CN106208826A - The ovennodulation control method without three-phase current sensor for permagnetic synchronous motor - Google Patents
The ovennodulation control method without three-phase current sensor for permagnetic synchronous motor Download PDFInfo
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Abstract
The present invention relates to a kind of ovennodulation control method without three-phase current sensor for permagnetic synchronous motor, comprise the following steps: (1) calculates T' action time according to reference voltage；(2) judge whether T' is less thanIf it is, continue step (3), otherwise, B phase does not moves, and A phase moves to left, and C phase moves to right, whereinMinimal sampling time for single resistance sampling；(3) judge that reference voltage, near the coboundary of sector, place or lower boundary, if reference voltage is near the coboundary of sector, place, continues step (4), if reference voltage is near the lower boundary of sector, place, continue step (5)；(4) orderBeing failed to agree by A and move to border, B phase moves to right；(5) orderMoving to right C phase to border, B phase moves to left.Use the method, when ovennodulation, can accurately complete single resistance sampling, and while amendment reference voltage, three-phase all moves, and the amendment amount of reference voltage so can be made to minimize, be with a wide range of applications.
Description
Technical field
The present invention relates to motor control technology field, particularly relate to permagnetic synchronous motor bus current acquisition technique field,
Specifically refer to a kind of ovennodulation control method without three-phase current sensor for permagnetic synchronous motor.
Background technology
Stator three-phase current detection the most accurately controls have large effect to real electrical machinery, generally uses Hall current
Three-phase current is sampled by sensor, although current sensor is easy to use, and precision is higher, but relatively costly, circuit volume
Greatly.In low-power permagnetic synchronous motor controls, the restriction to cost is more strict, and therefore some method is at inverter circuit three
Individual lower brachium pontis is respectively mounted a sampling resistor, although but so cost is relatively low, however it is necessary that zero vector when electricity
Stream is sampled, and is not suitable for the modulator approach without zero vector, and three resistance need bigger PCB (Printed Circuit
Board, printed circuit board (PCB)) fabric swatch area cause certain circuit loss.In order to solve these problems and reduce into further
This, be currently suggested the method using single resistance bus current sampling, then reconstruct stator three-phase current.
Single resistor current sampling is single resistance of only connecting on bus, according to SVPWM (Space Vector Pulse
Width Modulation, space vector pulse width modulation) waveform the most single resistance is sampled at carrier cycle
And carry out phase current reconstruction according to sampled value thus obtain the actual value of three-phase current in this carrier cycle.Realize single resistance electricity
Stream sampling mainly needs to solve three key technology points: the pwm signal in unobservable district changes, sampling time point calculates, high
Current measurement in the case of modulation ratio.The method of the most common single resistance sampling is primarily directed to front 2 points, by phase shift
The bus current in unobservable region is sampled by method.
Single resistance sampling ultimate principle refers to the principle only utilizing a sampling resistor to obtain motor three-phase current.This principle
The switch combination relation utilizing a PWM cycle judges to measure on bus the relation of bus current and the three-phase current obtained.With
As a example by VI sector, the PWM waveform corresponding in this sector is as shown in Figure 1.
In motor, rated current flows into as just, and it is negative for flowing out.When basic voltage vectors is 100, A phase flows into, B, C phase
Flowing out, now bus current size is equal in magnitude with A phase current, in opposite direction；When basic voltage vectors is 101, A, C phase flows
Entering, B phase flows out, and now bus current size is equal in magnitude with B phase current, in opposite direction.Therefore, two in 1 PWM cycle
The electric current in the action time of individual basic voltage vectors surveyed bus carries out sampling and can be obtained by three-phase current (such as Fig. 1).Logical
Being often that two basic voltage vectors time points of the left half period to PWM are sampled, third phase electric current can pass through formula IA+
IB+IC=0 obtains.Certainly, basic voltage vectors and the corresponding relation premise of electric current are that voltage is sufficiently small with the phase contrast of electric current.
