CN108540021A - A kind of driving motor torque pulsation active compensation method - Google Patents
A kind of driving motor torque pulsation active compensation method Download PDFInfo
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- CN108540021A CN108540021A CN201810204984.3A CN201810204984A CN108540021A CN 108540021 A CN108540021 A CN 108540021A CN 201810204984 A CN201810204984 A CN 201810204984A CN 108540021 A CN108540021 A CN 108540021A
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- China
- Prior art keywords
- torque pulsation
- driving motor
- rotating speed
- torque
- compensation method
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Classifications
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
Abstract
The invention discloses driving motor torque pulsation active compensation method, technical solution is：Change different rotating speeds, measures the relationship of cogging torque pulsation and rotating speed and Angle Position；Calculate the required drive signal of torque pulsation opposite with torque pulsation derived above；Apply cogging torque pulsation reverse drive signals, is pulsed by current reduction cogging torque；It is rotated using rule P WM driving motor Low and Constant Velocities, tests rotating speed, obtained the PWM harmonic torques pulsation of not homogeneous, change different mean speeds, measure the relationship of harmonic torque pulsation and rotating speed and Angle Position；Using compensation PWM driving motor low speed perseverance mean angular velocities rotation, rotating speed is tested, obtains different subharmonic residual torque pulsation；It calculates and the required drive signal of opposite torque pulsation for the torque pulsation that above step obtains.Above-mentioned technical proposal is compensated using torque pulsation is born, energy-saving, reduces cost.
Description
Technical field
The invention belongs to drive and control of electric machine technical fields.More particularly it relates to a kind of driving motor torque arteries and veins
Dynamic active compensation method.
Background technology
In recent years, electric vehicle rapidly develop, permanent magnet synchronous motor because its simple in structure, reliable for operation, speed-regulating range width,
The advantages that high conversion efficiency, gradually at the mainstream configuration of driving motor for electric automobile.
Magneto will produce the period due to the presence of the factors such as cogging torque, magnetic flux harmonic and current detecting error
Property torque pulsation, torque pulsation can further cause periodical speed ripple, generate mechanical oscillation and noise.
In the prior art, the suppressing method of torque pulsation mainly has following a few classes：
A kind of method is the online real-time estimation torque of design torque detector, and by testing result feedback compensation to controller
On electric current loop, such methods need accurately to measure torque, and can greatly improve cost using torque sensor；
Another kind of compensation method is typically program current Waveform Method, and this method needs to know the tooth of controlled motor in advance
Slot torque and ripple moment information；
Also a kind of method is design speed detector, by testing result feedback compensation to controller speed control ring,
However the use iterative algorithm that such methods are universal, substantially it is by making three-phase current be distorted, by motor active power
Flutter component is dissipated in the form of copper loss.
Invention content
The present invention provides a kind of driving motor torque pulsation active compensation method, and the purpose is to overcome the above-mentioned of the prior art
Defect.
To achieve the goals above, the technical solution that the present invention takes is：
The driving motor torque pulsation active compensation method of the present invention, it is characterised in that：The active compensation method
Process is：
Step 1, stator circuit open circuit, the rotation of driving motor low speed perseverance mean angular velocity test rotating speed, obtain cogging torque
The Angle Position of pulsation；Change different rotating speeds, measures the relationship of cogging torque pulsation and rotating speed and Angle Position；
Step 2 calculates and the required drive signal of opposite torque pulsation for the torque pulsation that step 1 obtains；
Step 3 applies cogging torque pulsation reverse drive signals, is pulsed by current reduction cogging torque；
Step 4 is rotated using rule P WM driving motor Low and Constant Velocities, tests rotating speed, and the PWM harmonic waves for obtaining not homogeneous turn
Square is pulsed, and different mean speeds is changed, and measures the relationship of harmonic torque pulsation and rotating speed and Angle Position；
Step 5 is rotated using compensation PWM driving motor low speed perseverance mean angular velocities, is tested rotating speed, is obtained different subharmonic
Residual torque is pulsed；
Step 6 calculates and the required drive signal of opposite torque pulsation for the torque pulsation that step 5 obtains.
The control system of the driving motor includes electric machine controller and speed probe.
The electric machine controller is made of intelligent microcomputer system and power module.
The rotor speed of motor is transformed to electric signal output to electric machine controller by the speed probe.
In the step 1, the rotating speed of driving motor is no more than 600rpm；Measure cogging torque pulsation and rotating speed and angle
The relationship of position, i.e., the level of torque of 0 to 360 degree can be depicted as a curve, and abscissa is Angle Position, and ordinate is to turn
Square.
