CN109586638B - ECM motor current processing system and working method thereof - Google Patents
ECM motor current processing system and working method thereof Download PDFInfo
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- 230000010349 pulsation Effects 0.000 claims description 5
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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
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention discloses an ECM motor current processing system and a working method thereof, and relates to the field of motors. At present, the sampling resistor cannot sample current to achieve the precision and the current bias. The invention comprises the following steps: the main control algorithm unit comprises a speed loop, a current flux linkage controller module and an observer module; the coordinate transformation unit is connected with the main control algorithm unit and is divided into forward and reverse coordinate transformation; the SVM modulation inversion unit is connected with the output end of the coordinate transformation unit and is used for space vector pulse width modulation and inversion; the current sampling unit is used for sampling the current of the three phases of the motor through the current sensor and the sampling resistor; and the input end of the current processing unit is connected with the current sampling unit, and the output end of the current processing unit is connected with the coordinate transformation unit and is used for current self-adaption and current reconstruction. The technical scheme avoids the problem of current bias and improves the accuracy. And when the duty ratio is larger than a certain value, the current is adaptively switched to current reconstruction, so that the current application range is enlarged.
Description
Technical Field
The invention relates to the field of motors, in particular to an ECM motor current processing system and a working method thereof.
Background
Motors are widely available in the fields of home appliances, industry, military national defense and the like, and the types of motors in various fields are various, such as BLDC\PMSM, servo, stepping, magnetic resistance and the like, and motor control is different according to the types of motors. For example, bldc\pmsm in the home appliance industry adopts square wave control at early time, but is currently commonly used as SVPWM control, compared with square wave control, SVPWM is sinusoidal current, torque fluctuation and noise are small, and better experience can be given to users. In both control modes, a current value is required as an intermediate control value, and the current value can be obtained by a current sensor or a sampling resistor. In summary, the motor and motor control are closely related to people's life, and the quality of the control scheme directly influences the customer experience.
As described above, the current sensor is used for sampling current in high-precision industries such as military, and for general fields such as home appliances and industries, the method of sampling current by sampling resistor is a common method. The resistor sampling current is divided into bus current sampling, two-phase current sampling and three-phase current sampling. In comparison, the three-phase current sampling precision is higher, but the three-phase current inconsistency caused by the difference of three-phase resistance is avoided.
It is therefore necessary to devise a method and system for ECM motor current processing.
Disclosure of Invention
The technical problem to be solved and the technical task to be put forward in the invention are to perfect and improve the prior art scheme, and provide an ECM motor current processing system and a working method thereof, so as to achieve the purpose of accurately obtaining three-phase current values. For this purpose, the present invention adopts the following technical scheme.
An ECM motor current processing system comprising:
the main control algorithm unit comprises a speed loop, a current flux linkage controller module and an observer module, wherein the current flux linkage controller module realizes V through the control of d-axis flux linkage and q-axis current αβ By V αβ The motor model of (2) realizes the estimation of control parameters;
the coordinate transformation unit is connected with the main control algorithm unit and is divided into forward and reverse coordinate transformation and is used for coordinate transformation between 3/2 and 2/3;
the SVM modulation inversion unit is connected with the output end of the coordinate transformation unit and is used for space vector pulse width modulation and inversion, so that the motor obtains an ideal circular rotating magnetic field and the torque pulsation of the motor is reduced;
the current sampling unit is used for sampling the current of the three phases of the motor through the current sensor and the sampling resistor;
and the current processing unit is connected with the current sampling unit at the input end and the coordinate transformation unit at the output end, and is used for current self-adaption and current reconstruction, wherein the current self-adaption is a method for carrying out gain automatic calibration on three-phase current sampled by the current sampling unit, and the current reconstruction is a method for obtaining one-phase current by utilizing the three-phase current and zero when the duty ratio is larger than a set value.
The current processing unit solves the current bias problem generated when the three-phase current sampling devices have differences and the like in the running process of the system. Compared with the common method for performing bias processing only when the system is powered on, the current processing unit monitors the bias problem of current sampling in the whole operation process of the system, so that the obtained three-phase current has more convincability and reliability. And when the duty ratio is larger than a certain value, the current is adaptively switched to current reconstruction, so that the current application range is enlarged. In addition, the realization of the current flux linkage controller algorithm and the observer algorithm greatly improves the efficiency, stability, accuracy and other performances of the system. The invention can monitor the current bias condition in real time in the running process of the system, and timely carry out bias treatment on the biased current, thereby greatly improving the reliability of the system. Meanwhile, the current application range is enlarged, current harmonic waves are reduced, and the power output capacity is increased.
