CN108683376A - A kind of alternating current generator current measurement offset error compensation method based on filtering principle - Google Patents
A kind of alternating current generator current measurement offset error compensation method based on filtering principle Download PDFInfo
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- CN108683376A CN108683376A CN201810535359.7A CN201810535359A CN108683376A CN 108683376 A CN108683376 A CN 108683376A CN 201810535359 A CN201810535359 A CN 201810535359A CN 108683376 A CN108683376 A CN 108683376A
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- current
- offset error
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- sample rate
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- Control Of Ac Motors In General (AREA)
Abstract
The alternating current generator current measurement offset error compensation method based on filtering principle that the invention discloses a kind of obtaining rotor rotating speed, to obtain electric current fundamental frequency first.On this basis, design forms hybrid filter using electric current fundamental frequency as zero to the notch filter and low-pass filter of direct current all-pass.Then, the fundamental wave component that sample rate current is filtered out using hybrid filter obtains current offset error.Finally, offset error is subtracted from sample rate current, you can the DC offset error in sample rate current is eliminated, to effectively inhibit the motor torque ripple that current measurement offset error is brought.Alternating current generator current measurement offset error compensation method proposed by the present invention based on filtering principle can effectively inhibit alternating current generator torque pulsation caused by current measurement offset error, it is obviously improved the control performance of AC motor drive, it is easy to Project Realization, there is good practicability and economy.
Description
Technical field
The alternating current generator current measurement offset error compensation method based on filtering principle that present document relates to a kind of, belongs to motor control
Technology processed.
Background technology
In the vector controlled of AC motor drive, accurate current measurement is most important.However, in real system
Always there are errors for current measurement, and then can cause the transient state and steady-state error of stator winding current, directly affect direct torque
Performance causes torque nonlinear change, Cymbidium aloifolium to be increased sharply and by the added losses caused by ripple current and torque.
Current measurement path includes multiple components, such as：Hall sensor, match circuit, noise filter circuit and mould
Quasi--digital (A/D) converter.The various factors of one or more components may influence measurement error, such as fitment tolerance, temperature
Degree drift, device aging and noise etc..Even if in the measuring system of a careful design, small current measurement errors are also
Unavoidably.
Dae-Woong Chung exist《Analysis and compensation of current measurement
error in vector-controlled AC motor drives》In propose a kind of current measurement based on velocity perturbation
Error compensating method.Detect the velocity perturbation caused by current measurement errors, by change speed control torque instruction come
Inhibit velocity perturbation.This method needs accurate electromechanics parameter, and is by changing control order with compensation speed
Or torque, do not compensate current measurement errors itself.
Kyung-Rae Cho exist《Correction on current measurement errors for accurate
flux estimation of ac drives at low stator frequency》In propose it is a kind of utilize current control
The command voltage benchmark of device is come the method that compensates current measurement errors.But this compensation method is limited in speed of service condition
System, is only applicable to the alternating current generator of low-speed running.
H.-S.Jung exists《Diminution of current-measurement error for vector-
controlled AC motor drives》In equally propose using d shaft current controllers integral output compensation by electric current
The method that speed period caused by measurement error fluctuates.But the current controller performance quality and controller band of this method
Width is heavily dependent in the accuracy of feedforward back-emf voltage.In addition, the convergence rate of this method is not ideal enough.
Compared to the above-mentioned detection and compensation method having disclosed, the present invention is in the feelings for not increasing driving circuit hardware cost
Under condition, can dynamic current compensation measure offset error, and should not refinement really obtain electromechanics parameter, the speed of motor is transported
There is no limit for line range.
Invention content
Goal of the invention：It is an object of the invention to solve existing to cause alternating current generator to drive by current measurement offset error
The problem of torque pulsation of system.The present invention is suitable for three-phase symmetrical sine wave AC motor driving system under arbitrary steady state condition
System.
Technical solution：To achieve the goals above, the technical scheme is that：
A kind of alternating current generator current measurement offset error compensation method based on filtering principle, compensation process includes following step
Suddenly：
1) rotating speed of current motor is obtained by speed probe, and then obtains the fundamental frequency of current flow, and is set in dsp
Count the hybrid filter formed using electric current fundamental frequency as zero, to notch filter and the low-pass filter of direct current all-pass；
2) utilize above-mentioned steps 1) involved by hybrid filter handle sample rate current；
3) the offset error i that will be obtained in step 2) agains_offFrom sample rate current is_meaIn subtract, obtain no offset error
Magnitude of current is, i.e.,：
is=is_mea-is_off
4) magnitude of current i without offset error that will be obtained in step 3) agains, by Park transformation conversion to synchronous shaft current
idq0, then will be in synchronizing shaft current feedback meeting motor vector controller.
Further, the hybrid filter of the notch filter in the step 1) and low-pass filter composition, in order to
Fundamental-frequency Current is filtered out, sets fundamental frequency to the zero of notch filter transmission function, the domains s transmission function is as follows：
Wherein, ωeFor electric current fundamental frequency, γ is constant；
Since current measurement offset error shows as direct current biasing in sample rate current, it is required that filter to direct current without
Decaying, i.e. filter transfer function G in s=0filter(s)=1；Therefore, add one-stage low-pass wave again after notch filter
Device, the domains low-pass filter s transmission function are as follows：
Wherein,B=γ.
