CN109546913A - A kind of capacitor miniaturization motor driver - Google Patents

A kind of capacitor miniaturization motor driver Download PDF

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Publication number
CN109546913A
CN109546913A CN201811581927.3A CN201811581927A CN109546913A CN 109546913 A CN109546913 A CN 109546913A CN 201811581927 A CN201811581927 A CN 201811581927A CN 109546913 A CN109546913 A CN 109546913A
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China
Prior art keywords
current
voltage
motor
value
capacitor
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CN201811581927.3A
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CN109546913B (en
Inventor
霍军亚
王高林
朱良红
张国柱
徐殿国
赵楠楠
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141Flux estimation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18Estimation of position or speed
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22Current control, e.g. using a current control loop

Abstract

The invention proposes a kind of capacitors to minimize motor driver, which includes control unit, inductor, AC-DC converting circuit, DC link section and DC conversion circuit.Supply voltage v of the ac-dc converter circuit to AC power sourceinFull-wave rectification is carried out, which has the capacitor in parallel with the outlet side of the ac-dc converter circuit, and the DC voltage v of output rippledc, after which is converted into exchange for the output of the DC link section using switch, connected permanent magnet synchronous motor is supplied, which controls the switch.The present invention detects motor speed, and it is fluctuated according to compressor rotary speed and calculates motor torque compensation, inhibit load torque fluctuation, control compressor even running, further, the anti-saturation control for being characterized in that introducing of this driving device being capable of volitional check voltage output when voltage instruction exceeds the output area of driver.

Description

A kind of capacitor miniaturization motor driver
Technical field
The invention belongs to motor-drive technique fields, minimize motor driver more particularly to a kind of capacitor.
Background technique
With the promotion that consumer requires electronic product energy saving, more efficient variable-frequency motor driver is got over To be more widely applied.The DC bus-bar voltage of conventional inverter driver is in stable state, Converting Unit and input AC electricity Press it is relatively independent, to make the control of Converting Unit without considering the transient change of input voltage, convenient for the realization of control method. However, this design method needs to be equipped with the biggish electrolytic capacitor of capacitance, so that driver volume becomes larger, cost.In addition, The restricted lifetime of electrolytic capacitor, effective time are often the bottleneck in driver service life.
In view of the above-mentioned problems, relevant programme, which is proposed, replaces electrolytic capacitor with the thin-film electro of low-capacitance perhaps ceramic condenser Strategy eliminates the part PFC, and the capacitor minimized is both able to achieve cost declining compared with conventional friendship directly hands over driving circuit, Service life bottleneck caused by electrolytic capacitor can be eliminated again.But due to the perhaps ceramic electrical of the thin-film electro on DC bus-bar voltage Hold capacitance very little, the usually only 1%-2% of conventional high-pressure electrolytic capacitor capacitance;DC bus-bar voltage is big with power input voltage Amplitude fluctuation, minimum voltage only have tens volts, and needing to control DC bus minimum voltage, Guarantee control system is stablized;Further Ground, when inverter works, the capacitor of bus and the inductance L of alternating current source generate LC resonance, lead to the big control of system harmonics not Stablize, need to be added Special controlling strategy in response to this problem, eliminate LC resonance, realizes compressor stable operation.
Summary of the invention
The present invention in order to overcome the disadvantages and deficiencies of the prior art, provides a kind of capacitor miniaturization motor driver.This Invention can automatically track fluctuating load tracking and system anti-saturation control, guarantee the stability of speed-regulating system.
