CN109981015A - 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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- CN109981015A CN109981015A CN201910224350.9A CN201910224350A CN109981015A CN 109981015 A CN109981015 A CN 109981015A CN 201910224350 A CN201910224350 A CN 201910224350A CN 109981015 A CN109981015 A CN 109981015A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- 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
- H02P27/08—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 with pulse width modulation
- H02P27/12—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 with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The present invention relates to motor-driven control fields, disclose a kind of motor drive control method, device, circuit and transducer air conditioning, pass through the Q shaft current reference value for currently generating controller, D shaft current reference value, Q shaft current value and D shaft current value carry out Kalman filtering operation, generate new Q shaft voltage and D shaft voltage, the modulated signal of driving inverter work is ultimately generated with this, to control motor operation, due to using Kalman filtering operation in the current regulator of controller, the high-bandwidth response function of controller is realized with this, it can effectively imitate and filter out control system model bring noise, the noise of current sample generation can also be filtered out, so as to increase controller control bandwidth, improve control instruction response speed, and then timely respond to the influence that various abrupt conditions generate, instantaneously fall such as network voltage or Rise, compressor frequency can be adjusted in time to strain, finally realized to motor-driven reliable and stable operation.
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
In the electric machine controller driven at present to brshless DC motor, the mode of low-pass filter is generallyd use to adopting
Sample noise is filtered out to extract control signal, is on the one hand caused control to be delayed, is influenced the response speed of system, such as frequency tune
Section instruction cannot quickly change；On the one hand interference caused by model error and device non-ideal factor can not be eliminated, it is same to drop
The low amount of bandwidth of electric machine controller, influences the overall stability that electric machine controller controls motor with this.
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
Existing electric machine controller is solved since the response speed using control instruction caused by low-pass filter is low and electric machine controller
The low problem of bandwidth.
To achieve the goals above, the present invention provides a kind of motor drive control method, which includes control
Device and inverter processed, which is characterized in that control method includes:
Q shaft current reference value, D shaft current reference value, Q shaft current actual value and the D shaft current that controller is currently generated
Actual value carries out Kalman filtering operation, generates new Q shaft voltage and D shaft voltage；
The rotor angle estimated value and Q shaft voltage and D shaft voltage generated according to controller carries out Park inverse transformation, with life
At the voltage value based on rest frame；
Be retrieved as the busbar voltage of inverter power supply, and by based on rest frame voltage value and busbar voltage carry out electricity
Space vector transformation is pressed, the modulated signal of driving inverter work is generated, to control motor operation.
Optionally, Q shaft current reference value, D shaft current reference value, Q shaft current actual value and D axis electricity controller generated
It flows actual value and carries out Kalman filtering operation, generate Q shaft voltage and D shaft voltage includes:
Obtain controller the Q shaft current value, D shaft current value and the Q shaft voltage currently generated that currently generate and D shaft voltage into
Row Kalman filtering operation generates Q shaft current filter value, D shaft current filter value；
PI is carried out to Q shaft current reference value, Q shaft current filter value and D shaft current reference value, D shaft current filter value respectively
It adjusts, generates new Q shaft voltage and D shaft voltage.
Optionally, control method further include:
Q shaft voltage is subjected to cross coupling compensation, generates Q shaft voltage offset；
Q shaft voltage offset, rotor angle estimated value and D shaft voltage are subjected to Park inverse transformation, to generate based on quiet
The only voltage value of coordinate system.
Optionally, Q shaft voltage is subjected to cross coupling compensation, generates Q shaft voltage offset and is calculated by the following formula:
uq=u 'q+ωrKe,
Wherein u 'qFor Q shaft voltage offset, uqFor Q shaft voltage, ωrFor motor speed, KeFor design factor.
