CN109962659A - Motor drive control method, device, circuit and transducer air conditioning - Google Patents
Motor drive control method, device, circuit and transducer air conditioning Download PDFInfo
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- CN109962659A CN109962659A CN201910224349.6A CN201910224349A CN109962659A CN 109962659 A CN109962659 A CN 109962659A CN 201910224349 A CN201910224349 A CN 201910224349A CN 109962659 A CN109962659 A CN 109962659A
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to motor-driven control fields, disclose a kind of motor drive control method, device, circuit and transducer air conditioning, the AC-input voltage Uac of motor-drive circuit is input to by obtaining, ratio enlargement operation is carried out to AC-input voltage Uac, generate the α shaft voltage U α and β shaft voltage U β based on rest frame, and vector operation is carried out to α shaft voltage U α and β the shaft voltage U β based on rest frame, to generate the d shaft voltage Ud and q shaft voltage Uq based on rotating coordinate system；Low-pass filtering operation is carried out to d shaft voltage Ud, to generate grid voltage amplitude U0m, motor 70 is finally controlled according to grid voltage amplitude U0m and is run.It ensure that the operation of motor is matched with current electric grid voltage value in real time with this, so that the operation power of motor operation is no more than the limitation of current voltage range, avoid the running frequency of motor is excessively high in current voltage value from leading to the excessive damage of its power consumption.
Description
Technical field
The present invention relates to motor-driven control fields, and in particular to a kind of motor drive control method, device, circuit and
Transducer air conditioning.
Background technique
The regional power grid poor for load capacity, such as domestic rural area, external India/Brazil's area power grid, these areas
Network voltage, which exists, frequently occurs amplitude fluctuations situation, causes network voltage instantaneously to fall and rise, with this to electrical equipment
Stable operation, which is brought, to be seriously affected, in order to rise the load such as motor generated when network voltage fluctuates to electrical equipment
It is controlled in time, is generated to avoid the failure of over-voltage and over-current, can detect that the fluctuation of network voltage seems especially in time at this time
It is important.Existing voltage magnitude detection scheme such as hardware circuit Zero-cross comparator method, based on fundamental wave Fourier transformation calculating method, be based on
The three-phase phase-locked loop technology etc. of dq transformation there are real-time, realizes the problems such as difficulty or rapidity, cannot quickly in time with this
Detect voltage ripple of power network, bring hysteresis quality to the control of load, finally equipment made not adapt to voltage ripple of power network
Demand, be unable to operate stably.
Summary of the invention
The object of the present invention is to provide a kind of motor drive control method, device, circuit and transducer air conditionings, it is therefore intended that
It solves existing voltage magnitude detection scheme there are the problems such as real-time and rapidity that final electrical equipment to be made not adapt to electricity
Stable operation problem in the case of net voltage fluctuation.
To achieve the goals above, the present invention provides a kind of motor drive control method, and control method includes:
Obtain the AC-input voltage for being input to motor-drive circuit；
Ratio enlargement operation is carried out to AC-input voltage, generates α shaft voltage and β shaft voltage based on rest frame；
To based on rest frame α shaft voltage and β shaft voltage carry out vector operation, with generate be based on rotational coordinates
The d shaft voltage and q shaft voltage of system；
Low-pass filtering operation is carried out to d shaft voltage, to generate grid voltage amplitude；
Motor operation is controlled according to grid voltage amplitude.
Optionally, further includes:
The step-up ratio of the pfc circuit of motor-drive circuit is adjusted according to grid voltage amplitude；
Pfc circuit work is controlled according to step-up ratio.
Optionally, further includes:
Low-pass filtering operation is carried out to q shaft voltage, to generate q axis fundamental voltage component；
Ratio enlargement operation is carried out to q axis fundamental voltage component, generates observation angle error；
PI is carried out to observation angle error and adjusts operation, generates observation angular rate error；
Operation and integral operation are compensated to observation angular rate error, generate electric network voltage phase；
According to grid voltage amplitude and electric network voltage phase control pfc circuit and motor operation.
