CN105720884B - Motor permanent torque controls current compensation control method - Google Patents
Motor permanent torque controls current compensation control method Download PDFInfo
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Abstract
The present invention relates to electric machines control technologies.The present invention is to solve a kind of motor permanent torque control current compensation control method the problem of during the control of existing variable-frequency motor, motor phase waveform is not perfect, current fluctuation is big, is provided, technical solution can be summarized as：Detection motor operating current I firstdAnd Iq, by IdAnd IqLow-pass filtering is carried out respectively obtains Id_ Fil and Iq_ Fil, Id_Fil‑Id=Id_ err, Iq_Fil‑Iq=Iq_ err calculates Id_ err and IqThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component are respectively adjusted to 0, obtain the d/q shaft current compensation rates of permanent torque control, finally obtain control current command value according to the d/q shaft currents compensation rate that the permanent torque of acquisition controls.The invention has the advantages that reducing motor power consumption, controlled suitable for variable-frequency motor.
Description
Technical field
The present invention relates to the technologies of electric machines control technology, the more particularly to control of variable-frequency motor permanent torque control current compensation.
Background technology
Traditional variable-frequency motor control technology, the typically no fluctuation according to motor operating current is to controlling current command value
It compensates so that during motor operation, with rotor particularly single-rotor compressor rotor rotating operation one week, due to negative
Carrying the variation of drag torque leads to the fluctuating change of motor output torque, eventually leads to motor operation in non-constant torque conditions
Under.
In order to improve motor operation efficiency, improve motor operation phase current waveform, application No. is CN201310336749's
In patent application " control method of permanent magnet synchronous motor current compensation ", motor operation electricity is obtained using the technology of Fourier transformation
The fundamental voltage amplitude of fluctuation is flowed, motor d/q shaft current control command values are compensated, it is therefore an objective to subtract motor operating current fluctuation
It is small to 0, since the patent application is not to integration period T processing, do not consider the shadow that time constant filter may be brought yet
It rings, so as to cause motor phase waveform not perfect, current fluctuation is big.
Invention content
During the invention aims to solve the control of current variable-frequency motor, motor phase waveform is not perfect, current fluctuation is big
Problem provides a kind of motor permanent torque control current compensation control method.
The present invention solves its technical problem, the technical solution adopted is that, motor permanent torque control current compensation control method,
Include the following steps：
Step 1, the running current for detecting motor d/q axis, are denoted as I respectivelydAnd Iq；
Step 2, by IdAnd IqLow-pass filtering is carried out respectively, respectively obtains Id_ Fil and Iq_Fil；
Step 3, by Id_ Fil subtracts IdObtain Id_ err, and by Iq_ Fil subtracts IqObtain Iq_err；
I is calculated in step 4dThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyd_ err_sin and
Id_ err_cos, and I is calculatedqThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyq_ err_sin and
Iq_err_cos；
Step 5, by Id_err_sin、Id_err_cos、Iq_ err_sin and Iq_ err_cos is respectively adjusted to 0, obtains permanent
The d/q shaft current compensation rates of direct torque, are denoted as I respectively* d_ com and I* q_com；
Step 6 obtains control current command value according to the d/q shaft currents compensation rate that the permanent torque of acquisition controls, and remembers respectively
For I* d_ c and I* q_c。
Specifically, in step 4, it is described that I is calculateddThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, remember respectively
For Id_ err_sin and IdThe method of _ err_cos is：To (Id_ err) cos (θ) carry out low-pass filtering obtain Id_ err_cos, then
To (Id_ err) sin (θ) carry out low-pass filtering obtain Id_err_sin；
It is described that I is calculatedqThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyq_ err_sin and Iq_
The method of err_cos is：To (Iq_ err) cos (θ) carry out low-pass filtering obtain Iq_ err_cos, then to (Iq_err)sin(θ)
It carries out low-pass filtering and obtains Iq_err_sin；
Wherein, θ is rotor mechanical location angle,P is motor number of pole-pairs, and ω is angular frequency.
Further, in step 5, the d/q shaft current compensation rates for obtaining permanent torque control are denoted as I respectively* d_ com and
I* qThe method of _ com is：I is calculated* d_ com and I* q_ com, calculation formula are：
I* d_ com=k1(0-Id_err_cos)cosθ+k2(0-Id_err_sin)sinθ；
I* q_ com=k3(0-Iq_err_cos)cosθ+k4(0-Iq_err_sin)sinθ；
Wherein, k1、k2、k3And k4For by testing the coefficient introduced.
Specifically, the k1、k2、k3And k4Value is identical.
Further, the k1、k2、k3And k4Value range be 1~20.
Specifically, in step 6, the d/q shaft currents compensation rate controlled according to the permanent torque of acquisition obtains control electric current
Bid value is denoted as I respectively* d_ c and I* qThe method of _ c is：I is calculated* d_ c and I* q_ c, calculation formula are：
I* d_ c=I* d+I* d_com；
I* q_ c=I* q+I* q_com；
Wherein I* dThe d axis obtained for maximum moment control or weak magnetic control controls current command value, I* qFor maximum moment
The q axis control current command value that control obtains.