The most only analyze the electric current reconstructing relation of VI sector.Table 1 gives each sector Down Highway electric current and each phase electricity
The relation of stream:
Table 1
| Sector | The bus current of sampling for the first time | The bus current of second time sampling |
| Ⅰ | IA | -IC |
| Ⅱ | IB | -IC |
| Ⅲ | IB | -IA |
| Ⅳ | IC | -IA |
| Ⅴ | IC | -IB |
| Ⅵ | IA | -IB |
In FIG, twice ADC (Analog-to-Digital Converter, A/D converter) is sampled respectively at T1
With in the T2 time period realize, if but T1 is the least or T2 is the least, or the least in the case of, ADC is not enough to sample out
Bus current, mostly occurs in this case low modulation ratio, sector borders when.Utilize the principle of random PWM, do not changing
The when of target voltage vector, go out enough T1 and the T2 time by changing three-phase PWM waveform construction.Concrete principle is: when
The time of T1 (being defaulted as bigger phase and the time difference of mesophase) or T2 (being defaulted as the time difference of less phase and mesophase) is not
During foot, bigger phase moves to left, and less phase moves to left.When modulation ratio is time relatively low, and three-phase PWM waveform should be all close to 50%, and this causes T1
With the deficiency of time of T2 to complete the ADC sampling in the respective time period.In order to realize ADC sampling, relatively sport will be moved to left, less
Item moves to right, as in figure 2 it is shown, after moving to left and moving to right, target vector does not change.
When being in sector borders when, wherein the phase sampler time is longer, and another phase sampler time is shorter, is not enough to
Sample out bus current, now need this phase to be moved, as a example by the first sector borders, as shown in Figure 3.
It it is exactly more than the most conventional single resistance bus current sampling principle.
Summary of the invention
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that one can spread not against three-phase electricity
Sensor realizes modulation than the mistake without three-phase current sensor for permagnetic synchronous motor correctly gathering bus current time too high
Modulation control method.
To achieve these goals, having of the present invention is constituted as follows:
This is used for the ovennodulation control method without three-phase current sensor of permagnetic synchronous motor, comprises the following steps:
(1) T' action time is calculated according to reference voltage；
(2) judge whether T' is less thanIf it is, continue step (3), otherwise, B phase does not moves, and A phase moves to left, C phase
Move to right, whereinMinimal sampling time for single resistance sampling；
(3) judge reference voltage near the coboundary of sector, place or lower boundary, if reference voltage is fanned near place
The coboundary in district, continues step (4), if reference voltage is near the lower boundary of sector, place, continues step (5)；
(4) orderBeing failed to agree by A and move to border, B phase moves to right；
(5) orderMoving to right C phase to border, B phase moves to left.
It is preferred that described step (1) is further comprising the steps of:
(1-1) adjacent biphase T action time in current sector is calculated according to reference voltage1And T2；
(1-2) according to T1And T2Calculate zero vector action time:
T0=T-T1-T2,
Wherein, T is PWM cycle.
(1-3) minimal sampling time of single resistance sampling is set as Tmin, action time is that T' is according to below equation calculating effect
Time:
Have employed the ovennodulation control method without three-phase current sensor for permagnetic synchronous motor in this invention,
When reference voltage enters non-observation area, can accurately complete single resistance sampling, and while amendment reference voltage, three-phase is all
Move, the amendment amount of reference voltage so can be made to minimize, there is scope of quoting widely.
Accompanying drawing explanation
Fig. 1 is ADC sampled point and the sequential chart of prior art.
Fig. 2 be prior art low modulation than time PWM shift oscillogram.
Fig. 3 is that the PWM during sector borders of prior art shifts oscillogram.
Fig. 4 be the permagnetic synchronous motor of the present invention without the ovennodulation of the ovennodulation control method of three-phase current sensor time
Inactive area schematic diagram.