To achieve the goals above, the present invention provides a kind of motor drive control device, and motor drive control device includes:
Voltage sample module, for acquiring the AC supply voltage of input；
Inverter is run for the direct current of input to be converted into three-phase alternating current with driving motor；
Controller is configured to:
The AC supply voltage that input is obtained from voltage sample module carries out ratio enlargement operation to AC-input voltage,
Generate α shaft voltage and β shaft voltage based on rest frame, to based on rest frame α shaft voltage and β shaft voltage swear
Change of variable operation carries out low-pass filtering operation to d shaft voltage to generate d shaft voltage and q shaft voltage based on rotating coordinate system,
To generate grid voltage amplitude, motor operation is controlled according to grid voltage amplitude.
Optionally, controller is configured to: the boosting of the pfc circuit of motor-drive circuit is adjusted according to grid voltage amplitude
Than controlling pfc circuit work according to step-up ratio.
Optionally, controller is configured to: low-pass filtering operation is carried out to q shaft voltage, to generate q axis fundamental voltage point
Amount, carries out ratio enlargement operation to q axis fundamental voltage component, generates observation angle error, carries out PI tune to observation angle error
Operation is saved, observation angular rate error is generated, opponent observes angular rate error and compensates operation and integral operation, generates electricity
Net voltage-phase, according to grid voltage amplitude and electric network voltage phase control pfc circuit and motor operation.
To achieve the goals above, the present invention also provides a kind of motor-drive circuit, motor-drive circuit includes rectification mould
Block, filter module, the motor-drive circuit further include above-mentioned motor drive control device；
Rectification module is used to carry out the alternating current for being input to motor-drive circuit in rectification output ripple direct current；
Filter module connects rectification module, for being filtered to the Rectified alternating current bought, output smoothing direct current, and filtering
Module connects DC bus, and is powered by DC bus for motor drive control device.
To achieve the goals above, the present invention also provides a kind of transducer air conditioning, transducer air conditioning includes above-mentioned motor
Driving circuit.
Through the above technical solutions, motor drive control method of the invention, is input to motor-drive circuit by obtaining
AC-input voltage Uac, ratio enlargement operation is carried out to AC-input voltage Uac, generates the α axis electricity based on rest frame
U α and β shaft voltage U β are pressed, and vector operation is carried out to α shaft voltage U α and β the shaft voltage U β based on rest frame, with life
At the d shaft voltage Ud and q shaft voltage Uq based on rotating coordinate system；Low-pass filtering operation is carried out to d shaft voltage Ud, to generate power grid
Voltage magnitude U0m finally controls motor 70 according to grid voltage amplitude U0m and runs.With this ensure that the operation of motor in real time with
The matching of current electric grid voltage value avoids motor so that the operation power of motor operation is no more than the limitation of current voltage range
Running frequency is excessively high in current voltage value to lead to the excessive damage of its power consumption.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the circuit diagram of the motor-drive circuit of the motor drive control method of the embodiment of the present invention；
Fig. 2 is the flow chart of the motor drive control method of the embodiment of the present invention；
Fig. 3 is grid voltage amplitude and the treatment process block diagram of phase observations in Fig. 1.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, being somebody's turn to do " first ", " second " etc. if relating to the description of " first ", " second " etc. in the embodiment of the present invention
Description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated skill
The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.It in addition, the technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
It is enough realize based on, will be understood that the knot of this technical solution when conflicting or cannot achieve when occurs in the combination of technical solution
Conjunction is not present, also not the present invention claims protection scope within.