To achieve the goals above, the present invention also provides a kind of motor drive control device, motor drive control device packets
It includes:
Inverter is run for the direct current of input to be converted into three-phase alternating current with driving motor；
Voltage sample module, for acquiring the DC bus-bar voltage for inverter power supply；
Current sampling module, for acquiring the DC bus current for inverter power supply；
Controller is configured to: Q shaft current reference value, the D shaft current reference value, Q shaft current that controller is currently generated
Actual value and D shaft current actual value carry out Kalman filtering operation, generate new Q shaft voltage and D shaft voltage；It is produced according to controller
Raw rotor angle estimated value and Q shaft voltage and D shaft voltage carry out Park inverse transformation, to generate the electricity based on rest frame
Pressure value；Be retrieved as the busbar voltage of inverter power supply, and by based on rest frame voltage value and busbar voltage carry out voltage
Space vector transformation generates the modulated signal of driving inverter work, to control motor operation.
Optionally, Q shaft current reference value, D shaft current reference value, Q shaft current actual value and D axis electricity controller generated
It flows actual value and carries out Kalman filtering operation, when generating Q shaft voltage and D shaft voltage, controller is configured to:
Obtain controller the Q shaft current value, D shaft current value and the Q shaft voltage currently generated that currently generate and D shaft voltage into
Row Kalman filtering operation generates Q shaft current filter value, D shaft current filter value；
PI is carried out to Q shaft current reference value, Q shaft current filter value and D shaft current reference value, D shaft current filter value respectively
It adjusts, generates new Q shaft voltage and D shaft voltage.
Optionally, controller is further configured to:
Cross coupling compensation is carried out to Q shaft voltage, generates Q shaft voltage offset；
Q shaft voltage offset, rotor angle estimated value and D shaft voltage are subjected to Park inverse transformation, to generate based on quiet
The only voltage value of coordinate system.
Optionally, Q shaft voltage is subjected to cross coupling compensation, generates Q shaft voltage offset, controller is configured to pass through
Following formula calculates:
uq=u 'q+ωrKe,
Wherein u 'qFor Q shaft voltage offset, uqFor Q shaft voltage, ωrFor motor speed, KeFor design factor.
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, passes through the Q axis electricity for currently generating controller
It flows reference value, D shaft current reference value, Q shaft current value and D shaft current value and carries out Kalman filtering operation, generate new Q shaft voltage
With D shaft voltage, and the rotor field angle and Q shaft voltage and D shaft voltage that are generated according to controller carry out Park inverse transformation, with
The reference voltage value based on rest frame is generated, is finally retrieved as the busbar voltage of inverter power supply, and static seat will be based on
The voltage value and busbar voltage for marking system carry out space vector of voltage transformation, the modulated signal of driving inverter work are generated, with control
Motor operation processed realizes the high band of controller with this due to using Kalman filtering operation in the current regulator of controller
Wide response function can be imitated effectively and filter out control system model bring noise, can also filter out the noise of current sample generation, from
And controller control bandwidth can be increased, control instruction response speed is improved, and then timely respond to various abrupt conditions and generate
Influence can adjust compressor frequency in time if network voltage instantaneously falls or rises to strain, realized with this and motor driven
Dynamic reliable and stable operation.
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 the internal frame diagram of current controller 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 20, filter module 80, controller 10, inverter 40,
Voltage sample module 60 and current sampling module 50, wherein rectification module 20 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 80 exports rectification module 20 is filtered
Wave is converted into the smooth direct current filter module 80 mainly by the electrolytic capacitor of large capacity (such as 400uF/450V), and passes through company
DC bus is connect to be powered inverter 40；Voltage sample module 60 is output to for acquiring above-mentioned DC bus-bar voltage Udc
Controller 10, current sampling module 50 are mainly made of single resistance R, are series in the direct current power supply loop of inverter 40, specifically
To be series in the lower bridge arm circuit of inverter 40, for acquiring the bus current of the work of inverter 40 and being output to controller
10, controller 10 generates the three-phase current of 40 driving motor of inverter, 70 three-phase windings by calculating；Controller is according to above-mentioned
DC bus-bar voltage Udc and phase current carry out vector controlled, ultimately generate the PWM letter of six way switch pipes of driving inverter 40
Number, to control the operation of 40 driving motor 70 of inverter.Above-mentioned motor-drive circuit can also further comprise PFC module 30, connection
Between rectification module 20 and filter module 80, the Rectified alternating current for exporting to rectification module carries out Active PFC.
