CN109905057A - A kind of permanent magnet synchronous motor low current harmonic controling system - Google Patents
A kind of permanent magnet synchronous motor low current harmonic controling system Download PDFInfo
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- CN109905057A CN109905057A CN201910287755.7A CN201910287755A CN109905057A CN 109905057 A CN109905057 A CN 109905057A CN 201910287755 A CN201910287755 A CN 201910287755A CN 109905057 A CN109905057 A CN 109905057A
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Abstract
The present invention relates to a kind of permanent magnet synchronous motor low current harmonic controling systems, belong to Motor Control Field.Relative to Traditional control structure, this system forms a kind of new control structure by increasing voltage changer and busbar voltage computing unit.The system can be estimated according to the operating status of motor or accurately calculate busbar voltage, and the busbar voltage for controlling inversion unit reaches the value, and guarantee system works in the state of low current harmonic wave.The system compatible various control algorithm and multi-level inverse conversion unit, support a variety of powering modes, and while optimizing current harmonics, improve the utilization rate of busbar voltage, enhance the stability of busbar voltage, reduce the vibration noise of motor.
Description
Technical field
The present invention relates to a kind of permanent magnet synchronous motor low current harmonic controling systems, belong to Motor Control Field.
Background technique
In recent years, permanent magnet synchronous motor was because its structure is simple, power density is high, rotary inertia is low, easy to maintain etc.
Feature is widely used in multiple fields such as aerospace, numerically-controlled machine tool, robots.However it is non-thread due to inverter
The reasons such as property characteristic, air-gap field distortion, control method cause to contain electric current abundant in permanent magnet synchronous motor phase current humorous
Wave.Current harmonics is excessively high to cause that electric efficiency is lower, torque pulsation becomes larger, system is stablized and is deteriorated, after vibration noise increases etc.
Fruit.Therefore phase current harmonic wave is inhibited to become urgent problem to be solved now.
Scholar now generally solves the problems, such as that current harmonics is excessively high by system optimizing control.In recent years, most common
Suppressing method be Random PWM Technique, which can be evenly distributed in energy in wider frequency range, thus
Reduce high-frequency harmonic amplitude."Performance Characterization of Random Pulse Width
Modulation Algorithms in Industrial and Commercial Adjustable-Speed Drives”
(see " IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS ", 2017) is for random pulsewidth tune existing now
Technology processed is summarized, and analyzes the superiority and inferiority of each method.There are also scholars by way of changing carrier wave, changes
The methods of switching sequence in SVPWM algorithm inhibits current harmonics.However these methods are to solve to ask from the angle of algorithm
Topic, and only have good inhibiting effect for high-frequency harmonic amplitude, for Current harmonic distortion rate, there is no reduce well.
Summary of the invention
The present invention provides a kind of permanent magnet synchronous motor low current harmonic controling system structure, in conjunction with attached drawing to the structure make into
One step describes in detail.As shown in Figure 1, system mainly includes power supply, voltage changer, inversion unit, permanent magnet synchronous motor, mother
Line voltage computing unit, control algolithm module, feedback unit, rotor position detection unit.Wherein, with electric machine phase current ia、ibAnd
Rotor position is input to feedback unit as feedback signal, and feedback unit can be calculated required for control algolithm using these signals
The real-time rotational speed omega of motor, d, q shaft current id、iq.Control algolithm unit includes many algorithms, for example vector control algorithm, transformation
Frequency ratio control, three closed loop location control algolithms, Direct Torque algorithm.Their input can be position command, frequency instruction, turn
Speed instruction, position command and frequency instruction can be converted to rotary speed instruction by control algolithm.Control algolithm element output signal
PWM1-PWM6It is connect with inversion unit, for controlling full-controlled device S1-S6On-off, output signal id、iq, ω and setting speed
ωref, input as busbar voltage computing unit.The output signal U of busbar voltage computing unitdcrefWith voltage changer
It is connected to its command voltage, for controlling the actual output voltage U of voltage changerdc.Voltage changer by power supply into
Row power supply, can choose a variety of circuit structures according to the form of power supply.When power supply is AC power source, voltage changer is realized
The controllable AC-DC rectification function of output voltage.When the power supply is direct current, voltage changer realizes that output voltage is controllable
DC-DC DC converting function.The bus of the output connection inversion unit of voltage changer provides DC voltage U for itdc.Inversion
The output of unit is connected with the three-phase windings of permanent magnet synchronous motor, controls the operation of permanent magnet synchronous motor.
Busbar voltage computing unit busbar voltage according to corresponding to operating condition calculating low current harmonic wave instructs Udcref,
Algorithm is as follows:
(1) when motor detail parameters are unknown, algorithm is as follows:
Wherein, ωNFor rated speed, UNFor voltage rating；δ is correction factor, value range (1, ωn/ωref).Coefficient δ
Taking in value range makes motor stabilizing run on ωrefMinimum value.
