CN106655936B - It is a kind of to lack rare-earth permanent-magnet electric machine zero-sequence current inhibition control system and method - Google Patents
It is a kind of to lack rare-earth permanent-magnet electric machine zero-sequence current inhibition control system and method 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
Abstract
The present invention discloses few rare-earth permanent-magnet electric machine zero-sequence current in a kind of Motor Control Field and inhibits control system and method, to revolving speed n and electric current id、iqUsing id=0 two close cycles vector control method obtains output voltage ud *And uq *, by given o shaft current i0 *With o shaft current i0It makes the difference to obtain electric current Δ i0, and by Δ i0It is input to harmonic rejection module, residual voltage output u is calculated in harmonic rejection module0 *；By voltage ud *、uq *And residual voltage exports u0 *, rotor position angle θ be input to no residual voltage SVPWM module jointly, drive two standard two-level inverters, two two-level inverters respectively connected to the winding both ends of few rare earth permanent magnet brushless motor of neutral point opening；Achieve the purpose that real-time monitoring and feedback zero-sequence current, disposable back-emf multiple harmonic of eliminating influence caused by electric machine phase current, both do not needed to inhibit one by one for multiple harmonic, also do not need to inhibit multiple harmonic by increasing hardware.
Description
Technical field
The invention belongs to Motor Control Fields, and in particular to a kind of wide range speed control operation of few rare-earth permanent-magnet electric machine and zero sequence electricity
Suppressing method is flowed, the application of wide range speed control requirement is needed particularly suitable for electric car etc..
Background technique
Automobile drive motor as one of hybrid vehicle, the crucial execution unit of electric car, driveability
Superiority and inferiority directly affects the vehicle performance of hybrid vehicle, electric car.Traditional automobile drive motor mainly uses built-in
Rare earth permanent magnet brushless motor has the advantages such as high efficiency, high power density.But be limited to the constant air-gap field of such motor and
Limited inverter capacity, electric machine speed regulation range is relatively narrow, needs the operation occasion of wide speed regulating range by one in electric car etc.
Definite limitation.The revolving speed range of operation of motor is mainly improved by control means such as weak magnetic controls at present, but is produced from depth weak magnetic area
The irreversible demagnetization that raw biggish d-axis demagnetizing current increases rare earth magnetic steel in such motor is dangerous.
As the rise of rare earth material price, rare earth resources are increasingly rare, develop the few rare earth of alnico, ferrite etc., non-
The permanent magnetic brushless of rare earth material is big to needs such as electric car, hybrid vehicles to alleviate the dependence to rare earth material
The field for measuring permanent magnetic brushless has strategic importance.However the Ferrite Material being added in few rare-earth electric motor is due to coercivity
It is low, resist irreversible degaussing ability weak, is controlled using weak magnetic and improve the dangerous bigger of the range of speeds.Thus seek one kind can eliminate or
Alleviate few rare earth permanent magnet brushless motor irreversible demagnetization risk, while widening the control strategy of range of motor speeds, becomes development
Few rare earth, non-rare-earth electric motor urgent problem to be solved for electric vehicle.
The open topology of winding is applied in induction machine, permanent magnetic brushless field at present.Winding Open architecture
It is to open generator neutral point, both ends respectively connect an inverter.Compared to the topological structure that traditional neutral point connects, same
Direct current supply voltage conditions under, the open topology of winding can obtain bigger voltage vector, thus can effectively widen electricity
Machine revolving speed range of operation, it is excellent to have that voltage utilization is high, device bears that voltage is low, output voltage waveforms are good, output harmonic wave is small etc.
Gesture.Therefore for few rare earth permanent magnet brushless motor using ferrite and neodymium iron boron hybrid excitation, the open topology of winding is used
Few rare-earth permanent-magnet electric machine can be delayed to enter weak magnetic area, the disadvantage that few rare-earth electric motor resists irreversible degaussing ability weak is effectively relieved.
The open topology of winding can use the scheme independently-powered to two inverters since winding both ends respectively connect an inverter.