The purpose of the present invention is achieved through the following technical solutions: a kind of capacitor miniaturization motor driver, comprising: control Portion 2, inductor 3, ac-dc converter circuit 4, DC link section 5 and DC conversion circuit 6;The ac-dc converter circuit 4 is right The supply voltage v of AC power source 1inFull-wave rectification is carried out, one end of the inductor 3 is connect with AC power source 1, the other end and friendship DC converting circuit 4 connects, and the DC link section 5 has the capacitor in parallel with the outlet side of the ac-dc converter circuit 4 5a, and the DC voltage v of output rippledc, the DC conversion circuit 6, which utilizes to switch, turns the output of the DC link section 5 After changing exchange into, its permanent magnet synchronous motor 7 connected is supplied, the control unit 2 is for receiving speed commandIt detects defeated Enter the voltage v of power supplyin, phase thetage, electric current iin, DC bus-bar voltage vdcWith current of electric iu、iv、iw, export direct exchange and change 6 control instruction T of circuitu、Tv、Tw, realize motor control;
The control unit 2 includes compensated torque module, for detecting motor rotor speed fluctuation, and according to speed torque wave Dynamic calculating torque offset:
ωeripeeref
ωmriperip/p
Wherein, ωeTo estimate motor electromagnetic revolving speed, ωerefIndicate motor command electromagnetism rotating, p indicates motor number of pole-pairs, K For compensated torque gain coefficient, ωmripIt is fluctuated for mechanical separator speed,For mechanical separator speed, AωcAnd AωsIt is fundamental factor, HPF Indicate high-pass filter, ThfIndicate high-pass filter delay time, ωmIndicate motor speed.
Further, the control unit 2 includes also waveform generator module, according to vin、θgeQ axis is calculated with motor load Current waveform generator waveform;There are two types of shapes for the Q shaft current waveform generator waveform, comprising:
Waveform generator shape 1:
Waveform generator shape 2:
Wherein, Wfge) it is output variable, vinFor the supply voltage value of real-time detection, VθdThe supply voltage half period thus Interior power voltage-phase is θdWhen voltage, VPeakFor supply voltage amplitude, θgeFor input voltage phase estimated value, θdFor electric current Phase corresponding to dead zone;
The waveform generator using which kind of shape is determined using strategy according to waveform generator.
Further, the waveform generator includes: using strategy
As electric machine frequency ωehighWhen select waveform generator shape 2, as electric machine frequency ωelowWhen select waveform Generator shape 1, works as ωlow≦ωe≦ωhighWhen, keep current form generator constant;Alternatively, working as DC conversion circuit 6 Output power Pinv>PhighWhen select waveform generator shape 2, as 6 output power P of DC conversion circuitinv<PlowWhen select Waveform generator shape 1, works as Plow≦Pinv≦PhighWhen, keep current form generator constant;
6 power of DC conversion circuit calculates according to the following formula:
Pinv=Vuiu+Vviv+Vwiw
Wherein, Vu, Vv, VwRespectively DC conversion circuit 6u, v, w three-phase voltage command, iu、iv、iwRespectively motor Three-phase actual current.
Further, it is calculated by the following formula to obtain Q shaft current initial order value:
T in formulapIndicate torque instruction, iq_ref0Indicate Q shaft current initial order value,Indicate spinner velocity estimated value, ke For winding back emf coefficient, Ld、LqIt is divided into for DQ axle inductance, id_refFor D shaft current instruction value, KPFor the proportionality coefficient of controller, KiFor the integral coefficient of controller.
Further, the control unit 2 includes also condenser current compensation module, for calculating Capacitance Power Pc:
The current-order i of compensationqccAre as follows:
Wherein, θgeFor input voltage phase estimated value, C is the electricity being connected in parallel between the input terminal of DC conversion circuit 6 Hold capacitance, VPeakFor the voltage magnitude of AC power source, ωinFor the electric voltage frequency of AC power source, p is motor number of pole-pairs, ωeFor electricity Machine rotor speed.
Further, the total current instruction value of Q axis are as follows:
iq_ref1=iq_ref0+iqcc
Further, the control unit 2 further includes weak magnetic control module, and the weak magnetic control module includes weak magnetic controller And clipping unit, the weak magnetic controller is for calculating D shaft current instruction initial value:
Wherein, Id0Initial value, K are instructed for the D shaft currentiFor integral control coefficient,V1For the output voltage amplitude of DC conversion circuit 6, vdFor D shaft voltage, vqFor Q axis electricity Pressure, VmaxFor the maximum output voltage of the DC conversion circuit 6, VdcFor the DC bus-bar voltage of motor.
