CN107370350B - A kind of accurate prediction technique of current ripples based on unipolarity one circle control - Google Patents

A kind of accurate prediction technique of current ripples based on unipolarity one circle control Download PDF

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CN107370350B
CN107370350B CN201710610156.5A CN201710610156A CN107370350B CN 107370350 B CN107370350 B CN 107370350B CN 201710610156 A CN201710610156 A CN 201710610156A CN 107370350 B CN107370350 B CN 107370350B
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current
peak
value
ripples
electric current
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CN107370350A (en
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何家希
彭聪
李克翔
蔡凯文
邓智泉
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • 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
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • 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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
    • 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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Voltage And Current In General (AREA)
  • Dc-Dc Converters (AREA)

Abstract

The invention discloses a kind of accurate prediction techniques of the current ripples based on unipolarity one circle control, this method is based on the unipolarity one circle control strategy for being applied to magnetic suspension bearing close power amplifier, by the current tracking situation for analyzing each period, according to the polarity of electric current initial value error, situation is divided to carry out the non-constant compensation of fundamental wave and current error initial value compensation, to accurately predict current ripples peak-to-peak value.Ripple prediction technique proposed by the present invention, compared to traditional prediction technique for generating current ripples using voltage alternating component, it is accurate to that can be predicted in the case of different current first harmonics frequencies and amplitude, especially precision of prediction advantage becomes apparent under low current ripple occasion, moreover it is possible to equally have reference significance to the ripple prediction under different current-modulation modes.

Description

A kind of accurate prediction technique of current ripples based on unipolarity one circle control
Technical field
The present invention relates to a kind of accurate prediction techniques of the current ripples based on unipolarity one circle control, belong to power conversion The current-modulation technical field of device.
Background technique
Power amplifier is the important execution unit of magnetic suspension bearing control system, is being controlled according to the output signal of controller Corresponding electric current is generated in winding processed, so that certain suspending power is generated, so that rotor stability is suspended in equilbrium position.Magnetic Control strategy used in bearing close power amplifier mainly has pulsewidth modulation, stagnant ring to compare and samples the control modes such as holding, wherein stagnant Ring, which compares and samples, keeps control mode to be chiefly used in simulating control, and pulse width modulation controlled mode is suitable for digital control.Tradition Pulse width modulation controlled strategy, be all to be controlled under fixed switching frequency.It is opened to reduce current ripples it is necessary to which height is arranged The problem of closing frequency, thus bringing is that switching loss is big, EMI problem is serious and heat dissipation design is difficult.
Frequency control based on output current ripple is to select output current ripple as frequency control foundation, passes through reality When predict the current ripples of each switch periods, change switch periods under the requirement for meeting output current ripple.It is domestic Frequency control research was unfolded to motor three-phase PWM inverter, photovoltaic combining inverter etc. in outer scholar, but frequency control is in magnetic axis It not yet applies, studies less on bearing switch power amplifier.
One-cycle control is a kind of non-linear big signal PWM control theory, has control precision height, fast response time The features such as, it is suitable for magnetic bearing switch power amplifier and controls.Under unipolarity one circle control, power amplifier output current ripple is small, but, it is existing Have in technology, it can not Accurate Prediction ripple peak-to-peak value using the prediction technique that voltage alternating component generates current ripples.
Summary of the invention
To solve the above problems, the present invention is on the basis of magnetic suspension bearing close power amplifier unipolarity one circle control Accurate Prediction current ripples, a kind of accurate prediction technique of current ripples based on unipolarity one circle control of proposition.The electric current The accurate prediction technique of ripple is accurate predicted current ripple, it is contemplated that fundamental wave is non-constant and the two factors of electric current initial value error, And it is non-constant to fundamental wave and electric current initial value error establishes compensation model, to obtain accurate current ripples prediction.The prediction side The precision of prediction of method is not influenced by given power frequency and amplitude variation, and predicts that thought is also not limited to unipolarity single-revolution Other pulse width modulation control methods are equally had reference significance by phase control.