As shown in Fig. 2, the motor drive control method based on above-mentioned motor-drive circuit includes:
Step S210, Q shaft current reference value, D shaft current reference value, Q shaft current value and the D axis currently generated controller
Current value carries out Kalman filtering operation, generates new Q shaft voltage and D shaft voltage；
Step S220, the rotor field angle and Q shaft voltage and D shaft voltage generated according to controller carries out Park inversion
It changes, to generate the reference voltage value based on rest frame；
Step S230, it is retrieved as the busbar voltage of inverter power supply, and by voltage value and bus based on rest frame
Voltage carries out space vector of voltage transformation, the modulated signal of driving inverter work is generated, to control motor operation.
It is specific as shown in Figure 1, controller 10 acquires bus by current sampling module 50 in step S210-S220
Electric current Idc, and electric current reconstructing is carried out by the electric current reconstructing module 17 inside controller 10 and obtains three-phase current Ia, Ib, Ic, and
Transformation calculations, which are carried out, by three-phase static coordinate system-two-phase stationary coordinate system Clarke conversion module 16 goes out two-phase static coordinate
Electric current I α, I β under system；Then I α, I β and reference voltage V α, V β are input in speed/positional observer 14, pass through utilization
Position-sensor-free algorithm such as extends back-emf or flux observer algorithm, calculates rotor field angle, θ r and rotational speed omega r；
And above-mentioned electric current I α, I β and rotor field angle, θ r are input to progress two-phase stationary coordinate system-in Park conversion module 15
Two-phase rotating coordinate system, export the Q shaft current iq and D shaft current id of two-phase rotating coordinate system；And then it will enter into controller
Given rotating speed ω r* and rotational speed omega r in 10 are input in speed regulator 11, calculate electric current ginseng by speed regulator 11
Examine value i.e. Q shaft current reference value i*q, D shaft current reference value i*d；And further Q shaft current reference value i*q, D shaft current is joined
It examines value i*d and Q shaft current iq and D shaft current id and is input to progress Kalman filtering operation in current regulator 12, generate new
Q shaft voltage Ud and D shaft voltage Vq.
Specifically, as shown in figure 3, in above-mentioned carry out Kalman (Kalman) filtering operation to generate new Q shaft voltage Ud
When with D shaft voltage Vq, first above-mentioned Q shaft current iq and D shaft current id is input in Kalman filter 121, carries out Kalman
Filtering operation generates Q shaft current filter value iq_fil, D shaft current filter value id_fil, the rule of specific Kalman filtering operation
It is as follows:
Kalman filter is initialized first, constructs coefficient matrix:
Wherein Ld is d axle inductance, and Lq is q axle inductance,
And default Q is plant noise variance matrix, R is measurement noise variance matrix, be can use
Its state initial value are as follows:
Observe initial value are as follows:
Error co-variance matrix initialization:
P (0)=BQB.
Default current controller output pwm signal is Ts to the control period of inverter, then in k-th of control period,
Kalman filter input current measuring signal yv (k) are as follows:
The control signal u (k) of input are as follows:
Wherein ud (k-1) is the output valve of last control period d axis pi regulator 122, and u ' q (k-1) is last control week
The output valve of phase q axis pi regulator 123.
It is default to calculate coefficient matrix:
Wherein Rs is motor stator resistance, and Lq is q axle inductance, Ld d
Axle inductance, ω r are rotor angular rate.
