CN106559026A - A kind of control method of motor driven systems, control device and transducer air conditioning - Google Patents
A kind of control method of motor driven systems, control device and transducer air conditioning Download PDFInfo
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- CN106559026A CN106559026A CN201611088247.9A CN201611088247A CN106559026A CN 106559026 A CN106559026 A CN 106559026A CN 201611088247 A CN201611088247 A CN 201611088247A CN 106559026 A CN106559026 A CN 106559026A
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
- H02M1/143—Arrangements for reducing ripples from dc input or output using compensating arrangements
-
- 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
- H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
- H02P2201/15—Power factor Correction [PFC] circuit generating the DC link voltage for motor driving inverter
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The control method of the motor driven systems that the present invention is provided, control device and transducer air conditioning, by the three-phase electricity flow valuve for detecting d-c bus voltage value and motor, and average voltage level is obtained according to DC bus-bar voltage, and then magnitude of a voltage fluctuation is obtained according to d-c bus voltage value and average voltage level, finally according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve generate control signal and the inverter of the motor driven systems are controlled, run with motor, the control method that the present invention is provided is capable of the fluctuation of real-time detection DC bus-bar voltage, and by detecting fluctuation come the Iq current values in real-time regulation motor driven systems, so as to reduce the undulate quantity of DC bus-bar voltage.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of control method of motor driven systems, control dress
Put and transducer air conditioning.
Background technology
In motor driven systems, conventional passive PFC (Active PFC) scheme variable frequency drives are due to possessing low cost
The advantage of high reliability is widely used, its passive PFC scheme be using full-bridge by ac voltage rectifier after, then by big
The smoothing effect of electrochemical capacitor makes DC bus-bar voltage in steady statue, but causes inversion when the load of motor is increased
When device part needs to export high-power, occur going out with input power alternating voltage phase identical ripple on DC bus-bar voltage
Existing voltage pulsation, and ripple voltage can affect the working life of big electrochemical capacitor, and then affect the working stability of variable frequency drives
Property.
In order to ensure that big electrochemical capacitor meets the demand of VFC stability, at present mainly by following two method realities
It is existing：(1) reduce the output of frequency-variable controller；(2) increase the capacity of big electrochemical capacitor.But by reducing frequency-variable controller
Output, it is impossible to load increase in the case of obtain stable high-power output；And increase the capacity of big electrochemical capacitor
Cost has been accordingly increased again.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
Present invention is primarily targeted at providing a kind of control method of motor driven systems, it is therefore intended that solve passive
In the motor driven systems of PFC schemes, as the increase of output produces ripple, so as to cause electrochemical capacitor life to shorten shadow
Ring the job stability of motor driven systems.
For achieving the above object, the control method of a kind of motor driven systems that the present invention is provided, the Motor drive system
System includes commutator, passive PFC circuit, direct current smooth circuit, inverter, calculation control unit and motor, and the commutator is to handing over
Stream input voltage carries out all wave rectification, and the passive PFC circuit is with the reactor connected with the rectifier output end, described
It is the inversion that AC-input voltage exports DC bus-bar voltage by the commutator, passive PFC circuit, direct current smooth circuit
Device provides power supply, and the calculation control unit is controlled to inverter to be run with motor, it is characterised in that the controlling party
Method is comprised the following steps：
Detect the three-phase electricity flow valuve of the d-c bus voltage value and motor；
Average voltage level is obtained according to the d-c bus voltage value；
Magnitude of a voltage fluctuation is obtained according to the d-c bus voltage value and average voltage level；
Control signal is generated according to the magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve, with to the electricity
The inverter of machine drive system is controlled, and is run with motor.
Preferably, control signal is generated to institute according to the magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve
The inverter for stating motor driven systems is controlled, and specifically includes：
Obtain q shaft current initial values；
Q shaft current compensation dosages are calculated according to the magnitude of a voltage fluctuation, and according to the q shaft currents compensation dosage and q shaft currents
Initial value is added, and obtains the given current value of q axles；
The given current value of d axles is obtained according to the output voltage amplitude of the d-c bus voltage value and inverter；
Coordinate transform is carried out to the three-phase current and obtains d axles actual current value and q axle actual current values；
Give current value and d axles actual current value and the given current value of q axles respectively to d axles and q axle actual current values are entered
Row is calculated the given magnitude of voltage of d axles and the given magnitude of voltage of q axles；
According to the given magnitude of voltage of d axles, the given magnitude of voltage of q axles, d-c bus voltage value and the life of angle of rotor of motor estimated value
Into pwm control signal, to be controlled to inverter.
Preferably, the acquisition q shaft current initial value steps include：
According to motor rotating speed of target value and motor actual machine rotating speed carry out mathematic interpolation carry out again PI control obtain q axles electricity
Stream initial value.