The invention has the advantages that in the present invention program, current compensation is controlled to control by above-mentioned motor permanent torque
Method can reduce motor operation power consumption.
Specific embodiment
With reference to embodiment, detailed description of the present invention technical solution.
The present invention motor permanent torque control current compensation control method be：The running current of motor d/q axis is detected first,
It is denoted as I respectivelydAnd Iq, then by IdAnd IqLow-pass filtering is carried out respectively, respectively obtains Id_ Fil and Iq_ Fil, then by Id_ Fil subtracts
Remove IdObtain Id_ err, and by Iq_ Fil subtracts IqObtain Iq_ err, is then calculated I againdThe fundamental wave sinusoidal component of _ err and
Fundamental wave cosine component, is denoted as I respectivelyd_ err_sin and Id_ err_cos, and I is calculatedqThe fundamental wave sinusoidal component and base of _ err
Wave cosine component, is denoted as I respectivelyq_ err_sin and Iq_ err_cos, then by Id_err_sin、Id_err_cos、Iq_err_sin
And Iq_ err_cos is respectively adjusted to 0, obtains the d/q shaft current compensation rates of permanent torque control, is denoted as I respectively* d_ com and I* q_
Com finally obtains control current command value according to the d/q shaft currents compensation rate that the permanent torque of acquisition controls, is denoted as I respectively* d_c
And I* q_c。
Embodiment
The motor permanent torque control current compensation control method of the embodiment of the present invention, including step in detail below：
Step 1, the running current for detecting motor d/q axis, are denoted as I respectivelydAnd Iq。
Step 2, by IdAnd IqLow-pass filtering is carried out respectively, respectively obtains Id_ Fil and Iq_Fil。
Step 3, by Id_ Fil subtracts IdObtain Id_ err, and by Iq_ Fil subtracts IqObtain Iq_err。
I is calculated in step 4dThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyd_ err_sin and
Id_ err_cos, and I is calculatedqThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyq_ err_sin and
Iq_err_cos。
In this step, according to Fourier transformation, there is the following formula：
Wherein ω is angular frequency.
Since the result of definite integral is not only related with beginning and end, also and initial value has relationship, is integrated from 0 to 180 degree
It is different with being spent from -90 to positive 90 degree of integral results, in order to filter out the influence of initial value for integral, needs to increase after integration
One high pass link after two link series connection, is equivalent to a low-pass filter, so using to (Id_ err) cos (θ) into
I is obtained after row low-pass filteringd_ err_cos, similarly, to (Id_ err) sin (θ) carry out low-pass filtering after obtain Id_ err_sin,
To (Iq_ err) cos (θ) carry out low-pass filtering after obtain Iq_ err_cos, to (Iq_ err) sin (θ) carry out low-pass filtering after obtain
Obtain Iq_ err_sin, wherein, θ is rotor mechanical location angle,P is motor number of pole-pairs, and ω is angular frequency.
Thus, in this step, I is calculateddThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyd_
Err_sin and IdThe method of _ err_cos is：To (Id_ err) cos (θ) carry out low-pass filtering obtain Id_ err_cos, then it is right
(Id_ err) sin (θ) carry out low-pass filtering obtain Id_err_sin；
I is calculatedqThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyq_ err_sin and Iq_err_
The method of cos is：To (Iq_ err) cos (θ) carry out low-pass filtering obtain Iq_ err_cos, then to (Iq_ err) sin (θ) progress
Low-pass filtering obtains Iq_err_sin；
Wherein, θ is rotor mechanical location angle,P is motor number of pole-pairs, and ω is angular frequency.
Step 5, by Id_err_sin、Id_err_cos、Iq_ err_sin and Iq_ err_cos is respectively adjusted to 0, obtains permanent
The d/q shaft current compensation rates of direct torque, are denoted as I respectively* d_ com and I* q_com。
In this step, the d/q shaft current compensation rates of permanent torque control are obtained, are denoted as I respectively* d_ com and I* qThe side of _ com
Method is：I is calculated* d_ com and I* q_ com, calculation formula are：
I* d_ com=k1(0-Id_err_cos)cosθ+k2(0-Id_err_sin)sinθ；
I* q_ com=k3(0-Iq_err_cos)cosθ+k4(0-Iq_err_sin)sinθ；
Wherein, k1、k2、k3And k4To be to consider filtering time length and integration by testing the coefficient introduced
It is introduced after the influence of cycle T, general value is identical, and value range is generally 1~20.
Step 6 obtains control current command value according to the d/q shaft currents compensation rate that the permanent torque of acquisition controls, and remembers respectively
For I* d_ c and I* q_c。
In this step, control current command value is obtained according to the d/q shaft currents compensation rate that the permanent torque of acquisition controls, respectively
It is denoted as I* d_ c and I* qThe method of _ c is：I is calculated* d_ c and I* q_ c, calculation formula are：
I* d_ c=I* d+I* d_com；
I* q_ c=I* q+I* q_com；
Wherein I* dD axis for the acquisitions such as maximum moment control or weak magnetic control controls current command value, I* qFor maximum, force
The q axis control current command value of the acquisitions such as square control.
