CN109831133A - The suppressing method and system of the torque pulsation of magneto - Google Patents
The suppressing method and system of the torque pulsation of magneto Download PDFInfo
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- CN109831133A CN109831133A CN201910127436.XA CN201910127436A CN109831133A CN 109831133 A CN109831133 A CN 109831133A CN 201910127436 A CN201910127436 A CN 201910127436A CN 109831133 A CN109831133 A CN 109831133A
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Abstract
The invention discloses a kind of suppressing method of the torque pulsation of magneto and system, suppressing method is the following steps are included: obtain the torque of magneto.Current component of the electric current in q axis of the stator of magneto is obtained according to torque.Obtain the angle of the magnetic linkage of the rotor of magneto.Construct ripple angle.Rotation transformation is carried out to current component.Low-pass filtering is carried out to the first electric current on d axis；Low-pass filtering is carried out to the second electric current on q axis.Controller is given with 0, and is feedback with the first direct current, exports the first Middle Component；PI controller is given with 0, and is feedback with the second direct current, exports the second Middle Component.Reverse rotation transformation is carried out, compensation rate is obtained.Compensation rate is negated and is superimposed afterwards with the given of the electric current loop of magneto.The present invention is more thorough to the inhibition of torque pulsation by closed loop adjust automatically Injection Current harmonic wave specified rate directly using torque pulsation as target.
Description
Technical field
The invention belongs to the Torque Ripple Reduction technical field of motor more particularly to a kind of torque pulsations of magneto
Suppressing method and system.
Background technique
The presence of air-gap flux harmonic wave is the main cause that torque ripple of permanent-magnet motor generates in magneto, although
By pole oblique in motor body, improve pole form, optimization space width etc. can reduce torque pulsation, but can not eliminate.Separately
The introducing of the uncertain factors such as outer manufacturing process large deviations, can also change the amplitude of torque pulsation.With the development of offshore wind farm,
The power of permanent-magnetic wind driven generator develops towards bigger grade.So the amplitude of torque pulsation also can be bigger, torque pulsation can draw
Vibration and noise are played, the mechanical wear of expanded motor even influences the service life of motor.
In the prior art, the voltage or current waveform being added on stator winding often through control come torque pulsation inhibited.
It is the fundamental wave phase by 5 times of electric current and 7 subharmonic and induced electromotive force by taking 6 frequencys multiplication (frequency multiplication numerical value is 6) torque pulsation as an example
Mutually influence generation.In the prior art, 5 times and 7 order harmonic components that often need to only extract electric current are inhibited by design controller
5 times of electric current and 7 subharmonic amplitudes are to 0, with torque pulsation inhibited.This method need respectively 5 times to electric current and 7 subharmonic into
Row inhibits, and calculation amount is larger, higher cost.Also, if there is 5 frequencys multiplication and 7 multiplied frequency harmonics for induced electromotive force itself, even if
Electric current is passed through perfect sine wave, as the influence of induced electromotive force and generate 6 frequency multiplication torque pulsations.The prior art to turn
The inhibition of square pulsation is not thorough.
Summary of the invention
Technical problems to be solved of the embodiment of the present invention be in order to overcome the prior art it is at high cost to the inhibition of torque pulsation,
Inhibit halfway defect, the suppressing method and system of a kind of torque pulsation of magneto are provided.