(2) in situation known to motor detail parameters, algorithm is as follows:
Wherein, Ld、LqFor d, q axle inductance, R is phase resistance, and p is motor number of pole-pairs, ψfFor permanent magnet flux linkage；
The present invention is compared with existing optimization phase current harmonic wave technology, the advantage is that: the system can be with most of optimization
Control method shares, and has better inhibitory effect for current harmonics；The system compatible various control algorithm, including vector controlled
Algorithm, the control of transformation frequency ratio, three closed loop location control algolithms, Direct Torque Control algorithm；This system provides estimation and accurately
Two ways is calculated, a variety of workplaces are suitable for；The system can support a variety of powering modes；The compatible more level of the system
Inversion unit；The system improves the utilization rate of busbar voltage while optimizing current harmonics, enhances the steady of busbar voltage
It is qualitative, reduce the vibration noise of motor；
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
Detailed description of the invention
Fig. 1 is permanent magnet synchronous motor low current harmonic controling system structure diagram of the present invention.
Specific embodiment
The present invention provides a kind of permanent magnet synchronous motor low current harmonic controling system structure, in conjunction with attached drawing to the structure make into
One step describes in detail.As shown in Figure 1, system mainly includes power supply, voltage changer, inversion unit, permanent magnet synchronous motor, mother
Line voltage computing unit, control algolithm module, feedback unit, rotor position detection unit.Wherein, with electric machine phase current ia、ibAnd
Rotor position is input to feedback unit as feedback signal, and feedback unit can be calculated required for control algolithm using these signals
The real-time rotational speed omega of motor, d, q shaft current id、iq.Control algolithm unit includes many algorithms, for example vector control algorithm, transformation
Frequency ratio control, three closed loop location control algolithms, Direct Torque algorithm.Their input can be position command, frequency instruction, turn
Speed instruction, position command and frequency instruction can be converted to rotary speed instruction by control algolithm.Control algolithm element output signal
PWM1-PWM6It is connect with inversion unit, for controlling full-controlled device S1-S6On-off, output signal id、iq, ω and setting speed
ωref, input as busbar voltage computing unit.The output signal U of busbar voltage computing unitdcrefWith voltage changer
It is connected to its command voltage, for controlling the actual output voltage U of voltage changerdc.Voltage changer by power supply into
Row power supply, can choose a variety of circuit structures according to the form of power supply.When power supply is AC power source, voltage changer is realized
The controllable AC-DC rectification function of output voltage.When the power supply is direct current, voltage changer realizes that output voltage is controllable
DC-DC DC converting function.The bus of the output connection inversion unit of voltage changer provides DC voltage U for itdc.Inversion
The output of unit is connected with the three-phase windings of permanent magnet synchronous motor, controls the operation of permanent magnet synchronous motor.
Busbar voltage computing unit busbar voltage according to corresponding to operating condition calculating low current harmonic wave instructs Udcref,
Algorithm is as follows:
(1) motor detail parameters are unknown, and minimum mutually electricity can be substantially estimated in the case where known motor nameplate parameter
Stream harmonic wave corresponds to busbar voltage, and algorithm is as follows:
(2) in situation known to motor detail parameters, algorithm is as follows:
The feedback unit is only on the basis of electric machine phase current ia、ibAnd rotor position calculates feedback quantity, algorithm is as follows:
So a kind of permanent magnet synchronous motor low current harmonic controling system proposed by the present invention, is become by increasing voltage
Changing device and busbar voltage computing unit form a kind of new control structure.The system can be according to the operating status of motor
Estimation or the busbar voltage for accurately calculating busbar voltage, and controlling inversion unit reach the value, guarantee system in low electricity
It works in the state of stream harmonic wave, and then improves the operational efficiency of system, reduce the vibration noise of system.
Claims (5)
1. a kind of permanent magnet synchronous motor low current harmonic controling system, which is characterized in that the system includes: power supply (1), voltage become
Changing device (2), inversion unit (3), permanent magnet synchronous motor (4), busbar voltage computing unit (5), control algolithm unit (6), instead
It presents unit (7), rotor position detection unit (8)；
Power supply (1) connection voltage changer (2) is powered for it；Output connection inversion unit (3) of voltage changer (2)
Bus provides DC voltage for it；
The output of inversion unit (3) is connected with the three-phase windings of permanent magnet synchronous motor (4)；
The biphase current signal i of permanent magnet synchronous motor (4)aWith ib, and the rotor position obtained through rotor position detection unit (8)
Confidence θ is input to feedback unit (7)；
The signal of feedback unit (7) output includes d, q shaft current id、iq, motor real time position θ, the real-time rotational speed omega of motor, and make
For the input of control algolithm unit (6)；
The signal PWM of control algolithm unit (6) output1-PWM6It is connect with inversion unit (3), for controlling full-controlled device S1-S6's
On-off；
The signal of control algolithm unit (6) output includes id、iq, ω and setting speed ωref, and as busbar voltage computing unit
(5) input；
The output signal U of busbar voltage computing unit (5)dcrefIt is connected to its command voltage with voltage changer (2), is used for
Control the actual output voltage U of voltage changer (2)dc；
The busbar voltage computing unit (5) busbar voltage according to corresponding to operating condition calculating low current harmonic wave instructs Udcref,
Algorithm is as follows:
(1) when motor detail parameters are unknown, algorithm is as follows:
Wherein, ωNFor rated speed, UNFor voltage rating；δ is correction factor, value range (1, ωn/ωref)；Coefficient δ is taking
Taking within the scope of value makes motor stabilizing run on ωrefMinimum value；
(2) in situation known to motor detail parameters, algorithm is as follows:
Wherein, Ld、LqFor d, q axle inductance, R is phase resistance, and p is motor number of pole-pairs, ψfFor permanent magnet flux linkage.