Preferably, it is described that the given current value of d axles is obtained according to the output voltage amplitude of d-c bus voltage value and inverter
Step includes：
The output voltage of the inverter is calculated according to the given magnitude of voltage of previous d axles and the given magnitude of voltage of q axles
Amplitude；
The maximum output voltage value of inverter is calculated according to d-c bus voltage value；
The d axles electricity is calculated according to the output voltage amplitude of the maximum output voltage value and the inverter of inverter
Stream initial value；
Amplitude limiting processing is carried out to the d shaft currents initial value and obtains the given current value of the d axles.
Preferably, the magnitude of a voltage fluctuation calculates q shaft current compensation dosage steps and includes：
PI is carried out according to magnitude of a voltage fluctuation to control to obtain q shaft current compensation dosages.
For achieving the above object, the present invention also provides a kind of control device of motor driven systems, the control device bag
Include：
Current detection module, for detecting the three-phase electricity flow valuve of motor；
Voltage detection module, for detecting the d-c bus voltage value of the motor driven systems；
Average voltage acquisition module, for obtaining average voltage level according to the d-c bus voltage value；
Magnitude of a voltage fluctuation acquisition module, for obtaining voltage pulsation according to the d-c bus voltage value and average voltage level
Amount；
Control signal generation module, generates according to the magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve and controls
Signal processed is controlled with the inverter to the motor driven systems, is run with motor.
Preferably, the control signal generation module is specifically included：
Q shaft current compensation calculation devices, for calculating q shaft current compensation dosages according to the magnitude of a voltage fluctuation；
Q shaft current initial value acquiring units, for being carried out according to motor rotating speed of target value and motor actual speed estimated value
Mathematic interpolation carries out PI controls again and obtains q shaft current initial values；
The given current value arithmetic element of q axles, for being added with q shaft current initial values according to the q shaft currents compensation dosage, obtains
Obtain the given current value of q axles；
The given current value arithmetic element of d axles, for the output voltage width according to the d-c bus voltage value and inverter
Value is calculated the given current value of d axles；
Dq shaft current arithmetic elements, obtain d axles actual current value and q axles for coordinate transform is carried out to the three-phase current
Actual current value；
Dq shaft voltage arithmetic elements, for respectively to the given current value of d axles and d axles actual current value and the given electricity of q axles
Flow valuve and q axles actual current value are carried out calculating and obtain the given magnitude of voltage of d axles and the given magnitude of voltage of q axles；
PWM arithmetic elements, for according to the given magnitude of voltage of d axles, q axles given magnitude of voltage, d-c bus voltage value and motor
Rotor angle estimated value generates pwm control signal and inverter is controlled.
Preferably, the q shaft currents compensation calculation device is additionally operable to：
PI is carried out according to magnitude of a voltage fluctuation to control to obtain q shaft current compensation dosages.
Preferably, the given current value arithmetic element of the d axles is specifically included：
Voltage magnitude computation subunit, for being calculated according to the given magnitude of voltage of previous d axles and the given magnitude of voltage of q axles
To the output voltage amplitude of the inverter；
Maximum output voltage value computation subunit, for being calculated the maximum defeated of inverter according to d-c bus voltage value
Go out magnitude of voltage；
Weak magnetic controls subelement, for the output voltage amplitude of maximum output voltage and inverter according to the inverter
It is calculated d shaft current initial values；
Amplitude limit subelement, obtains the given current value of the d axles for amplitude limiting processing is carried out to the d shaft currents initial value.
For achieving the above object, the present invention also provides a kind of transducer air conditioning, including the control of described motor driven systems
Device processed.
The control method of the motor driven systems that the present invention is provided, by detecting d-c bus voltage value and motor
Three-phase electricity flow valuve, and average voltage level is obtained according to DC bus-bar voltage, and then according to d-c bus voltage value and average electricity
Pressure value obtains magnitude of a voltage fluctuation, generates control signal finally according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve
The inverter of the motor driven systems is controlled, is run with motor.The control method that the present invention is provided can be real
When detect DC bus-bar voltage fluctuation, and by detect fluctuation come the Iq current values in real-time regulation motor driven systems further
Finally motor is controlled, so as to reduce the fluctuation of DC bus-bar voltage, is realized in the case where electrochemical capacitor is not increased
Powerful output is realized, is solved in passive PFC schemes motor driven systems, the output of inverter when there is load excessive
Power is excessive, causes
Reduce, and then affect whole motor driven systems working stability sex chromosome mosaicism.
