CN106788088A - New energy automobile motor torque ripple compensation method - Google Patents
New energy automobile motor torque ripple compensation method Download PDFInfo
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- CN106788088A CN106788088A CN201510801133.3A CN201510801133A CN106788088A CN 106788088 A CN106788088 A CN 106788088A CN 201510801133 A CN201510801133 A CN 201510801133A CN 106788088 A CN106788088 A CN 106788088A
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Abstract
The invention discloses a kind of New energy automobile motor torque ripple compensation method, including：N times harmonic wave is carried out into electric current LPF in the case where it is presented as the coordinate system of DC quantity, motor n times current harmonics component is obtained, N is zero or positive integer；With 0 it is with reference to carrying out PI controls, obtain pre- current compensation amount by n times current harmonics component；By pre- current compensation amount by coordinate transform, the acquisition true compensation rate of motor current ring under dq coordinate systems is transformed into, motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates the Motor torque fluctuation that n times current harmonics is produced.New energy automobile motor torque ripple compensation method of the invention can be suitably used for the harmonic wave of various motor torques fluctuation producing causes.
Description
Technical field
The present invention relates to automotive field, more particularly to a kind of New energy automobile motor torque ripple compensation method.
Background technology
New-energy automobile refer to using unconventional vehicle fuel as power resources (or using conventional vehicle fuel, adopt
Use novel on-vehicle power set), the advanced technology in terms of the dynamic Control of comprehensive vehicle and driving, the know-why of formation
Automobile advanced, with new technology, new construction.New-energy automobile includes pure electric automobile, stroke-increasing electric automobile, mixes
Close power vehicle, FC-EV, hydrogen engine automobile, other new-energy automobiles etc..
In pure electric or hybrid automobile, power-driven system is mainly by motor, electric machine controller and high voltage electric storage
Pond constitutes.Motor plays very important effect, the output matter of motor moment of torsion in whole power-driven system
Amount also directly determines the driving experience of automobile but due to hardware limitation in motor driven systems, such as position sensor precision, or
Due to the limitation of manufacturing process in motor body manufacturing process, it is uneven to often lead to inverter output current, or have compared with
Big harmonic wave is present, and ultimately results in Motor torque fluctuation, influence driving experience
At present, for the automobile motor torque ripple problem of new-energy automobile, often for particular motor torque ripple shape
Specific compensation method is specified into reason；For example, because the precision of position sensor causes site error so that output
It is to calibrate site error that electric current huge uneven occurs for the conventional way of the problem under some operating modes, and will
Sensor sample value is compensated for；The compensation method has the position of larger limitation, every suit motor and sensor combinations
It is all different to put error, therefore needs for each complete equipment all to spend a lot of time calibrated error form, and this is to volume production product
For and it is impracticable, and the compensation method can only solve torque ripple caused by position sensor precision, if other are former
Current imbalance caused by cause such as motor three-phase impedance unbalance, then compensation method cannot be applicable, it is impossible to realize compensation.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of new energy of the producing cause that fluctuated suitable for various motor torques
Automobile torque motor torque ripple compensation method.
In order to solve the above technical problems, the New energy automobile motor torque ripple compensation method that the present invention is provided, including：
The first step, electric current LPF is carried out by motor three-phase current in the case where n times harmonic wave can switch to the coordinate system of DC quantity
, motor n times current harmonics component is obtained, N is zero or positive integer, a width of motor fundamental frequency of band of LPF
1/10th to ten/20th；
Second step, with 0 is with reference to carrying out PI controls, obtain n times current harmonics component and exist by n times current harmonics component
Pre- current compensation amount under its coordinate system that can switch to DC quantity；
3rd step, by pre- current compensation amount by coordinate transform, acquisition motor current ring is true under being transformed into dq coordinate systems
Compensation rate；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates n times electric current
The Motor torque fluctuation that harmonic wave is produced.
As N=0, using following steps：
The first step, carries out electric current LPF under alpha-beta coordinate systems, obtains 0 primary current harmonic component；
Second step, with 0 is with reference to carrying out PI controls, obtain 0 primary current harmonic component and exist by 0 primary current harmonic component
Pre- current compensation amount under alpha-beta coordinate systems；
3rd step, pre- current compensation amount of the 0 primary current harmonic component under alpha-beta coordinate systems is transformed into dq coordinates
Under system, the motor current ring compensation rate of 0 primary current harmonic component is obtained；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 0 primary current
The Motor torque fluctuation that harmonic wave is produced.