However the more hardware costs of independently-powered needs and bigger volume, do not meet electric car compact layout, the high property of low cost
The requirement of energy.Few rare earth hybrid excitation permanent magnetic brushless is considerably increased due to using neodymium iron boron and ferrite combination excitation
The difficulty of magnetic Circuit Design, while it being limited to processing technology, 3,9,15 etc. are unavoidably generated in the phase potential that motor rotation generates
3k subharmonic.When the open topology of the winding powered using single DC source, 3k subharmonic will be unable to eliminate inside electric system
And stay in motor driven systems, the zero-sequence current of generation will cause motor oscillating, or even damage motor.China Patent No. is
201410145310.2, it is entitled " it is a kind of based on ratio resonance control inhibition common bus open winding permanent magnet motor zero-sequence current
Method " document disclosed in zero-sequence current suppressing method, it is contemplated that open 3 subharmonic of magneto of winding is to motor
The influence of system proposes the method that use ratio resonant controller inhibits 3 subharmonic, has obtained ideal current waveform.But
This method can only inhibit single harmonic component, inhibit multiple harmonic to need multiple ratio resonant regulators in parallel simultaneously to one,
Algorithm is complicated, loses the meaning of control.Therefore, how integrally to inhibit multiple harmonic, to obtain sinusoidal three-phase symmetrical phase
Electric current becomes and develops the open few rare earth permanent magnet brushless motor urgent problem of winding.
Summary of the invention
The purpose of the present invention is in order to solve the problems existing in the prior art, provide a kind of few rare-earth permanent-magnet electric machine zero-sequence current
Inhibit control system and method, give the open topological structure of winding of two inverter power supplies simultaneously using single DC power supply,
It, being capable of multiple-harmonic one inhibition motor zero-sequence current while widening few rare earth permanent magnet brushless motor revolving speed range of operation.
A kind of few rare-earth permanent-magnet electric machine zero-sequence current of the present invention inhibit control system the technical solution adopted is that: controller is logical
Signal wire link position sensor, busbar voltage sensor and current sensor are crossed, voltage sensor will test busbar voltage udc,
Current sensor detects three-phase phase current ia、ib、ic, controller includes position and speed calculation module, abc/dq0 module, without zero
Sequence voltage SVPWM module, rotational speed regulation module, d shaft current adjustment module, q shaft current adjustment module and harmonic rejection module；Position
Sensor output link position and speed calculation module input terminal are set, position and speed calculation module output end are separately connected humorous
Wave suppression module and input terminal without residual voltage SVPWM module, position and speed calculation module output rotor electrical angle θ and electricity
Machine real-time revolving speed n, rotor electrical angle θ input is without residual voltage SVPWM module, revolving speed n input harmonics suppression module；Voltage sensor
Device output end is separately connected harmonic rejection module, q shaft current adjustment module and d shaft current adjustment module；Current sensor output
End connection abc/dq0 module input, it is i respectively that abc/dq0 module, which exports d axis, q axis, 0 shaft current,d、iq、i0, to revolving speed n and
Electric current id、iqUsing id=0 two close cycles vector controlled structure；By 0 shaft current i0With 0 given shaft current i0 *It makes comparisons to obtain
Current differential Δ i0, by current differential Δ i0It is input to harmonic rejection module, harmonic rejection module exports residual voltage u0 *And it is defeated
Outlet is connected without residual voltage SVPWM module input.
The two close cycles vector controlled structure is d shaft current idWith given d shaft current id *It makes comparisons, obtained electric current
Difference DELTA idIt is input to d shaft current adjustment module, d shaft current adjustment module output voltage ud *And output end connection is without residual voltage
SVPWM module input；Revolving speed n and given revolving speed n*It makes comparisons, obtained rotating speed difference Δ n is input to rotational speed regulation mould
Block, rotational speed regulation module obtain q axis and give constant current iq *, by q shaft current iq *With electric current iqThe current differential Δ i to make comparisonsq
It is input to q shaft current adjustment module, q shaft current adjustment module output voltage uq *And output end connection is without residual voltage SVPWM mould
Block input terminal.