Further, the clipping unit carries out amplitude limiting processing to D shaft current instruction initial value to obtain D shaft current Instruction:
Wherein, IdemagFor motor demagnetization current limits value, ImtpaCorresponding D shaft current value, i are controlled for MTPAq_ref1For Q The total current instruction value of axis, keFor winding back emf coefficient.
Further, the control unit 2 also includes current limit control module, realizes that DQ exports current limit;According to Lower formula calculates final DQ shaft current instruction:
Wherein, imaxAllow the maximum current value exported for DC conversion circuit 6.
Further, the control unit 2 instructs i according to the final DQ shaft current of acquisitiond_refAnd iq_ref, and detection is simultaneously The actual electric current i of the DQ being calculateddAnd iq, PI control is done to D shaft current and Q shaft current respectively, is calculated after adding decoupling V is instructed to DQ shaft voltagedAnd Vq, then α β shaft voltage is converted to by coordinate and instructs VαAnd Vβ, it is reconverted into u, v, w tri- later Phase voltage directive Vu、Vv、Vw, finally calculate and Vu、Vv、VwEquivalent pulse Tu、Tv、Tw, and pass through DC conversion circuit 6 It is output to motor.
Detailed description of the invention
Fig. 1 is capacitor miniaturization motor driver structural block diagram of the present invention;
Fig. 2 is capacitor miniaturization motor driver control structure block diagram of the present invention;
Fig. 3 is phaselocked loop block diagram;
Fig. 4 is compensated torque module control block diagram;
Fig. 5 is weak magnetoelectricity stream control module block diagram;
Fig. 6 is DQ shaft current clipping control module block diagram;
Fig. 7 is that DQ shaft voltage generates and anti-saturation control module block diagram.
Specific embodiment
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram that motor driver is minimized according to the capacitor of the embodiment of the present invention.
It should be noted that the capacitor miniaturization motor driver of the embodiment of the present invention is applicable to variable-frequency motor, join According to Fig. 1, in the circuit of variable-frequency motor, AC power source AC is followed by by rectification circuit and inverter circuit to motor, in the present invention Embodiment in, can between the input terminal of inverter circuit in parallel low-capacitance thin-film electro perhaps ceramic condenser 5a.
As shown in Figure 1, the capacitor of the embodiment of the present invention minimizes motor driver, comprising: control unit 2, inductor 3, AC-DC converting circuit 4, DC link section 5 and DC conversion circuit 6.
Module 1 is system power supply in Fig. 1, and module 7 is permanent magnet synchronous motor equivalent circuit diagram.The ac-dc converter circuit The supply voltage v of 4 pairs of AC power sources 1inFull-wave rectification is carried out, which has defeated with the ac-dc converter circuit 4 The capacitor 5a of side parallel connection out, and the DC voltage v of output rippledc, which, which utilizes, switchs the direct current After the output in chain portion 5 is converted into exchange, connected permanent magnet synchronous motor 7 is supplied, which controls the switch System.The control unit 2 is for receiving speed commandDetect the voltage v of input powerin, phase thetage, electric current iin, direct current it is female Line voltage vdcWith current of electric iu、iv、iw, export 6 control instruction T of DC conversion circuitu、Tv、Tw, realize motor control.Institute Stating DC conversion circuit 6 is inverter circuit.