As N=5, using following steps：
The first step, carries out electric current LPF under -5 ω coordinate systems, obtains 5 primary current harmonic components；
5 primary current harmonic components with 0 are with reference to carrying out PI controls, obtain 5 primary current harmonic components and exist by second step
Pre- current compensation amount under -5 ω coordinate systems；
3rd step, pre- current compensation amount of the 5 primary current harmonic components under -5 ω coordinate systems is transformed under dq coordinate systems,
Obtain the motor current ring compensation rate of 5 primary current harmonic components；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 5 primary currents
The Motor torque fluctuation that harmonic wave is produced.
As N=7, using following steps：
The first step, carries out electric current LPF under 7 ω coordinate systems, obtains 7 primary current harmonic components；
7 primary current harmonic components with 0 are with reference to carrying out PI controls, obtain 7 primary current harmonic components in 7 ω by second step
Pre- current compensation amount under coordinate system；
3rd step, pre- current compensation amount of the 7 primary current harmonic components under 7 ω coordinate systems is transformed under dq coordinate systems, is obtained
Obtain the motor current ring compensation rate of 7 primary current harmonic components.
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 7 primary currents
The Motor torque fluctuation that harmonic wave is produced.
The main cause of New energy automobile motor torque ripple is the appearance of harmonic wave, and such as angular error can cause some zero degrees electricity
Flow component.Motor body design reasons cause to occur most being 5 times and 7 subharmonic that the application carries out motor torque ripple
The principle of dynamic compensation is exactly to extract harmonic component, and controls it as 0.
Relative to New energy automobile motor torque ripple compensation method, the advantage of the application is versatility and practicality.Such as
Described in upper background technology, the factor for causing motor torque to fluctuate is a lot.Existing New energy automobile motor torque ripple is mended
Compensation method is directed to particular motor torque ripple Crack cause and specifies specific compensation method, with significant limitation.
Motor torque fluctuation Producing reason is the appearance due to harmonic wave after all, therefore the application is it is not intended that cause harmonic wave to go out
What existing concrete reason is, only the harmonic wave factor of torque ripple need to will be caused to put forward and be controlled by being capable of achieving to electricity
The compensation of machine torque ripple.Because the method for this application is different from traditional calibration compensation method, it is entirely capable of by automatically controlling
Method (hardware and software combination) realization, therefore with very strong practicality, it is not necessary to the making that takes much time is demarcated and mended
Form is repaid, the efficiency of motor torque oscillation compensation is improve.
Brief description of the drawings
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings：
Fig. 1 is the schematic diagram of 0 primary current harmonic component extraction of the invention.
Fig. 2 is circuit compensation amount injecting structure schematic diagram of the present invention.
Specific embodiment
The New energy automobile motor torque ripple compensation method that the present invention is provided, as shown in figure 1, including：
The first step, coordinate transform is carried out by three-phase current under the coordinate system dqN that n times harmonic wave can be presented as DC quantity, is obtained
To IsdN, IsqN, the electric current carries out LPF by Low Pass Filter, obtains motor n times current harmonics point
Amount IdZeroFilN, IqZeroFilN, N is zero or positive integer, the two of a width of motor fundamental frequency of band of LPF
1/10th to ten/10th；
Second step, by n times current harmonics component IdZeroFilN, IqZeroFilN with 0 be with reference to carrying out PI controls,
Obtain pre- current compensation amount VdZeroN, VqZeroN；
3rd step, by pre- current compensation amount VdZeroN, VqZeroN by dqN-dq coordinate transforms, is transformed into dq seats
Mark system is lower to obtain true compensation rate VdCompN, VqCompN of motor current ring；
Motor current ring compensation rate VdCompN, VqCompN achieved above is superimposed to the electricity of normal current ring PI outputs
The Motor torque fluctuation that n times current harmonics is produced is eliminated in pressure.