K-th of period optimal State Estimation, which is calculated, with this obtains quantity of state x (k):
X (k)=A1x(k-1)+Mn(k)(yv(k)-C1A1X (k-1)),
And calculate k-th of period covariance matrix:
P (k)=(I2-Mn(k)C1) P (k-1),
Last k-th of period Kalman filter observation are as follows:
Wherein k-th of periodic state updates are as follows:
X (k)=A1x(k-1)+B1u(k)
P (k)=A1P(k)A1+B1QB1。
After exporting Q shaft current filter value iq_fil, D shaft current filter value id_fil by above-mentioned Kalman filter, then
Q shaft current reference value i*q and Q shaft current filter value iq_fil are input to Q axis pi regulator and carry out PI adjusting, D shaft current ginseng
It examines value i*d and D shaft current filter value id_fil and is input to the progress PI adjusting of D axis pi regulator, wherein the transmitting letter of pi regulator
Number are as follows:
In general, desirable adjuster coefficient is respectively as follows:
Kpd=ωacrLd
Kid=ωacrRs
Kpq=ωacrLq
Kiq=ωacrRs, wherein ω acr is electric current loop bandwidth.
After exporting Q shaft voltage Uq and D shaft voltage Ud by above-mentioned current regulator, it is input to Park inverse transform module 13
In, two-phase rotating coordinate system-two-phase stationary coordinate system conversion is carried out, voltage value V α, V β based on two-phase stationary coordinate system are exported,
The busbar voltage Udc and voltage value V α, V β that voltage sample module 60 samples are input to voltage space vector modulation device (SVPWM) 18
In, voltage vector synthesis is carried out, six PWM duty cycle signals of the switching tube of control inverter 40 are ultimately generated, it is inverse to control
Become the work of 40 driving motor 70 of device, SVPWM is the prior art here, and details are not described herein.
Further, in above by current regulator 12, PI is carried out by Q axis pi regulator and adjusts output Q axis electricity
After pressing Uq, the Q shaft voltage Uq is also subjected to cross-coupling supplement, to generate Q shaft voltage offset Uq ', finally with Q shaft voltage benefit
It repays value Uq ' substitution Q shaft voltage Uq to be input in Park inverse transform module 13, voltage of the final output based on two-phase stationary coordinate system
Value V α, V β.It is calculated by the following formula specifically, generating Q shaft voltage offset:
uq=u 'q+ωrKe,
Wherein uqFor Q shaft voltage offset, u 'qFor Q shaft voltage, ωrFor motor speed, KeFor design factor.
Motor drive control method of the invention passes through Q shaft current reference value, the D shaft current for currently generating controller
Reference value, Q shaft current value and D shaft current value carry out Kalman filtering operation, generate new Q shaft voltage and D shaft voltage, and according to
The rotor field angle and Q shaft voltage and D shaft voltage that controller generates carry out Park inverse transformation, are based on static coordinate to generate
The reference voltage value of system, is finally retrieved as the busbar voltage of inverter power supply, and by based on rest frame voltage value and mother
Line voltage carries out space vector of voltage transformation, generates the modulated signal of driving inverter work, to control motor operation, due to control
Kalman filtering operation is used in the current regulator of device processed, and the high-bandwidth response function of controller is realized with this, it can be effective
Effect filter out control system model bring noise, can also filter out current sample generation noise, so as to increase controller control
Bandwidth processed improves control instruction response speed, and then timely responds to the influence that various abrupt conditions generate, such as network voltage
Instantaneously fall or rise, compressor frequency can be adjusted in time to strain, be realized with this to motor-driven reliable and stable operation.
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 20, filter module 80, wherein rectification module 20 will be defeated
The AC rectification entered can be the bridge rectifier in figure at Rectified alternating current, the circuit；80 pairs of rectification moulds of filter module
The Rectified alternating current that block 20 exports is filtered, and is converted into the smooth direct current filter module 80 mainly by the electrolysis electricity of large capacity
Hold (such as 400uF/450V), and inverter 40 is powered by connecting DC bus, can further include PFC module
30, be connected between rectification module 20 and filter module 80, Rectified alternating current for being exported to rectification module carry out power because
Element correction.70 drive dynamic control device of motor includes: inverter 40, for the DC bus power supply of input to be converted into three intersections
Galvanic electricity, with the operation of driving motor 70；
Voltage sample module 60, for acquiring the DC bus-bar voltage Vdc to power to inverter 40；
Current sampling module 50, for acquiring DC bus current Idc；
Controller 10 is configured to: Q shaft current reference value, the D shaft current reference value, Q that the controller is currently generated
Shaft current actual value and D shaft current actual value carry out Kalman filtering operation, new Q shaft voltage and D shaft voltage are generated, according to control
The rotor angle estimated value and the Q shaft voltage and D shaft voltage that device processed generates carry out Park inverse transformation, to generate based on static
The voltage value of coordinate system, is retrieved as the busbar voltage of the inverter power supply, and by the voltage value based on rest frame
Space vector of voltage transformation is carried out with the busbar voltage, the modulated signal for driving the inverter work is generated, to control
State motor operation.