Fig. 3 input voltage phase detection phase-locked loop module is used to obtain the instantaneous voltage V of the AC power source of inputge, and According to the instantaneous voltage V of AC power sourcegeCalculate input voltage phase estimated values thetage
Specifically, as shown in figure 3, input voltage phase detection phase-locked loop module may include cosine calculator, the first multiplication Device, low-pass filter, the first pi regulator and integrator.Wherein, cosine calculator is used for the input electricity to a upper calculating cycle Press phase estimation value θgeIt carries out cosine to calculate to obtain the first calculated value, the first multiplier is used for the voltage transient of AC power source Value VgeIt is multiplied to obtain the second calculated value with the first calculated value.Low-pass filter be used for the second calculated value carry out low-pass filtering with Obtain third calculated value, wherein the bandwidth of the low-pass filter is lower than the electric voltage frequency of AC power source, in a reality of the invention It applies in example, the bandwidth of the low-pass filter is lower than the electric voltage frequency ω of AC power sourceg1/5.First pi regulator is used for the Three calculated values carry out PI and adjust to export the 4th calculated value, and integrator is used for the electric voltage frequency to the 4th calculated value and AC power source ωgThe sum of carry out integral calculation to obtain the input voltage phase estimated values theta of current calculation cyclege
Location/velocity estimator is for estimating the rotor-position of motor to obtain rotor angle estimated valueWith turn Sub- velocity estimation value
The motor of the embodiment of the present invention can lead in one embodiment of the invention for the motor of position-sensor-free Cross the above-mentioned function that flux observation method realizes location/velocity estimator.Firstly, can be according to the electric current and voltage that fixed coordinates are fastened The estimated value of motor useful flux in fixed coordinate system α and β axis direction is calculated, specific formula for calculation is as follows:
Wherein,WithThe estimated value of the useful flux in α and β axis direction of motor respectively, vαAnd vβRespectively α and β Voltage in axis direction, iαAnd iβElectric current respectively in α and β axis direction.
Then rotor angle estimated value is further calculatedWith spinner velocity estimated valueSpecific formula for calculation is as follows:
Wherein, Kp_pllWith Ki_pllThe respectively ratio and integral parameter of phaselocked loop PI controller, ωfFor speed low-pass filtering The bandwidth of device, θerrFor the estimated value of misalignment angle.
The instruction of Q shaft current calculates as shown in Fig. 2, Q shaft current instruction calculation module includes the second pi regulator, waveform generation Device, initial current computing unit, condenser current compensation unit and superpositing unit.
The Q shaft current instruction calculation module includes:
Second pi regulator, second pi regulator are used to estimate motor speed instruction with the spinner velocity The difference of value carries out PI and adjusts with the instruction of output torque amplitude;
Waveform generator, the waveform generator are used to generate output variable according to the input voltage phase estimated value;
Initial current computing unit, the initial current computing unit are used for the output variable and the torque amplitude Divided by motor torque coefficient to obtain Q shaft current instruction initial value after instruction multiplication;
Condenser current compensation unit, the condenser current compensation unit are used for raw according to the input voltage phase estimated value At compensation electric current;
Superpositing unit, the superpositing unit be used to for the compensation electric current being added to the Q shaft current instruct initial value with Obtain the Q shaft current instruction.
Wherein, the second pi regulator is used for by command speedAnd estimated speedPI control is carried out after making the difference, it is defeated Torque instruction T outp
Wherein KPFor the proportionality coefficient of controller, KiFor the integral coefficient of controller.
Waveform generator is used to generate output variable W according to input voltage shape and phasef
Initial current computing unit is used for output variable WfT is instructed with torque amplitudepAfter multiplication, it is further converted into Q axis Current-order initial value iq_ref0
T in formulapIndicate torque instruction, iq_ref0Indicate Q shaft current initial order value,Indicate spinner velocity estimated value, ke For winding back emf coefficient, Ld、LqIt is divided into for DQ axle inductance, id_refFor D shaft current instruction value,
In an embodiment of the present invention, include two kinds of shaped wave generators:
Waveform generator shape 1 calculates the output variable according to the following formula:
Waveform generator shape 2 calculates the output variable according to the following formula:
Wherein, Wfge) it is the output variable, vinFor the supply voltage value of real-time detection, VθdSupply voltage half thus Period interior power voltage-phase is θdWhen voltage, VPeakFor supply voltage amplitude, θgeFor the input voltage phase estimated value, θdFor phase corresponding to electric current dead zone.
1 advantage of waveform generator is that Harmonics of Input is small;The disadvantage is that electric machine phase current peak value is bigger than normal.
Compared to waveform generator 1, for waveform generator 2 the disadvantage is that Harmonics of Input is big, advantage is electric machine phase current peak value It is small.