2. permanent magnet synchronous motor low current harmonic controling system according to claim 1, which is characterized in that control algolithm unit
(6) given instruction is different when using algorithms of different；Given instruction is rotary speed instruction ω when revolving speed controlsref；When position control
Given instruction is position command；It is frequency instruction that instruction is given when opened loop control；Position command and frequency instruction can pass through control
Algorithm processed is converted to rotary speed instruction and the input as busbar voltage computing unit (5).
3. permanent magnet synchronous motor low current harmonic controling system according to claim 1, it is characterised in that: when power supply (1) is
When AC power source, voltage changer (2) realizes the controllable AC-DC rectification function of output voltage；When power supply (1) is DC power supply
When, voltage changer (2) realizes the controllable DC-DC DC converting function of output voltage.
4. permanent magnet synchronous motor low current harmonic controling system according to claim 1, which is characterized in that feedback unit (7)
Feedback quantity is calculated according to phase current and rotor-position signal, algorithm is as follows:
5. permanent magnet synchronous motor low current harmonic controling system according to claim 1, it is characterised in that: by changing inversion
Unit (3) structure, the low current harmonic controling system are also applied for multi-electrical level inverter.
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| CN201910287755.7A CN109905057B (en) | 2019-04-11 | 2019-04-11 | Low-current harmonic control system of permanent magnet synchronous motor |
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| CN201910287755.7A CN109905057B (en) | 2019-04-11 | 2019-04-11 | Low-current harmonic control system of permanent magnet synchronous motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112542978A (en) * | 2020-12-07 | 2021-03-23 | 北京理工大学 | Motor driving system based on bidirectional staggered parallel DC-DC inverter |
Citations (4)
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|---|---|---|---|---|
| US5220264A (en) * | 1990-08-24 | 1993-06-15 | Toyota Jidosha Kabushiki Kaisha | Control system for an AC servomotor having a permanent magnet type |
| CN102255586A (en) * | 2011-06-27 | 2011-11-23 | 大禹电气科技股份有限公司 | Constant power wide speed regulation control method for permanent magnet synchronous motor |
| CN105471361A (en) * | 2015-12-25 | 2016-04-06 | 华中科技大学 | Motor driving control system and control method thereof |
| CN106655913A (en) * | 2016-12-22 | 2017-05-10 | 哈尔滨工业大学 | Three-phase inverter topology structure with adjustable DC bus voltage and method of adopting structure to realize dynamic DC bus voltage adjustment |
-
2019
- 2019-04-11 CN CN201910287755.7A patent/CN109905057B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5220264A (en) * | 1990-08-24 | 1993-06-15 | Toyota Jidosha Kabushiki Kaisha | Control system for an AC servomotor having a permanent magnet type |
| CN102255586A (en) * | 2011-06-27 | 2011-11-23 | 大禹电气科技股份有限公司 | Constant power wide speed regulation control method for permanent magnet synchronous motor |
| CN105471361A (en) * | 2015-12-25 | 2016-04-06 | 华中科技大学 | Motor driving control system and control method thereof |
| CN106655913A (en) * | 2016-12-22 | 2017-05-10 | 哈尔滨工业大学 | Three-phase inverter topology structure with adjustable DC bus voltage and method of adopting structure to realize dynamic DC bus voltage adjustment |
Non-Patent Citations (2)
| Title |
|---|
| CHEN-YEN YU等: "Optimum DC Bus Voltage Analysis and Calculation Method for Inverters/Motors With Variable DC Bus Voltage", 《IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS》 * |
| SHINN-MING SUE等: "Design and Implementation of a Dynamic Voltage Boosting Drive for Permanent Magnet Synchronous Motors", 《THE 2010 INTERNATIONAL POWER ELECTRONICS CONFERENCE-ECCE ASIA》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112542978A (en) * | 2020-12-07 | 2021-03-23 | 北京理工大学 | Motor driving system based on bidirectional staggered parallel DC-DC inverter |
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