As a preferable technical means: the current sampling unit samples three-phase current of the motor and performs filtering treatment through a low-pass filter to obtain a smooth current value I a 、I b 、I c Then the filtered current value is sent to a current processing unit, the current value I a 、I b 、I c Are all valid values.
As a preferable technical means: the current sampling unit and the current processing unit work cooperatively, and the current sampling unit and the current processing unit work cooperatively;
after power-on, firstly three direct currents I are introduced into the system 1 、I 2 、I 3 Sampling and filtering by a current sampling unit to obtain three-phase sampling current I under each direct current an 、I bn 、I cn N=1 to 3, then for I an 、I bn 、I cn Performing offset calibration processing to enable K 1 、K 2 Approximately equal to 1;
then in the running process, the current sampling unit samples and filters to obtain a current I a 、I b 、I c Then sent to a current processing unit, when the duty ratio does not reach a larger value, K is calculated 1 、K 2 And a comparison value K COMP In contrast, if K 1 、K 2 At least one of which has a value greater than K COMP Description I b 、I c At least one phase of current value has bias; when the duty ratio is larger than a set value, a phase of the three-phase current sampled by the current sampling unit cannot be accurately sampled, and the current value of the phase is obtained by using the sum of the three-phase current and zero, wherein K 1 ＝I b /I a 、K 2 ＝I c /I a ；
If K 1 、K 2 At least one of which has a value greater than K COMP Then make I b * ＝I b /K 1 、I c * ＝I c /K 2 Wherein I b * 、I c * The method is used for controlling the motor.
As a preferable technical means: the duty ratio is set to 98%, and when the duty ratio is less than 98%, K is calculated 1 、K 2 And a comparison value K COMP In comparison with the prior art.
Another object of the present invention is to provide a method for processing an ECM motor current, characterized by comprising the steps of:
1) Current sampling, namely current sampling is carried out on three phases of the motor through a current sensor and a sampling resistor, and smooth filtering is carried out;
2) Current processing, namely performing current self-adaption and current reconstruction processing according to current sampling data, wherein the current self-adaption is a method for automatically calibrating gain of sampled three-phase current, and the current reconstruction is a method for obtaining one-phase current by utilizing the three-phase current and zero when the duty ratio is larger than a set value;
3) Forward coordinate transformation, according to the result of current processing, forward coordinate transformation, 3/2 coordinate transformation is realized, I is carried out abc * To I αβ Is a clarke transform of (2); and transform the forward coordinate into result I αβ Sending to a main control algorithm unit, wherein the main control algorithm unit comprises a speed loop PID, an observer and a current flux linkage controller, and performing main control calculation to adjust;
4) Main control calculation, calculation of V based on d-axis flux linkage and q-axis current αβ Through V αβ Estimating control parameters by a motor model;
5) Inverse coordinate transformation according to the main control calculation result V αβ Performing reverse clarke transformation to V abc 2/3 coordinate conversion is realized;
6) SVM modulation inversion is carried out according to the coordinate transformation result V abc Space vector pulse width is performedModulation and inversion are carried out, so that the motor obtains an ideal circular rotating magnetic field, and the torque pulsation of the motor is reduced;
7) Repeating step 1).
As a preferable technical means: in step 2), if the duty ratio does not reach the set threshold value, judging K 1 ＝I b /I a 、K 2 ＝I c /I a Whether at least one of them exceeds K comp If it exceeds, then make I b * ＝I b /K 1 、I c * ＝I c /K 2 Otherwise, not changing; if the duty cycle is so large that the set threshold is reached, and at this time, one phase of the three-phase current cannot be sampled accurately, the value of the third-phase current is obtained by using the sum of the three-phase currents and zero.
As a preferable technical means: after power-on, three direct currents I are firstly introduced 1 、I 2 、I 3 And current sampling and filtering are carried out to obtain three-phase sampling current I under each direct current an 、I bn 、I cn N=1 to 3, then for I an 、I bn 、I cn Performing offset calibration processing to enable K 1 、K 2 At 1+ -K 0 Within the range.