The embodiment of the present invention is to solve above-mentioned technical problem by following technical proposals:
The embodiment of the present invention provides a kind of suppressing method of the torque pulsation of magneto, comprising the following steps:
Obtain the torque T of magnetoem；
According to torque TemCurrent component i of the electric current in q axis of the stator of magneto is calculatedq, current component iq's
Calculation formula is as follows:
iq=Tem/(Ψf·pn)；Wherein, ΨfFor the magnetic linkage of the rotor of magneto, pnFor number of pole-pairs；
Obtain the angle, θ of the magnetic linkage of the rotor of magneto；
Ripple angle R, R=n θ are constructed, n is the frequency multiplication numerical value of preset torque pulsation to be suppressed；
According to the following formula to current component iqRotation transformation is carried out, to obtain the first electric current iqMWith the second electric current iqN,
iqM=cosRiq,
iqN=-sinRiq；
To the first electric current i on d axisqMLow-pass filtering is carried out, to obtain the first direct current iqM_F；To the second electric current on q axis
iqNLow-pass filtering is carried out, to obtain the second direct current iqN_F；
PI controller is given with 0, and with the first direct current iqM_FFor feedback, the first Middle Component i is exportedqM_O；PI controller
It is given with 0, and with the second direct current iqN_FFor feedback, the second Middle Component i is exportedqN_O；
Reverse rotation transformation is carried out, according to the following formula to obtain compensation rate iqM_AC,
iqM_AC=iqM_O·cosR-iqN_O·sinR；
By compensation rate iqM_ACIt negates and is superimposed afterwards with the given of the electric current loop of magneto, it is compensated given to obtain.
Preferably, the step of obtaining the angle, θ of the magnetic linkage of the rotor of magneto includes:
The position sensor detection angles θ being set on the rotor of magneto；
Or, angle, θ is calculated using Speedless sensor algorithm according to the voltage and current of the stator of magneto.
Preferably, cutoff frequency is not higher than 100 hertz in the step of low-pass filtering.
Preferably, suppressing method is further comprising the steps of:
It is given after electric current loop tracing compensation.
Preferably, n=6.
The present invention also provides a kind of inhibition systems of the torque pulsation of magneto, including torque acquiring unit, electric current point
Measure computing unit, angle acquiring unit, ripple angle structural unit, rotation transformation unit, the first low-pass filter, the second low pass
Filter, PI controller, reverse rotation converter unit, superpositing unit；
Torque acquiring unit is used to obtain the torque T of magnetoem；
Current component computing unit is used for according to torque TemObtain current component of the electric current in q axis of the stator of magneto
iq, current component iqCalculation formula it is as follows:
iq=Tem/(Ψf·pn)；Wherein, ΨfFor the magnetic linkage of the rotor of magneto, pnFor number of pole-pairs；
Angle acquiring unit is used to obtain the angle, θ of the magnetic linkage of the rotor of magneto；
Ripple angle structural unit is preset torque pulsation to be suppressed for constructing ripple angle R, R=n θ, n
Frequency multiplication numerical value；
Rotation transformation unit is used for according to the following formula to current component iqRotation transformation is carried out, to obtain the first electric current iqM
With the second electric current iqN,
iqM=cosRiq,
iqN=-sinRiq；
First low-pass filter is used on d axis to the first electric current iqMLow-pass filtering is carried out, to obtain the first direct current iqM_F；
Second low-pass filter is used on q axis to the second electric current iqNLow-pass filtering is carried out, to obtain the second direct current iqN_F；
PI controller is given with 0, and with the first direct current iqM_FFor feedback, the first Middle Component i is exportedqM_O；PI controller
It is also given with 0, and with the second direct current iqN_FFor feedback, the second Middle Component i is exportedqN_O；
Reverse rotation converter unit for carrying out reverse rotation transformation according to the following formula, to obtain compensation rate iqM_AC,
iqM_AC=iqM_O·cosR-iqN_O·sinR；
Superpositing unit is used for compensation rate iqM_ACIt negates and is superimposed afterwards with the given of the electric current loop of magneto, to be compensated
Afterwards given.
Preferably, angle acquiring unit includes the position sensor being set on the rotor of magneto, position sensor
For detection angles θ；
Or, angle acquiring unit is also used to be calculated according to the voltage and current of the stator of magneto using Speedless sensor
Angle, θ is calculated in method.
Preferably, the cutoff frequency of the first low-pass filter and the second low-pass filter is not higher than 100 hertz.
Preferably, electric current loop is for given after tracing compensation.
Preferably, n=6.
