CN105958889B - Single-resistor current sampling method and system - Google Patents
Single-resistor current sampling method and system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
The invention relates to a single-resistor current sampling method and a system, wherein the single-resistor current sampling method comprises the following steps: judging whether the duty ratio control signal reaches a duty ratio limit condition or not according to a first difference value, a second difference value and a time intermediate value of the duty ratio control signal in the running process of the motor; wherein, the first difference value is the difference between the time middle value and the time minimum value, and the second difference value is the difference between the time maximum value and the time middle value; if the duty ratio control signal reaches the duty ratio limit condition, acquiring the motor running frequency of the motor and predicting the running angle of a rotor in the motor in the next control beat according to the motor running frequency; and acquiring a first phase current and a second phase current of the motor according to the operating angle of the rotor at the next control beat. The single-resistor current sampling method and the single-resistor current sampling system provided by the invention ensure the integrity of a single-resistor current sampling scheme in the running process of the motor and improve the single-resistor current sampling effect.
Description
Technical field
The present invention relates to motor control technology fields, more particularly to a kind of single resistor current method of sampling and system.
Background technique
Carrying out this technology of current sample to the three-phase of motor using single resistance has control circuit simple, at low cost excellent
Point, therefore it is gradually replacing the current sample mode that double resistance and three resistance samplings etc. are used for motor control.In single resistance
In the practical operation of current sample, need to guarantee the adequacy in sampling time, the basic principle is that using duty ratio compensation method,
Maximum duty cycle is increased, minimum duty cycle reduces.
Traditional sampling scheme, is generally an attempt under the premise of guaranteeing that duty ratio is constant, carries out travel(l)ing phase to modulating wave,
So that the time interval between maximum duty cycle and intermediate duty ratio, intermediate duty ratio and minimum duty cycle meets ADC's
Sample requirement.
Although above-mentioned sampling plan can guarantee the adequacy in sampling time to a certain extent, when motor three-phase institute
It issues duty cycle control signal and reaches duty cycle limit condition, is i.e. maximum duty cycle is close close to 100% and minimum duty cycle
When 0%, the movement of modulating wave phase can not achieve, therefore by travel(l)ing phase to guarantee that the sampling time scheme of abundance has
Limitation, to influence the effect of single resistor current sampling.
Summary of the invention
Based on this, it is necessary to be directed to the technical issues of traditional technology influences single resistor current sample effect, provide a kind of list
The resistor current method of sampling and system.
A kind of list resistor current method of sampling, includes the following steps:
Institute is judged according to the first difference, the second difference of duty cycle control signal in motor operation course and time median
State whether duty cycle control signal reaches duty cycle limit condition；Wherein, first difference be time median and time most
The difference of small value, the second difference are the difference of time maximum value and time median；
If duty cycle control signal reaches duty cycle limit condition, the motor operation frequency of motor is obtained
The operation angle clapped according to rotor in the motor operation frequency predication motor in next control；
The first phase current and the second phase current of motor are obtained in the operation angle that next control is clapped according to rotor.
A kind of list resistor current sampling system, comprising:
Judgment module, for according to the first difference, the second difference of duty cycle control signal in motor operation course and when
Between median judge whether the duty cycle control signal reaches duty cycle limit condition；Wherein, first difference is the time
The difference of median and time minimum value, the second difference are the difference of time maximum value and time median；
First acquisition module obtains the motor of motor if reaching duty cycle limit condition for duty cycle control signal
Running frequency
Prediction module, for controlling the operation angle clapped next according to rotor in the motor operation frequency predication motor
Degree；
Second obtain module, for according to rotor it is next control clap operation angle obtain motor the first phase current and
Second phase current.
The above-mentioned list resistor current method of sampling and system, can use the duty ratio that three-phase in motor operation course is issued
The first difference, the second difference and the time median of control signal detect corresponding duty cycle control signal, are detecting
Whether reach duty cycle limit condition to duty cycle control signal, i.e., current sample carried out using three-phase of single resistance to motor,
When maximum duty cycle is close to 100% and minimum duty cycle close to 0% in duty cycle control signal, the motor of available motor
Running frequency, the operation angle that prediction rotor is clapped in next control are obtained further according to rotor in the operation angle that next control is clapped
The first phase current and the second phase current of motor ensure that the integrality of single resistor current sampling plan in motor operation course,
Improve the effect of single resistor current sampling.