A kind of few rare-earth permanent-magnet electric machine zero-sequence current of the present invention inhibits control method the technical solution adopted is that having following
Step:
Step 1: position sensor acquisition position signal and input position and speed calculation module, position and speed calculate mould
The block output rotor electrical angle θ and real-time revolving speed n of motor；Voltage sensor acquires DC bus-bar voltage udcAnd input harmonics inhibit mould
Block, q shaft current adjustment module and d shaft current adjustment module, current sensor acquire three-phase phase current ia、ib、icAnd input abc/
Dq0 module, exporting d axis, q axis, 0 shaft current after abc/dq0 block transforms is i respectivelyd、iq、i0, to revolving speed n and electric current id、iq
Using id=0 two close cycles vector control method obtains output voltage ud *And uq *；
Step 2: by 0 given shaft current i0 *With 0 shaft current i0It makes the difference to obtain current differential Δ i0, and by current differential Δ
i0It is input to harmonic rejection module, harmonic rejection module is first according to expression formulaIt is calculated and inhibits defeated
U outr, according to expression formula up=KpΔi0Dynamic response output u is calculatedp, then dynamic response exported into upU is exported with inhibitionr
Be added, and with busbar voltage udcResidual voltage output u is obtained as quotient0 *；Q (z) is low-pass filter；KrzLFor compensation tache, Kr
To inhibit gain, L is the advanced beat number of compensation tache, L < N；N is system power sample frequency fsWith controlled device frequency f0It
Than: controlled device frequency f0For 3 frequencys multiplication of electric machine frequency；KpFor proportional gain；Z is z-transform operator；
Step 3: by voltage ud *And uq *And residual voltage exports u0 *, rotor electrical angle θ be input to no residual voltage jointly
SVPWM module, no two standard two-level inverter of residual voltage SVPWM module drive, two two-level inverters are respectively connected
Connect the winding both ends of the open few rare earth permanent magnet brushless motor of winding of neutral point opening.
The present invention has the beneficial effect that afterwards by adopting the above technical scheme
1, the present invention is for the open few rare earth permanent magnet brushless motor of winding, due to design of electrical motor difficulty and mismachining tolerance etc.
The 3k subharmonic such as motor phase back-emf 3,9,15 caused by reason proposes multiple-harmonic one on the basis of vector control strategy
Inhibit control method, form zero-axis current closed loop by this method, achievees the purpose that real-time monitoring and feedback zero-sequence current.?
On the basis of SVPWM modulation strategy does not generate residual voltage, disposable back-emf multiple harmonic of eliminating causes electric machine phase current
Influence, this control method both do not need to inhibit one by one for multiple harmonic, reduces the difficulty of algorithm implementation, do not need yet
Inhibit multiple harmonic by increasing hardware, saves hardware cost, the operation that motor driven systems can be made efficient and stable.
2, it since few rare-earth permanent-magnet electric machine uses the open circuit topology of winding, can be obtained under the conditions of identical DC source
Three level modulation effect, more level effects can be improved voltage utilization, reduce harmonic wave of output voltage, and with it is traditional in
Point clamper type three-level inverter is compared, without mid-point voltage fluctuation problem existing for the latter；On this basis, winding is open
Structure can also widen motor speed range of operation, be particularly suitable for applying to few rare-earth permanent magnet brushless electricity in electric car field
Machine can delay few rare-earth permanent-magnet electric machine to enter weak magnetic area, reduce the risk that irreversible demagnetization occurs for few rare-earth permanent-magnet electric machine, real
The purpose of existing wide range speed control operation.
3, the present invention can alleviate the disadvantage that few rare-earth permanent-magnet electric machine resists irreversible degaussing ability weak, reduce motor to rare earth material
The dependence of material enables motor to obtain ideal current waveform.
4, present invention energy two standard two-level inverters of coordinated control work at the same time.Using not generating residual voltage
SVPWM modulation strategy, the voltage vector that two inverters generate at any time will not all generate residual voltage, reduce modulation
Mode is influenced caused by motor；The switching sequence for coordinating two inverters simultaneously, maximumlly reduces the switch of switching device
Loss, to extend the service life of electric system.
5, the present invention using single DC power supply power supply the open circuit topology of winding, can save two power supply buses and
The pressure stabilizing electrolytic capacitor of one side inverter improves the operation of system while reducing motor driven systems volume and system cost
Reliability.
6, for the present invention under SVPWM modulation strategy, the addition of two inverters can obtain more voltage vectors, mention significantly
The fault-tolerant ability of high motor still is able to swear using residual voltage abundant in the case where fault of converter and electrical fault occurs
Amount guarantees motor stabilizing operation, requires high reliability, high stability to answer particularly suitable for electric car, hybrid vehicle etc.