To achieve the above object, a kind of current ripples prediction side based on unipolarity one circle control provided by the invention Method, comprising the following steps:
1) according to given value of current value prediction feedback current first harmonics and the fundamental wave difference DELTA i for giving constant currentpre, and obtain initial Moment gives constant current irefWith feedback current ifedDifference be electric current initial value error delta i0, Δ i0=iref-ifed；
2) electric current initial value error delta i0, and step 1) is combined to predict obtained fundamental wave difference DELTA ipreElectric current is compensated It calculates, obtains offset Δ icomp；
3) variable quantity that electric current rises or falls in each current tracking switch periods, i.e. current tracking switch periods are calculated Interior second stage current change quantity Δ i2, recycle step 2) and obtained offset Δ icompWith electric current initial value error delta i0, According to electric current initial value error delta i0Positive and negative, calculating current ripple peak-to-peak value；
4) step 1) is executed in each predetermined period to step 3), obtains the accurate reality of each periodic current ripple peak-to-peak value When predict, the current ripples peak-to-peak value in each period forms the envelope of current ripples waveform, to obtain the real-time of current ripples Prediction.
Further, fundamental wave difference DELTA i in step 1)preCalculating process it is as follows:
1.1) the given value of current value for recording the first two switch periods is i0, the given value of current value of previous switch periods is i1, The given value of current value of current switch period is i2；
1.2) using quadratic interpolation come prediction feedback current first harmonics and the difference DELTA i for giving constant currentpre,
Further, in step 2), according to current ripples peak-to-peak value Δ ippAppear in the rank of current tracking in switch periods Section carries out non-constant compensation or electric current initial value error compensation to electric current.
Further, detailed process is as follows for step 2): judging electric current initial value error delta i0It is positive and negative,
In Δ i0In the case where >=0, if current ripples peak-to-peak value Δ ippAppear in second of current tracking in switch periods Stage while being affected (i.e. by fundamental wave is non-constant), then the non-constant compensation of fundamental wave is carried out, offset Δ i is obtainedcomp=2D Δ ipre, wherein D is the duty ratio of each switch periods；If current ripples peak-to-peak value Δ ippAppear in the initial time of switch periods (i.e. by electric current initial value error delta i0It is affected), then electric current initial value error compensation is carried out, offset Δ i is obtainedcomp=-2 Δs ipre；
It similarly obtains, in Δ i0In the case where < 0, under the non-constant compensation of fundamental wave, offset is Δ icomp=-2D Δ ipre；Under electric current initial value error compensation, offset is still Δ icomp=-2 Δ ipre
Further, it in step 3), is calculated separately under conditions of the non-constant compensation of fundamental wave and electric current initial value error compensation Current ripples peak-to-peak value Δ ipp, and taking the maximum value in the non-constant compensation of fundamental wave and electric current initial value error compensation is current ripples peak Peak delta ipp。
Further, detailed process is as follows for step 3):
3.1) according to unipolarity one circle control strategy, the duty ratio of current switch period is calculated Wherein, L is magnetic bearing coil inductance, and R is magnetic bearing coil resistance, UdcIt is the DC bus-bar voltage of power amplifier, TsIt is function The switch periods of rate amplifier switching tube；
3.2) the variation delta i that electric current in each switch periods rises or falls is calculated2,
3.3) judge electric current initial value error delta i0It is positive and negative,
As Δ i0When >=0, under the non-constant compensation of fundamental wave, current ripples peak-to-peak value Under electric current initial value error compensation, current ripples peak-to-peak value Δ ipp=| Δ i2+Δicomp2 Δ i of |=|0-2Δ ipre|；Current ripples peak-to-peak value Δ ippThe maximum value of the two is taken, i.e.,
As Δ i0When < 0, under the non-constant compensation of fundamental wave, current ripples peak-to-peak value Under electric current initial value error compensation, current ripples peak-to-peak value Δ ipp=| Δ i2+Δicomp2 Δ i of |=|0-2Δ ipre|；Current ripples peak-to-peak value Δ ippThe maximum value of the two is taken, i.e.,
The beneficial effects of the present invention are:
(1) consider that curent change, precision of prediction are higher when ripple peak-to-peak value is predicted.If it is assuming that current first harmonics exist The prediction of ripple peak-to-peak value is carried out in the case where remaining unchanged in one switch periods, then ripple caused by the hypothesis predicts error meeting Become larger with the amplitude and becoming larger for frequency of fundamental current, so that precision of prediction can also be deteriorated, and this patent is no longer defaulted as Predicted under stable state, compensation model established to non-constant in switch periods of fundamental current, thus can Accurate Prediction it is dynamic Current ripples peak-to-peak value under state, and in the case where fundamental current amplitude and frequency change, it is accurate still to be able to prediction.