Detailed description of the invention
Fig. 1 is single resistor current method of sampling flow chart of one embodiment；
Fig. 2 is single resistor current sampling apparatus structural schematic diagram of one embodiment；
Fig. 3 is the first phase current phase-shift compensation schematic diagram of one embodiment；
Fig. 4 is single resistor current sampling system structural schematic diagram of one embodiment.
Specific embodiment
The specific embodiment work of single resistor current method of sampling and system of the invention is retouched in detail with reference to the accompanying drawing
It states.
With reference to Fig. 1, single resistor current method of sampling flow chart of one embodiment is indicated shown in Fig. 1, is included the following steps:
S10 sentences according to the first difference, the second difference of duty cycle control signal in motor operation course and time median
Whether the duty cycle control signal that breaks reaches duty cycle limit condition；Wherein, first difference be time median and when
Between minimum value difference, the second difference be time maximum value and time median difference；
The corresponding single resistor current sampling apparatus of motor three-phase current can using as shown in Fig. 2, Fig. 2 as the frequency conversion three in motor
Phase inverter circuit, sampling resistor 110 are located on bus, sample bus current, and the branch in Fig. 2 where switching tube respectively corresponds
The three-phase of motor.Under normal conditions, biphase current (the first phase of the available motor of current sample is carried out to sampling resistor 110
Electric current and the second phase current), in the third phase current by the available motor of the processing such as three-phase current reconstruct.
When the duty cycle control signal of motor reaches duty cycle limit condition, the phase shift of associated modulation wave cannot achieve
It is dynamic, the sampling resistor on bus is sampled can not accurately obtain the first phase current and the second phase current at this time.
In one embodiment, it is above-mentioned according to the first difference of duty cycle control signal in motor operation course, it is second poor
Value and time median judge that the step of whether duty cycle control signal reaches duty cycle limit condition may include:
Judge T1≤TminOr T2≤TminIt is whether true；Wherein, T1Indicate duty ratio control letter in motor operation course
Number the first difference, TminMinimal sampling time needed for indicating the sampling of motor list resistor current, T2Duty in motor operation course
Than the second difference for controlling signal；
If so, further judging Tb1≤TminOr Tb1+T min≥0.5TprdIt is whether true；Wherein, Tb1Indicate motor
The time median of duty cycle control signal, T in operational processprdIndicate the signal period of duty cycle control signal；
If so, determining that duty cycle control signal reaches duty cycle limit condition.
In the present embodiment, reach duty cycle limit condition in duty cycle control signal, i.e., maximum duty cycle close to 100% with
And minimum duty cycle needs to carry out the acquisition of the first phase current and the second phase current by other means close to 0%, to guarantee
The accuracy of acquired the first phase current and the second phase current.
Judge whether the first difference of duty cycle control signal in motor operation course is less than or equal to motor list resistance
Minimal sampling time needed for current sample；
If so, further determine the time median of duty cycle control signal in motor operation course whether be less than or
Equal to minimal sampling time needed for the sampling of motor list resistor current；
If so, determining that duty cycle control signal reaches duty cycle limit condition.
S20 obtains the motor operation frequency of motor if duty cycle control signal reaches duty cycle limit condition；
Above-mentioned motor operation frequency parameter set when can be started according to corresponding motor is read out.
S30, the operation angle clapped according to rotor in the motor operation frequency predication motor in next control；
The operation angle of rotor can use the measuring instruments such as related sensor and measures motor in the process of running,
It can be calculated according to the related operating parameter of motor, it is generally the case that if obtaining the operation that rotor is clapped in current control
Angle can go out turn according to the signal period of motor operation frequency and duty cycle control signal by relevant calculation formula predictions
The operation angle that son is clapped in next control.