The embodiment of the present invention proposes that motor drive control method, the motor are permanent magnet synchronous motor, motor as shown in Figure 1
Driving circuit simplified electrical circuit diagram, the motor-drive circuit include rectification module 30, filter module 50, controller 10, inverter 60,
Current sampling module 80 and voltage sample module 20, wherein rectification module 30 by the AC rectification of input at Rectified alternating current,
The circuit can be the bridge rectifier in figure；The Rectified alternating current that filter module 50 exports rectification module 20 is filtered
Wave is converted into smooth direct current, which passes through connection mainly by the electrolytic capacitor of large capacity (such as 400uF/450V)
DC bus is powered inverter 60；Voltage sample module 20 is for acquiring the alternating voltage for being input to motor-drive circuit
Uac is simultaneously output to controller 10, and current sampling module 80 is mainly made of single resistance R, is series at the direct current supply of inverter 60
It in circuit, is specially series in the lower bridge arm circuit of inverter 60, for acquiring the bus current and defeated of the work of inverter 60
Controller 10 is arrived out, and controller 10 generates the three-phase current of 60 driving motor of inverter, 70 three-phase windings by calculating；It is above-mentioned
Motor-drive circuit may also include for acquiring the DC voltage for being the DC bus-bar voltage Udc that inverter 60 carries out direct current supply
Sample circuit, controller carry out vector controlled according to above-mentioned DC bus-bar voltage Udc and phase current, ultimately generate driving inverter
The pwm signal of 60 six way switch pipes, to control the operation of 60 driving motor 70 of inverter.Above-mentioned motor-drive circuit can also be into one
Step includes PFC module 40, is connected between rectification module 30 and filter module 50, the pulsation for exporting to rectification module 30 is straight
Galvanic electricity carries out Active PFC.
As shown in Fig. 2, the motor drive control method based on above-mentioned motor-drive circuit includes:
Step S210, the AC-input voltage Uac for being input to motor-drive circuit is obtained；
Step S220, ratio enlargement operation is carried out to AC-input voltage Uac, generates the α axis electricity based on rest frame
Press U α and β shaft voltage U β；
Step S230, vector operation is carried out to α shaft voltage U α and β the shaft voltage U β based on rest frame, with life
At the d shaft voltage Ud and q shaft voltage Uq based on rotating coordinate system；
Step S240, low-pass filtering operation is carried out to d shaft voltage Ud, to generate grid voltage amplitude U0m；
Step S250, motor 70 is controlled according to grid voltage amplitude U0m to run.
In step S210-S220, AC-input voltage Uac is collected by voltage sample module 20, then pass through ratio
Rest frame α shaft voltage U α is obtained based on following formula for 1 amplifier:
Then pass through differentiator, and amplify -1/ ω* 0Rest frame β shaft voltage U β is obtained again, wherein ω* 0Refer to ω0=
50Hz situation, is specifically based on following formula:
Wherein ω0=100 π, i.e. default network voltage frequency are 50Hz.
In step S230, PARK transform operation is carried out to α shaft voltage U α and β the shaft voltage U β based on rest frame and is obtained
Following formula is specifically based on to d shaft voltage Ud and q shaft voltage Uq:
Wherein η is the line voltage angle observed in the last control period.
When d axis is overlapped with fundamental voltage vector, there is η=θ0, then d axis and q axis include DC component are as follows:
In step S240, low-pass filtering operation such as following formula is carried out to d shaft voltage Ud:
Ud0(k)=ωcTsUd(k)+(1-ωcTs)Ud0(k-1)
And according to above-mentioned formula, as η=θ 0, cos (η-θ 0)=cos (0)=1, Ud0=U0m can be obtained at this time.
Wherein, Ts is the control period, and k is k-th of control period, and ω c is filter cutoff frequency, due to Voltage Harmonic
It is all the multiple of 50Hz, so ω c can use 100 π.
Specific above-mentioned grid voltage amplitude and the treatment process block diagram of phase observations are as shown in Figure 3.
In step s 250, it when controlling the operation of motor 70 according to grid voltage amplitude U0m, specifically includes:
The running frequency value that motor is controlled according to grid voltage amplitude U0m, specifically can be in real time according to grid voltage amplitude
Highest limit frequency is tabled look-up or be calculated to the size of U0m, so that the operation power of motor operation is no more than current voltage model
The limitation enclosed avoids the running frequency of motor is excessively high in current voltage value from leading to the excessive damage of its power consumption.It is worth explanation
, motor here also refers to frequency-changeable compressor in addition to referring to direct current generator.