(2) consider feedback current relative to there are certain phase delay, no longer default is anti-to constant current to constant current Supply current fundamental wave establishes compensation model to the electric current initial value error between feedback current fundamental wave and feedback current, therefore can be quasi- Really predict the current ripples peak-to-peak value of feedback current itself.
(3) current ripples prediction technique proposed by the present invention compensates for traditional utilization voltage alternating component and generates electric current The deficiency of the prediction technique of ripple can accurately predict current ripples peak-to-peak value, to the ripple under different current-modulation modes Prediction equally has reference significance, and especially precision of prediction advantage becomes apparent under low current ripple occasion.
Detailed description of the invention
Fig. 1 is permanent magnet biased magnetic bearing full-bridge type close power amplifier topological structure in embodiment；
The main waveform of Fig. 2 unipolarity one circle control strategy works situation 1；
The main waveform of Fig. 3 unipolarity one circle control strategy works situation 2；
Fig. 4 interpolation method prediction feedback current first harmonics and the difference schematic diagram for giving constant current；
The non-constant compensation schematic diagram of fundamental wave is carried out under Fig. 5 unipolarity one circle control；
Electric current initial value error compensation schematic diagram is carried out under Fig. 6 unipolarity one circle control.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
For permanent magnetism off-set magnetic suspension bearing, it is required that the coil of perception can flow through Bipolar current, therefore more Use full-bridge type close power amplifier shown in FIG. 1 as power converter topologies structure.The effect of magnetic bearing switch power amplifier is, according to The output signal of controller generates corresponding electric current in control winding, so that the desired suspending power generated is provided, so that turning Sub- stable suspersion is in equilbrium position.
The control thought of close power amplifier one circle control is the average value so that each switch periods internal feedback curent change Equal to constant current.Under bipolarity one circle control, power amplifier exists simultaneously charging and discharging state in one cycle, and in list Under polarity one circle control, power amplifier only exists charging, freewheeling state or electric discharge, freewheeling state, therefore, monopole in one cycle Property one circle control is smaller than bipolarity one circle control ripple, more has application value.
Unipolarity one circle control main operational principle is briefly introduced below with reference to embodiment, in order to more meet work Cheng Yingyong, for the freewheeling state of close power amplifier all by two bridge arm down tubes of full-bridge circuit, i.e. Q2 and Q4 in Fig. 1 carry out afterflow. Define electric current initial value error delta i0=iref-ifed, wherein irefFor to constant current, ifedFor feedback current.
As shown in Fig. 2, TsIt is the switch periods of power amplifier switches pipe, D is switching tube Q1Duty ratio, the i in figureref Constant current is given for this switch periods, the i in figurefedIt is the feedback current tracking waveform in switch periods.As Δ i0>=0, Switching tube Q3Perseverance shutdown, Q4Open-minded, the Q of perseverance1With Q2Complementation conducting tracks waveform i by the feedback current in the case of Fig. 2fedIt can see Out, current ripples peak-to-peak value Δ i at this timeppRise variation delta i with the electric current of second stage in switch periods2It is related.
As shown in figure 3, D is switching tube Q in figure3Duty ratio, as Δ i0< 0, switching tube Q1Perseverance shutdown, Q2Open-minded, the Q of perseverance3 With Q4Complementation conducting tracks waveform i by the feedback current in the case of Fig. 3fedIt can be seen that current ripples peak-to-peak value at this time and electricity It is related to flow initial value error.
Now by taking the close power amplifier under unipolarity one circle control as an example, specific implementation step in embodiment is explained in detail It states.
Step 1: prediction feedback current first harmonics and the difference for giving constant current
Under unipolarity one circle control, feedback current fundamental wave and difference of the given current differential in a switch periods Value, equal to the variable quantity to constant current in half period.As shown in figure 4, the given value of current value of record the first two switch periods For i0, the given value of current value of previous switch periods is i1, the given value of current value of current switch period is i2.Lower half period is given Constant current value ipreIt can be predicted by interpolation method.It is predicted, is obtained using quadratic interpolationTo Obtain feedback current fundamental wave and the difference to constant current
Calculate initial time t0Moment gives constant current irefWith feedback current ifedDifference, be electric current initial value error delta i0 =iref-ifed。
Step 2: establishing the non-constant compensation model of fundamental wave and electric current initial value error compensation model.