The positive effect of the present invention is that: the present invention passes through closed loop adjust automatically directly using torque pulsation as target
Injection Current harmonic wave specified rate avoids and manually adjusts current harmonics injection amplitude.And it can be certainly to different torque pulsation values
The corresponding current harmonics injection rate of the output of adaptation, inhibits torque pulsation well, can not only eliminate vibration, make an uproar
Sound, and the service life of generator can be extended.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the inhibition system of the torque pulsation of the magneto of a preferred embodiment of the invention.
Fig. 2 is a kind of suppression of the torque pulsation of the magneto of optional embodiment of a preferred embodiment of the invention
The partial structural diagram of system processed.
Fig. 3 is the flow chart of the suppressing method of the torque pulsation of the magneto of a preferred embodiment of the invention.
Specific embodiment
The present invention is further illustrated below by the mode of a preferred embodiment, but does not therefore limit the present invention to institute
Among the scope of embodiments stated.
The present embodiment provides a kind of inhibition systems of the torque pulsation of magneto, and referring to Fig.1, which includes turning
Square acquiring unit 101, current component computing unit 102, angle acquiring unit 103, ripple angle structural unit 104, rotation become
Change unit 105, the first low-pass filter 106, the second low-pass filter 107, PI controller 108, reverse rotation converter unit 109,
Superpositing unit 110.
Torque acquiring unit 101 is used to obtain the torque T of magnetoem.In the present embodiment, torque acquiring unit uses
Torque measurement instrument is realized.
Current component computing unit 102 is used for according to torque TemObtain electric current of the electric current in q axis of the stator of magneto
Component iq, iq=Tem/(Ψf·pn)；Wherein, ΨfFor the magnetic linkage of the rotor of magneto, pnFor number of pole-pairs.Q axis is also quadrature axis, d
Axis is also d-axis, and q axis and d axis are actually reference axis, is not actual axis.In magneto control, in order to
To the control characteristic of similar direct current generator, a coordinate system is established on the rotor of magneto, this coordinate system and rotor are same
Step rotation, taking rotor field direction is d axis, is q axis perpendicular to rotor field direction, the mathematical model of motor is transformed into this seat
Decoupling, it can be achieved that d axis and q axis is marked under being, thus the characteristic that is well controlled.
Angle acquiring unit 103 is used to obtain the angle, θ of the magnetic linkage of the rotor of magneto.In the present embodiment, angle
Acquiring unit 103 includes the position sensor being set on the rotor of magneto, and position sensor detects turning for magneto
The angle, θ of the magnetic linkage of son.In other optional embodiments, angle acquiring unit 103 is according to the electricity of the stator of magneto
Pressure and electric current use Speedless sensor algorithm that angle, θ is calculated.
Ripple angle structural unit 104 is preset torque arteries and veins to be suppressed for constructing ripple angle R, R=n θ, n
Dynamic frequency multiplication numerical value.Because the torque pulsation of 6 frequencys multiplication is relatively conventional, n=6 in the present embodiment.
Rotation transformation unit 105 is according to the following formula to current component iqRotation transformation is carried out, the first electric current i is obtainedqMWith
Second electric current iqN,
iqM=cosRiq,
iqN=-sinRiq。
First low-pass filter 106 is used on d axis to the first electric current iqMLow-pass filtering is carried out, the first direct current is obtained
iqM_F；Second low-pass filter 107 is used on q axis to the second electric current iqNLow-pass filtering is carried out, the second direct current i is obtainedqN_F.?
In the present embodiment, the cutoff frequency of the first low-pass filter 106 and the second low-pass filter 107 is not higher than 100 hertz, this
Sample can achieve the well balanced of filtering performance and cost.