As N=0, using following steps：
The first step, electric current LPF is carried out by three-phase current under alpha-beta coordinate systems, obtains 0 primary current humorous
Wave component；0 primary current is exactly that for rest frame, frequency is 0；
Second step, with 0 is with reference to carrying out PI controls, the output VdZero of PI controllers by 0 primary current harmonic component
And VqZero, it is pre- current compensation amount of the 0 primary current harmonic component under alpha-beta coordinate systems；
3rd step, pre- current compensation amount VdZero and VqZero of the 0 primary current harmonic component under alpha-beta coordinate systems
It is transformed under dq coordinate systems, obtains motor current ring the compensation rate UsdDes and UsqDes of 0 primary current harmonic component；
Motor current ring compensation rate UsdDes and UsqDes achieved above are superimposed to the electricity of normal current ring PI outputs
The Motor torque fluctuation of 0 primary current harmonic wave generation is eliminated in pressure.
As N=5, using following steps：
The first step, electric current LPF is carried out by three-phase current under -5 ω coordinate systems, obtains 5 primary current harmonic components；
According to Fourier decomposition, 5 subharmonic are that geo-stationary coordinate system is turned clockwise with 5 times of fundamental frequencies, and 5 subharmonic exist
DC quantity is presented as under -5 ω coordinate systems；
5 primary current harmonic components with 0 are with reference to carrying out PI controls, obtain 5 primary current harmonic components and exist by second step
Pre- current compensation amount under -5 ω coordinate systems；
3rd step, pre- current compensation amount of the 5 primary current harmonic components under -5 ω coordinate systems is transformed under dq coordinate systems,
Obtain the motor current ring compensation rate of 5 primary current harmonic components.
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 5 primary currents
The Motor torque fluctuation that harmonic wave is produced.
As N=7, using following steps：
The first step, electric current LPF is carried out by three-phase current under 7 ω coordinate systems, obtains 7 primary current harmonic components；
7 primary current harmonic components with 0 are with reference to carrying out PI controls, obtain 7 primary current harmonic components in 7 ω by second step
Pre- current compensation amount under coordinate system；
3rd step, pre- current compensation amount of the 7 primary current harmonic components under 7 ω coordinate systems is transformed under dq coordinate systems, is obtained
Obtain the motor current ring compensation rate of 7 primary current harmonic components；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 7 primary currents
The Motor torque fluctuation that harmonic wave is produced.
As shown in Fig. 2 torque demand TrqDes is by moment of torsion to electric current distribute module Calculate Current based
On Torque obtain corresponding current needs IsdDes and IsqDes, are input into real Isd and Isq difference between currents
Electric current loop pi regulator, after above n times electric current loop true compensation rate is obtained, is superimposed to normal current ring PI outputs
In UsdDes and UsqDes, by carrying out SVPWM modulation after Park inverse transformations, No. six inverter IGBT switches are obtained
Signal.Wherein Isd, Isq obtain three-phase current by Clarke/Park coordinate transforms, make during coordinate transform
Angle signal is obtained by angular transducer Position Sensor.
The present invention has been described in detail above by specific embodiment and embodiment, but these not constitute it is right
Limitation of the invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations
And improvement, these also should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of New energy automobile motor torque ripple compensation method, it is characterised in that including：
The first step, electric current LPF is carried out by motor three-phase current in the case where n times harmonic wave can switch to the coordinate system of DC quantity,
Motor n times current harmonics component is obtained, N is zero or positive integer, the 20 of a width of motor fundamental frequency of band of LPF
1/1 mono- to ten；
Second step, with 0 is with reference to carrying out PI controls, obtain n times current harmonics component and exist by n times current harmonics component
Pre- current compensation amount under its coordinate system that can switch to DC quantity；
3rd step, by pre- current compensation amount by coordinate transform, acquisition motor current ring is true under being transformed into dq coordinate systems
Compensation rate；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates n times electric current
The Motor torque fluctuation that harmonic wave is produced.
2. New energy automobile motor torque ripple compensation method as claimed in claim 1, it is characterised in that：As N=0,
Using following steps：
The first step, carries out electric current LPF under alpha-beta coordinate systems, obtains 0 primary current harmonic component；
Second step, with 0 is with reference to carrying out PI controls, obtain 0 primary current harmonic component and exist by 0 primary current harmonic component
Current compensation amount under alpha-beta coordinate systems；
3rd step, current compensation amount of the 0 primary current harmonic component under alpha-beta coordinate systems is transformed into dq coordinate systems
Under, obtain the motor current ring compensation rate of 0 primary current harmonic component；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 0 primary current
The Motor torque fluctuation that harmonic wave is produced.