When specifically used, according to motor operation frequencies omegaeDetermine which kind of waveform generator used.Specifically, when motor frequency Rate ωehighWhen select waveform generator 2, as electric machine frequency ωelowWhen select waveform generator 1, work as ωlow≦ωe≦ ωhighWhen, keep current form generator constant.Wherein ωhigh、ωlowValue relationship is ωhighlow, in the present embodiment, ωhighFor 150Hz, ωlowFor 130Hz.
The specific choice method of waveform generator can also be accomplished by the following way:
When specifically used, according to 6 output power P of DC conversion circuitinvDetermine which kind of waveform generator used.Specifically Ground, as electric machine frequency Pinv>PhighWhen select waveform generator 2, as electric machine frequency Pinv<PlowWhen select waveform generator 1, when Plow≦Pinv≦PhighWhen, keep current form generator constant.Wherein Phigh、PlowValue relationship is as follows, Phigh>Plow, this reality It applies in example, PhighFor 1100W, PlowFor 900W.
6 power of DC conversion circuit calculates according to the following formula:
Pinv=Vuiu+Vviv+Vwiw
Wherein, Vu, Vv, VwRespectively DC conversion circuit 6u, v, w three-phase voltage command, iu、iv、iwRespectively motor Three-phase actual current.
In an embodiment of the present invention, condenser current compensation unit can calculate according to the following formula compensation electric current:
Wherein, θgeFor the input voltage phase estimated value, C is the electricity being connected in parallel between the input terminal of the inverter circuit Hold capacitance, VPeakFor the voltage magnitude of the AC power source, ωinFor the electric voltage frequency of the AC power source, p is that motor is extremely right Number, keFor winding back emf coefficient, Ld、LqIt is divided into for DQ axle inductance, id_refFor D shaft current instruction value, ωeFor rotor speed Degree.
In one embodiment of the invention, phase parameter θ is setdIt can be phase corresponding to electric current dead zone, default can Take 0.1~0.2rad.
In conjunction with Fig. 4, in an embodiment of the present invention, control unit 2 includes compensated torque module, for detecting rotor speed Degree fluctuation, and fluctuated according to speed torque and calculate compensated torque current value, realize that pulsating load inhibits, specifically, according to estimation Motor electromagnetic rotational speed omegaeWith motor command electromagnetism rotating ωeref, the motor electromagnetic fluctuation of speed is calculated, mechanical separator speed wave is then converted to Dynamic ωmrip
ωeripeeref
ωmriperip/p
Wherein, ωeTo estimate motor electromagnetic revolving speed, ωerefIndicate motor command electromagnetism rotating, p indicates number of pole-pairs.
By ωmripRegard mechanical separator speed asFunction, and carry out Fourier transformation:
Ignore high frequency waveforms ingredient more than two times, when only retaining fundamental wave, can simplify are as follows:
Thus to obtain fundamental factor AωcAnd Aωs
It is being addedAngle lag compensation atan (Thfωm), it calculates and obtains compensated torque Tc
Wherein, K is compensated torque gain coefficient.
Initial current computing unit is used for TpCumulative TcAfterwards multiplied by waveform generator WfGenerate new torque instruction Te, TeDivided by Counter electromotive force of motor constant keAfter obtain Q shaft current initial order value iq_ref0:
Q shaft current initial order value iq_ref0In addition the current instruction value i of condenser current compensation module outputqcc, obtain Q axis Current instruction value iq_ref1
iq_ref1=iq_ref0+iqcc
In conjunction with Fig. 5, the control unit 2 also includes weak magnetic control module, for calculating D axis weak magnetoelectricity stream instruction id_ref1:
Specifically, the weak magnetic control module includes: weak magnetic controller, and the weak magnetic controller is used for the inversion electricity The difference of the output voltage amplitude of the maximum output voltage on road and the inverter circuit is controlled initial to obtain the instruction of D shaft current Value;Clipping unit, the clipping unit are used to carry out amplitude limiting processing to D shaft current instruction initial value to obtain the D axis Current-order.