Specifically, and passing through control as shown in Figure 1, controller 10 acquires bus current Idc by current sampling module 50
Electric current reconstructing module 17 inside device 10 carries out electric current reconstructing and obtains three-phase current Ia, Ib, Ic, and passes through three phase static coordinate
System-two-phase stationary coordinate system Clarke conversion module 16 carries out transformation calculations and goes out electric current I α, I β under two-phase stationary coordinate system；
Then I α, I β and reference voltage V α, V β are input in speed/positional observer 14, by utilizing position-sensor-free algorithm,
Back-emf or flux observer algorithm are such as extended, rotor field angle, θ r and rotational speed omega r are calculated；And by above-mentioned electric current I α, I β
And rotor field angle, θ r is input to progress two-phase stationary coordinate system-two-phase rotating coordinate system in Park conversion module 15,
Export the Q shaft current iq and D shaft current id of two-phase rotating coordinate system；And then it will enter into the given rotating speed ω r* in controller 10
It is input in speed regulator 11 with rotational speed omega r, current reference value i.e. Q shaft current reference value is calculated by speed regulator 11
I*q, D shaft current reference value i*d；And further by Q shaft current reference value i*q, D shaft current reference value i*d and Q shaft current iq
It is input to progress Kalman filtering operation in current regulator 12 with D shaft current id, generates new Q shaft voltage Ud and D shaft voltage
Vq。
Specifically, as shown in figure 3, in above-mentioned carry out Kalman (Kalman) filtering operation to generate new Q shaft voltage Ud
When with D shaft voltage Vq, first above-mentioned Q shaft current iq and D shaft current id is input in Kalman filter 121, carries out Kalman
Filtering operation generates Q shaft current filter value iq_fil, D shaft current filter value id_fil, the rule of specific Kalman filtering operation
It is as follows:
Kalman filter is initialized first, constructs coefficient matrix:
Wherein Ld is d axle inductance, and Lq is q axle inductance,
And default Q is plant noise variance matrix, R is measurement noise variance matrix, be can use
Its state initial value are as follows:
Observe initial value are as follows:
Error co-variance matrix initialization:
P (0)=BQB.
Default current controller output pwm signal is Ts to the control period of inverter, then in k-th of control period,
Kalman filter input current measuring signal yv (k) are as follows:
The control signal u (k) of input are as follows:
Wherein ud (k-1) is the output valve of last control period d axis pi regulator 12；U ' q (k-1) is the last control period
The output valve of q axis pi regulator 123.
It is default to calculate coefficient matrix:
K-th of period optimal State Estimation is calculated with this:
X (k)=A1x(k-1)+Mn(k)(yv(k)-C1A1X (k-1)),
And calculate k-th of period covariance matrix:
P (k)=(I2-Mn(k)C1) P (k-1),
Last k-th of period Kalman filter observation are as follows:
Wherein k-th of periodic state updates are as follows:
X (k)=A1x(k-1)+B1u(k)
P (k)=A1P(k)A1+B1QB1。
After exporting Q shaft current filter value iq_fil, D shaft current filter value id_fil by above-mentioned Kalman filter, then
Q shaft current reference value i*q and Q shaft current filter value iq_fil are input to Q axis pi regulator and carry out PI adjusting, D shaft current ginseng
It examines value i*d and D shaft current filter value id_fil and is input to the progress PI adjusting of D axis pi regulator, wherein the transmitting letter of pi regulator
Number are as follows:
In general, desirable adjuster coefficient is respectively as follows:
Kpd=ωacrLd
Kid=ωacrRs
Kpq=ωacrLq
Kiq=ωacrRs, wherein ω acr is electric current loop bandwidth.