Description of the drawings
Fig. 1 is motor driven systems electrical block diagram provided in an embodiment of the present invention；
Fig. 2 is the schematic flow sheet of the control method of motor driven systems provided in an embodiment of the present invention；
Fig. 3 is the structural representation of the control device of motor driven systems provided in an embodiment of the present invention；
Fig. 4 be motor driven systems provided in an embodiment of the present invention control device in magnitude of a voltage fluctuation acquisition module letter
Number generation schematic diagram；
Fig. 5 be motor driven systems provided in an embodiment of the present invention control device in control signal generation module structure
Schematic diagram；
Fig. 6 be motor driven systems provided in an embodiment of the present invention control device in the given current value arithmetic element of d axles
Structural representation.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
First to describing the motor driven systems based on passive PFC provided in an embodiment of the present invention.As shown in figure 1, motor
Drive system includes：Commutator 2, passive PFC circuit 3, direct current smooth circuit 4, inverter 5, calculation control unit 7 and motor 6.Nothing
Source pfc circuit 3 goes out the reactor L that end is connected with defeated with commutator 2, can also include the first electric capacity C1, diode D5, direct current
, by constituting including the second electric capacity C2, the full-bridge rectification that commutator 2 is made up of diode D1-D4 is electric to exchange input for smooth circuit 4
Pressure 1 carries out rectification, is converted into DC pulse moving voltage, the first end connection of the reactor L being series on rear side of commutator, reactor L
The cathode output end of commutator, the second ends of reactor L connection diode D5 anodes, the first electric capacity C1 are parallel to reactor L first
End and diode cathode end, the second electric capacity C2 are parallel to the cathode output end of the cathode terminal and the commutator of diode, reactance
Device L improves the power factor (PF) of rectifier current output using the characteristic to current charge-discharge electric hysteresis voltage of its inductance, and first is electric
Appearance C1 is low capacity filter capacitor, and the harmonic wave in circuit is suppressed, and the second electric capacity is big capacity electrolyte capacitor, smooths rectification
The DC pulse moving voltage of device output, diode D5 can improve charging voltage on the second electric capacity so as to enter one using its buffer action
Step improves power factor (PF).AC-input voltage is defeated by above-mentioned commutator 2, passive PFC circuit 3 and 4 circuit of direct current smooth circuit
Going out DC bus-bar voltage, DC source being provided to inverter work 5, calculation control unit 7 is opened to inverter by control instruction
Closing pipe S1-S6 carries out on-off control, is run with motor 6, and motor 6 is permagnetic synchronous motor, including for convertible frequency air-conditioner
Compressor.
Fig. 2 is the flow chart of the control method of the motor driven systems according to the embodiment of the present invention, as shown in Fig. 2 the electricity
The control method of machine drive system is comprised the following steps：
S10, detects the three-phase electricity flow valuve of d-c bus voltage value and motor.
Specifically, the DC bus-bar voltage V of motor driven systems can be detected by the circuit structure of divider resistancedc, lead to
Cross the circuit structure of single resistance or three resistance sampling modes to detect three-phase current Iu, v, the w of motor, these circuit structures belong to
In prior art.
S20, obtains average voltage level according to DC bus-bar voltage.
Specifically, can be by detecting d-c bus voltage value V in one section of Preset TimedcInstantaneous value, then ask flat
Average voltage level V of this time is worth todc_ave。
S30, obtains magnitude of a voltage fluctuation according to d-c bus voltage value and average voltage level.
Specifically, meansigma methodss V of DC bus-bar voltage are detecteddc_aveAfterwards, by calculating and DC bus-bar voltage VdcDifference
Value can obtain magnitude of a voltage fluctuation Δ Vdc。
S40, generates control signal according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve and the motor is driven
The inverter of dynamic system is controlled, and is run with motor.
According to one embodiment of present invention, generated according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve
Control signal is controlled to the inverter of motor driven systems and specifically includes：
Obtain q shaft current initial values；
Q shaft current compensation dosages are calculated according to magnitude of a voltage fluctuation, and according to q shaft currents compensation dosage and q shaft current initial value phases
Plus obtain the given current value of q axles；
The given current value of d axles is obtained according to the output voltage amplitude of d-c bus voltage value and inverter；
Coordinate transform is carried out to three-phase current and obtains d axles actual current value and q axle actual current values；
Give current value and d axles actual current value and the given current value of q axles respectively to d axles and q axle actual current values are entered
Row is calculated the given magnitude of voltage of d axles and the given magnitude of voltage of q axles；
According to the given magnitude of voltage of d axles, the given magnitude of voltage of q axles, d-c bus voltage value and the life of angle of rotor of motor estimated value
Into pwm control signal, to be controlled to inverter.
Specifically, according to magnitude of a voltage fluctuation Δ VdcIt is calculated q shaft current compensation dosages Iq_com1When, by voltage pulsation
Amount Δ VdcPI controls are carried out, q shaft current compensation dosages I are calculatedq_com1。
Q shaft current initial value Iq0Motor rotating speed of target value ω can be passed throughm *With motor actual speed value ωmMathematic interpolation is again
Carry out PI controls to obtain, wherein motor actual speed value ωmThe position sensor such as Hall switch detection in motor can be passed through
Obtain, or the motor to position-sensor-free, its motor actual speed value ωmFor estimated value, now ωmAcquisition it is concrete such as
Under：
The rotor angle estimated values theta of motor is obtained by flux observation methodestWith motor actual speed value value ωm.It is concrete and
Speech, first can be according to the voltage V in two-phase rest frameα、VβWith electric current Iα、IβCompressor electric motor is calculated in biphase static seat
The estimated value of useful flux on mark system α and β direction of principal axis, is calculated as follows with specific reference to formula (1)：
Wherein,WithThe respectively estimated value of motor useful flux on α and β direction of principal axis, VαAnd VβRespectively α and β axles
Voltage on direction, IαAnd IβElectric current respectively on α and β direction of principal axis, R is stator resistance, LqFor the q axle magnetic linkages of motor.