Motor drive control method of the invention is input to the AC-input voltage Uac of motor-drive circuit by obtaining,
Ratio enlargement operation is carried out to AC-input voltage Uac, generates α shaft voltage U α and β the shaft voltage U β based on rest frame, and
Vector operation is carried out to α shaft voltage U α and β the shaft voltage U β based on rest frame, to generate based on rotating coordinate system
D shaft voltage Ud and q shaft voltage Uq；Low-pass filtering operation is carried out to d shaft voltage Ud, to generate grid voltage amplitude U0m, last root
It is run according to grid voltage amplitude U0m control motor 70.It ensure that the operation of motor is matched with current electric grid voltage value in real time with this,
So that the operation power of motor operation is no more than the limitation of current voltage range, avoid the running frequency of motor in current voltage value
In the case of excessively high lead to the excessive damage of its power consumption.
Further, after grid voltage amplitude U0m is calculated, above-mentioned control method further include:
Step S260, the step-up ratio of the pfc circuit of motor-drive circuit is adjusted according to grid voltage amplitude；
Step S270, pfc circuit work is controlled according to step-up ratio.
Specifically, when adjusting the step-up ratio of the pfc circuit of motor-drive circuit according to grid voltage amplitude, it can be according to electricity
Net voltage magnitude determines corresponding step-up ratio Ka coefficient according to tabling look-up, and then according to step-up ratio Ka coefficient, and obtains PFC electric current
Input current, the input average current of PFC electric current is determined according to the input current, finally according to step-up ratio COEFFICIENT K a, input
Average current and input current determine the duty ratio of the switching tube of driving pfc circuit, finally according to duty ratio control switch pipe into
Row switch motion is to control pfc circuit work, wherein determining that the input average current of PFC electric current is existing according to the input current
Details are not described herein for technology.By above-mentioned control, when ensure that the work of pfc circuit, the power of switching tube and current
Grid voltage amplitude modulated in real time ensure that the work of its pfc circuit in the state of safe and reliable, improves its functional reliability.
Further, after grid voltage amplitude U0m is calculated, above-mentioned control method further include:
Step S280, low-pass filtering operation is carried out to q shaft voltage, to generate q axis fundamental voltage component Uq0；
Step S290, ratio enlargement operation is carried out to q axis fundamental voltage component Uq0, generates observation angle error delta θ；
Step S2A0, PI is carried out to observation angle error delta θ and adjusts operation, generate observation angular rate error delta ω；
Step S2B0, operation and integral operation are compensated to observation angular rate error delta ω, generates network voltage phase
Position η；
Step S2C0, electric network voltage phase η is handled by phaselocked loop so that q axis fundamental voltage component Uq0 error is zero
When, export line voltage angle θ0=η and grid voltage amplitude U0m=Ud0。
Step S2D0, according to grid voltage amplitude U0m and electric network voltage phase η control pfc circuit and motor operation.
In step S280, to q shaft voltage carry out low-pass filtering operation, with generate q axis fundamental voltage component Uq0 be based on
Lower formula:
Uq0(k)=ωcTsUq(k)+(1-ωcTs)Uq0(k-1)
Wherein, Ts is the control period, and k is k-th of control period, and ω c is filter cutoff frequency, due to Voltage Harmonic
It is all the multiple of 50Hz, so ω c can use 100 π.
In step S290, by the way that q axis fundamental voltage component Uq0 is amplifiedObservation angle error delta is obtained again
θ。
In step S2A0, observation angle error delta θ is adjusted to obtain observation angular rate error delta ω by PI, specifically
Based on following formula:
Wherein Proportional coefficient KpWith integral coefficient KiIt is respectively as follows:
Kp=ωθ,Here ωθFor phaselocked loop cutoff frequency, ζ is phase locked loop damping coefficient, and Ts is control week
Phase.
In step S2B0, by the way that angular rate error delta ω is added Front Feed CompensationCompensate operation
Obtain observation electrical angle speed omega01, electrical angle speed omega then will be observed again01Observation network voltage is obtained by integral operation
Angle η.
In step S2C0, electricity can be directly obtained by carrying out low-pass filtering operation to d shaft voltage Ud in above-mentioned steps S240
Net voltage magnitude U0m, but it is accurate to be further ensured that calculating, then q axis fundamental voltage component Uq0 error is made by phaselocked loop
It is zero to export grid voltage amplitude and electric network voltage phase, specific such as following formula:
As observation coordinate system (dq axis) angle η and power grid fundamental voltage actual phase angle θ0When close, q axis fundamental voltage point
It is directly proportional to the error delta θ of observation angle to measure Uq0.Therefore as Uq0 > 0, it is meant that observation angle is less than actual electric network voltage angle
Degree can increase dq axle rotary speed ω by adjuster01, so that observation angle increases, thus close to actual electric network level angle；
As Uq0 < 0, it is meant that observation angle is greater than actual electric network level angle, can reduce dq axle rotary speed ω by adjuster01,
So that observation angle reduces, thus close to actual electric network level angle.