After exporting Q shaft voltage Uq and D shaft voltage Ud by above-mentioned current regulator, it is input to Park inverse transform module 13
In, two-phase rotating coordinate system-two-phase stationary coordinate system conversion is carried out, voltage value V α, V β based on two-phase stationary coordinate system are exported,
The busbar voltage Udc and voltage value V α, V β that voltage sample module 60 samples are input to voltage space vector modulation device (SVPWM) 18
In, voltage vector synthesis is carried out, six PWM duty cycle signals of the switching tube of control inverter 40 are ultimately generated, it is inverse to control
Become the work of 40 driving motor 70 of device, SVPWM is the prior art here, and details are not described herein.
Further, in above by current regulator 12, PI is carried out by Q axis pi regulator and adjusts output Q axis electricity
After pressing Uq, the Q shaft voltage Uq is also subjected to cross-coupling supplement, to generate Q shaft voltage offset Uq ', finally with Q shaft voltage benefit
It repays value Uq ' substitution Q shaft voltage Uq to be input in Park inverse transform module 13, voltage of the final output based on two-phase stationary coordinate system
Value V α, V β.It is calculated by the following formula specifically, generating Q shaft voltage offset:
uq=u 'q+ωrKe,
Wherein uqFor Q shaft voltage offset, u 'qFor Q shaft voltage, ωrFor motor speed, KeFor design factor.
Motor drive control device of the invention passes through Q shaft current reference value, the D shaft current for currently generating controller
Reference value, Q shaft current value and D shaft current value carry out Kalman filtering operation, generate new Q shaft voltage and D shaft voltage, and according to
Rotor field angle, θ r and the Q shaft voltage and D shaft voltage that controller generates carry out Park inverse transformation, are based on static seat to generate
The reference voltage value for marking system, is finally retrieved as the busbar voltage of inverter power supply, and by based on rest frame voltage value and
Busbar voltage carries out space vector of voltage transformation, generates the modulated signal of driving inverter work, to control motor operation, due to
Kalman filtering operation is used in the current regulator of controller, and the high-bandwidth response function of controller is realized with this, can be had
The effect of effect filters out control system model bring noise, the noise of current sample generation can also be filtered out, so as to increase controller
Control bandwidth improves control instruction response speed, and then timely responds to the influence that various abrupt conditions generate, such as power grid electricity
Pressure is instantaneously fallen or is risen, and can adjust compressor frequency in time to strain, be realized with this to motor-driven reliable and stable fortune
Row.
The present invention also proposes a kind of motor-drive circuit, the motor-drive circuit as shown in Figure 1, include rectification module 20,
Filter module 80 and the above-mentioned motor drive control device based on single resistance sampling, can further include PFC module 30,
It is connected between rectification module 20 and filter module 80, the Rectified alternating current for exporting to rectification module carries out power factor (PF) school
Just.
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 (10)
1. a kind of motor drive control method, motor-drive circuit includes controller and inverter, which is characterized in that the control
Method includes:
Q shaft current reference value, D shaft current reference value, Q shaft current actual value and the D shaft current that the controller is currently generated
Actual value carries out Kalman filtering operation, generates new Q shaft voltage and D shaft voltage；
The rotor angle estimated value and the Q shaft voltage and D shaft voltage generated according to controller carries out Park inverse transformation, with life
At the voltage value based on rest frame；
It is retrieved as the busbar voltage of the inverter power supply, and the voltage value based on rest frame and the bus is electric
Pressure carries out space vector of voltage transformation, the modulated signal for driving the inverter work is generated, to control the motor operation.
