CN109861614A - A kind of permanent-magnetic synchronous motor stator flux observer considering Inverter Dead-time effect - Google Patents
A kind of permanent-magnetic synchronous motor stator flux observer considering Inverter Dead-time effect Download PDFInfo
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- CN109861614A CN109861614A CN201811464036.XA CN201811464036A CN109861614A CN 109861614 A CN109861614 A CN 109861614A CN 201811464036 A CN201811464036 A CN 201811464036A CN 109861614 A CN109861614 A CN 109861614A
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Abstract
The invention discloses a kind of permanent-magnetic synchronous motor stator flux observers for considering Inverter Dead-time effect, belong to Motor Control Field, including a kind of adjustable low pass filtered wave mode stator flux observer of cutoff frequency and its compensating module, it is a kind of eliminate because of Inverter Dead-time effect caused by flux observation error method.Stator flux observer of the present invention can overcome the weakness of pure integrator substantially, stator flux observer distorts caused by solving because of measurement error, it realizes accurate stator flux observer in the full range of speeds, there is important reference to the promotion of Direct Torque Control System for Permanent Magnet Synchronous Motor performance.
Description
Technical field
The present invention relates to a kind of permanent-magnetic synchronous motor stator flux observers, and in particular to a kind of consideration Inverter Dead-time effect
The permanent-magnetic synchronous motor stator flux observer answered, belongs to motor control technology field.
Background technique
For Direct Torque Control System for Permanent Magnet Synchronous Motor to obtain good control performance, an important premise is energy
Enough accurately to observe stator magnetic linkage, traditional stator flux observer acquires stator magnetic linkage by the way of to back-emf integral.
In actual control system, on the one hand, due to the truncated error of numerical calculation, physical quantity Us, Is, RsMeasurement error and mistake
The influence of the non-ideal factors such as the accumulation of difference, inevitably will appear micro flip-flop in the amount of being integrated, by integrating, this
Flip-flop will accumulate and amplify, and so that stator flux observer result is generated serious offset, eventually lead to the magnetic linkage value of observation
It is not inconsistent with actual value, this will seriously affect the runnability of motor.On the other hand, occasion is actually being controlled, is generally requiring to know
The quantity of state of output voltage, since output voltage is formed by discrete pulse combined, it is difficult to it measures, while for save the cost,
Commercial frequency converter does not measure stator voltage directly generally, but is reconstructed and determined according to the switch state of DC bus-bar voltage and inverter
Sub- voltage, but compared with virtual voltage, it reconstructs between voltage and virtual voltage since the influence of Inverter Dead-time effect will
Difference when being applied to stator flux observer, certainly will generate biggish observation error.
Chinese patent " voltage model stator flux estimation method " (publication date: 2018.05.25, publication number:
CN108075704 inverter modulation voltage) is calculated using electric machine controller arithmetic element to obtain under two-phase stationary coordinate system
Stator voltage component Usα, Usβ.But in stator voltage acquisition process, do not consider Inverter Dead-time effect to stator voltage
The influence of component.Paper " considering the permanent magnet synchronous motor flux linkage estimation that dead time effect influences " (motor applies 2017 with control) is ground
Influence of the Inverter Dead-time effect to permanent-magnetism synchronous motor permanent magnetic body flux observation is studied carefully, but the problem of to stator flux observer simultaneously
Nothing is related to.
To the accurate permanent magnet synchronous motor Direct Torque Control of realization, need to consider the influence of above-mentioned two aspect, it is right
Stator flux observer improves, accurately to estimate the amplitude of permanent magnet synchronous motor stator magnetic linkage in the process of running
And phase angle, sector erroneous judgement and control strategy fault are prevented, control performance is improved.
Summary of the invention
Requirement and inverter for Direct Torque Control System for Permanent Magnet Synchronous Motor to stator flux observer accuracy
Influence of the dead time effect to stator flux observer value, the invention proposes a kind of permanent magnet synchronous electrics for considering Inverter Dead-time effect
Machine stator flux observer, this observer can eliminate influence of the Inverter Dead-time effect to stator flux observer, can overcome tradition
Integral form stator flux observer integrates saturation problem due to caused by measurement error.