Use occasion.
Detailed description of the invention
Fig. 1 is the structural block diagram that a kind of few rare-earth permanent-magnet electric machine zero-sequence current of the present invention inhibits control system；
Fig. 2 is the inside composition block diagram and outer map interlinking of controller 7 in Fig. 1；
Fig. 3 is the workflow block diagram of harmonic rejection module 16 in Fig. 2；
Fig. 4 is the space vector distribution map without residual voltage SVPWM module 12 in Fig. 2；
Fig. 5 is A phase phase current simulation waveform when few rare-earth permanent-magnet electric machine does not use the present invention；
Fig. 6 is A phase phase current frequency analysis schematic diagram when few rare-earth permanent-magnet electric machine does not use the present invention；
Fig. 7 is A phase phase current simulation waveform when few rare-earth permanent-magnet electric machine uses the present invention；
Fig. 8 is A phase phase current frequency analysis schematic diagram when few rare-earth permanent-magnet electric machine uses the present invention.
In figure: 1. few rare earth permanent magnet brushless motors；2. position sensor；3,4. two-level inverter；5. direct current supply is electric
Source；6. electrolytic capacitor；7. controller；8. voltage sensor；9. current sensor；10. position and speed calculation module；
11.abc/dq0 module；12. without residual voltage SVPWM module；13. rotational speed regulation module；14.d shaft current adjustment module；15.q
Shaft current adjustment module；16. harmonic rejection module.
Specific embodiment
As shown in Figure 1, few rare earth permanent magnet brushless motor 1 uses winding Open architecture, the neutral point of winding is opened, around
Group both ends respectively connect a standard two-level inverter, and standard two-level inverter is the first two-level inverter 3 and second respectively
Two-level inverter 4.Neutral point draws 6 connecting terminal a1、b1、c1、a2、b2、c2It respectively corresponds as motor A phase, B phase, C phase phase
The both ends output terminal of winding, connecting terminal a1、b1、c1The output end of three bridge arms of the first two-level inverter 3 is connect respectively,
Connecting terminal a2、b2、c2The output end of three bridge arms of the second two-level inverter 4 is connect respectively.
First two-level inverter 3 and the second two-level inverter 4 are three bridge arm structures, and each bridge arm is by two IGBT
Switching device and corresponding backward dioded composition in parallel, 12 IGBT switching devices are V respectively11、V13、V15、V14、V16、V12、
V21、V23、V25、V24、V26、V22, 12 backward diodeds are D respectively11、D13、D15、D14、D16、D12、D21、D23、D25、D24、D26、
D22.First two-level inverter 3 and the second two-level inverter 4 are powered by a DC power supply 5 simultaneously, in direct current supply
5 two sides parallel electrolytic capacitor 6 of power supply.
First two-level inverter 3 connects controller 7 by control line respectively with the second two-level inverter 4, by controlling
Device 7 drives work.For controller 7 by signal wire link position sensor 2, position sensor 2 is mounted on few rare-earth permanent magnet brushless
On the axis of motor 1, position sensor 2 is used to detect the real-time rotor-position of few rare earth permanent magnet brushless motor 1, and by real-time rotor
Position signal is sent to controller 7.Controller 7 also connects busbar voltage sensor 8 and current sensor by signal wire respectively
9, voltage sensor 8 is for detecting busbar voltage udc, current sensor 9 is for detecting three-phase phase current ia、ib、ic, voltage sensor
Device 8 and current sensor 9 are by busbar voltage udcWith phase current ia、ib、icIt is sent to controller 7.
Controller 7 is by real-time rotor-position signal, three-phase phase current ia、ib、ic, busbar voltage udcAs input, and pass through
Control strategy synthesis 12 tunnel PWM waves (i.e. PWM1-6 and PWM7-12) carries out drive control to two two-level inverters respectively, i.e.,
PWM1-6 drives the first two-level inverter 3, and PWM7-12 drives the second two-level inverter 4.