Line voltage angle θ is exported as △ θ=00=η and grid voltage amplitude U0m=Ud0。
In step S2D0, according to grid voltage amplitude U0m and electric network voltage phase η control pfc circuit and motor operation
When, inverter 60 can be controlled to export control signal in real time to adjust the fortune of motor 70 by grid voltage amplitude U0m
Scanning frequency degree avoids the occurrence of over-voltage and over-current phenomenon；The differentiation to mains frequency failure is realized by electric network voltage phase η simultaneously, with
And obtain network voltage sinusoidal signal, and with this PFC control in construct PFC electric current loop reference value, with this realize to PFC into
Row control.
The embodiment of the present invention also proposes a kind of motor drive control device, which is applied to motor
Driving circuit, the motor-drive circuit is as shown in Figure 1, include rectification module 30, filter module 50, controller 10, current sample
Module 80 and the motor drive control device, the motor drive control device specifically include voltage sample module 20, inverter 60
With controller 10, wherein voltage sample module 20 is for acquiring the alternating voltage Uac for being input to motor-drive circuit and being output to
The direct current of input is converted into three-phase alternating current, with driving motor 70 for carrying out power conversion by controller 10, inverter 60
Operation；
For rectification module 30 by the AC rectification of input at Rectified alternating current, which can be the electricity of the bridge rectifier in figure
Road；The Rectified alternating current that filter module 50 exports rectification module 20 is filtered, and is converted into smooth direct current, the filtering mould 50
Mainly by the electrolytic capacitor of large capacity (such as 400uF/450V), and motor drive control device is carried out by connection DC bus
Power supply；Current sampling module 80 is mainly made of single resistance R, is series in the direct current power supply loop of inverter 60, is specially gone here and there
It is coupled in the lower bridge arm circuit of inverter 60, for acquiring the bus current of the work of inverter 60 and being output to controller 10, controls
Device 10 processed generates the three-phase current of 60 driving motor of inverter, 70 three-phase windings by calculating；Above-mentioned motor-drive circuit may be used also
Including for acquiring the DC voltage sample circuit for being the DC bus-bar voltage Udc that inverter 60 carries out direct current supply, controller
Vector controlled is carried out according to above-mentioned DC bus-bar voltage Udc and phase current, ultimately generates six way switch pipes of driving inverter 60
Pwm signal, with control 60 driving motor 70 of inverter operation.Above-mentioned motor-drive circuit can also further comprise PFC module
40, it is connected between rectification module 30 and filter module 50, the Rectified alternating current for exporting to rectification module 30 carries out power
Factor correction.
Controller 10 is configured to: the AC supply voltage of input is obtained from voltage sample module 20, to exchange input electricity
Pressure carries out ratio enlargement operation, α shaft voltage and β shaft voltage based on rest frame is generated, to the α axis based on rest frame
Voltage and β shaft voltage carry out vector operation, to generate d shaft voltage and q shaft voltage based on rotating coordinate system, to d axis electricity
Pressure carries out low-pass filtering operation, to generate grid voltage amplitude, controls motor 70 according to grid voltage amplitude and runs.
Specifically, collecting AC-input voltage Uac, then the amplifier for being 1 by ratio by voltage sample module 20
Rest frame α shaft voltage U α is obtained based on following formula:
Then pass through differentiator, and amplify -1/ ω* 0Rest frame β shaft voltage U β is obtained again, wherein ω* 0Refer to ω0=
50Hz situation, is specifically based on following formula:
Wherein ω0=100 π, i.e. default network voltage frequency are 50Hz.
To based on rest frame α shaft voltage U α and β shaft voltage U β carry out PARK transform operation obtain d shaft voltage Ud and
Q shaft voltage Uq is specifically based on following formula:
Wherein η is the line voltage angle observed in the last control period.