In one embodiment, above-mentioned that the fortune that rotor is clapped in next control in motor is calculated according to the motor operation frequency
The step of row angle may include:
According to θn=θn-1+fc*TprdCalculate θn；Wherein, θnIndicate the operation angle that rotor is clapped in current control in motor,
θn-1Indicate the operation angle that rotor is clapped in next control in motor, fcIndicate motor operation frequency, TprdIndicate duty ratio control
The signal period of signal；
According to θn+1=θn+fc*TprdCalculate θn+1；θn+1Indicate the operation angle that rotor is clapped in next control in motor.
Above-mentioned θn-1It can be measured by related sensor, fcAnd TprdSet operating parameter when can be from electric motor starting
Middle reading.
The present embodiment carries out the operation angle θ that rotor is clapped in next control by specific formulan-1Prediction, can be improved
The accuracy for the operation angle predicted.
S40 obtains the first phase current and the second phase current of motor according to rotor in the operation angle that next control is clapped.
In above-mentioned steps, it can use the correlating transforms (such as Park transformation or Clark transformation) for electromagnetic relationship
The rotor of prediction is handled in the operation angle that next control is clapped, to obtain the first phase current and the second phase of motor respectively
Electric current.
In one embodiment, above-mentioned the first phase current for obtaining motor in the operation angle that next control is clapped according to rotor
May include: with the step of the second phase current
Park transformation is carried out in the operation angle that next control is clapped to rotor；
The first phase current and the second phase current of motor are obtained according to the result of Park transformation.
The list resistor current method of sampling provided by the invention, can use the duty that three-phase in motor operation course is issued
The first difference, the second difference and time median than controlling signal detect corresponding duty cycle control signal, are examining
It measures whether duty cycle control signal reaches duty cycle limit condition, i.e., electric current is carried out using three-phase of single resistance to motor and adopted
Sample, when maximum duty cycle is close to 100% and minimum duty cycle close to 0% in duty cycle control signal, available motor
Motor operation frequency, the operation angle that prediction rotor is clapped in next control, the operation angle clapped further according to rotor in next control
The first phase current and the second phase current for obtaining motor ensure that in motor operation course the complete of single resistor current sampling plan
Property, improve the effect of single resistor current sampling.
In one embodiment, it is above-mentioned according to the first difference of duty cycle control signal in motor operation course, it is second poor
Value and time median can also include: before judging the step of whether duty cycle control signal reaches duty cycle limit condition
Obtained in motor operation course the time minimum value of motor three-phase duty cycle control signal, time median and when
Between maximum value；
The difference for calculating the time median and time minimum value, obtains the first difference；
The difference for calculating the time maximum value and time median, obtains the second difference.
Above-mentioned first difference T1=Tb1-Ta1, the second difference T2=Tc1-Tb1, wherein Ta1Indicate that motor three-phase issues duty
Than the time minimum value for controlling signal, Tb1Indicate that motor three-phase issues the time median of duty cycle control signal, Tc1Indicate electricity
The time maximum value of machine three-phase sending duty cycle control signal.
The present embodiment to the time minimum value, time median and time maximum value of motor three-phase duty cycle control signal,
Corresponding first difference and the second difference are calculated with this, whether reaches duty cycle limit condition for subsequent duty cycle control signal
Judgement provides accurate data source.
In one embodiment, it is above-mentioned according to the first difference of duty cycle control signal in motor operation course, it is second poor
Value and time median can also include: after judging the step of whether duty cycle control signal reaches duty cycle limit condition
If the duty cycle control signal does not reach duty cycle limit condition, it is greater than minimum sampling in first difference
When the time, the first phase current is sampled；When second difference is greater than minimal sampling time, the second phase current is carried out
Sampling.
In the present embodiment, if T1> Tmin, directly the first phase current can be sampled, adopted with improving the first phase current
The efficiency of sample, can also effective marker position 1 to the first phase current sampling, with show at this time can directly to the first phase current into
The sampling of row high efficiency；If T2> Tmin, directly the second phase current can be sampled, to improve the effect of the second phase current sampling
Rate, can also effective marker position 1 to the second phase current sampling, with show directly the second phase current can be carried out at this time it is efficient
Rate sampling.