As shown in Fig. 2, controller 7 includes position and speed calculation module 10, abc/dq0 module 11, without residual voltage
SVPWM module 12, rotational speed regulation module 13, d shaft current adjustment module 14, q shaft current adjustment module 15, harmonic rejection module
16.Wherein, 10 input terminal of the output end link position of position sensor 2 and speed calculation module, position and speed calculation module
10 output end is separately connected harmonic rejection module 16 and the input terminal without residual voltage SVPWM module 12.Position sensor 2 is examined
The real-time rotor-position signal input position and speed calculation module 10 measured, it is defeated after position and speed calculation module 10 calculate
Without residual voltage SVPWM module 12, motor turns in real time for rotor electrical angle θ and motor real-time revolving speed n, rotor electrical angle θ input out
Fast n input harmonics suppression module 16.
The input terminal of the output end connection abc/dq0 module 11 of current sensor 9, the three-phase that current sensor 9 detects
Phase current ia、ib、icAbc/dq0 module 11 is inputted, d axis, q axis, 0 shaft current difference after 11 output transform of abc/dq0 module
It is id、iq、i0。
The output end of voltage sensor 8 is separately connected harmonic rejection module 16, q shaft current adjustment module 15 and d shaft current
Adjustment module 14, the busbar voltage u that voltage sensor 8 will testdcInput harmonics suppression module 16, q shaft current are adjusted respectively
Module 15, d shaft current adjustment module 14.
The d shaft current i that abc/dq0 module 11 is exporteddWith given d shaft current id *It makes comparisons, obtains current differential Δ
id, and by current differential Δ idIt is input in d shaft current adjustment module 14, the output end connection of d shaft current adjustment module 14 is without zero
The input terminal of sequence voltage SVPWM module 12.D shaft current adjustment module 14 is a PI adjustment module, while having clipping and mark
Effect, the electric current Δ i of 14 pairs of d shaft current adjustment module inputsdWith busbar voltage udcOutput voltage u after adjustingd *, voltage ud *
Scope limitation is 0~1.Voltage ud *It is input to no residual voltage SVPWM module 12.
The revolving speed n and given revolving speed n that position and speed calculation module 10 are exported*It makes comparisons, obtains rotating speed difference Δ
Rotating speed difference Δ n is input to rotational speed regulation module 13 by n, and it is given to obtain q shaft current after 13 adjusting of rotational speed regulation module processing
iq *, give q axis to constant current iq *The q shaft current i exported with abc/dq0 module 11qIt makes comparisons, obtains current differential Δ iq, and will
Current differential Δ iqIt is input in q shaft current adjustment module 15, the output end of q shaft current adjustment module 15 is connected without residual voltage
The input terminal of SVPWM module 12.Q shaft current adjustment module 15 is a PI adjustment module, while having clipping and mark effect,
The current differential Δ i of 15 pairs of q shaft current adjustment module inputsqWith busbar voltage udcOutput voltage u after adjusting processingq *, by voltage
uq *It is input to no residual voltage SVPWM module 12.
This system is to revolving speed n and electric current id、iqUsing based on id=0 two close cycles vector controlled structure.
The 0 shaft current i that abc/dq0 module 11 is exported0With 0 given shaft current i0 *It makes comparisons, obtains current differential Δ
i0, and by current differential Δ i0It is input to harmonic rejection module 16, thus constitutes 0 shaft current closed loop.Harmonic rejection module 16 it is defeated
Outlet connects the input terminal without residual voltage SVPWM module 12.The electric current Δ i of 16 pairs of harmonic rejection module inputs0, busbar voltage
udc, export residual voltage u after motor real-time revolving speed n processing0 *, by residual voltage u0 *It is input to no residual voltage SVPWM module
12。
No 12 couples of the residual voltage SVPWM module residual voltage u inputted in it0 *, rotor electrical angle θ, voltage ud *, voltage
uq *12 tunnel PWM waves are exported after modulation, respectively drive two two-level inverters 3,4.