Further, in the step 2), in sample rate current backfeed loop, by sample rate current is_meaIt is sent into notch filter
Device, treated, and value is re-fed into low-pass filter, you can filters out the fundamental frequency content in sample rate current, obtains offset error amount
is_off。
Further, in the step 1), the der Geschwindigkeitkreis and electric current loop of motor are controlled using PI.
Further, in the step 4), magnitude of current isIn S represent a, b, by Park transformation conversion to synchronizing shaft electricity
Flow idq0, specific formula is as follows,
Advantageous effect：The present invention is compared with prior art：The present invention provides a kind of alternating current generators based on filtering principle
Current measurement offset error compensation method can effectively inhibit, by the torque pulsation caused by current measurement offset error, not increase
Add hardware cost, design is simple, is easy to Project Realization.
Description of the drawings
Fig. 1 uses the system block diagram of the alternating current generator current measurement offset error compensation method based on filtering principle；
Fig. 2 hybrid filters handle sample rate current flow chart；
The hybrid filter Bode figures that Fig. 3 notch filters are combined with low-pass filter；
Fig. 4 is not using the torque profile of the carried compensation method of the present invention；
Fig. 5 uses the torque profile of the carried compensation method of the present invention.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
Current measurement offset error is inevitable in real electrical machinery control, and can deteriorate motor torque control performance.By
Direct current biasing is shown as in measurement error in current measurement offset error, therefore Fundamental-frequency Current can be filtered out in sample rate current
To obtain offset error, then offset error subtracted from sample rate current, you can eliminate the current measurement contained in sample rate current
Offset error.
A kind of alternating current generator current measurement offset error compensation method based on filtering principle, compensation process includes following step
Suddenly：
1) rotating speed of current motor is obtained by speed probe, and then obtains the fundamental frequency of current flow, and is set in dsp
Count the hybrid filter formed using electric current fundamental frequency as zero, to notch filter and the low-pass filter of direct current all-pass；
2) utilize above-mentioned steps 1) involved by hybrid filter as shown in Fig. 2, processing sample rate current；
3) the offset error i that will be obtained in step 2) agains_offFrom sample rate current is_meaIn subtract, obtain no offset error
Magnitude of current is, i.e.,：
is=is_mea-is_off
4) magnitude of current i without offset error that will be obtained in step 3) agains, by Park transformation conversion to synchronizing shaft electricity
Stream, then will be in synchronizing shaft current feedback meeting motor vector controller.
The hybrid filter of notch filter in the step 1) and low-pass filter composition, in order to by Fundamental-frequency Current
It filters out, sets fundamental frequency to the zero of notch filter transmission function, the domains s transmission function is as follows：
Wherein, ωeFor electric current fundamental frequency, γ is constant；
Since current measurement offset error shows as direct current biasing in sample rate current, it is required that filter to direct current without
Decaying, i.e. filter transfer function G in s=0filter(s)=1；Therefore, add one-stage low-pass wave again after notch filter
Device, the domains low-pass filter s transmission function are as follows：
Wherein,B=γ.
In the step 2), in sample rate current backfeed loop, by sample rate current is_meaIt is sent into notch filter, after processing
Value be re-fed into low-pass filter, you can filter out the fundamental frequency content in sample rate current, obtain offset error amount is_off。
In the step 1), the der Geschwindigkeitkreis and electric current loop of motor are controlled using PI.
In the step 4), magnitude of current isIn S represent a, b, by Park transformation conversion to synchronous shaft current idq0, tool
Body formula is as follows,
Embodiment
Now by taking a permanent magnet synchronous motor controls as an example, implementation process of the present invention is discussed in detail.
In inventing proposed compensation method, firstly, it is necessary to detect or estimate to obtain the rotating speed of motor, and then electric current is obtained
Fundamental frequency.Secondly, notch filter is designed.If the rotating speed detected is ωe, in order to allow trap fundamental frequency amplitude characteristic be 0,
Then the transmission function of notch filter is as follows：
On the other hand, since current measurement offset error is direct current, that is, it in frequency is that amplitude characteristic is at 0 to need filter
1, add one-stage low-pass wave behind trap here so that transmission function meets Gfilter(0)=1, then low-pass filtering designs such as
Under：
In view of the Frequency point and low-pass filtering of trap have enough decaying in high frequency section, be set as herein γ=
0.96, then the transmission function of hybrid filter be
The Bode figures for the hybrid filter that the notch filter is combined with low-pass filter are as shown in Figure 3.
After having designed filter, block diagram, is added compensation tache in electric machine control system according to Fig. 1.It is sharp first
The value that electric current changes over time is obtained with current sensor, and sets these values to an array, while passing through revolution speed sensing
Device obtains motor speed, and then obtains electric current fundamental frequency；Secondly, in the controller according to electric current fundamental frequency motor vector controlled electricity
It flows and combined type digital filter is added in feedback element；Then, current value array is handled using hybrid filter, filters out sampling
Fundamental component in electric current obtains the deviant of sample rate current；Finally, sample rate current deviant is subtracted from sampled current value
It goes.Then, the sample rate current for becoming removing offset error of changing commanders using Park is converted to synchronous shaft current, and this is synchronized shaft current
It feeds back in permanent magnet synchronous motor vector controlled flow.