Then, the rotor angle estimated values theta of compressor electric motor is calculated according to following formula (2)eWith motor actual speed value
Value ωm：
Wherein, Kp_pllAnd Ki_pllRespectively proportional integral parameter, θerrFor misalignment angle estimated value, ωfFor speed low pass filtered
The bandwidth of ripple device.
To q shaft current compensation dosages Iq_com1With q shaft current initial value Iq0It is addedqref。
According to the given current value of d axles that the output voltage amplitude of d-c bus voltage value and inverter calculates compressor electric motor
It is specific as follows：
Maximum output voltage V to invertermaxWith the output voltage amplitude V of inverter1Difference carry out weak magnetic control to obtain
Obtain the given current value initial value I of d axlesd0；Current value initial value I given to d axlesd0Carry out amplitude limiting processing to obtain the given current value of d axles
Idref。
Wherein, the given current value initial value I of d axles can be calculated by following formula (3)d0：
Wherein, KiFor integral control coefficient,VdAnd VqRespectively the d axles of motor give
Magnitude of voltage and the given magnitude of voltage of q axles, VdcFor the DC bus-bar voltage of motor driven systems.
Then, according to the given current value initial value I of d axlesd0Amplitude limiting processing is carried out, and the given electricity of d axles is calculated by following formula (4)
Flow valuve Idref：
Wherein, IdemagFor motor demagnetization current limits value.
Coordinate transform acquisition d axles are carried out to three-phase current and q axle actual current values are specifically included：
According to permagnetic synchronous motor U, V, W three-phase electricity flow valuve I that detection is obtainedu、Iv、Iw, and counted by following formula (5)
Calculate electric current I of the motor in two-phase rest frame α and β direction of principal axisαAnd Iβ
Iα=Iu
Further according to motor electrical angle θeCarry out Coordinate Conversion to be calculated under two-phase rotating coordinate system by following formula (6)
D axles and q axles actual current value Iq、Id。
Id=Iαcosθe+Iβsinθe
Iq=-Iαsinθe+Iβcosθe (6)
Under can specifically being passed through according to the given current value of d, q axle and the given magnitude of voltage of d, q axle actual current value acquisition d, q axle
State formula (7) calculating：
Vd=Vd0-ωLqIq
Vq=Vq0+ωLdId+ωKe (7)
Wherein, Vq is the given voltage of Q axles, and Vd is that D axles give voltage, and Iqref is given for D axles for the given electric current of Q axles, Idref
Determine electric current, Iq is Q axle actual currents, Id is D axle actual currents, Kpd and Kid is respectively the control proportional gain of D shaft currents and product
Gain, Kpq and Kiq is divided to be respectively the control proportional gain of Q shaft currents and storage gain, ω is motor speed, and Ke is that motor is anti-electric
Gesture coefficient, Ld and Lq are respectively D axles and Q axle inductances,Represent x (τ) integrations in time.
Pwm control signal is generated according to the given magnitude of voltage of d, q axle, d-c bus voltage value and angle of rotor of motor estimated value
Inverter is controlled specific as follows：
After getting the given magnitude of voltage Vd of the given magnitude of voltage Vq and D axle of Q axles, can be according to angle of rotor of motor θ to Vq and Vd
Park inverse transformations are carried out, and the voltage instruction V that fixed coordinates are fastened are calculated by following formula (8)αAnd Vβ：
Wherein, θ is angle of rotor of motor, and here can use above-mentioned rotor angle estimated values thetae。
To the voltage V in two-phase rest frameα、VβClark inverse transformations are carried out, three-phase voltage value V is obtainedu、Vv、Vw, tool
Body is calculated by following formula (9)：
Then, can be according to DC bus-bar voltage VdcWith three-phase voltage value Vu、Vv、VwDutycycle calculating is carried out, PWM controls are obtained
Signal processed, i.e. three-phase dutycycle Du、Dv、Dw, it is calculated especially by following formula (10)：
Finally, according to three-phase dutycycle Du、Dv、DwThe switching tube of inverter is controlled, to realize the control to motor
System.