PI controller 108 is given with 0, and with the first direct current iqM_FFor feedback, the first Middle Component i is exportedqM_O.PI control
Device 108 processed is also given with 0, and with the second direct current iqN_FFor feedback, the second Middle Component i is exportedqN_O。
Reverse rotation converter unit 109 obtains compensation rate i for carrying out reverse rotation transformation according to the following formulaqM_AC,
iqM_AC=iqM_O·cosR-iqN_O·sinR。
Superpositing unit 110 is used for compensation rate iqM_ACIt negates and is superimposed afterwards with the given of the electric current loop of magneto, mended
It is given after repaying.Compensation rate iqM_ACIt is superimposed to the given of the electric current loop of magneto after negating, forms compensated given, electric current
It is given after ring tracing compensation, can the torque pulsation to magneto carry out complete inhibition.
In other optional embodiments, referring to Fig. 2, the quantity of PI controller is 2, respectively the first PI controller
P1 and the 2nd PI controller P2.First PI controller P1 is given with 0, and with the first direct current iqM_FFor feedback, the first PI control
The output of device P1 obtains the first Middle Component i after the first clipping unit LMT1 carries out clippingqM_O.At the same time, the 2nd PI
Controller P2 is given with 0, and with the second direct current iqN_FThe second clipping unit is passed through in output for feedback, the 2nd PI controller P2
After LMT2 carries out clipping, the second Middle Component i is obtainedqN_O.Reverse rotation converter unit 109 exports compensation rate iqM_AC.Superpositing unit
In include one negating unit 111, negate unit 111 for compensation rate iqM_AC- i is obtained after negatingqM_AC,-iqM_ACWith magneto
The given Iq_ref of electric current loop is superimposed, and is obtained compensated given.It is given after 3 tracing compensation of electric current loop.Electric current loop 3 includes PI
Controller 301, clipping unit, inner modulation module 302 (its modulation ratio is K, therefore is characterized with K_duty), external model 303
(its transmission function is 1/ (LS+R)), wherein Vq_feedford is induced electromotive force feedforward amount.Those skilled in the art are according to saying
Bright book and the ability domain knowledge grasped can understand the working principle of electric current loop 3, and details are not described herein again.The permanent magnetism of the present embodiment
The inhibition system of the torque pulsation of motor is given by closed loop adjust automatically Injection Current harmonic wave directly using torque pulsation as target
Amount avoids and manually adjusts current harmonics injection amplitude.And to different torque pulsation values can be adaptive output it is corresponding
Current harmonics injection rate, inhibits torque pulsation well, can not only eliminate vibration, noise, but also can extend hair
The service life of motor.
The present embodiment also provides a kind of suppressing method of the torque pulsation of magneto, which uses the present embodiment
The inhibition system of torque pulsation of magneto realize, referring to Fig. 3, the suppressing method the following steps are included:
Step S201, the torque T of magneto is obtainedem；According to torque TemThe electric current of the stator of magneto is calculated
In the current component i of q axisq.Wherein, iq=Tem/(Ψf·pn), ΨfFor the magnetic linkage of the rotor of magneto, pnFor number of pole-pairs.
Step S202, the angle, θ of the magnetic linkage of the rotor of magneto is obtained；Construct ripple angle R.Wherein, R=n θ, n
For the frequency multiplication numerical value for wishing the torque pulsation inhibited.In the present embodiment, the position sensing being set on the rotor of magneto
Device detects the angle, θ of the magnetic linkage of the rotor of magneto.In other optional embodiments, 103 basis of angle acquiring unit
Angle, θ is calculated using Speedless sensor algorithm in the voltage and current of the stator of magneto.Because of the torque arteries and veins of 6 frequencys multiplication
Move it is relatively conventional, therefore, n=6 in the present embodiment.
Step S203, to current component iqCarry out rotation transformation.Specially according to the following formula to current component iqIt is revolved
Transformation is changed, and the first electric current i is obtainedqMWith the second electric current iqN,
iqM=cosRiq,
iqN=-sinRiq；
Step S204, on d axis to the first electric current iqMLow-pass filtering is carried out, the first direct current i is obtainedqM_F；To on q axis
Two electric current iqNLow-pass filtering is carried out, the second direct current i is obtainedqN_F.In the present embodiment, the cutoff frequency of low-pass filtering is not higher than
100 hertz, in this way, can achieve the well balanced of filtering performance and cost.