Further, the weak magnetic controller calculates the D shaft current instruction initial value according to the following formula:
Wherein, id0Initial value, K are instructed for the D shaft currentiFor integral control coefficient,V1For the output voltage amplitude of the inverter circuit, vdFor D shaft voltage, vqFor Q shaft voltage, VmaxFor the maximum output voltage of the inverter circuit, VdcFor the DC bus-bar voltage of motor.
Further, to prevent motor from demagnetizing, i need to be limitedd_ref1It cannot be below demagnetization current Idemag.In addition, being driven to be promoted Efficiency of movement, the instruction of D shaft current need to be less than or equal to MTPA and control corresponding D shaft current Imtpa.Therefore, clipping unit is according to following Formula obtains the D shaft current instruction:
Wherein, IdemagFor the motor demagnetization current limits value.
In conjunction with Fig. 6, further the present embodiment instructs i according to DQ shaft current is obtainedd_ref1And iq_ref1Clipping control is carried out, is made MeetSpecifically, final DQ shaft current instruction is calculated according to the following formula:
Wherein, imaxAllow the maximum current value exported for DC conversion circuit 6.
Further, the present embodiment instructs i according to DQ shaft current is obtainedd_refAnd iq_ref, and detect and be calculated The actual electric current i of DQdAnd iq, PI control is done to D shaft current and Q shaft current respectively, DQ shaft voltage is calculated after adding decoupling Instruct VdAnd Vq, and the anti-saturation control for being characterized in that introducing of this control unit, when voltage instruction is beyond the defeated of driver Out when range, can volitional check voltage output, specific control block diagram is as shown in Figure 7.Fig. 7 is the generation of DQ shaft voltage and anti-saturation Control module, anti-saturation control working principle are as follows: D shaft current instructs id_refWith D axis actual current idPI control is carried out after making the difference, Add up decoupling control-ω againeLqiqObtain D axis initial voltage instruction valueSimilarly, Q shaft current instructs iq_refIt is practical with D axis Electric current iqPI control, then cumulative decoupling control ω are carried out after making the differenceeLdideψfObtain Q axis initial voltage instruction valueIt calculates WithMould vm, and final voltage instruction value is calculated according to the following formula:
Wherein, vmaxThe maximum voltage value that can be exported for controller.
Further, willD shaft current integral is fed back, it willQ shaft current integral is fed back, For in next calculating cycle offset voltage.
Further control unit 2 is converted to α β shaft voltage by coordinate again and instructs VαAnd Vβ, it is reconverted into u, v, w later Three-phase voltage command Vu、Vv、Vw, finally calculate and Vu、Vv、VwEquivalent pulse Tu、Tv、Tw, and electricity is output to by inverter Machine.
Specifically, the instruction of Q shaft voltage and the instruction of D shaft voltage can be calculated according to the following formula:
Wherein, VqFor the instruction of Q shaft voltage, VdFor the instruction of D shaft voltage, KdpAnd KdiRespectively D shaft current controls proportional gain With integral gain, KqpAnd KqiRespectively the control proportional gain of Q shaft current and integral gain, ωeFor motor speed, keIt is anti-for motor The coefficient of potential, LdAnd LqRespectively D axis and Q axle inductance,Indicate the integral of x (τ) in time, VmaxFor inversion The maximum output voltage of circuit, vmIndicate the vector sum of the instruction of motor d shaft voltage and the instruction of q shaft voltage.
Getting Q shaft voltage instruction VqV is instructed with D shaft voltagedIt afterwards, can be according to angle of rotor of motor θ to VqAnd VdIt carries out Park inverse transformation obtains the voltage instruction V that fixed coordinates are fastenedαAnd Vβ, specific transformation for mula is as follows:
Vα=Vdcosθ-Vqsinθ
Vβ=Vdsinθ+Vqcosθ
Wherein, θ is angle of rotor of motor, can use above-mentioned rotor angle estimated values theta hereinest
It further, can be according to the voltage instruction V that fixed coordinates are fastenedαAnd VβClark inverse transformation is carried out, three-phase electricity is obtained Pressure instruction Vu、VvAnd Vw, specific transformation for mula is as follows:
Vu=Vα
Then duty ratio computing unit can carry out duty ratio calculating according to DC bus-bar voltage and three-phase voltage command, obtain Duty cycle control signal, i.e. three-phase duty ratio Tu、TvAnd Tw, specific formula for calculation is as follows:
Tu=(Vu+0.5Vdc)/Vdc
Tv=(Vv+0.5Vdc)/Vdc
Tw=(Vw+0.5Vdc)/Vdc
Wherein, VdcFor DC bus-bar voltage.