The control method of the motor driven systems that the present invention is provided, by detecting d-c bus voltage value and motor
Three-phase electricity flow valuve, and average voltage level is obtained according to DC bus-bar voltage, and then according to d-c bus voltage value and average electricity
Pressure value obtains magnitude of a voltage fluctuation, generates control signal finally according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve
The inverter of the motor driven systems is controlled, is run with motor.The control method that the present invention is provided can be real
When detect DC bus-bar voltage fluctuation, and by detect fluctuation come the Iq current values in real-time regulation motor driven systems further
Finally motor is controlled, so as to reduce the fluctuation of DC bus-bar voltage, is realized in the case where electrochemical capacitor is not increased
Powerful output is realized, is solved in passive PFC schemes motor driven systems, the output of inverter when there is load excessive
Power is excessive, causes
Reduce, and then affect whole motor driven systems working stability sex chromosome mosaicism.
The present invention also provides a kind of control device of motor driven systems.
Control device structural representations of the Fig. 3 for the motor driven systems of the embodiment of the present invention, as shown in figure 3, the motor
The control device of drive system includes：
Current detection module 10, for detecting the three-phase electricity flow valuve of motor；
Voltage detection module 20, for detecting the d-c bus voltage value of motor driven systems；
Average voltage acquisition module 30, for obtaining average voltage level according to d-c bus voltage value；
Magnitude of a voltage fluctuation acquisition module 40, for obtaining voltage pulsation according to d-c bus voltage value and average voltage level
Amount；
Control signal generation module 50, generates according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve and controls
Signal is controlled with the inverter to the motor driven systems, is run with motor.
Specifically, current detection module 10 can detect the direct current of motor driven systems by the circuit structure of divider resistance
Busbar voltage Vdc, three-phase current Iu, v, the w of motor are detected by the circuit structure of single resistance or three resistance sampling modes,
These circuit structures belong to prior art.Average voltage acquisition module 30 can be by detecting that direct current is female in one section of Preset Time
Line voltage value VdcInstantaneous value, then average and obtain average voltage level V of this timedc_ave。
Magnitude of a voltage fluctuation acquisition module 40 is as shown in figure 4, detect meansigma methodss V of DC bus-bar voltagedc_aveAfterwards, pass through
Calculate and DC bus-bar voltage VdcDifference can obtain magnitude of a voltage fluctuation Δ Vdc。
Control signal generation module 50 is as shown in figure 5, specifically include：
Q shaft current compensation calculations unit 501, for calculating q shaft current compensation dosages according to magnitude of a voltage fluctuation；
Q shaft current initial values acquiring unit 502, for being entered according to motor rotating speed of target value and motor actual speed estimated value
Row mathematic interpolation carries out PI controls again and obtains q shaft current initial values；
The given current value arithmetic element 503 of q axles, for according to the q shaft currents compensation dosage and q shaft current initial value phases
Plus, obtain the given current value of q axles；
The given current value arithmetic element 504 of d axles, for the output voltage amplitude according to d-c bus voltage value and inverter
It is calculated the given current value of d axles；
Dq shaft currents arithmetic element 505, obtains d axles and q axle actual current values for coordinate transform is carried out to three-phase current；
Dq shaft voltages arithmetic element 506, for giving to the given current value of d axles and d axles actual current value and q axles respectively
Current value and q axles actual current value are carried out calculating and obtain the given magnitude of voltage of d axles and the given magnitude of voltage of q axles；
PWM arithmetic elements 507, for according to the given magnitude of voltage of d axles, q axles given magnitude of voltage, d-c bus voltage value and electricity
Machine rotor angle estimated value generates pwm control signal and inverter is controlled.
Specifically, according to magnitude of a voltage fluctuation Δ VdcIt is calculated q shaft current compensation dosages Iq_com1When, by voltage pulsation
Amount Δ VdcPI controls are carried out, q shaft current compensation dosages I are calculatedq_com1。
Q shaft current initial values acquiring unit 502 obtains q shaft current initial value Iq0When, motor rotating speed of target value can be passed through
ωm *With motor actual speed value ωmMathematic interpolation carries out PI controls again and obtains, wherein motor actual speed value ωmCan pass through
The such as Hall switch detection of position sensor in motor is obtained, or the motor to position-sensor-free, its motor actual speed
Value ωmFor estimated value, now ωmAcquisition it is specific as follows：
The rotor angle estimated values theta of motor is obtained by flux observation methodestWith motor actual speed value value ωm.It is concrete and
Speech, first can be according to the voltage V in two-phase rest frameα、VβWith electric current Iα、IβCompressor electric motor is calculated in biphase static seat
The estimated value of useful flux on mark system α and β direction of principal axis, specific formula for calculation are as follows：
Wherein,WithThe respectively estimated value of compressor electric motor useful flux on α and β direction of principal axis, VαAnd VβRespectively
Voltage on α and β direction of principal axis, IαAnd IβElectric current respectively on α and β direction of principal axis, R is stator resistance, LqFor compressor electric motor
Q axle magnetic linkages.