In one embodiment, it is above-mentioned according to the first difference of duty cycle control signal in motor operation course, it is second poor
Value and time median can also include: after judging the step of whether duty cycle control signal reaches duty cycle limit condition
If the duty cycle control signal does not reach duty cycle limit condition, it is less than or equal to most in the first difference
When the small sampling time, further judge whether the time median is greater than minimal sampling time；
If so, carrying out phase-shift compensation post-sampling electric current to the first phase current；
When the second difference is less than or equal to minimal sampling time, T is judgedb1+T min≥0.5TprdIt is whether true；Its
In, Tb1Indicate time median, TminIndicate minimal sampling time, TprdIndicate the signal period of duty cycle control signal；
If so, carrying out phase-shift compensation post-sampling electric current to the second phase current.
The present embodiment is in T1≤TminAnd Tb1> TminWhen, phase-shift compensation post-sampling electricity can be carried out to the first phase current
Stream；In T2≤TminAnd Tb1+T min≥0.5TprdWhen, phase-shift compensation post-sampling electric current can be carried out to the second phase current.Its
When the first phase or shorter the second phase sampling time, by carrying out phase-shift compensation to duty ratio, keep voltage-phase undistorted, duty
Than unchanged, change in duty cycle caused by the problem of control inaccuracy shorter in the sampling time can be overcome.
As one embodiment, above-mentioned the step of carrying out phase-shift compensation post-sampling electric current to the first phase current, may include:
According to Ta1-(Tmin-T1) determine that the corresponding rising edge of time minimum value issues time and electricity in duty cycle control signal
The flat edge duration；Wherein, Ta1Indicate time minimum value, T1Indicate the first difference.
The present embodiment is by Ta1-(Tmin-T1) it is identified as the corresponding rising edge of time minimum value in duty cycle control signal
Time and level are issued along the duration, the duty ratio in duty cycle control signal can be kept constant, to guarantee the sampling time
Adequacy.
As one embodiment, above-mentioned the step of carrying out phase-shift compensation post-sampling electric current to the second phase current, may include:
According to Tc1-(Tmin-T2) determine time maximum value is corresponding in duty cycle control signal rising edge issue the time and
Low level is along the duration；Wherein, Tc1Indicate time maximum value, T1Indicate the first difference.
The present embodiment is by Tc1-(Tmin-T2) it is identified as the corresponding rising edge of time maximum value in duty cycle control signal
Time and level are issued along the duration, the duty ratio in duty cycle control signal can be kept constant, to guarantee the sampling time
Adequacy.
Fig. 3 is the first phase current phase-shift compensation schematic diagram of one embodiment, as shown in figure 3, T1=Tb1-Ta1, T2=Tc1-
Tb1, Ta1Indicate that motor three-phase issues the time minimum value of duty cycle control signal, Tb1Indicate that motor three-phase issues duty ratio control
The time median of signal, Tc1Indicate that motor three-phase issues the time maximum value of duty cycle control signal, TminIndicate motor list electricity
Minimal sampling time needed for hindering current sample.As shown in figure 3, after to the first phase current phase-shift compensation, Ta2=Ta1-(Tmin-
T1), Ta'2=Ta1-(Tmin-T1), above-mentioned Ta2It indicates on after the time minimum value phase shift of motor three-phase sending duty cycle control signal
It rises along sending time, Ta'2Low level is along lasting after indicating the time minimum value phase shift of motor three-phase sending duty cycle control signal
Time, after phase-shift compensation, duty ratio is remained unchanged in corresponding duty cycle control signal, and thereby may be ensured that current sample has
Effect property.
Refering to what is shown in Fig. 4, Fig. 4 is single resistor current sampling system structural schematic diagram of one embodiment, comprising:
Judgment module 10, for according to the first difference, the second difference of duty cycle control signal in motor operation course and
Time median judges whether the duty cycle control signal reaches duty cycle limit condition；Wherein, when first difference is
Between median and time minimum value difference, the second difference be time maximum value and time median difference；
First acquisition module 20 obtains the electricity of motor if reaching duty cycle limit condition for duty cycle control signal
Machine running frequency
Prediction module 30, for controlling the operation angle clapped next according to rotor in the motor operation frequency predication motor
Degree；
Second obtains module 40, for obtaining the first phase current of motor in the operation angle that next control is clapped according to rotor
With the second phase current.