As depicted in figs. 1 and 2, when a kind of few rare-earth permanent-magnet electric machine zero-sequence current of the present invention inhibits control system work, base
In id=0 two close cycles vector controlled, and inhibit zero-sequence current on its basis, specifically comprise the following steps:
Step 1: motor rotor position signal being acquired by position sensor 2 and by position signal input position and speedometer
It calculates in module 10, position and 10 output rotor electrical angle θ of the speed calculation module and real-time revolving speed n of motor.Pass through voltage sensor 8
Acquire DC bus-bar voltage udcAnd by busbar voltage udcInput harmonics suppression module 16, q shaft current adjustment module 15, d shaft current
In adjustment module 14.Three-phase phase current i is acquired by current sensor 9a、ib、ic, and by three-phase phase current ia、ib、icInput
Abc/dq0 module 11, exporting d axis, q axis, 0 shaft current after the transformation of abc/dq0 module 11 is i respectivelyd、iq、i0, transformation for mula
Are as follows:
Step 2: by given d shaft current id *The d shaft current i exported with abc/dq0 module 11dIt makes the difference, obtains current difference
It is worth Δ id, and by current differential Δ idIt being input in d shaft current adjustment module 14, d shaft current adjustment module 14 is pi regulator,
There is clipping and mark effect, 14 output voltage u of d shaft current adjustment module simultaneouslyd *, scope limitation is 0~1.Voltage ud *Expression
Formula are as follows:
Wherein, udcFor busbar voltage；kpFor the proportional gain of d shaft current adjustment module 14；kiFor d shaft current adjustment module
14 integral gain；Z is z-transform operator；Sgn () is sign function；udLimFor amplitude limit value.
Meanwhile the revolving speed n that will be given*The revolving speed n exported with position and speed calculation module 10 makes the difference, and obtains rotating speed difference
Rotating speed difference Δ n is input to rotational speed regulation module 13 by Δ n, and rotational speed regulation module 13 is a PI adjustment module with clipping,
Expression formula are as follows:
Wherein, kpFor the proportional gain of rotational speed regulation module 13；kiFor the integral gain of rotational speed regulation module 13；Z is z change
Conversion；Sgn () is sign function；iqLimFor amplitude limit value.
The output of rotational speed regulation module 13 is that q shaft current gives iq *, q shaft current that it is exported with abc/dq0 module 11
iqIt makes the difference, obtains current differential Δ iq, and by current differential Δ iqIt is input in q shaft current adjustment module 15, q shaft current is adjusted
Module 15 is a PI adjustment module, while having clipping and mark effect, the u that q shaft current adjustment module 15 exportsq *Range limit
System is 0~1.Its expression formula are as follows:
Wherein, udcFor DC bus-bar voltage；kpFor the proportional gain of q shaft current adjustment module 15；kiFor the adjusting of q shaft current
The integral gain of module 15；Z is z-transform operator；Sgn () is sign function；udLimFor amplitude limit value.
In this way, to revolving speed n and electric current id、iqUsing id=0 two close cycles vector control method obtains output voltage ud *With
uq *。
Meanwhile the 0 shaft current i that will be given0 *The 0 shaft current i exported with abc/dq0 module 110It makes the difference, obtains current differential
Δi0, and by current differential Δ i0It is input in harmonic rejection module 16, workflow block diagram such as Fig. 3 of harmonic rejection module 16
It is shown, specifically:
Harmonic rejection module 16 is by current differential Δ i0As input, with Q (z) z-NThe positive feedback of composition is multiplied, and obtains Q
(z)z-NOutput, the output and compensation tache KrzLIt is multiplied, is inhibited and exports ur, inhibit output urExpression formula are as follows:
Wherein, Q (z) is low-pass filter, for improving the stability of harmonics restraint.Q (z) is set in the present invention are as follows:
KrzLFor compensation tache, for compensate inhibit caused by amplitude and phase lag, wherein KrTo inhibit gain, L is
The advanced beat number of compensation tache, needs to meet L < N；Z is z-transform operator；
N is system power sample frequency fsWith controlled device frequency f0The ratio between, system power sample frequency fsFor 10kHz, quilt
Control object frequency f0Related with electric machine frequency, electric machine frequency can be calculated by conventional motor speed formula, due to inhibition
Harmonic wave is 3k subharmonic, so controlled device frequency f0It should be 3 frequencys multiplication of electric machine frequency.The calculation formula of N are as follows:
Wherein, p is motor number of pole-pairs, and n is revolving speed.
Meanwhile by electric current Δ i0With proportional gain KpIt is multiplied, obtains dynamic response output up, calculation formula are as follows:
up=KpΔi0,
KpFor proportional gain, for improving the dynamic response of suppressing method.