Then, the rotor angle estimated values theta of compressor electric motor is calculated according to following formula (2)eWith motor actual speed value
Value ωm：
Wherein, Kp_pllAnd Ki_pllRespectively proportional integral parameter, θerrFor misalignment angle estimated value, ωfFor speed low pass filtered
The bandwidth of ripple device.
The given current value arithmetic element 503 of q axles is to q shaft current compensation dosages Iq_com1With q shaft current initial value Iq0It is added
The given current value I of q axles is obtainedqref。
The given current value arithmetic element 504 of d axles is further as shown in fig. 6, d axles give current value arithmetic element 504 enters one
Step includes voltage magnitude computation subunit 5041, maximum output voltage value computation subunit 5042, weak magnetic control subelement 5043
With amplitude limit subelement 5044, maximum output voltage and the inverter of the given current value arithmetic element 504 of d axles according to inverter
Output voltage amplitude calculate the given current value of d axles of the compressor electric motor and specifically include：
Weak magnetic controls maximum output voltage V of the subelement 5043 to invertermaxWith the output voltage amplitude V of inverter1It
Difference carries out weak magnetic control to obtain the given current value initial value I of d axlesd0；The current value initial value I given to d axles of amplitude limit subelement 5044d0
Carry out amplitude limiting processing to obtain the given current value I of d axlesdref。
Wherein, weak magnetic control subelement 5043 can calculate the given current value initial value I of d axles by following formula (3)d0：
Wherein, KiFor integral control coefficient, voltage magnitude computation subunit 5041 is by formulaCalculate
To the output voltage amplitude V of inverter1, maximum output voltage value computation subunit 5042 is by formulaCalculate
To the maximum output voltage V of invertermax, VdAnd VqThe given magnitude of voltage of d axles and the given magnitude of voltage of q axles of respectively motor, VdcFor
The DC bus-bar voltage of motor driven systems.
Then, amplitude limit subelement 5044 is according to the given current value initial value I of d axlesd0Amplitude limiting processing is carried out, by following formula
(4) calculate the given current value I of d axlesdref：
Wherein, IdemagFor motor demagnetization current limits value.
Dq shaft currents arithmetic element 505, carries out coordinate transform acquisition d axles to three-phase current and q axle actual current values are concrete
Including：
According to permagnetic synchronous motor U, V, W three-phase electricity flow valuve I that detection is obtainedu、Iv、Iw, and counted by following formula (5)
Calculate electric current I of the motor in two-phase rest frame α and β direction of principal axisαAnd Iβ
Iα=Iu
Further according to motor electrical angle θeCarry out Coordinate Conversion to be calculated under two-phase rotating coordinate system by following formula (6)
D axles and q axles actual current value Iq、Id。
Iq=-Iαsinθe+Iβcosθe (6)
Dq shaft voltages arithmetic element 506, obtains d, q axle according to the given current value of d, q axle and d, q axle actual current value and gives
Magnitude of voltage specifically can be calculated by following formula (7)：
Vd=Vd0-ωLqIq
Vq=Vq0+ωLdId+ωKe (7)
Wherein, Vq is the given voltage of Q axles, and Vd is that D axles give voltage, and Iqref is given for D axles for the given electric current of Q axles, Idref
Determine electric current, Iq is Q axle actual currents, Id is D axle actual currents, Kpd and Kid is respectively the control proportional gain of D shaft currents and product
Gain, Kpq and Kiq is divided to be respectively the control proportional gain of Q shaft currents and storage gain, ω is motor speed, and Ke is that motor is anti-electric
Gesture coefficient, Ld and Lq are respectively D axles and Q axle inductances,Represent x (τ) integrations in time.
PWM arithmetic elements 507, according to d, q axle given magnitude of voltage, d-c bus voltage value and angle of rotor of motor estimated value
Generate pwm control signal specific as follows：
After getting Q shaft voltages instruction Vq and D shaft voltage instruction Vd, Vq and Vd can be carried out according to angle of rotor of motor θ
Park inverse transformations, are calculated the voltage instruction V α and V β that fixed coordinates are fastened by following formula (8)：
Wherein, θ is angle of rotor of motor, and here can use above-mentioned rotor angle estimated values thetae。
To the voltage V in two-phase rest frameα、VβClark inverse transformations are carried out, three-phase voltage command V is obtainedu、Vv、Vw,
It is calculated especially by following formula (9)：
Then, can be according to DC bus-bar voltage VdcWith three-phase voltage command Vu、Vv、VwDutycycle calculating is carried out, PWM is obtained
Control signal, i.e. three-phase dutycycle Du、Dv、Dw, it is calculated especially by following formula (10)：
Finally, according to three-phase dutycycle Du、Dv、DwThe switching tube of inverter is controlled, to realize the control to motor
System.