2. control method as described in claim 1, which is characterized in that the Q shaft current reference for generating the controller
Value, D shaft current reference value, Q shaft current actual value and D shaft current actual value carry out Kalman filtering operation, generate Q shaft voltage and
D shaft voltage includes:
Obtain Q shaft current value, D shaft current value and the Q shaft voltage currently generated that the controller currently generates and D shaft voltage into
Row Kalman filtering operation generates Q shaft current filter value and D shaft current filter value；
Respectively to the Q shaft current reference value, the Q shaft current filter value, D shaft current reference value and D shaft current filter value into
Row PI is adjusted, and generates new the Q shaft voltage and D shaft voltage.
3. control method as described in claim 1, which is characterized in that the control method further include:
The Q shaft voltage is subjected to cross coupling compensation, generates Q shaft voltage offset；
The Q shaft voltage offset, the rotor angle estimated value and the D shaft voltage are subjected to Park inverse transformation, with life
At the voltage value based on rest frame.
4. control method as claimed in claim 3, which is characterized in that it is described that the Q shaft voltage is subjected to cross coupling compensation,
Q shaft voltage offset is generated to be calculated by the following formula:
uq=u 'q+ωrKe,
Wherein u 'qFor Q shaft voltage offset, uqFor Q shaft voltage, ωrFor motor speed, KeFor design factor.
5. a kind of motor drive control device, which is characterized in that the motor drive control device includes:
Inverter, for the direct current of input to be converted into three-phase alternating current, to drive the motor operation；
Voltage sample module, for acquiring the DC bus-bar voltage for the inverter power supply；
Current sampling module, for acquiring the DC bus current for the inverter power supply；
Controller is configured to:
Q shaft current reference value, D shaft current reference value, Q shaft current actual value and the D shaft current that the controller is currently generated
Actual value carries out Kalman filtering operation, generates new Q shaft voltage and D shaft voltage；
The rotor angle estimated value and the Q shaft voltage and D shaft voltage generated according to controller carries out Park inverse transformation, with life
At the voltage value based on rest frame；
It is retrieved as the busbar voltage of the inverter power supply, and the voltage value based on rest frame and the bus is electric
Pressure carries out space vector of voltage transformation, the modulated signal for driving the inverter work is generated, to control the motor operation.
6. motor drive control device as claimed in claim 5, which is characterized in that the Q axis for generating the controller
Current reference value, D shaft current reference value, Q shaft current actual value and D shaft current actual value carry out Kalman filtering operation, generate Q
When shaft voltage and D shaft voltage, the controller is configured to:
Obtain Q shaft current value, D shaft current value and the Q shaft voltage currently generated that the controller currently generates and D shaft voltage into
Row Kalman filtering operation generates Q shaft current filter value and D shaft current filter value；
Respectively to the Q shaft current reference value, the Q shaft current filter value, D shaft current reference value and D shaft current filter value into
Row PI is adjusted, and generates new the Q shaft voltage and D shaft voltage.
7. motor drive control device as claimed in claim 5, which is characterized in that the controller is further configured to:
Cross coupling compensation is carried out to the Q shaft voltage, generates Q shaft voltage offset；
The Q shaft voltage offset, the rotor angle estimated value and the D shaft voltage are subjected to Park inverse transformation, with life
At the voltage value based on rest frame.
8. motor drive control device as claimed in claim 7, which is characterized in that described to intersect the Q shaft voltage
Compensating for coupling generates Q shaft voltage offset, and the controller is configured to be calculated by the following formula:
uq=u 'q+ωrKe,
Wherein u 'qFor Q shaft voltage offset, uqFor Q shaft voltage, ωrFor motor speed, KeFor design factor.
9. 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 5-8 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, for being filtered to the Rectified alternating current, output smoothing direct current,
The filter module connects DC bus, and is that the motor drive control device is powered by the DC bus.
10. a kind of transducer air conditioning, which is characterized in that the transducer air conditioning includes motor driven as claimed in claim 9
Circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910224350.9A CN109981015A (en) | 2019-03-23 | 2019-03-23 | Motor drive control method, device, circuit and transducer air conditioning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910224350.9A CN109981015A (en) | 2019-03-23 | 2019-03-23 | Motor drive control method, device, circuit and transducer air conditioning |
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