The present invention adopts the following technical scheme that a kind of permanent magnetism for considering Inverter Dead-time effect in order to solve the above technical problems
Synchronous motor stator flux observer, by back-emf computing module and stator flux observer module composition；The back-emf calculates
In module, stator voltage is calculated according to the switch state of DC bus-bar voltage and inverter and is obtained, and is compensated due to dead time effect
Caused by error voltage；The stator flux observer module is made of amplitude phase compensating module and low-pass filtering module, low pass
Filter module uses the adjustable low-pass filter of cutoff frequency, filters out the flip-flop in back-emf, the cut-off of low-pass filter
Frequency can adjust in real time according to motor speed, and amplitude and phase compensation block are placed in front of low-pass filtering module, be turned according to motor
Fast real-time compensation signal passes through the amplitude and phase deviation generated after low-pass filter.
As a further preferred embodiment of the present invention, directly acquisition is not electric in flux observation for the back-emf computing module
The port voltage u of machine drivera, ub, uc, and according to busbar voltage UdcWith the switch state S of invertera, Sb, ScReconstruct stator electricity
Pressure, and be transformed under two-phase stationary coordinate system and obtain Usα, Usβ.It is transformed under two-phase stationary coordinate system and obtains Usα, Usβ, stator electricity
Press calculation formula as follows:
Further, in the back-emf computing module, the error voltage as caused by dead time effect is calculated, according to every phase electricity
The polarity of stream judges the polarity sgn [i of every phase error voltagea],sgn[ib],sgn[ic], the amplitude of error voltage is equal to bus
Voltage UdcWith dead time TdWith switch periods time TsThe ratio between product pass it through seat after finding out every phase error voltage
Mark transformation, obtains the error voltage vector △ U in two-phase stationary coordinate systemsα, △ Usβ,
Error voltage calculation formula are as follows:
Further, in the back-emf computing module, by what is reconstructed according to the switch state of busbar voltage and inverter
Component U of the stator voltage in two-phase stationary coordinate systemsα, Usβ△ U is individually subtractedsα, △ Usβ, it is eliminated after error voltage
Stator voltage component Usα *, Usβ *, then subtract Stator resistance voltage dropping Rsiα, Rsiβ, calculate stator induction back-emf esα, esβIt is sent into
In flux observation module, with compensation because the accuracy of observation of stator magnetic linkage can be improved in the error voltage that Inverter Dead-time effect generates,
Actual stator voltage expression are as follows:
Stator incudes back-emf expression formula are as follows:
Further, the stator flux observer module is made of amplitude phase compensating module and low-pass filtering module, is adopted
It replaces pure integrator to calculate stator magnetic linkage with the low-pass first order filter that single order high-pass filter and integrator are composed in series, filters out
Stator incudes the flip-flop in back-emf, solves the integral as caused by flip-flop in pure integral form stator flux observer
Saturation problem, the cutoff frequency ω of low-pass filtercIt is adjusted in real time according to motor speed n.
Further, the low-pass first order filter and amplitude phase compensating module expression formula are as follows:
In formula, ωeFor electric angle frequency, and the relationship of revolving speed n are as follows:ωcFor filter cutoff frequency,
With the relationship of revolving speed n are as follows:K is adjustment factor, and p is motor number of pole-pairs, and s is Laplace operator.
Further, in the stator flux observer module, amplitude phase compensating module is placed in front of low-pass filtering module,
Improve performance of the compensating module when motor operation is in dynamic.
The invention has the benefit that the present invention can be eliminated because of inversion compared with traditional quadrature type stator flux observer
Flux observation error caused by device dead time effect can overcome the weakness of pure integrator substantially, caused by solving because of measurement error
Stator flux observer distortion, realizes accurate stator flux observer in the full range of speeds.
Detailed description of the invention
Fig. 1 is a kind of permanent-magnetic synchronous motor stator flux observer for considering Inverter Dead-time effect of the present invention.
Fig. 2 is a kind of filtering side based on coordinate transform for solving zero crossing current polarity ambiguity of the present invention
Method.
Fig. 3 is of the present invention a kind of to calculate the method because of error voltage caused by the effect of Inverter Dead-time.