The control device of the motor driven systems provided according to the present invention, by detecting d-c bus voltage value and driving
The three-phase electricity flow valuve of motor, and average voltage level is obtained according to DC bus-bar voltage, and then according to d-c bus voltage value peace
Magnitude of voltage obtains magnitude of a voltage fluctuation, generates finally according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve and controls
Signal is controlled to the inverter of the motor driven systems, is run with motor.The control method energy that the present invention is provided
The fluctuation of enough real-time detection DC bus-bar voltages, and by detecting fluctuation come the Iq current values in real-time regulation motor driven systems
And then finally motor is controlled, so as to reduce the fluctuation of DC bus-bar voltage, realize in the feelings for not increasing electrochemical capacitor
Powerful output is realized under condition, is solved in passive PFC schemes motor driven systems, the inverter when there is load excessive
Output is excessive, causes the literary wave voltage of appearance on DC bus-bar voltage to cause the big electrolysis filter capacitor work on dc bus
Service life reduction, and then affect whole motor driven systems working stability sex chromosome mosaicism.
Additionally, the present invention also provides a kind of transducer air conditioning, including the control device of above-mentioned motor driven systems, its frequency conversion
The motor of air-conditioner can be DC fan or compressor, and its specific embodiment refers to above-described embodiment, and here is not
Repeat again.
Transducer air conditioning provided in an embodiment of the present invention, the fluctuation of energy real-time detection DC bus-bar voltage, and by detection
The Iq current values that fluctuation comes in real-time regulation motor driven systems, so as to reduce the undulate quantity of DC bus-bar voltage, realize
Powerful output is realized in the case of not increasing electrochemical capacitor, is solved in passive PFC schemes motor driven systems, is worked as appearance
During load excessive, the output of inverter is excessive, causes
Big electrolysis filter capacitor working life is reduced, and then affects whole motor driven systems working stability sex chromosome mosaicism.
The preferred embodiments of the present invention are these are only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright description and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of control method of motor driven systems, the motor driven systems include commutator, passive PFC circuit, direct current
Smooth circuit, inverter, calculation control unit and motor, the commutator carry out all wave rectification, the nothing to AC-input voltage
, with the reactor connected with the rectifier output end, the AC-input voltage is by the commutator, nothing for source pfc circuit
Source pfc circuit, direct current smooth circuit output DC bus-bar voltage provide power supply for the inverter, and the calculation control unit is to inverse
Become device to be controlled with motor operation, it is characterised in that the control method is comprised the following steps：
Detect the three-phase electricity flow valuve of the d-c bus voltage value and motor；
Average voltage level is obtained according to the d-c bus voltage value；
Magnitude of a voltage fluctuation is obtained according to the d-c bus voltage value and average voltage level；
Control signal is generated according to the magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve, to drive to the motor
The inverter of dynamic system is controlled, and is run with motor.
2. motor driven systems control method as claimed in claim 1, it is characterised in that according to the magnitude of a voltage fluctuation, straight
Stream bus voltage value and three-phase electricity flow valuve generate control signal and the inverter of the motor driven systems are controlled, concrete to wrap
Include：
Obtain q shaft current initial values；
Q shaft current compensation dosages are calculated according to the magnitude of a voltage fluctuation, and it is initial according to the q shaft currents compensation dosage and q shaft currents
Value is added, and obtains the given current value of q axles；
The given current value of d axles is obtained according to the output voltage amplitude of the d-c bus voltage value and inverter；
Coordinate transform is carried out to the three-phase current and obtains d axles actual current value and q axle actual current values；
Give current value and d axles actual current value and the given current value of q axles respectively to the d axles and q axle actual current values are entered
Row is calculated the given magnitude of voltage of d axles and the given magnitude of voltage of q axles；
According to the given magnitude of voltage of the d axles, the given magnitude of voltage of q axles, d-c bus voltage value and the life of angle of rotor of motor estimated value
Into pwm control signal, to be controlled to inverter.
3. motor driven systems control method as claimed in claim 2, it is characterised in that the acquisition q shaft current initial values
Step includes：
According to motor rotating speed of target value and motor actual machine tachometer value carry out mathematic interpolation carry out again PI control obtain q shaft currents
Initial value.
4. motor driven systems control method as claimed in claim 2, it is characterised in that described according to d-c bus voltage value
The given current value step of d axles is obtained with the output voltage amplitude of inverter includes：
The output voltage amplitude of the inverter is calculated according to the given magnitude of voltage of previous d axles and the given magnitude of voltage of q axles；
The maximum output voltage value of inverter is calculated according to d-c bus voltage value；
According at the beginning of the output voltage amplitude of the maximum output voltage value and the inverter of inverter is calculated the d shaft currents
Initial value；
Amplitude limiting processing is carried out to the d shaft currents initial value and obtains the given current value of the d axles.
5. motor driven systems control method as claimed in claim 2, it is characterised in that the magnitude of a voltage fluctuation calculates q axles
Current compensation amount step includes：
PI is carried out according to magnitude of a voltage fluctuation to control to obtain q shaft current compensation dosages.