Step S205, PI controller 108 is given with 0, and with the first direct current iqM_FFor feedback, the first Middle Component is exported
iqM_O；PI controller 108 is given with 0, and with the second direct current iqN_FFor feedback, the second Middle Component i is exportedqN_O。
Step S206, reverse rotation transformation is carried out to the first Middle Component and the second Middle Component, to obtain compensation rate iqM_AC。
Reverse rotation transformation is specially carried out according to the following formula, obtains compensation rate iqM_AC,
iqM_AC=iqM_O·cosR-iqN_O·sinR。
Step S207, by compensation rate iqM_ACIt negates and is superimposed afterwards with the given of the electric current loop of magneto, obtained compensated
It is given.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (10)
1. a kind of suppressing method of the torque pulsation of magneto, which comprises the following steps:
Obtain the torque T of the magnetoem；
According to the torque TemCurrent component i of the electric current in q axis of the stator of the magneto is calculatedq, the electric current
Component iqCalculation formula it is as follows:
iq=Tem/(Ψf·pn)；Wherein, ΨfFor the magnetic linkage of the rotor of the magneto, pnFor number of pole-pairs；
Obtain the angle, θ of the magnetic linkage of the rotor of the magneto；
Ripple angle R, R=n θ are constructed, n is the frequency multiplication numerical value of preset torque pulsation to be suppressed；
According to the following formula to the current component iqRotation transformation is carried out, to obtain the first electric current iqMWith the second electric current iqN,
iqM=cosRiq,
iqN=-sinRiq；
To the first electric current i on d axisqMLow-pass filtering is carried out, to obtain the first direct current iqM_F；To described second on q axis
Electric current iqNLow-pass filtering is carried out, to obtain the second direct current iqN_F；
PI controller is given with 0, and with the first direct current iqM_FFor feedback, the first Middle Component i is exportedqM_O；The PI control
Device processed is given with 0, and with the second direct current iqN_FFor feedback, the second Middle Component i is exportedqN_O；
Reverse rotation transformation is carried out, according to the following formula to obtain compensation rate iqM_AC,
iqM_AC=iqM_O·cosR-iqN_O·sinR；
By the compensation rate iqM_ACNegate it is rear be superimposed with the given of the electric current loop of the magneto, with obtain it is compensated to
It is fixed.
2. the suppressing method of the torque pulsation of magneto as described in claim 1, which is characterized in that described in the acquisition forever
The step of angle, θ of the magnetic linkage of the rotor of magneto includes:
The position sensor being set on the rotor of the magneto detects the angle, θ；
Or, the angle is calculated using Speedless sensor algorithm according to the voltage and current of the stator of the magneto
θ。
3. the suppressing method of the torque pulsation of magneto as described in claim 1, which is characterized in that the low-pass filtering
In step, cutoff frequency is not higher than 100 hertz.
4. the suppressing method of the torque pulsation of magneto as described in claim 1, which is characterized in that the suppressing method is also
The following steps are included:
The electric current loop tracking is described compensated given.
5. the suppressing method of the torque pulsation of magneto as described in claim 1, which is characterized in that n=6.