An AC Motor Control model is established in MATLAB, is had recorded in no compensation tache by electric current
The torque profile that sampling error influences, as shown in Figure 4.Meanwhile comparing for convenience, the torque profile after compensation tache is added
As shown in Figure 5.It can be seen that the compensation method mentioned by the present invention can effectively reduce torque pulsation.
Claims (5)
1. a kind of alternating current generator current measurement offset error compensation method based on filtering principle, it is characterised in that：Compensation process
Include the following steps：
1) rotating speed that current motor is obtained by speed probe, and then obtains the fundamental frequency of current flow, and design in dsp with
The hybrid filter of notch filter of the electric current fundamental frequency for zero, to direct current all-pass and low-pass filter composition；
2) utilize above-mentioned steps 1) involved by hybrid filter handle sample rate current；
3) the offset error i that will be obtained in step 2) agains_offFrom sample rate current is_meaIn subtract, obtain the electric current of no offset error
Measure is, i.e.,：
is=is_mea-is_off
4) magnitude of current i without offset error that will be obtained in step 3) agains, by Park transformation conversion to synchronous shaft current idq0,
It then will be in synchronizing shaft current feedback meeting motor vector controller.
2. the alternating current generator current measurement offset error compensation method based on filtering principle according to right 1, feature exist
In：The hybrid filter of notch filter and low-pass filter composition in the step 1), in order to which Fundamental-frequency Current is filtered out,
Set fundamental frequency to the zero of notch filter transmission function, the domains s transmission function is as follows：
Wherein, ωeFor electric current fundamental frequency, γ is constant；
Since current measurement offset error shows as direct current biasing in sample rate current, it is required that filter to direct current without declining
Subtract, i.e. filter transfer function G in s=0filter(s)=1；Therefore, add one-stage low-pass filter again after notch filter,
The domains low-pass filter s transmission function is as follows：
Wherein,B=γ.
3. the alternating current generator current measurement offset error compensation method based on filtering principle according to right 1, feature exist
In：In the step 2), in sample rate current backfeed loop, by sample rate current is_meaIt is sent into notch filter, value that treated
It is re-fed into low-pass filter, you can filter out the fundamental frequency content in sample rate current, obtain offset error amount is_off。
4. the alternating current generator current measurement offset error compensation method based on filtering principle according to right 1, feature exist
In：In the step 1), the der Geschwindigkeitkreis and electric current loop of motor are controlled using PI.
5. the alternating current generator current measurement offset error compensation method based on filtering principle according to right 1, feature exist
In：In the step 4), magnitude of current isIn S represent a, b, by Park transformation conversion to synchronous shaft current idq0, specific formula
It is as follows,
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546903A (en) * | 2018-11-14 | 2019-03-29 | 哈尔滨工程大学 | A kind of compensation method of brushless DC motor without position sensor voltage sample offset |
| CN115792600A (en) * | 2022-09-29 | 2023-03-14 | 华能国际电力股份有限公司上海石洞口第二电厂 | Automatic alarm method and device for three-phase current measurement errors of motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103856140A (en) * | 2014-03-26 | 2014-06-11 | 西北工业大学 | Current signal error compensation method in alternating-current motor vector control |
| CN104836489A (en) * | 2015-05-12 | 2015-08-12 | 中国科学院长春光学精密机械与物理研究所 | Current detection method based on fault tolerance and alternating-current motor servo control method |
| CN107085193A (en) * | 2016-02-16 | 2017-08-22 | 操纵技术Ip控股公司 | Detection for the offset error in the current phasor measurement of motor control system |
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2018
- 2018-05-30 CN CN201810535359.7A patent/CN108683376A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103856140A (en) * | 2014-03-26 | 2014-06-11 | 西北工业大学 | Current signal error compensation method in alternating-current motor vector control |
| CN104836489A (en) * | 2015-05-12 | 2015-08-12 | 中国科学院长春光学精密机械与物理研究所 | Current detection method based on fault tolerance and alternating-current motor servo control method |
| CN107085193A (en) * | 2016-02-16 | 2017-08-22 | 操纵技术Ip控股公司 | Detection for the offset error in the current phasor measurement of motor control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546903A (en) * | 2018-11-14 | 2019-03-29 | 哈尔滨工程大学 | A kind of compensation method of brushless DC motor without position sensor voltage sample offset |
| CN109546903B (en) * | 2018-11-14 | 2021-09-28 | 哈尔滨工程大学 | Compensation method for voltage sampling offset of brushless direct current motor without position sensor |
| CN115792600A (en) * | 2022-09-29 | 2023-03-14 | 华能国际电力股份有限公司上海石洞口第二电厂 | Automatic alarm method and device for three-phase current measurement errors of motor |
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