List resistor current sampling system provided by the invention and single resistor current method of sampling one provided by the invention are a pair of
It answers, is suitable for single resistance electricity in the technical characteristic and its advantages of the embodiment elaboration of single resistor current method of sampling
In the embodiment for flowing sampling system, hereby give notice that.
Each technical characteristic of embodiment described above can be combined arbitrarily, and expression keeps description succinct, not to above-mentioned
The all possible combination of each technical characteristic in embodiment is all described, as long as however, the combination of these technical characteristics not
There are contradictions, and should all recognize expression is the range that this specification is recorded.
The embodiments described above only express several embodiments of the present invention, and description relatively indicates specific and detailed, but
Therefore it can not understand the limitation indicated to patent of invention range.It should be pointed out that for the ordinary skill people of this field
For member, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to of the invention
Protection scope.Therefore, the scope of protection of the patent of the present invention should indicate quasi- with appended claims.
Claims (10)
1. a kind of list resistor current method of sampling, which comprises the steps of:
It is accounted for according to the first difference, the second difference of duty cycle control signal in motor operation course and the judgement of time median
Whether sky reaches duty cycle limit condition than control signal；Wherein, first difference is time median and time minimum value
Difference, the second difference be time maximum value and time median difference；
If duty cycle control signal reaches duty cycle limit condition, the motor operation frequency of motor is obtained；
The operation angle clapped according to rotor in the motor operation frequency predication motor in next control；
The first phase current and the second phase current of motor are obtained in the operation angle that next control is clapped according to rotor.
2. the list resistor current method of sampling according to claim 1, which is characterized in that described according in motor operation course
The first difference, the second difference and the time median of duty cycle control signal judge whether the duty cycle control signal reaches and account for
Sky includes: than the step of maximum conditions
Judge T1≤TminOr T2≤TminIt is whether true；Wherein, T1Indicate the of duty cycle control signal in motor operation course
One difference, TminMinimal sampling time needed for indicating the sampling of motor list resistor current, T2Duty ratio controls in motor operation course
Second difference of signal；
If so, further judging Tb1≤TminOr Tb1+Tmin≥0.5TprdIt is whether true；Wherein, Tb1Indicate motor operation mistake
The time median of duty cycle control signal, T in journeyprdIndicate the signal period of duty cycle control signal；
If so, determining that duty cycle control signal reaches duty cycle limit condition.
3. the list resistor current method of sampling according to claim 1, which is characterized in that described according to the motor operation frequency
Rotor includes: in the step of operation angle that next control is clapped in rate calculating motor
According to θn=θn-1+fc*TprdCalculate θn；Wherein, θnIndicate the operation angle that rotor is clapped in current control in motor, θn-1Table
Show the operation angle that rotor is clapped in a upper control in motor, fcIndicate motor operation frequency, TprdIndicate duty cycle control signal
Signal period；
According to θn+1=θn+fc*TprdCalculate θn+1；θn+1Indicate the operation angle that rotor is clapped in next control in motor.
4. the list resistor current method of sampling according to claim 1, which is characterized in that it is described according to rotor in next control
The operation angle of bat obtains the step of the first phase current and the second phase current of motor and includes:
Inverse Park is carried out in the operation angle that next control is clapped according to rotor to convert；
The first phase current and the second phase current of motor are obtained according to the result of inverse Park transformation.
5. the list resistor current method of sampling according to any one of claims 1 to 4, which is characterized in that described according to motor
The first difference, the second difference and time median of duty cycle control signal judge the duty cycle control signal in operational process
Before the step of whether reaching duty cycle limit condition further include:
Time minimum value, time median and the time of motor three-phase duty cycle control signal are obtained most in motor operation course
Big value；
The difference for calculating the time median and time minimum value, obtains the first difference；
The difference for calculating the time maximum value and time median, obtains the second difference.
6. the list resistor current method of sampling according to claim 5, which is characterized in that described according in motor operation course
The first difference, the second difference and the time median of duty cycle control signal judge whether the duty cycle control signal reaches and account for
After the step of sky is than maximum conditions further include:
If the duty cycle control signal does not reach duty cycle limit condition, it is greater than minimal sampling time in first difference
When, the first phase current is sampled；When second difference is greater than minimal sampling time, the second phase current is adopted
Sample.