Fig. 4 is to consider Inverter Dead-time effect and do not consider that the emulation of stator flux observer result is tied when the effect of Inverter Dead-time
Fruit.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
A kind of permanent-magnetic synchronous motor stator flux observer considering Inverter Dead-time effect, including a kind of cutoff frequency can
The low pass filtered wave mode stator flux observer and its compensating module of tune, a kind of compensation because caused by the effect of Inverter Dead-time voltage miss
The method of difference.
Fig. 1 show the permanent-magnetic synchronous motor stator flux observer knot of consideration Inverter Dead-time effect of the present invention
Composition.Observer consists of three parts, including 1.: back-emf computing module, 2.: amplitude phase compensating module, 3.: low-pass filtering
Module.Wherein low-pass filtering module replaces pure integrator using the adjustable low-pass first order filter of cutoff frequency, filters out back-emf
In flip-flop, the cutoff frequency of low-pass filter can adjust in real time according to motor speed.In amplitude and phase compensation block,
Pass through the amplitude and phase deviation generated after low-pass filter according to motor speed real-time compensation signal.
Fig. 2 is a kind of filtering method based on coordinate transform of the present invention, for eliminating pole when current zero-crossing point
Property error in judgement.Its principle is to be become the stator current of motor from three-phase static coordinate system by Clarke transform and Park Transformation
Synchronous rotating frame is changed to, the fundametal compoment of stator current is transformed to DC quantity, higher hamonic wave in synchronous rotating frame
Component is filtered out by low-pass filter, then extracts the base of three-phase current by Parker inverse transformation and Clarke inverse transformation again
Wave component judges current polarity by fundametal compoment, to eliminate three-phase current polar ambiguity in zero crossing.
Fig. 3 be it is of the present invention it is a kind of calculate the method because of voltage error caused by the effect of Inverter Dead-time, due to dead
Area's effect, which to reconstruct between voltage and virtual voltage, generates error, so will be to error voltage caused by the effect of Inverter Dead-time
It is calculated, and error voltage compensation is carried out to the observation of stator magnetic linkage again into reconstruct voltage.When calculating, according to current polarity
Judge the polarity of every phase error voltage, the amplitude of error voltage be equal to busbar voltage and dead time and switch periods time it
The product of ratio passes it through coordinate transform after finding out every phase error voltage, obtains the error voltage in two-phase stationary coordinate system
Vector △ Us α, △ Us β.
Fig. 4 (a) is the observation knot of the stator magnetic linkage using traditional scheme, i.e., when not considering Inverter Dead-time effects
Fruit, Fig. 4 (b) are the observed results after the stator flux observer using consideration Inverter Dead-time effect of the present invention.It is right
Than it is found that in the component Us using busbar voltage and the stator voltage of inverter switching states reconstruct in two-phase stationary coordinate system
When α, Us β do flux observation, the accuracy of observation of stator magnetic linkage is can be improved because of the error voltage that Inverter Dead-time effect generates in compensation.
Emulate parameter used are as follows: rated power 7.5kW, busbar voltage 600V, motor number of pole-pairs 2,0.557 Ω of stator resistance, switch frequency
Rate 10KHz, Inverter Dead-time time 2us, stator flux observer adjustment factor k=0.5.
The preferred embodiment of the present invention has been described above in detail, and still, the invention is not limited to above-mentioned particular implementations
Mode, those skilled in the art can modify within the scope of the claims or equivalents, should be included in this hair
Within bright protection scope.
Claims (7)
1. a kind of permanent-magnetic synchronous motor stator flux observer for considering Inverter Dead-time effect, it is characterised in that: by back-emf
Computing module and stator flux observer module composition；In the back-emf computing module, stator voltage is according to DC bus-bar voltage
It calculates and obtains with the switch state of inverter, and compensate the error voltage as caused by dead time effect；The stator flux observer
Module is made of amplitude phase compensating module and low-pass filtering module, and low-pass filtering module uses the adjustable low pass filtered of cutoff frequency
Wave device filters out the flip-flop in back-emf, and the cutoff frequency of low-pass filter can adjust in real time according to motor speed, amplitude and
Phase compensation block is placed in front of low-pass filtering module, according to motor speed real-time compensation signal by generating after low-pass filter
Amplitude and phase deviation.