When d axis is overlapped with fundamental voltage vector, there is η=θ0, then d axis and q axis include DC component are as follows:
Low-pass filtering operation such as following formula is carried out to d shaft voltage Ud:
Ud0(k)=ωcTsUd(k)+(1-ωcTs)Ud0(k-1)
And according to above-mentioned formula, as η=θ 0, cos (η-θ 0)=cos (0)=1, Ud0=U0m can be obtained at this time.
Wherein, Ts is the control period, and k is k-th of control period, and ω c is filter cutoff frequency, due to Voltage Harmonic
It is all the multiple of 50Hz, so ω c can use 100 π.
Specific above-mentioned grid voltage amplitude and the treatment process block diagram of phase observations are as shown in Figure 3.
It when controlling the operation of motor 70 according to grid voltage amplitude U0m, specifically includes: being controlled according to grid voltage amplitude U0m
Highest limit specifically can be tabled look-up or be calculated in real time to the running frequency value of motor processed according to the size of grid voltage amplitude U0m
Frequency processed avoids the running frequency of motor from working as so that the operation power of motor operation is no more than the limitation of current voltage range
It is excessively high in the case of preceding voltage value to lead to the excessive damage of its power consumption.It is worth noting that motor here is gone back in addition to referring to direct current generator
Refer to frequency-changeable compressor.
Motor drive control device of the invention is input to the AC-input voltage Uac of motor-drive circuit by obtaining,
Ratio enlargement operation is carried out to AC-input voltage Uac, generates α shaft voltage U α and β the shaft voltage U β based on rest frame, and
Vector operation is carried out to α shaft voltage U α and β the shaft voltage U β based on rest frame, to generate based on rotating coordinate system
D shaft voltage Ud and q shaft voltage Uq；Low-pass filtering operation is carried out to d shaft voltage Ud, to generate grid voltage amplitude U0m, last root
It is run according to grid voltage amplitude U0m control motor 70.It ensure that the operation of motor is matched with current electric grid voltage value in real time with this,
So that the operation power of motor operation is no more than the limitation of current voltage range, avoid the running frequency of motor in current voltage value
In the case of excessively high lead to the excessive damage of its power consumption.
Further, controller is configured to: the liter of the pfc circuit of motor-drive circuit is adjusted according to grid voltage amplitude
Pressure ratio controls pfc circuit work according to step-up ratio.
Specifically, when adjusting the step-up ratio of the pfc circuit of motor-drive circuit according to grid voltage amplitude, it can be according to electricity
Net voltage magnitude determines corresponding step-up ratio Ka coefficient according to tabling look-up, and then according to step-up ratio Ka coefficient, and obtains PFC electric current
Input current, the input average current of PFC electric current is determined according to the input current, finally according to step-up ratio COEFFICIENT K a, input
Average current and input current determine the duty ratio of the switching tube of driving pfc circuit, finally according to duty ratio control switch pipe into
Row switch motion is to control pfc circuit work, wherein determining that the input average current of PFC electric current is existing according to the input current
Details are not described herein for technology.By above-mentioned control, when ensure that the work of pfc circuit, the power of switching tube and current
Grid voltage amplitude modulated in real time ensure that the work of its pfc circuit in the state of safe and reliable, improves its functional reliability.
Further, controller is configured to: low-pass filtering operation is carried out to q shaft voltage, to generate q axis fundamental voltage point
Amount, carries out ratio enlargement operation to q axis fundamental voltage component, generates observation angle error, carries out PI tune to observation angle error
Operation is saved, observation angular rate error is generated, opponent observes angular rate error and compensates operation and integral operation, generates electricity
Net voltage-phase, according to grid voltage amplitude and electric network voltage phase control pfc circuit and motor operation.
Low-pass filtering operation wherein is carried out to q shaft voltage, is based on following formula to generate q axis fundamental voltage component Uq0:
Uq0(k)=ωcTsUq(k)+(1-ωcTs)Uq0(k-1)
Wherein, Ts is the control period, and k is k-th of control period, and ω c is filter cutoff frequency, due to Voltage Harmonic
It is all the multiple of 50Hz, so ω c can use 100 π.