6. a kind of inhibition system of the torque pulsation of magneto, which is characterized in that including torque acquiring unit, current component meter
Calculate unit, angle acquiring unit, ripple angle structural unit, rotation transformation unit, the first low-pass filter, the second low-pass filtering
Device, PI controller, reverse rotation converter unit, superpositing unit；
The torque acquiring unit is used to obtain the torque T of the magnetoem；
The current component computing unit is used for according to the torque TemThe electric current of the stator of the magneto is obtained in q axis
Current component iq, the current component iqCalculation formula it is as follows:
iq=Tem/(Ψf·pn)；Wherein, ΨfFor the magnetic linkage of the rotor of the magneto, pnFor number of pole-pairs；
The angle acquiring unit is used to obtain the angle, θ of the magnetic linkage of the rotor of the magneto；
The ripple angle structural unit is preset torque pulsation to be suppressed for constructing ripple angle R, R=n θ, n
Frequency multiplication numerical value；
The rotation transformation unit is used for according to the following formula to the current component iqRotation transformation is carried out, to obtain the first electricity
Flow iqMWith the second electric current iqN,
iqM=cosRiq,
iqN=-sinRiq；
First low-pass filter is used on d axis to the first electric current iqMLow-pass filtering is carried out, to obtain the first direct current
iqM_F；Second low-pass filter is used on q axis to the second electric current iqNLow-pass filtering is carried out, to obtain the second direct current
iqN_F；
The PI controller is given with 0, and with the first direct current iqM_FFor feedback, the first Middle Component i is exportedqM_O；It is described
PI controller is also given with 0, and with the second direct current iqN_FFor feedback, the second Middle Component i is exportedqN_O；
The reverse rotation converter unit for carrying out reverse rotation transformation according to the following formula, to obtain compensation rate iqM_AC,
iqM_AC=iqM_O·cosR-iqN_O·sinR；
The superpositing unit is used for the compensation rate iqM_ACNegate it is rear be superimposed with the given of the electric current loop of the magneto, with
It obtains compensated given.
7. the inhibition system of the torque pulsation of magneto as claimed in claim 6, which is characterized in that the angle obtains single
Member includes the position sensor being set on the rotor of the magneto, and the position sensor is for detecting the angle, θ；
Or, the angle acquiring unit is also used to according to the voltage and current of the stator of the magneto using speed sensorless
The angle, θ is calculated in device algorithm.
8. the inhibition system of the torque pulsation of magneto as claimed in claim 6, which is characterized in that first low pass filtered
The cutoff frequency of wave device and second low-pass filter is not higher than 100 hertz.
9. the inhibition system of the torque pulsation of magneto as claimed in claim 6, which is characterized in that the electric current loop is used for
It tracks described compensated given.
10. the inhibition system of the torque pulsation of magneto as claimed in claim 6, which is characterized in that n=6.
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| CN201910127436.XA CN109831133B (en) | 2019-02-20 | 2019-02-20 | Method and system for suppressing torque ripple of permanent magnet motor |
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| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
| CN104852661A (en) * | 2015-04-29 | 2015-08-19 | 同济大学 | Permanent-magnet synchronous motor torque ripple suppression method based on coordinate transformation harmonic compensation |
| CN107517030A (en) * | 2017-06-30 | 2017-12-26 | 广东美的暖通设备有限公司 | Electric machine control system and its motor vibration restraint method and apparatus and air conditioner |
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| KR20090015709A (en) * | 2007-08-09 | 2009-02-12 | 건국대학교 산학협력단 | Method for reducting torque ripple by compensating control of position error |
| US20110175556A1 (en) * | 2010-01-19 | 2011-07-21 | Kazuaki Tobari | Torque ripple suppression control device for permanent magnet motor and electric power steering system |
| CN103378789A (en) * | 2012-04-29 | 2013-10-30 | 东菱技术股份有限公司 | Method for restraining torque pulsation of permanent magnet synchronous motor |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
| CN104852661A (en) * | 2015-04-29 | 2015-08-19 | 同济大学 | Permanent-magnet synchronous motor torque ripple suppression method based on coordinate transformation harmonic compensation |
| CN107517030A (en) * | 2017-06-30 | 2017-12-26 | 广东美的暖通设备有限公司 | Electric machine control system and its motor vibration restraint method and apparatus and air conditioner |
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Address after: 310058 Xihu District, Zhejiang, Yuhang Tong Road, No. 866, No. Applicant after: Zhejiang University Applicant after: Shanghai Electric Wind Power Group Co., Ltd Address before: 310058 Xihu District, Zhejiang, Yuhang Tong Road, No. 866, No. Applicant before: Zhejiang University Applicant before: Shanghai Electric Wind Power Group Co., Ltd. |
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