3. New energy automobile motor torque ripple compensation method as claimed in claim 1, it is characterised in that：As N=5,
Using following steps：
The first step, carries out electric current LPF under -5 ω coordinate systems, obtains 5 primary current harmonic components；
5 primary current harmonic components with 0 are with reference to carrying out PI controls, obtain 5 primary current harmonic components and exist by second step
Pre- current compensation amount under -5 ω coordinate systems；
3rd step, pre- current compensation amount of the 5 primary current harmonic components under -5 ω coordinate systems is transformed under dq coordinate systems,
Obtain the motor current ring compensation rate of 5 primary current harmonic components；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 5 primary currents
The Motor torque fluctuation that harmonic wave is produced.
4. New energy automobile motor torque ripple compensation method as claimed in claim 1, it is characterised in that：As N=7,
Using following steps：
The first step, carries out electric current LPF under 7 ω coordinate systems, obtains 7 primary current harmonic components；
7 primary current harmonic components with 0 are with reference to carrying out PI controls, obtain 7 primary current harmonic components in 7 ω by second step
Pre- current compensation amount under coordinate system；
3rd step, pre- current compensation amount of the 7 primary current harmonic components under 7 ω coordinate systems is transformed under dq coordinate systems, is obtained
Obtain the motor current ring compensation rate of 7 primary current harmonic components；
Motor current ring compensation rate achieved above is superimposed in the voltage of normal current ring PI outputs and eliminates 7 primary currents
The Motor torque fluctuation that harmonic wave is produced.
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| CN201510801133.3A CN106788088A (en) | 2015-11-19 | 2015-11-19 | New energy automobile motor torque ripple compensation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107743005A (en) * | 2017-10-12 | 2018-02-27 | 无锡新大力电机有限公司 | A kind of method for suppressing asynchronous machine current harmonics |
| CN114852038A (en) * | 2021-02-04 | 2022-08-05 | 株洲中车时代电气股份有限公司 | Method and system for inhibiting engine speed pulsation of hybrid new energy automobile |
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| CN102201770A (en) * | 2011-05-30 | 2011-09-28 | 重庆大学 | Method for injecting harmonic voltage to restrain harmonic current of PMSM (permanent magnet synchronous motor) |
| US20140340015A1 (en) * | 2012-01-17 | 2014-11-20 | Mitsubishi Electric Corporation | Brushless motor, external ac voltage source, and electric power steering device |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
| CN104579080A (en) * | 2015-02-10 | 2015-04-29 | 南车株洲电力机车研究所有限公司 | Torque pulsation inhibition method for permanent magnet synchronous motor |
| CN104852661A (en) * | 2015-04-29 | 2015-08-19 | 同济大学 | Permanent-magnet synchronous motor torque ripple suppression method based on coordinate transformation harmonic compensation |
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2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102201770A (en) * | 2011-05-30 | 2011-09-28 | 重庆大学 | Method for injecting harmonic voltage to restrain harmonic current of PMSM (permanent magnet synchronous motor) |
| US20140340015A1 (en) * | 2012-01-17 | 2014-11-20 | Mitsubishi Electric Corporation | Brushless motor, external ac voltage source, and electric power steering device |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
| CN104579080A (en) * | 2015-02-10 | 2015-04-29 | 南车株洲电力机车研究所有限公司 | Torque pulsation inhibition method for permanent magnet synchronous motor |
| CN104852661A (en) * | 2015-04-29 | 2015-08-19 | 同济大学 | Permanent-magnet synchronous motor torque ripple suppression method based on coordinate transformation harmonic compensation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107743005A (en) * | 2017-10-12 | 2018-02-27 | 无锡新大力电机有限公司 | A kind of method for suppressing asynchronous machine current harmonics |
| CN114852038A (en) * | 2021-02-04 | 2022-08-05 | 株洲中车时代电气股份有限公司 | Method and system for inhibiting engine speed pulsation of hybrid new energy automobile |
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Application publication date: 20170531 |