PWM harmonic waves in the step 4 are divided into 3 times, 5 times, 6 times, 7 subharmonic.
During the practical driving of motor, electric machine controller applies current compensated torque electric current according to mean speed and bears arteries and veins
It is dynamic, according to relative speed variation, adjust the compensation negative current of subsequent time.
It is the compensation PWM of step 5 that this method, which finally drives PWM, then is superimposed step 6 torque pulsation Contrary compensation drive signal
PWM。
The above-mentioned technical proposal of the present invention is compensated using torque pulsation is born, and really negative current is pulsed, energy-saving；
Electric machine controller has testing algorithm, can update and adjust to do according to motor, electric machine controller, vehicle travel situations；Drop
Low use cost.
Description of the drawings
Fig. 1 is the topological structure schematic diagram of the permanent magnet synchronous motor of the present invention；
Fig. 2 is typical electromagnetic torque pulsation schematic diagram；
Fig. 3 is the torque pulsation improvement schematic diagram of the present invention.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making to the specific implementation mode of the present invention further details of
Illustrate, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical solution
Solution.
The present invention as shown in Figure 1 is the driving system structure of permanent magnet synchronous motor, including：Motor, turns electric machine controller
Fast sensor.
Using 30kW mixed dynamic drive motors, the motor is permanent magnet synchronous motor, mainly by engine base, rotor, stator
Composition.
Motor is permanent magnet synchronous motor, is mainly made of engine base, rotor, stator.
The electric machine controller is made of intelligent microcomputer system and power module.
The speed probe uses laser type speed probe, and the rotor speed of motor is transformed to electric signal output
To electric machine controller.
During the practical driving of motor, electric machine controller applies current compensated torque electric current according to mean speed and bears arteries and veins
It is dynamic, according to relative speed variation, adjust the compensation negative current of subsequent time.
In order to realize that the goal of the invention for overcoming prior art defect, the technical solution that the present invention takes be：
As shown in Figure 1, the process of the driving motor torque pulsation active compensation method of the present invention is：
Step 1, stator circuit open circuit, the rotation of driving motor low speed perseverance mean angular velocity test rotating speed, obtain cogging torque
The Angle Position of pulsation；Change different rotating speeds, measures the relationship of cogging torque pulsation and rotating speed and Angle Position；
Step 2 calculates and the required drive signal of opposite torque pulsation for the torque pulsation that step 1 obtains；
Step 3 applies cogging torque pulsation reverse drive signals, is pulsed by current reduction cogging torque；
Step 4 is rotated using rule P WM driving motor Low and Constant Velocities, tests rotating speed, and the PWM harmonic waves for obtaining not homogeneous turn
Square is pulsed, and different mean speeds is changed, and measures the relationship of harmonic torque pulsation and rotating speed and Angle Position；
Using compensation PWM, (PWM in the prior art is after the compensation such as dead area compensation, nonlinear compensation to step 5
) rotation of driving motor low speed perseverance mean angular velocity, rotating speed is tested, different subharmonic residual torque pulsation are obtained.
Step 6 calculates and the required drive signal of opposite torque pulsation for the torque pulsation that step 5 obtains.
In the step 1, the rotating speed of driving motor is no more than 600rpm；Measure cogging torque pulsation and rotating speed and angle
The relationship of position, i.e., the level of torque of 0 to 360 degree can be depicted as a curve, and abscissa is Angle Position, and ordinate is to turn
Square.
At low speeds, at this time rule is all compared in cogging torque pulsation and harmonic wave torque pulsation, and interference is small.
PWM harmonic waves in the step 4 are divided into 3 times, 5 times, 6 times, 7 subharmonic.
During the practical driving of motor, electric machine controller applies current compensated torque electric current according to mean speed and bears arteries and veins
It is dynamic, according to relative speed variation, adjust the compensation negative current of subsequent time.
It is the prior art compensation PWM of step 5 that this method, which finally drives PWM, then is superimposed step 6 torque pulsation and reversely mends
Repay drive signal PWM.
The key of above-mentioned technical proposal is that online permanent mean speed measures torque pulsation, then according to the rotating speed of motor, turn
Sub- position etc. controls output torque.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is used, or without changing
Other occasions are directly applied to by the design of the present invention and technical solution, within protection scope of the present invention.