6. a kind of control device of motor driven systems, it is characterised in that the control device includes：
Current detection module, for detecting the three-phase electricity flow valuve of motor；
Voltage detection module, for detecting the d-c bus voltage value of the motor driven systems；
Average voltage acquisition module, for obtaining average voltage level according to the d-c bus voltage value；
Magnitude of a voltage fluctuation acquisition module, for obtaining magnitude of a voltage fluctuation according to the d-c bus voltage value and average voltage level；
Control signal generation module, generates control letter according to the magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve
Number it is controlled with the inverter to the motor driven systems, is run with motor.
7. the control device of motor driven systems as claimed in claim 6, it is characterised in that the control signal generation module
Specifically include：
Q shaft current compensation calculation units, for calculating q shaft current compensation dosages according to the magnitude of a voltage fluctuation；
Q shaft current initial value acquiring units, for carrying out difference according to motor rotating speed of target value and motor actual speed estimated value
Calculating carries out PI controls again and obtains q shaft current initial values；
The given current value arithmetic element of q axles, for being added with q shaft current initial values according to the q shaft currents compensation dosage, obtains q
Axle gives current value；
The given current value arithmetic element of d axles, based on the output voltage amplitude according to the d-c bus voltage value and inverter
Calculation obtains the given current value of d axles；
Dq shaft current arithmetic elements, obtain d axles actual current value and q axle reality for coordinate transform is carried out to the three-phase current
Current value；
Dq shaft voltage arithmetic elements, for respectively to the given current value of d axles and d axles actual current value and the given current value of q axles
Carry out calculating with q axles actual current value and obtain the given magnitude of voltage of d axles and the given magnitude of voltage of q axles；
PWM arithmetic elements, for according to the given magnitude of voltage of d axles, q axles given magnitude of voltage, d-c bus voltage value and rotor
Angle estimated value generates pwm control signal and inverter is controlled.
8. the control device of motor driven systems as claimed in claim 7, it is characterised in that the q shaft currents compensation calculation
Device is additionally operable to：
PI is carried out according to magnitude of a voltage fluctuation to control to obtain q shaft current compensation dosages.
9. the control device of motor driven systems as claimed in claim 7, it is characterised in that the given current value fortune of the d axles
Calculate unit to specifically include：
Voltage magnitude computation subunit, for being calculated institute according to the given magnitude of voltage of previous d axles and the given magnitude of voltage of q axles
State the output voltage amplitude of inverter；
Maximum output voltage value computation subunit, for the maximum output electricity of inverter is calculated according to d-c bus voltage value
Pressure value；
Weak magnetic controls subelement, and the output voltage amplitude for maximum output voltage and inverter according to the inverter is calculated
Obtain d shaft current initial values；
Amplitude limit subelement, obtains the given current value of the d axles for amplitude limiting processing is carried out to the d shaft currents initial value.
10. a kind of transducer air conditioning, it is characterised in that the transducer air conditioning includes the electricity described in any one of claim 6-9
The control device of machine drive system.
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| CN201611088247.9A CN106559026B (en) | 2016-11-30 | 2016-11-30 | A kind of control method of motor driven systems, control device and transducer air conditioning |
| PCT/CN2017/105300 WO2018099187A1 (en) | 2016-11-30 | 2017-10-09 | Control method and control device for motor drive system and variable-frequency air conditioner |
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| CN201611088247.9A CN106559026B (en) | 2016-11-30 | 2016-11-30 | A kind of control method of motor driven systems, control device and transducer air conditioning |
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| CN112910232A (en) * | 2021-03-19 | 2021-06-04 | 青岛海信日立空调系统有限公司 | Air conditioning system |
| CN112910232B (en) * | 2021-03-19 | 2022-04-19 | 青岛海信日立空调系统有限公司 | Air conditioning system |
| CN114069573A (en) * | 2021-11-05 | 2022-02-18 | 青岛海信日立空调系统有限公司 | Air conditioner |
| CN114069573B (en) * | 2021-11-05 | 2024-03-01 | 青岛海信日立空调系统有限公司 | Air conditioner |
| CN114221368A (en) * | 2021-11-15 | 2022-03-22 | 珠海格力智能装备有限公司 | Energy recovery control system and method applying direct current bus |
| CN114244225A (en) * | 2021-12-03 | 2022-03-25 | 淮安威灵电机制造有限公司 | Weak magnetic control method and device of motor, motor controller and motor control system |
| CN114244225B (en) * | 2021-12-03 | 2024-04-12 | 淮安威灵电机制造有限公司 | Weak magnetic control method and device for motor, motor controller and motor control system |
| CN114337417B (en) * | 2021-12-30 | 2023-10-31 | 海信空调有限公司 | Motor control method, air conditioner and computer readable storage medium |
| CN114337417A (en) * | 2021-12-30 | 2022-04-12 | 海信（山东）空调有限公司 | Motor control method, air conditioner and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018099187A1 (en) | 2018-06-07 |
| CN106559026B (en) | 2019-02-05 |
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