three-phase duty cycle D of the inverter u 、D v And D w ：
V u ＝V α
And
D u ＝(V u +0.5V dc )/V dc
D v ＝(V v +0.5V dc )/V dc
D w ＝(V w +0.5V dc )/V dc 。
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