By the way that q axis fundamental voltage component Uq0 is amplifiedObservation angle error delta θ is obtained again.
Observation angle error delta θ is adjusted to obtain observation angular rate error delta ω by PI, is specifically based on following formula:
Wherein Proportional coefficient KpWith integral coefficient KiIt is respectively as follows:
Kp=ωθ,Here ωθFor phaselocked loop cutoff frequency, ζ is phase locked loop damping coefficient, and Ts is control week
Phase.
By the way that angular rate error delta ω is added Front Feed CompensationIt compensates operation and obtains observation electric angle
Spend speed omega01, electrical angle speed omega then will be observed again01Observation line voltage angle η is obtained by integral operation.
Grid voltage amplitude U0m can be directly obtained by carrying out low-pass filtering operation to d shaft voltage Ud in above-mentioned steps S240,
But to be further ensured that calculating is accurate, then makes q axis fundamental voltage component Uq0 error be zero by phaselocked loop and export power grid
Voltage magnitude and electric network voltage phase, specific such as following formula:
As observation coordinate system (dq axis) angle η and power grid fundamental voltage actual phase angle θ0When close, q axis fundamental voltage point
It is directly proportional to the error delta θ of observation angle to measure Uq0.Therefore as Uq0 > 0, it is meant that observation angle is less than actual electric network voltage angle
Degree can increase dq axle rotary speed ω by adjuster01, so that observation angle increases, thus close to actual electric network level angle；
As Uq0 < 0, it is meant that observation angle is greater than actual electric network level angle, can reduce dq axle rotary speed ω by adjuster01,
So that observation angle reduces, thus close to actual electric network level angle.
Line voltage angle θ is exported as △ θ=00=η and grid voltage amplitude U0m=Ud0。
When according to grid voltage amplitude U0m and electric network voltage phase η control pfc circuit and motor operation, power grid can be passed through
Voltage magnitude U0m to export control signal in real time and is controlled inverter 60 to adjust the speed of service of motor 70, avoids out
Existing over-voltage and over-current phenomenon；The differentiation to mains frequency failure is realized by electric network voltage phase η simultaneously, and obtains network voltage
Sinusoidal signal, and with the electric current loop reference value of this construction PFC in PFC control, it is realized with this and PFC is controlled.
The present invention also proposes a kind of motor-drive circuit, the motor-drive circuit as shown in Figure 1, include rectification module 30,
Filter module 50 and above-mentioned motor drive control device, can further include PFC module 40, be connected to rectification module 30
Between filter module 50, the Rectified alternating current for exporting to rectification module carries out Active PFC.
The present invention also proposes a kind of transducer air conditioning, which includes above-mentioned motor-drive circuit.
It is worth noting that above-mentioned motor-drive circuit may be also used in other frequency control in addition to being used for transducer air conditioning
Household electrical appliances such as frequency conversion refrigerator, variable-frequency washing machine household appliance on.
The embodiments of the present invention also provide computer program products, including program instruction, and the program instruction is by controller
It enables the controller to realize the arbitrary motor drive control method in above-described embodiment when execution.
The embodiments of the present invention also provide storage mediums, are stored thereon with computer-readable instruction, this is computer-readable
Instruction enables the controller to execute the arbitrary motor drive control method in above-described embodiment when being executed by a controller.
It will be appreciated by those skilled in the art that realizing that all or part of the steps in above embodiment method is can to lead to
Program is crossed to instruct relevant hardware and complete, which is stored in a storage medium, including some instructions use so that
One (can be single-chip microcontroller, chip etc.) or processor (processor) execute each embodiment the method for the application
All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
In the description of this specification, the description meaning of reference term " first embodiment ", " second embodiment ", " example " etc.