Dynamic response is exported into u againpU is exported with inhibitionrBe added, and with busbar voltage udcMake quotient, zero after being marked
Sequence voltage exports u0 *, mark after residual voltage export u0 *Range is 0~1, can thus form zero-axis current closed loop, constantly
It generates residual voltage and exports u0 *Compensate back-emf 3k subharmonic.
Step 3: by voltage ud *、uq *And residual voltage exports u0 *, rotor electrical angle θ be input to no residual voltage jointly
In SVPWM module 12.Since two standard two-level inverters 3,4 use 12 IGBT switching devices, so controller 7 exports
12 tunnel PWM waves, i.e. PWM1-6, PWM7-12 respectively drive the operation of two standard two-level inverters 3,4.Without residual voltage SVPWM
The space vector distribution map of module 12 is as indicated at 4:
At two-phase stationary coordinate system α β 0, system structure altogether can produce 64 vectors, be distributed in respectively GIKMPR,
At HJLNKS, ABCDEF and origin O.Wherein GIKMPR, ABCDEF be in power supply structure open using single DC source winding,
SVPWM modulation can generate residual voltage, to cause zero-sequence current, influence output effect；And HJLNKS and O are when being in any
Quarter will not generate residual voltage, because of zero-sequence current caused by without generation residual voltage, therefore choose these vector position shapes
It is modulated at SVPWM.After non-common mode voltage SVPWM modulation module, 12 tunnel PWM waves, respectively PWM1-6, PWM7-12 are exported.
Step 4: PWM1-6, PWM7-12 of output being separately input to the first two-level inverter 3 and second liang of level is inverse
Become in device 4, for driving 12 switching devices, so that driving motor is run.
When the present invention lacks the inhibition control system work of rare-earth permanent-magnet electric machine zero-sequence current, system power sample frequency is constantly heavy
It is multiple, realize that multiple-harmonic integrally inhibits, and motor is run under two close cycles environment.
Present system is emulated, the relevant parameter of motor is as shown in table 1:
Table 1
Fig. 5 is the A phase phase current waveform for inhibiting control system and control method without using zero-sequence current of the present invention, and Fig. 6 is
Corresponding A phase phase current frequency analysis.It can be seen that not inhibiting the A phase of control system mutually electric using zero-sequence current of the present invention
Stream distortion is serious, this is because caused by zero-sequence current is not zero.Since the SVPWM modulation system of use is any time without zero
Sequence voltage SVPWM modulation, the residual voltage for modulating generation at any time is 0, therefore zero-sequence current is only humorous by counter electromotive force
Wave causes.It is respectively 15.63%, 3.61% from the available A phase current 3 of Fig. 6,9 order harmonic components, harmonic content is higher, gesture
It must influence the stable operation of motor driven systems.
Fig. 7 is the A phase phase current waveform for having used zero-sequence current of the present invention to inhibit control system and control method, and Fig. 8 is
Corresponding A phase phase current frequency analysis.As can be seen that phase current sine degree greatly improves, this is because zero-sequence current presses down substantially
It is made as zero, to no longer influence the output quality of phase current.From Fig. 8 it is also seen that 3,9 subharmonic are big simultaneously in A phase phase current
Width reduces, and is kept to 1.70%, 0.08% respectively, it is seen that inhibitory effect is clearly.