In electric current initial value error delta i0Under opposed polarity, current tracking waveform is different.But current ripples peak-to-peak value only can Present in two, first is that the second stage in switch periods, as shown in figure 5, at this moment just needing to consider the non-constant compensation of fundamental wave；Two It is initial time and the finish time of switch periods, as shown in fig. 6, initial time is only considered since current tracking is symmetrical, At this moment it just needs to consider electric current initial value error compensation.
Compensation non-constant to fundamental wave and electric current initial value error compensation model below.
The non-constant compensation of fundamental wave: as shown in figure 5, giving constant current iref, feedback current ifed, feedback current fundamental wave ifedFundamental wave, And the half Δ i of current ripples peak-to-peak valuepp/ 2 mark in figure.In the case of fig. 5, current ripples peak-to-peak value Δ ippThe second stage for appearing in current tracking in switch periods is affected by fundamental wave is non-constant, needs to carry out fundamental wave non-constant Compensation.In Δ i0In the case where >=0, offset is Δ icomp=2D Δ ipre, wherein D is the duty ratio of each switch periods, Δi0In the case where < 0, offset is Δ icomp=-2D Δ ipre。
Electric current initial value error compensation: in Fig. 6, constant current i is givenref, feedback current ifed, feedback current fundamental wave ifedFundamental wave, And the half Δ i of current ripples peak-to-peak valuepp/ 2 mark in figure.Current ripples peak-to-peak value Δ ippIt is then feedback current base Electric current initial value error between wave and feedback current.In the case shown in fig. 6, current ripples peak-to-peak value Δ ippAppear in switch The initial time in period is affected by electric current initial value error, needs to carry out electric current initial value error compensation.In Δ i0Both positive and negative Under opposed polarity, offset is all Δ icomp=2 Δ ipre, wherein D is the duty ratio of each switch periods.
Step 3: establishing accurate current ripples prediction model
The control thought of unipolarity one circle control strategy is that control target is realized within a control period, i.e. feedback electricity Average value of the stream tracking in a switch periods is equal to constant current, and power amplifier will not exist simultaneously charging in one cycle With discharge condition.According to unipolarity one circle control strategy, the duty ratio of current switch period is calculated Wherein, L is magnetic bearing coil inductance, and R is magnetic bearing coil resistance, UdcIt is the DC bus-bar voltage of power amplifier, TsIt is function The switch periods of rate amplifier switching tube.It is to calculate the variable quantity that electric current rises or falls in each switch periods
Judge electric current initial value error delta i0It is positive and negative, as Δ i0When >=0, under the non-constant compensation of fundamental wave, current ripples peak peak ValueUnder electric current initial value error compensation, current ripples peak-to-peak value Δ ipp =| Δ i2+Δicomp2 Δ i of |=|0-2Δipre|.To as Δ i0When >=0, current ripples peak-to-peak value Δ ippTake the two most Big value, i.e.,
As Δ i0When < 0, under the non-constant compensation of fundamental wave, current ripples peak-to-peak value Under electric current initial value error compensation, current ripples peak-to-peak value Δ ipp=| Δ i2+Δicomp2 Δ of |=| i0-2Δipre|.To as Δ i0When < 0, current ripples peak-to-peak value Δ ippThe maximum value of the two is taken, i.e.,
To sum up, the current ripples accurate prediction models based on unipolarity one circle control can sum up are as follows: as Δ i0When >=0, Current ripples peak-to-peak valueAs Δ i0When < 0, current ripples peak Peak value
Step 1 is executed in each predetermined period to step 3, may be implemented to the accurate real-time of current ripples peak-to-peak value Prediction.Current ripples peak-to-peak value is the envelope of current ripples waveform, to also just obtain the real-time prediction of current ripples.
In conclusion the accurate prediction technique of a kind of current ripples based on unipolarity one circle control proposed by the present invention, The non-constant compensation of fundamental wave and current error initial value compensation are considered, mainly so as to accurately predict current ripples peak-to-peak value. Current ripples peak-to-peak value is the envelope of current ripples waveform, in the case where accurately predicting current ripples peak-to-peak value, The real-time accurate prediction of current ripples is just obtained.Compensation thought proposed by the present invention, to the electricity under different current-modulation modes Flow liner wave accurately predicts equally there is reference significance.Therefore, the invention enables ripple prediction realization it is more accurate, this be based on The control strategy of the power inverter of ripple prediction lays a solid foundation.