Refer to specific method, device or feature described in conjunction with this embodiment or example be contained at least one embodiment of the present invention or
In example.In the present specification, the schematic representation of the above terms does not necessarily have to refer to the same embodiment or example.And
And specific features, method, apparatus or the feature of description can be in any one or more of the embodiments or examples with suitable sides
Formula combines.In addition, without conflicting with each other, those skilled in the art can will be described in this specification different real
The feature for applying example or example and different embodiments or examples is combined.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of motor drive control method, it is applied to motor-drive circuit, which is characterized in that the control method includes:
Obtain the AC-input voltage for being input to the motor-drive circuit；
Ratio enlargement operation is carried out to the AC-input voltage, generates α shaft voltage and β shaft voltage based on rest frame；
Vector operation is carried out to the α shaft voltage based on rest frame and β shaft voltage, is based on rotational coordinates to generate
The d shaft voltage and q shaft voltage of system；
Low-pass filtering operation is carried out to the d shaft voltage, to generate grid voltage amplitude；
Motor operation is controlled according to the grid voltage amplitude.
2. control method as described in claim 1, which is characterized in that further include:
The step-up ratio of the pfc circuit of the motor-drive circuit is adjusted according to the grid voltage amplitude；
The pfc circuit work is controlled according to the step-up ratio.
3. control method as described in claim 1, which is characterized in that further include:
Low-pass filtering operation is carried out to the q shaft voltage, to generate q axis fundamental voltage component；
Ratio enlargement operation is carried out to the q axis fundamental voltage component, generates observation angle error；
PI is carried out to the observation angle error and adjusts operation, generates observation angular rate error；
Operation and integral operation are compensated to the observation angular rate error, generate electric network voltage phase；
The pfc circuit and the motor operation are controlled according to the grid voltage amplitude and the electric network voltage phase.
4. a kind of motor drive control device, which is characterized in that the motor drive control device includes:
Voltage sample module, for acquiring the AC supply voltage of input；
Inverter, for the direct current of input to be converted into three-phase alternating current, to drive the motor operation；
Controller is configured to:
The AC supply voltage that input is obtained from the voltage sample module carries out ratio enlargement fortune to the AC-input voltage
It calculates, generates α shaft voltage and β shaft voltage based on rest frame, to the α shaft voltage based on rest frame and β axis electricity
Pressure carries out vector operation, to generate d shaft voltage and q shaft voltage based on rotating coordinate system, carries out to the d shaft voltage low
Pass filter operation controls motor operation according to the grid voltage amplitude to generate grid voltage amplitude.
5. control device as described in claim 1, which is characterized in that the controller is configured to: according to the power grid electricity
The step-up ratio for pressing the pfc circuit of motor-drive circuit described in range-adjusting controls the pfc circuit work according to the step-up ratio
Make.
6. control device as described in claim 1, which is characterized in that the controller is configured to: to the q shaft voltage into
Row low-pass filtering operation carries out ratio enlargement operation to the q axis fundamental voltage component to generate q axis fundamental voltage component, raw
At observation angle error, PI is carried out to the observation angle error and adjusts operation, generated and observe angular rate error, described in opponent
Observation angular rate error compensates operation and integral operation, electric network voltage phase is generated, according to the network voltage
Amplitude and the electric network voltage phase control the pfc circuit and the motor operation.
7. a kind of motor-drive circuit, the motor-drive circuit includes rectification module, filter module, which is characterized in that described
Motor-drive circuit further includes motor drive control device described in claim 4-6 any one；
The rectification module is used to carry out the alternating current for being input to the motor-drive circuit in rectification output ripple direct current；
The filter module connects the rectification module, and for being filtered to the Rectified alternating current bought, output smoothing is straight
Galvanic electricity, the filter module connect DC bus, and are that the motor drive control device is supplied by the DC bus
Electricity.
8. a kind of transducer air conditioning, which is characterized in that the transducer air conditioning includes motor-drive circuit as claimed in claim 7.
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| CN201910224349.6A CN109962659B (en) | 2019-03-23 | 2019-03-23 | Motor drive control method, motor drive control device, motor drive control circuit and variable frequency air conditioner |
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| CN201910224349.6A CN109962659B (en) | 2019-03-23 | 2019-03-23 | Motor drive control method, motor drive control device, motor drive control circuit and variable frequency air conditioner |
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| CN112910357A (en) * | 2021-02-06 | 2021-06-04 | 广东希塔变频技术有限公司 | Control method, device and circuit for motor drive and variable frequency air conditioner |
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