Claims (8)
1. a kind of driving motor torque pulsation active compensation method, it is characterised in that：The process of the active compensation method is：
Rotating speed is tested in step 1, stator circuit open circuit, the rotation of driving motor low speed perseverance mean angular velocity, obtains cogging torque pulsation
Angle Position；Change different rotating speeds, measures the relationship of cogging torque pulsation and rotating speed and Angle Position；
Step 2 calculates and the required drive signal of opposite torque pulsation for the torque pulsation that step 1 obtains；
Step 3 applies cogging torque pulsation reverse drive signals, is pulsed by current reduction cogging torque；
Step 4 is rotated using rule P WM driving motor Low and Constant Velocities, is tested rotating speed, is obtained the PWM harmonic torque arteries and veins of not homogeneous
It is dynamic, change different mean speeds, measures the relationship of harmonic torque pulsation and rotating speed and Angle Position；
Step 5 is rotated using compensation PWM driving motor low speed perseverance mean angular velocities, tests rotating speed, it is remaining to obtain different subharmonic
Torque pulsation；
Step 6 calculates and the required drive signal of opposite torque pulsation for the torque pulsation that step 5 obtains.
2. driving motor torque pulsation active compensation method described in accordance with the claim 1, it is characterised in that：The driving electricity
The control system of machine includes electric machine controller and speed probe.
3. driving motor torque pulsation active compensation method according to claim 2, it is characterised in that：The electricity
Machine controller is made of intelligent microcomputer system and power module.
4. driving motor torque pulsation active compensation method according to claim 2, it is characterised in that：The rotating speed passes
The rotor speed of motor is transformed to electric signal output to electric machine controller by sensor.
5. driving motor torque pulsation active compensation method described in accordance with the claim 1, it is characterised in that：In the step
In 1, the rotating speed of driving motor is no more than 600rpm；Measure cogging torque pulsation and the relationship of rotating speed and Angle Position, i.e., 0 to 360
The level of torque of degree is depicted as curve graph, and abscissa is Angle Position, and ordinate is torque.
6. driving motor torque pulsation active compensation method described in accordance with the claim 1, it is characterised in that：The step 4
In PWM harmonic waves be divided into 3 times, 5 times, 6 times, 7 subharmonic.
7. driving motor torque pulsation active compensation method described in accordance with the claim 1, it is characterised in that：The practical driving of motor
In the process, electric machine controller applies current compensated torque electric current negative ripple according to mean speed, according to relative speed variation, adjustment
The compensation negative current of subsequent time.
8. driving motor torque pulsation active compensation method described in accordance with the claim 1, it is characterised in that：This method is final
It is the compensation PWM of step 5 to drive PWM, then is superimposed step 6 torque pulsation Contrary compensation drive signal PWM.
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| CN201810204984.3A CN108540021A (en) | 2018-03-13 | 2018-03-13 | A kind of driving motor torque pulsation active compensation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810204984.3A CN108540021A (en) | 2018-03-13 | 2018-03-13 | A kind of driving motor torque pulsation active compensation method |
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Citations (5)
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|---|---|---|---|---|
| CN1877981A (en) * | 2005-06-08 | 2006-12-13 | 三星电子株式会社 | Apparatus and method for controlling motor |
| CN101753073A (en) * | 2008-12-20 | 2010-06-23 | 鸿富锦精密工业（深圳）有限公司 | Compensation system for cogging torque of motor and method thereof |
| CN103808444A (en) * | 2014-02-14 | 2014-05-21 | 奇瑞汽车股份有限公司 | Measuring system for measuring cogging torque of permanent magnet synchronous motor |
| CN104333288A (en) * | 2014-11-20 | 2015-02-04 | 奇瑞汽车股份有限公司 | Measuring and compensating method of cogging torque of permanent magnet synchronous motor |
| CN107433978A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | A kind of pulsating torque method for reducing electric power steering permasyn morot |
-
2018
- 2018-03-13 CN CN201810204984.3A patent/CN108540021A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1877981A (en) * | 2005-06-08 | 2006-12-13 | 三星电子株式会社 | Apparatus and method for controlling motor |
| CN101753073A (en) * | 2008-12-20 | 2010-06-23 | 鸿富锦精密工业（深圳）有限公司 | Compensation system for cogging torque of motor and method thereof |
| CN103808444A (en) * | 2014-02-14 | 2014-05-21 | 奇瑞汽车股份有限公司 | Measuring system for measuring cogging torque of permanent magnet synchronous motor |
| CN104333288A (en) * | 2014-11-20 | 2015-02-04 | 奇瑞汽车股份有限公司 | Measuring and compensating method of cogging torque of permanent magnet synchronous motor |
| CN107433978A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | A kind of pulsating torque method for reducing electric power steering permasyn morot |
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| 韩力: "一种模拟实测过程的齿槽转矩数值计算方法", 《电机与控制学报》 * |
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Application publication date: 20180914 |