With the switch of the duty cycle control signal real-time control inverter circuit, the control to motor is realized.
Capacitor according to an embodiment of the present invention minimizes motor driver, detects locking phase ring moulds by input voltage phase Block and location/velocity estimator etc. obtain relevant parameter, design two kinds of waveform generators, design (calculated) load compensated torque module, meter The instruction of Q shaft current and the instruction of D shaft current are calculated, then further obtains the instruction of Q shaft voltage and the instruction of D shaft voltage, and generate and account for Sky is than control signal, to control inverter circuit by duty cycle control signal to control motor.Thereby, it is possible to bases System running state automatically switches waveform generator, device for harmonic optimization and the optimization of press phase current peak value, makes the input of motor Current waveform meets harmonic requirement, and according to velocity perturbation, computational load compensated torque value is accumulated in torque instruction, realizes system The stable operation of system compensated torque and speed-regulating system.
Above to a kind of capacitor miniaturization motor driver provided by the present invention, it is described in detail, herein Apply that a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to help Understand method and its core concept of the invention;At the same time, for those skilled in the art, according to the thought of the present invention, There will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as to this The limitation of invention.

Claims (10)

1. a kind of capacitor minimizes motor driver characterized by comprising control unit (2), inductor (3), alternating current-direct current turn Change circuit (4), DC link section (5) and DC conversion circuit (6);The ac-dc converter circuit (4) is to AC power source (1) Supply voltage vinFull-wave rectification is carried out, one end of the inductor (3) is connect with AC power source (1), and the other end and alternating current-direct current turn Circuit (4) connection is changed, the DC link section (5) has the capacitor in parallel with the outlet side of the ac-dc converter circuit (4) (5a), and the DC voltage v of output rippledc, the DC conversion circuit (6), which utilizes, to be switched the DC link section (5) After output is converted into exchange, its permanent magnet synchronous motor (7) connected is supplied, the control unit (2) is for receiving speed commandDetect the voltage v of input powerin, phase thetage, electric current iin, DC bus-bar voltage vdcWith current of electric iu、iv、iw, output DC conversion circuit (6) control instruction Tu、Tv、Tw, realize motor control;
The control unit (2) includes compensated torque module, for detecting motor rotor speed fluctuation, and is fluctuated according to speed torque Calculating torque offset:
ωeripeeref
ωmriperip/p
Wherein, ωeTo estimate motor electromagnetic revolving speed, ωerefIndicate motor command electromagnetism rotating, p indicates motor number of pole-pairs, and K is to turn Square compensating gain coefficient, ωmripIt is fluctuated for mechanical separator speed,For mechanical separator speed, AωcAnd AωsIt is fundamental factor, HPF indicates high Bandpass filter, ThfIndicate high-pass filter delay time, ωmIndicate motor speed.
2. capacitor according to claim 1 minimizes motor driver, which is characterized in that the control unit (2) is also wrapped Module containing waveform generator, according to vin、θgeQ shaft current waveform generator waveform is calculated with motor load;The Q shaft current wave There are two types of shapes for shape generator waveform, comprising:
Waveform generator shape 1:
Waveform generator shape 2:
Wherein, Wfge) it is output variable, vinFor the supply voltage value of real-time detection, VθdSupply voltage half period interior power thus Voltage-phase is θdWhen voltage, VPeakFor supply voltage amplitude, θgeFor input voltage phase estimated value, θdFor electric current dead zone institute Corresponding phase;
The waveform generator using which kind of shape is determined using strategy according to waveform generator.