As a preferable technical means: setting the threshold value to 98%, K COMP Is 3% or is set to a number of different values depending on the accuracy requirements of the system.
The beneficial effects are that: the technical scheme solves the current bias problem generated when the three-phase current sampling devices have differences and the like in the running process of the system. Compared with the common method for performing bias processing only when the system is electrified, the current processing unit of the technical scheme monitors the bias problem of current sampling in the whole operation process of the system, so that the obtained three-phase current has more convincability and reliability. And when the duty ratio is larger than a certain value, the current is adaptively switched to current reconstruction, so that the current application range is enlarged. In addition, the realization of the current flux linkage controller algorithm and the observer algorithm greatly improves the efficiency, stability, accuracy and other performances of the system.
The invention can monitor the current bias condition in real time in the running process of the system, and timely carry out bias treatment on the biased current, thereby greatly improving the reliability of the system. Meanwhile, the current application range is enlarged, current harmonic waves are reduced, and the power output capacity is increased.
Drawings
Fig. 1 is a system configuration diagram of the present invention.
Fig. 2 is a system flow diagram of the present invention.
In the figure: 1-a main control algorithm unit; a 2-coordinate transformation unit; a 3-SVM modulation inversion unit; a 4-current sampling unit; 5-a current processing unit.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the attached drawings.
As shown in fig. 1, the system is composed of a main control algorithm unit 1, a coordinate transformation unit 2, an SVM modulation inversion unit 3, a current sampling unit 4 and a current processing unit 5. The main control algorithm unit 1 comprises a speed loop, a current flux linkage controller module and an observer module, wherein the current flux linkage controller realizes V through the control of d-axis flux linkage and q-axis current αβ By V αβ The motor model equation of (2) realizes the estimation of the control parameters. The coordinate transformation unit 2 is divided into forward and reverse coordinate transformations for coordinate transformation between 3/2 and 2/3, wherein the 2/3 coordinate transformation of αβ to abc is called reverse clarke transformation, and the 3/2 coordinate transformation of abc to αβ is called clarke transformation. The coordinate transformation is classified into equal power and equal amplitude transformation, and is generally adopted as the equal amplitude transformation. The SVM modulation inversion unit 3 is a space vector pulse width modulation and inversion unit, the SVM refers to a magnetic field vector which is generated by a voltage vector through pulse width modulation and spatially rotates, and the modulation purpose is to enable a motor to obtain an ideal circular rotating magnetic field and enable motor torque pulsation to be reduced. Compared with the common PWM pulse width modulation, the SVM modulation is used for improving the utilization rate of the DC bus voltage, and increasing the system efficiency. The inversion unit performs the function of converting direct current into alternating current, and the direct current is changed into sinusoidal alternating current through SVM modulation technology. The current sampling unit 4 is a motor three-phase current sampling unit, and can pass currentThe sensor and the sampling resistor are used for current sampling, and the three-phase current I of the motor can be sampled in the three-phase middle bridge arm and the three-phase lower bridge arm a 、I b 、I c The lower bridge arm is generally adopted for sampling, and software is required to configure three phases for sampling simultaneously when current is sampled, so that the real-time property of the current is ensured. Then I is carried out a 、I b 、I c The low-pass filter is used for filtering to remove burrs and obtain a smooth current value, and the current value after the filtering is sent to the current processing unit 5. The current processing unit 5 comprises two parts of current self-adaption and current reconstruction, wherein the current self-adaption is a method for automatically calibrating the gain of the three-phase current sampled by the current sampling unit 4, and the current reconstruction is a method for obtaining the current of one phase by utilizing the three-phase current and zero when the duty ratio is so large that the current of the one phase cannot be accurately sampled. The implementation steps of the current sampling unit 4 and the current processing unit 5 are mainly as follows: after power-on, firstly three direct currents I are introduced into the system 1 、I 2 、I 3 And sampling and filtering by using a current sampling unit 4 to obtain three-phase sampling current I under each direct current an 、I bn 、I cn (n=1 to 3), then for I an 、I bn 、I cn Performing offset calibration processing to enable K 1 、K 2 Approximately equal to 1; then in the operation process, the current sampling unit 4 samples and filters to obtain a current I a 、I b 、I c And then sent to the current processing unit 5 when the Duty ratio does not reach a large value (e.g. Duty<98%) with K 1 、K 2 And a comparison value K COMP In comparison, generally set K COMP The value of (2) is 3%, different values can be set according to the system precision requirement, if K 1 、K 2 At least one of which has a value greater than K COMP Description I b 、I c At least one phase of current value is biased, so that I b * ＝I b /K 1 、I c * ＝I c /K 2 Wherein I b * 、I c * The motor control device is used for motor control; when the Duty ratio is large to a certain value (for example, duty is more than or equal to 98%), one phase of the three-phase current sampled by the current sampling unit 4 can not be refinedAnd (3) sampling is confirmed, and the current value of the phase is obtained by using the sum of three-phase currents and zero. The system monitors current sampling in the whole motor operation process, solves the current bias problem generated when the three-phase current sampling devices have different problems in the operation process, and ensures that the obtained three-phase current has more persuasion and reliability.