By experiment, staff has found that, when 50Hz works, testing of electric motors runs power using after above method compensation
Decline about 10W, effect clearly, reduces motor operation power consumption.
Claims (4)
1. motor permanent torque controls current compensation control method, include the following steps：
Step 1, the running current for detecting motor d/q axis, are denoted as I respectivelydAnd Iq；
Step 2, by IdAnd IqLow-pass filtering is carried out respectively, respectively obtains Id_ Fil and Iq_Fil；
Step 3, by Id_ Fil subtracts IdObtain Id_ err, and by Iq_ Fil subtracts IqObtain Iq_err；
I is calculated in step 4dThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyd_ err_sin and Id_
Err_cos, and I is calculatedqThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyq_ err_sin and Iq_
err_cos；
It is described that I is calculateddThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyd_ err_sin and Id_err_
The method of cos is：To (Id_ err) cos (θ) carry out low-pass filtering obtain Id_ err_cos, then to (Id_ err) sin (θ) progress
Low-pass filtering obtains Id_err_sin；
It is described that I is calculatedqThe fundamental wave sinusoidal component of _ err and fundamental wave cosine component, are denoted as I respectivelyq_ err_sin and Iq_err_
The method of cos is：To (Iq_ err) cos (θ) carry out low-pass filtering obtain Iq_ err_cos, then to (Iq_ err) sin (θ) progress
Low-pass filtering obtains Iq_err_sin；
Wherein, θ is rotor mechanical location angle,P is motor number of pole-pairs, and ω is angular frequency；
Step 5, by Id_err_sin、Id_err_cos、Iq_ err_sin and Iq_ err_cos is respectively adjusted to 0, obtains permanent torque
The d/q shaft current compensation rates of control, are denoted as I respectively* d_ com and I* q_com；
The d/q shaft current compensation rates for obtaining permanent torque control, are denoted as I respectively* d_ com and I* qThe method of _ com is：It calculates
To I* d_ com and I* q_ com, calculation formula are：
I* d_ com=k1(0-Id_err_cos)cosθ+k2(0-Id_err_sin)sinθ；
I* q_ com=k3(0-Iq_err_cos)cosθ+k4(0-Iq_err_sin)sinθ；
Wherein, k1、k2、k3And k4For by testing the coefficient introduced；
Step 6 obtains control current command value according to the d/q shaft currents compensation rate that the permanent torque of acquisition controls, and is denoted as I respectively* d_
C and I* q_c。
2. motor permanent torque as described in claim 1 controls current compensation control method, which is characterized in that the k1、k2、k3
And k4Value is identical.
3. motor permanent torque as described in claim 1 controls current compensation control method, which is characterized in that the k1、k2、k3
And k4Value range be 1~20.
4. the motor permanent torque control current compensation control method as described in claims 1 or 2 or 3, which is characterized in that step 6
In, the d/q shaft currents compensation rate controlled according to the permanent torque of acquisition obtains control current command value, is denoted as I respectively* d_ c and
I* qThe method of _ c is：I is calculated* d_ c and I* q_ c, calculation formula are：
I* d_ c=I* d+I* d_com；
I* q_ c=I* q+I* q_com；
Wherein I* dThe d axis obtained for maximum moment control or weak magnetic control controls current command value, I* qIt is controlled for maximum moment
The q axis control current command value of acquisition.
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| CN107919828B (en) * | 2017-11-30 | 2019-08-30 | 华中科技大学 | A kind of control device and method of permanent magnet synchronous motor |
| CN108282057B (en) * | 2018-02-02 | 2023-07-25 | 卧龙电气驱动集团股份有限公司 | ECM motor and method for constant torque control based on accurate flux linkage table look-up method |
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| CN103296958A (en) * | 2013-05-22 | 2013-09-11 | 四川长虹电器股份有限公司 | Method and system for automatically compensating torque |
| CN103441715A (en) * | 2013-08-05 | 2013-12-11 | 四川长虹电器股份有限公司 | Control method for current compensation of permanent magnet synchronous motor |
| CN103532462A (en) * | 2013-09-17 | 2014-01-22 | 四川长虹电器股份有限公司 | Low-frequency torque compensation transition control method for permanent magnet synchronous motor |
| CN105024615A (en) * | 2015-08-04 | 2015-11-04 | 重庆邮电大学 | Permanent magnet synchronous motor low-speed sensorless control method and device |
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| CN103296958A (en) * | 2013-05-22 | 2013-09-11 | 四川长虹电器股份有限公司 | Method and system for automatically compensating torque |
| CN103441715A (en) * | 2013-08-05 | 2013-12-11 | 四川长虹电器股份有限公司 | Control method for current compensation of permanent magnet synchronous motor |
| CN103532462A (en) * | 2013-09-17 | 2014-01-22 | 四川长虹电器股份有限公司 | Low-frequency torque compensation transition control method for permanent magnet synchronous motor |
| CN105024615A (en) * | 2015-08-04 | 2015-11-04 | 重庆邮电大学 | Permanent magnet synchronous motor low-speed sensorless control method and device |
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