Fig. 5 is the reference voltage of the ovennodulation control method without three-phase current sensor of the permagnetic synchronous motor of the present invention
Oscillogram near coboundary.
Fig. 6 is the reference voltage of the ovennodulation control method without three-phase current sensor of the permagnetic synchronous motor of the present invention
Oscillogram near lower boundary.
Fig. 7 is that the single resistance without the ovennodulation control method of three-phase current sensor of the permagnetic synchronous motor of the present invention is adopted
Sample principle schematic.
Detailed description of the invention
In order to more clearly describe the technology contents of the present invention, carry out further below in conjunction with specific embodiment
Describe.
In a preferred embodiment, this is used for the ovennodulation control without three-phase current sensor of permagnetic synchronous motor
Method processed, comprises the following steps:
(1) T' action time is calculated according to reference voltage；
(2) judge whether T' is less thanIf it is, continue step (3), otherwise, B phase does not moves, and A phase moves to left, C phase
Move to right, whereinMinimal sampling time for single resistance sampling；
(3) judge reference voltage near the coboundary of sector, place or lower boundary, if reference voltage is fanned near place
The coboundary in district, continues step (4), if reference voltage is near the lower boundary of sector, place, continues step (5)；
(4) orderBeing failed to agree by A and move to border, B phase moves to right；
(5) orderMoving to right C phase to border, B phase moves to left.
In one preferably embodiment, described step (1) is further comprising the steps of:
(1-1) adjacent biphase T action time in current sector is calculated according to reference voltage1And T2；
(1-2) according to T1And T2Calculate zero vector action time:
T0=T-T1-T2,
Wherein, T is PWM cycle.
(1-3) minimal sampling time of single resistance sampling is set as Tmin, action time is that T' is according to below equation calculating effect
Time:
In SVPWM control, required reference voltage to be exported, be by it is decomposed in sector, by institute
Two unit vector voltages in sector represent, it is different that the difference of each unit vector action time just constitutes size and Orientation
Reference voltage, finally according to the length of action time control IGBT (Insulated Gate Bipolar Transistor,
Insulated gate bipolar transistor) length of ON time, the regulation of this time length is calculated by algorithm, i.e. according to reference
Voltage vector calculates.
During ovennodulation, along with increasing of modulation ratio, the amplitude of reference voltage vector is gradually increased, and the vector after modulation more comes
Closer to six effective vectors of unit, zero vector shortens action time, and reference voltage vector enters inactive area, in Fig. 4
Shown in shade, it is at this moment can not to meet the sampling request of electric current reconstructing, the most such as by the method for simple phase shift
What carries out phase shift does not all reach the demand of minimal sampling time.In order to solve this problem, can be vowed by amendment reference voltage
The method of amount is it is achieved that carry out concrete analysis below.
In a kind of specific embodiment, calculate adjacent biphase T1 action time in current sector according to reference voltage
And T2, zero vector T0=T-T1-T2 action time simultaneously.The minimal sampling time assuming single resistance sampling is TminIf, then
Action time meetsIn any case i.e. carry out phase shift in PWM border all can not be had
In the sampling time of effect, at this moment reference voltage is near sector borders.As a example by the first sector, when near coboundary, sector, such as Fig. 5
Shown in；When near sector lower boundary, as shown in Figure 6.Such as in Fig. 5, A fails to agree and moves to boundary, and B phase moves to right to boundary,
Now the sampling time of 100 is still less than minimal sampling time Tmin, it is impossible to effectively sample, be now accomplished by amendment
The action time of bit vector is adjusted.