2. the permanent-magnetic synchronous motor stator flux observer according to claim 1 for considering Inverter Dead-time effect, special
Sign is: the back-emf computing module is according to busbar voltage UdcWith the switch state S of invertera, Sb, ScStator voltage is reconstructed,
And it is transformed under two-phase stationary coordinate system and obtains Usα, Usβ, stator voltage calculation formula is as follows:
3. the permanent-magnetic synchronous motor stator flux observer according to claim 1 for considering Inverter Dead-time effect, special
Sign is: in the back-emf computing module, calculating the error voltage as caused by dead time effect, is sentenced according to the direction of every phase current
Polarity sgn [the i of disconnected every phase error voltage outa],sgn[ib],sgn[ic], the amplitude of error voltage is equal to busbar voltage UdcWith it is dead
Area time TdWith switch periods time TsThe ratio between product pass it through coordinate transform after finding out every phase error voltage, obtain
Error voltage vector △ U in two-phase stationary coordinate systemsα, △ Usβ, error voltage calculation formula are as follows:
4. the permanent-magnetic synchronous motor stator flux observer according to claim 1 for considering Inverter Dead-time effect, special
Sign is: in the back-emf computing module, the stator voltage reconstructed according to the switch state of busbar voltage and inverter being existed
Component U in two-phase stationary coordinate systemsα, Usβ△ U is individually subtractedsα, △ Usβ, stator voltage point after the error voltage that is eliminated
Measure Usα *, Usβ *, then subtract Stator resistance voltage dropping Rsiα, Rsiβ, calculate stator induction back-emf esα, esβIt is sent into flux observation mould
In block, with compensation because the accuracy of observation of stator magnetic linkage can be improved in the error voltage that Inverter Dead-time effect generates,
Actual stator voltage expression are as follows:
Stator incudes back-emf expression formula are as follows:
5. the permanent-magnetic synchronous motor stator flux observer according to claim 1 for considering Inverter Dead-time effect, special
Sign is: the stator flux observer module is made of amplitude phase compensating module and low-pass filtering module, using single order high pass
The low-pass first order filter that filter and integrator are composed in series replaces pure integrator to calculate stator magnetic linkage, and it is anti-to filter out stator induction
Flip-flop in potential solves to integrate saturation problem as caused by flip-flop in pure integral form stator flux observer,
The cutoff frequency ω of low-pass filtercIt is adjusted in real time according to motor speed n.
6. the permanent-magnetic synchronous motor stator flux observer according to claim 5 for considering Inverter Dead-time effect, special
Sign is: the low-pass first order filter and amplitude phase compensating module expression formula are as follows:
In formula, ωeFor electric angle frequency, and the relationship of revolving speed n are as follows:ωcFor filter cutoff frequency, and turn
The relationship of fast n are as follows:K is adjustment factor, and p is motor number of pole-pairs, and s is Laplace operator.
7. the permanent-magnetic synchronous motor stator flux observer according to claim 1 for considering Inverter Dead-time effect, special
Sign is: in the stator flux observer module, amplitude phase compensating module is placed in front of low-pass filtering module, improves compensation mould
Performance of the block when motor operation is in dynamic.
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| CN110635707A (en) * | 2019-09-18 | 2019-12-31 | 华中科技大学 | Three-phase LCL inverter control method and device based on harmonic interference observer |
| CN110995093A (en) * | 2019-12-05 | 2020-04-10 | 北京动力机械研究所 | Rotor position and rotating speed detection method based on back emf open loop estimation |
| CN117154765A (en) * | 2023-10-30 | 2023-12-01 | 国网江西省电力有限公司电力科学研究院 | Active standby grid-structured photovoltaic virtual synchronous generator control method and system |
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| CN117154765A (en) * | 2023-10-30 | 2023-12-01 | 国网江西省电力有限公司电力科学研究院 | Active standby grid-structured photovoltaic virtual synchronous generator control method and system |
| CN117154765B (en) * | 2023-10-30 | 2024-03-12 | 国网江西省电力有限公司电力科学研究院 | Active standby grid-structured photovoltaic virtual synchronous generator control method and system |
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