Although embodiment of the present invention is described in conjunction with attached drawing above, the invention is not limited to above-mentioned Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted 's.Those skilled in the art under the enlightenment of this specification, in the range for not departing from the claims in the present invention and being protected In the case where, a variety of forms can also be made, these belong to the column of protection of the invention.

Claims (3)

1. a kind of accurate prediction technique of current ripples based on unipolarity one circle control, which comprises the following steps:
1) according to given value of current value prediction feedback current first harmonics and the fundamental wave difference DELTA i for giving constant currentpre, and obtain initial time Give constant current irefWith feedback current ifedDifference be electric current initial value error delta i0, Δ i0=iref-ifed；
2) according to electric current initial value error delta i0, and step 1) is combined to predict obtained fundamental wave difference DELTA ipreMeter is compensated to electric current It calculates, obtains offset Δ icomp；
3) variable quantity that electric current rises or falls in each current tracking switch periods is calculated, i.e., in current tracking switch periods Second stage current change quantity Δ i2, recycle step 2) and obtained offset Δ icompWith electric current initial value error delta i0, according to Electric current initial value error delta i0It is positive and negative, calculate separately current ripples peak-to-peak value；
4) step 1) is executed in each predetermined period to step 3), obtains the real-time prediction of each periodic current ripple peak-to-peak value, The current ripples peak-to-peak value in each period forms the envelope of current ripples waveform, to obtain the real-time prediction of current ripples；
Wherein, fundamental wave difference DELTA i in the step 1)preCalculating process it is as follows:
1.1) the given value of current value for recording the first two switch periods is i0, the given value of current value of previous switch periods is i1, currently The given value of current value of switch periods is i2；
1.2) using quadratic interpolation come prediction feedback current first harmonics and the difference DELTA i for giving constant currentpre,
In the step 2), according to current ripples peak-to-peak value Δ ippThe stage of current tracking is to electric current in appeared in switch periods Carry out non-constant compensation or electric current initial value error compensation；
In the step 3), current ripples peak is calculated separately under conditions of the non-constant compensation of fundamental wave and electric current initial value error compensation Peak delta ipp, and taking the maximum value in the non-constant compensation of fundamental wave and electric current initial value error compensation is current ripples peak-to-peak value Δ ipp。
2. the accurate prediction technique of current ripples according to claim 1, which is characterized in that the step 2) includes following step Suddenly,
Judge electric current initial value error delta i0It is positive and negative:
In Δ i0In the case where >=0, if current ripples peak-to-peak value Δ ippThe second stage of current tracking in switch periods is appeared in, The non-constant compensation of fundamental wave is then carried out, offset Δ i is obtainedcomp=2D Δ ipre, wherein D is the duty ratio of each switch periods； If current ripples peak-to-peak value Δ ippThe initial time of switch periods is appeared in, then carries out electric current initial value error compensation, is compensated It is worth Δ icomp=-2 Δ ipre；
In Δ i0In the case where < 0, if current ripples peak-to-peak value Δ ippThe second stage of current tracking in switch periods is appeared in, The non-constant compensation of fundamental wave is then carried out, obtaining offset is Δ icomp=-2D Δ ipre；If current ripples peak-to-peak value Δ ippIt appears in The initial time of switch periods then carries out electric current initial value error compensation, and obtaining offset is Δ icomp=-2 Δ ipre。
3. the accurate prediction technique of current ripples according to claim 1, which is characterized in that the step 3) includes following step It is rapid:
3.1) according to unipolarity one circle control strategy, the duty ratio of current switch period is calculatedIts In, L is magnetic bearing coil inductance, and R is magnetic bearing coil resistance, UdcIt is the DC bus-bar voltage of power amplifier, TsIt is power The switch periods of amplifier switch pipe；
3.2) the variation delta i that electric current in each switch periods rises or falls is calculated2,
3.3) judge electric current initial value error delta i0It is positive and negative,
As Δ i0When >=0, under the non-constant compensation of fundamental wave, current ripples peak-to-peak value Under electric current initial value error compensation, current ripples peak-to-peak value Δ ipp=| Δ i2+Δicomp2 Δ of |=| i0-2Δipre|；Current ripples peak-to-peak value
As Δ i0When < 0, under the non-constant compensation of fundamental wave, current ripples peak-to-peak value Under electric current initial value error compensation, current ripples peak-to-peak value Δ ipp=| Δ i2+Δicomp2 Δ of |=| i0-2Δipre|；Current ripples peak-to-peak value
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