As shown in fig. 2, the flow of the system flow chart is:
step a), sampling three-phase current and performing smooth filtering;
step b) sending the current of step a) to a current processing unit;
step c) if the Duty cycle does not reach a large value (e.g. Duty<98%) and judge K 1 ＝I b /I a 、K 2 ＝I c /I a Whether at least one of them exceeds K comp If it exceeds, then make I b * ＝I b /K 1 、I c * ＝I c /K 2 Otherwise, not changing; if the Duty ratio is larger than a certain value (for example, duty is more than or equal to 98%), a certain phase of the three-phase current cannot be accurately sampled, and the value of the third-phase current is obtained by utilizing the sum of the three-phase current and zero.
Step d) carrying out I abc * To I αβ Is a clarke transform of (2);
step e) I of step d) αβ Sending to a main control algorithm unit comprising a speed loop PID, an observer and a current flux linkage controller;
step f) outputting V from the main control algorithm unit αβ Performing reverse clarke transformation to V abc ；
Step g) V to step f) abc Sending to an SVM modulation and inversion unit;
step h) repeating step a).
The ECM motor current processing system and the working method thereof shown in fig. 1 and 2 are specific embodiments of the invention, have already shown the essential characteristics and improvements of the invention, and can be modified in terms of shape, structure and the like according to practical use requirements under the teaching of the invention, which are all within the scope of protection of the scheme.
Claims (8)
1. An ECM motor current processing system, comprising:
the main control algorithm unit (1) comprises a speed loop, a current flux linkage controller module and an observer module, wherein the current flux linkage controller module realizes V through the control of d-axis flux linkage and q-axis current αβ By V αβ The motor model of (2) realizes the estimation of control parameters;
the coordinate transformation unit (2) is connected with the main control algorithm unit (1) and is divided into a clarke and a clarke inverse transformation for conversion between 3/2 and 2/3;
the SVM modulation inversion unit (3) is connected with the output end of the coordinate transformation unit (2) and is used for space vector pulse width modulation and inversion, so that the motor obtains an ideal circular rotating magnetic field and the torque pulsation of the motor is reduced;
the current sampling unit (4) is used for sampling the current of the three phases of the motor through a current sensor and a sampling resistor;
and the current processing unit (5) is connected with the current sampling unit (4) at the input end and the coordinate transformation unit (2) at the output end, and is used for current self-adaption and current reconstruction, wherein the current self-adaption is a method for automatically calibrating the gain of the three-phase current sampled by the current sampling unit (4), and the current reconstruction is a method for obtaining a phase current by utilizing the three-phase current and zero when the duty ratio is larger than a set value.
2. An ECM motor current processing system as in claim 1, wherein: the current sampling unit (4) samples three-phase current of the motor and performs filtering treatment through a low-pass filter to obtain a smooth current value I a 、I b 、I c The filtered current value is then sent to a current processing unit (5), the current value I a 、I b 、I c Are all valid values.