Analyzed from above, in any case carry out phase shift all it cannot be guaranteed that the time of enough samplings, therefore this patent
The way proposing amendment bit vector action time (i.e. revising reference voltage) is adjusted, in order to reduce amendment unit as far as possible
The impact that vector is brought action time, needs to ensure that the difference of amendment is the least.It is therefore proposed that three-phase moves
The way combined action time with amendment bit vector is adjusted, and meets demand realizing minimum amendment.It is specially and works as
When the situation of Fig. 5 occurs, orderA fails to agree and moves to border simultaneously, and B phase moves to right；When the situation of Fig. 6 occurs, orderC phase moves to right to border simultaneously, and B phase moves to left.So can realize the amendment of the action time of minimum degree, this patent
Bus current list resistance sampling schematic diagram as shown in Figure 7.
Have employed the ovennodulation control method without three-phase current sensor for permagnetic synchronous motor in this invention,
When reference voltage enters non-observation area, can accurately complete single resistance sampling, and while amendment reference voltage, three-phase is all
Move, the amendment amount of reference voltage so can be made to minimize, be with a wide range of applications.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that still may be made that
Various modifications and alterations are without departing from the spirit and scope of the present invention.Therefore, specification and drawings is considered as illustrative
And it is nonrestrictive.
Claims (2)
1. the ovennodulation control method without three-phase current sensor for permagnetic synchronous motor, it is characterised in that described
Method comprise the following steps:
(1) T' action time is calculated according to reference voltage；
(2) judge whether T' is less thanIf it is, continue step (3), otherwise, B phase does not moves, and A phase moves to left, and C phase moves to right,
WhereinMinimal sampling time for single resistance sampling；
(3) judge reference voltage near the coboundary of sector, place or lower boundary, if reference voltage is near sector, place
Coboundary, continues step (4), if reference voltage is near the lower boundary of sector, place, continues step (5)；
(4) orderBeing failed to agree by A and move to border, B phase moves to right；
(5) orderMoving to right C phase to border, B phase moves to left.
The ovennodulation control method without three-phase current sensor for permagnetic synchronous motor the most according to claim 1,
It is characterized in that, described step (1) is further comprising the steps of:
(1-1) adjacent biphase T action time in current sector is calculated according to reference voltage1And T2；
(1-2) according to T1And T2Calculate zero vector action time:
T0=T-T1-T2,
Wherein, T is PWM cycle.
(1-3) minimal sampling time of single resistance sampling is set as Tmin, action time be T' according to below equation calculating effect time
Between:
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| CN108900123A (en) * | 2018-07-20 | 2018-11-27 | 魏海峰 | The single resistor current reconstructing method and device of permanent magnet synchronous motor |
| CN109088571A (en) * | 2018-06-15 | 2018-12-25 | Tcl空调器(中山)有限公司 | Current sample ripple compensation method, system, motor control assembly and storage medium |
| CN110768553A (en) * | 2019-10-28 | 2020-02-07 | 上海大郡动力控制技术有限公司 | Combined zero-vector-free overmodulation method for electric vehicle inverter |
| CN111245335A (en) * | 2018-11-28 | 2020-06-05 | 广东威灵汽车部件有限公司 | Control device and method of inverter and control system of open-winding motor |
| CN112260604A (en) * | 2020-09-30 | 2021-01-22 | 美的威灵电机技术（上海）有限公司 | Control method of drive circuit, electric appliance and storage medium |
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| CN108667378A (en) * | 2018-05-22 | 2018-10-16 | 北京因时机器人科技有限公司 | A kind of list resistance dephased current method of sampling and device |
| 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 |
| CN109088571A (en) * | 2018-06-15 | 2018-12-25 | Tcl空调器(中山)有限公司 | Current sample ripple compensation method, system, motor control assembly and storage medium |
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Denomination of invention: Overmodulation control method without three-phase current sensor for permanent magnet synchronous motor Effective date of registration: 20230509 Granted publication date: 20190201 Pledgee: Shanghai Rural Commercial Bank Co.,Ltd. Xuhui sub branch Pledgor: SHANGHAI JINMAI ELECTRONIC TECHNOLOGY Co.,Ltd. Registration number: Y2023310000166 |
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