3. capacitor according to claim 2 minimizes motor driver, which is characterized in that the waveform generator uses Strategy includes:
As electric machine frequency ωehighWhen select waveform generator shape 2, as electric machine frequency ωelowWhen select waveform Device shape 1, works as ωlow≦ωe≦ωhighWhen, keep current form generator constant;Alternatively, when DC conversion circuit (6) are defeated Power P outinv>PhighWhen select waveform generator shape 2, as DC conversion circuit (6) output power Pinv<PlowWhen select Waveform generator shape 1, works as Plow≦Pinv≦PhighWhen, keep current form generator constant;
DC conversion circuit (6) power calculates according to the following formula:
Pinv=Vuiu+Vviv+Vwiw
Wherein, Vu, Vv, VwRespectively DC conversion circuit (6) u, v, w three-phase voltage command, iu、iv、iwRespectively motor three Phase actual current.
4. capacitor according to claim 3 minimizes motor driver, which is characterized in that be calculated by the following formula To Q shaft current initial order value:
T in formulapIndicate torque instruction, iq_ref0Indicate Q shaft current initial order value,Indicate spinner velocity estimated value, keFor electricity Machine back emf coefficient, Ld、LqIt is divided into for DQ axle inductance, id_refFor D shaft current instruction value, KPFor the proportionality coefficient of controller, KiFor The integral coefficient of controller.
5. capacitor according to claim 4 minimizes motor driver, which is characterized in that the control unit (2) is also wrapped Module containing condenser current compensation, for calculating Capacitance Power Pc:
The current-order i of compensationqccAre as follows:
Wherein, θgeFor input voltage phase estimated value, C is the capacitor being connected in parallel between the input terminal of DC conversion circuit (6) Capacitance, VPeakFor the voltage magnitude of AC power source, ωinFor the electric voltage frequency of AC power source, p is motor number of pole-pairs, ωeFor motor Spinner velocity.
6. capacitor according to claim 5 minimizes motor driver, which is characterized in that the total current instruction value of Q axis Are as follows:
iq_ref1=iq_ref0+iqcc
7. capacitor according to claim 6 minimizes motor driver, which is characterized in that the control unit (2) is also wrapped Weak magnetic control module is included, the weak magnetic control module includes weak magnetic controller and clipping unit, and the weak magnetic controller is based on It calculates D shaft current and instructs initial value:
Wherein, id0Initial value, K are instructed for the D shaft currentiFor the integral coefficient of controller, V1For the output voltage amplitude of DC conversion circuit (6), vdFor D shaft voltage, vqFor Q shaft voltage, VmaxFor the direct exchange Change the maximum output voltage of circuit (6), VdcFor the DC bus-bar voltage of motor.
8. capacitor according to claim 7 minimizes motor driver, which is characterized in that the clipping unit is to described D shaft current instruction initial value carries out amplitude limiting processing to obtain the instruction of D shaft current:
Wherein, IdemagFor motor demagnetization current limits value, ImtpaCorresponding D shaft current value, i are controlled for MTPAq_ref1It is total for Q axis Current instruction value, keFor winding back emf coefficient.
9. capacitor according to claim 8 minimizes motor driver, which is characterized in that the control unit (2) is also wrapped Control module containing current limit realizes that DQ exports current limit;Final DQ shaft current instruction is calculated according to the following formula:
Wherein, imaxAllow the maximum current value exported for DC conversion circuit (6).
10. capacitor according to claim 9 minimizes motor driver, which is characterized in that control unit (2) basis The final DQ shaft current obtained instructs id_refAnd iq_ref, and the actual electric current i of DQ for detecting and being calculateddAnd iq, respectively PI control is done to D shaft current and Q shaft current, DQ shaft voltage instruction V is calculated after adding decouplingdAnd Vq, then pass through coordinate turn Get α β shaft voltage instruction V in returnαAnd Vβ, it is reconverted into u, v, w three-phase voltage command V lateru、Vv、Vw, finally calculate and Vu、 Vv、VwEquivalent pulse Tu、Tv、Tw, and motor is output to by DC conversion circuit (6).
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