7. the list resistor current method of sampling according to claim 5, which is characterized in that described according in motor operation course
The first difference, the second difference and the time median of duty cycle control signal judge whether the duty cycle control signal reaches and account for
After the step of sky is than maximum conditions further include:
If the duty cycle control signal does not reach duty cycle limit condition, adopted in the first difference less than or equal to minimum
When the sample time, further judge whether the time median is greater than minimal sampling time；
If so, carrying out phase-shift compensation post-sampling electric current to the first phase current；
When the second difference is less than or equal to minimal sampling time, T is judgedb1+Tmin≥0.5TprdIt is whether true；Wherein, Tb1Table
Show time median, TminIndicate minimal sampling time, TprdIndicate the signal period of duty cycle control signal；
If it is not, then carrying out phase-shift compensation post-sampling electric current to the second phase current.
8. the list resistor current method of sampling according to claim 7, which is characterized in that described to be moved to the first phase current
Mutually the step of compensation post-sampling electric current includes:
According to Ta1-(Tmin-T1) determine that the corresponding rising edge of time minimum value issues time and level edge in duty cycle control signal
Duration；Wherein, Ta1Indicate time minimum value, T1Indicate the first difference.
9. the list resistor current method of sampling according to claim 7, which is characterized in that described to be moved to the second phase current
Mutually the step of compensation post-sampling electric current includes:
According to Tc1+(Tmin-T2) determine that the corresponding rising edge of time maximum value issues time and low level in duty cycle control signal
Along the duration；Wherein, Tc1Indicate time maximum value, T2Indicate the second difference.
10. a kind of list resistor current sampling system characterized by comprising
Judgment module, for the first difference, the second difference according to duty cycle control signal in motor operation course and in the time
Between value judge whether the duty cycle control signal reaches duty cycle limit condition；Wherein, first difference is among the time
The difference of value and time minimum value, the second difference are the difference of time maximum value and time median；
First acquisition module obtains the motor operation of motor if reaching duty cycle limit condition for duty cycle control signal
Frequency
Prediction module, the operation angle for being clapped according to rotor in the motor operation frequency predication motor in next control；
Second obtains module, for obtaining the first phase current and second of motor in the operation angle that next control is clapped according to rotor
Phase current.
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| CN106872766B (en) * | 2017-03-13 | 2019-04-02 | 苏州半唐电子有限公司 | A kind of phase-shift compensation method of list resistor current sampling |
| CN108667378B (en) * | 2018-05-22 | 2020-04-24 | 北京因时机器人科技有限公司 | Single-resistor phase-shift current sampling method and device |
| CN110855215B (en) * | 2018-08-21 | 2021-06-04 | 广东威灵汽车部件有限公司 | PWM phase shifting method and PWM phase shifting device of permanent magnet motor |
| CN110034712B (en) * | 2019-05-21 | 2020-09-08 | 四川虹美智能科技有限公司 | Single-resistor sampling control method and device |
| CN112910366B (en) * | 2019-12-03 | 2023-03-07 | 广东美的白色家电技术创新中心有限公司 | Single-resistor current sampling method, chip and electronic equipment |
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| CN113872484B (en) * | 2021-09-27 | 2024-01-19 | 佛山市顺德区美的电子科技有限公司 | Three-phase current reconstruction method, device, equipment and storage medium |
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| CN104579082B (en) * | 2013-10-12 | 2017-04-12 | 珠海格力电器股份有限公司 | Single-resistor sampling time compensation method and system |
| CN104579106A (en) * | 2013-10-12 | 2015-04-29 | 珠海格力电器股份有限公司 | Single-resistor sampling phase-shifting compensation method and system |
| CN105450093A (en) * | 2015-12-16 | 2016-03-30 | 四川长虹电器股份有限公司 | Direct current motor phase current sampling method and electronic equipment |
| CN105450094B (en) * | 2015-12-16 | 2018-04-27 | 四川长虹电器股份有限公司 | A kind of current sample method and air-conditioning equipment |
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2016
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