Claims (4)
1. a kind of few rare-earth permanent-magnet electric machine zero-sequence current inhibits control method, it is characterized in that having follow steps:
Step 1: position sensor (2) acquisition position signal and input position and speed calculation module (10), position and speedometer
Calculate module (10) the output rotor electrical angle θ and real-time revolving speed n of motor；Voltage sensor (8) acquires DC bus-bar voltage udcAnd it is defeated
Enter harmonic rejection module (16), q shaft current adjustment module (15) and d shaft current adjustment module (14), current sensor (9) acquisition
Three-phase phase current ia、ib、icAnd abc/dq0 module (11) are inputted, d axis, q axis, 0 axis are exported after abc/dq0 module (11) transformation
Electric current is i respectivelyd、iq、i0, to revolving speed n and electric current id、iqUsing id=0 two close cycles vector control method obtains output voltage
ud *And uq *；
Step 2: by 0 given shaft current i0 *With 0 shaft current i0It makes the difference to obtain current differential Δ i0, and by Δ i0It is input to harmonic wave
Suppression module (16), harmonic rejection module (16) is first according to expression formula ur=(Q (z) z-NKrzL)/(1-Q(z)z-N)*Δi0It calculates
It is inhibited and exports ur, according to expression formula up=KrΔi0Dynamic response output u is calculatedp, then dynamic response exported into upWith
Inhibit output urBe added, and with busbar voltage udcResidual voltage output u is obtained as quotient0 *；Q (z) is low-pass filter；KrzLTo mend
Repay link, KrTo inhibit gain, L is the advanced beat number of compensation tache, L < N；N is system power sample frequency fsWith controlled pair
Picture frequency rate f0The ratio between: controlled device frequency f0For 3 frequencys multiplication of electric machine frequency；KpFor proportional gain；Z is z-transform operator；
Step 3: by voltage ud *And uq *And residual voltage exports u0 *, rotor electrical angle θ be input to no residual voltage jointly
SVPWM module (12), no residual voltage SVPWM module (12) drives two standard two-level inverters, and two two level are inverse
Become the winding both ends that device respectively connects the open few rare earth permanent magnet brushless motor of winding of neutral point opening.
2. lacking rare-earth permanent-magnet electric machine zero-sequence current according to claim 1 inhibits control method, it is characterized in that: in step 1,
The transformation for mula of abc/dq0 module (11) are as follows:
3. lacking rare-earth permanent-magnet electric machine zero-sequence current according to claim 1 inhibits control method, it is characterized in that: in step 2, institute
State low-pass filter
4. lacking rare-earth permanent-magnet electric machine zero-sequence current according to claim 1 inhibits control method, it is characterized in that: in step 2,P is motor number of pole-pairs, and n is the real-time revolving speed of motor.
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| CN108566134B (en) * | 2018-04-13 | 2019-11-01 | 合肥工业大学 | Common DC bus opens winding permanent magnet synchronous motor rotor position discrimination method |
| CN109861622B (en) * | 2019-04-08 | 2020-09-29 | 浙江大学 | Low switching frequency control strategy of common direct current bus open winding permanent magnet synchronous motor system |
| CN110247607B (en) * | 2019-06-13 | 2021-04-20 | 华中科技大学 | Open winding control system and control method for switched reluctance motor |
| CN110460276A (en) * | 2019-07-12 | 2019-11-15 | 淮阴工学院 | A kind of few rare-earth permanent-magnet electric machine drive system inhibiting zero-sequence current |
| CN112234889B (en) * | 2020-10-09 | 2022-02-11 | 北京理工大学 | Single-vector control method of open-winding permanent magnet synchronous motor |
| CN112953332B (en) * | 2021-01-29 | 2022-08-23 | 江苏大学 | Harmonic suppression common bus open winding permanent magnet synchronous motor vibration reduction control method |
| CN114421824A (en) * | 2022-01-19 | 2022-04-29 | 安徽大学 | Brushless direct current motor position sensorless control method |
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| CN103731079A (en) * | 2013-12-26 | 2014-04-16 | 浙江大学 | Permanent magnet motor system with shared bus structure and open winding and control method for suppressing zero-sequence current |
| CN104242775A (en) * | 2014-10-22 | 2014-12-24 | 哈尔滨工业大学 | Zero-sequence current suppression method of open type permanent magnet synchronous motor with double-inverter power supply |
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| CN103731079A (en) * | 2013-12-26 | 2014-04-16 | 浙江大学 | Permanent magnet motor system with shared bus structure and open winding and control method for suppressing zero-sequence current |
| CN104242775A (en) * | 2014-10-22 | 2014-12-24 | 哈尔滨工业大学 | Zero-sequence current suppression method of open type permanent magnet synchronous motor with double-inverter power supply |
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Application publication date: 20170510 Assignee: Sumeida Hardware & Tools Co., Ltd., Jiangsu Assignor: Jiangsu University Contract record no.: 2019320000027 Denomination of invention: Rare earth lacking permanent magnet motor zero sequence current suppressing and controlling system and method Granted publication date: 20181214 License type: Exclusive License Record date: 20190307 |