3. An ECM motor current processing system as in claim 2, wherein: the current sampling unit (4) and the current processing unit (5) work cooperatively;
after power-on, firstly three direct currents I are introduced into the system 1 、I 2 、I 3 And sampling and filtering by a current sampling unit (4) to obtain three-phase sampling current I under each direct current an 、I bn 、I cn N=1 to 3, then for I an 、I bn 、I cn Performing offset calibration processing to enable K 1 、K 2 Approximately equal to 1;
then in the operation process, the current sampling unit (4) samples and filters to obtain a current I a 、I b 、I c Then sent to a current processing unit (5), and when the duty ratio does not reach the set value, K is calculated 1 、K 2 And a comparison value K COMP In comparison with K COMP The value of (2) is 3%; if K 1 、K 2 At least one of which has a value greater than K COMP Description I b 、I c At least one phase of current value has bias; when the duty ratio is larger than a set value, a certain phase of the three-phase current sampled by the current sampling unit (4) can not be accurately sampled, and the current value of the phase is obtained by utilizing the sum of the three-phase current and zero, wherein K is 1 =I b /I a 、K 2 = I c /I a ；
If K 1 、K 2 At least one of which has a value greater than K COMP Then make I b * =I b /K 1 、I c * = I c /K 2 Wherein I b * 、I c * The method is used for controlling the motor.
4. An ECM motor current processing system according to claim 3, wherein: the duty ratio is set to 98%, and when the duty ratio is less than 98%, K is calculated 1 、K 2 And a comparison value K COMP In comparison with the prior art.
5. An ECM motor current processing method employing an ECM motor current processing system of claim 1, comprising the steps of:
1) Current sampling, namely current sampling is carried out on three phases of the motor through a current sensor and a sampling resistor, and smooth filtering is carried out;
2) Current processing, namely performing current self-adaption and current reconstruction processing according to current sampling data, wherein the current self-adaption is a method for automatically calibrating gain of sampled three-phase current, and the current reconstruction is a method for obtaining one-phase current by utilizing the three-phase current and zero when the duty ratio is larger than a set value;
3) Forward coordinate transformation, according to the result of current processing, I is performed abc * To I αβ The clarke conversion of (2) is forward coordinate transformation, and 3/2 coordinate transformation is realized; and transform the forward coordinate into result I αβ Sending to a main control algorithm unit, wherein the main control algorithm unit comprises a speed loop PID, an observer and a current flux linkage controller, and performing main control calculation to adjust;
4) Main control calculation, calculation of V based on d-axis flux linkage and q-axis current αβ Through V αβ Estimating control parameters by a motor model;
5) Inverse coordinate transformation according to the main control calculation result V αβ Inverse clarke transform to V abc 2/3 coordinate conversion is realized;
6) SVM modulation inversion is carried out according to the coordinate transformation result V abc Space vector pulse width modulation and inversion are carried out, so that the motor obtains an ideal circular rotating magnetic field, and the torque pulsation of the motor is reduced;
7) Repeating step 1).
6. A method of ECM motor current processing according to claim 5, wherein: in step 2), if the duty ratio does not reach the set threshold value, judging K 1 =I b /I a 、K 2 = I c /I a Whether at least one of them exceeds K comp If it exceeds, then make I b * =I b /K 1 、I c * = I c /K 2 Otherwise, not changing; if the duty cycle is large to the set thresholdAnd if one phase of the three-phase current cannot be accurately sampled, obtaining the value of the third-phase current by using the sum of the three-phase currents to be equal to zero.
7. A method of ECM motor current processing according to claim 6, wherein: after power-on, three direct currents I are firstly introduced 1 、I 2 、I 3 And current sampling and filtering are carried out to obtain three-phase sampling current I under each direct current an 、I bn 、I cn N=1 to 3, then for I an 、I bn 、I cn Performing offset calibration processing to enable K 1 、K 2 Approximately equal to 1.
8. A method of ECM motor current processing according to claim 6, wherein: setting the threshold value to 98%, K COMP The value of (2) was 3%.
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| CN111490523B (en) * | 2020-05-11 | 2021-08-17 | 卧龙电气驱动集团股份有限公司 | Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof |
| CN113852311A (en) * | 2021-08-18 | 2021-12-28 | 北京精密机电控制设备研究所 | Fault-tolerant permanent magnet synchronous motor phase current sampling method |
| CN113872486B (en) * | 2021-09-27 | 2023-10-03 | 佛山市顺德区美的电子科技有限公司 | Three-phase current reconstruction method, device, equipment and storage medium |
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