CN110488192B - Three-phase current reconstruction method for permanent magnet synchronous motor driving system - Google Patents

Three-phase current reconstruction method for permanent magnet synchronous motor driving system Download PDF

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CN110488192B
CN110488192B CN201910865875.0A CN201910865875A CN110488192B CN 110488192 B CN110488192 B CN 110488192B CN 201910865875 A CN201910865875 A CN 201910865875A CN 110488192 B CN110488192 B CN 110488192B
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王高林
白音
赵楠楠
张国强
陈非凡
徐殿国
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Harbin Institute of Technology
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Abstract

The invention discloses a three-phase current reconstruction method of a permanent magnet synchronous motor driving system, relates to a three-phase current reconstruction method using a single current sensor for sampling, and aims to solve the problem of low reconstruction precision in a phase-shifting compensation mode adopted in the existing single resistance sampling current reconstruction technology, and the method comprises the following steps: obtaining an expected current signal by constructing an expected signal equation; extracting three-phase current information from the bus current information; observing through a sliding mode observer to obtain an expected value of phase A current, an expected value of phase B current and an expected value of phase C current; then obtaining phase A current error, phase B current error and phase C current error; correcting the expected current signal according to the error to obtain an observed value; and performing Clark conversion on the observed value to obtain an actual three-phase current value of the motor.

Description

Three-phase current reconstruction method for permanent magnet synchronous motor driving system
Technical Field
The invention relates to a method for measuring three-phase current of a permanent magnet synchronous motor, in particular to a three-phase current reconstruction method using a single current sensor for sampling.
Background
The single current sensor sampling three-phase current reconstruction technology is widely applied to motor driving systems. The working principle of the single current sensor is that bus current information is obtained through a current sensor connected on a direct current bus in series, and three-phase current information of the motor is extracted from the bus current information through a proper algorithm and is reconstructed through the algorithm. Generally, in order to save cost, the cement resistor with smaller resistance is selected as the direct current bus current sensor. Compared with the traditional three-resistance sampling technology, the single-resistance sampling current reconstruction technology omits a two-phase current sensor, can further save cost and reduce volume, and can avoid sampling errors caused by different sensor gains. Single resistance sampling is also more suitable for motor drive systems than three resistance sampling today when intelligent power modules are rapidly developed.
However, the single-resistor sampling current reconstruction technology has certain problems. When the action time of the voltage vector is less than the minimum sampling time, the MCU cannot accurately sample the current, so that the reconstructed phase current has an accuracy error. Many researches have been made to solve the problem, wherein the most extensive solution method is a phase shift compensation method, and the sampling time is increased to the minimum sampling time by translating the driving PWM signal of the inverter, so that the MCU can perform normal sampling. However, when the motor runs to a high speed state, how to sample the motor by adopting a phase shift compensation mode is not the time when the minimum sampling time can be reached. In practical application, the phase shift compensation mode has the problem that the sector boundary judgment is inaccurate, when the motor runs to the sector boundary, the sector judgment algorithm is invalid due to oscillation of current, and the sampling precision is reduced due to the sector callback phenomenon. Therefore, the research on the novel three-phase current reconstruction method of the permanent magnet synchronous motor driving system with the single current sensor has important theoretical and practical significance.
Disclosure of Invention
The invention aims to solve the problem of low reconstruction precision in a phase-shifting compensation mode adopted in the conventional single-resistor sampling current reconstruction technology, and provides a three-phase current reconstruction method for a permanent magnet synchronous motor driving system.
The invention discloses a three-phase current reconstruction method of a permanent magnet synchronous motor driving system, which comprises the following steps:
step one, obtaining an expected current signal of alpha-axis current and an expected current signal of beta-axis current by constructing an expected signal equation;
acquiring bus current information through a single current sensor, and extracting three-phase current information from the bus current information, wherein the three-phase current information comprises an actual value of phase A current, an actual value of phase B current and an actual value of phase C current;
observing by a sliding mode observer to obtain an expected value of phase A current, an expected value of phase B current and an expected value of phase C current;
comparing the expected value of the phase A current with the actual value of the phase A current to obtain an error of the phase A current; comparing the expected value of the phase B current with the actual value of the phase B current to obtain a phase B current error; comparing the expected value of the phase C current with the actual value of the phase C current to obtain a phase C current error;
correcting the expected current signal of the alpha-axis current and the expected current signal of the beta-axis current according to the phase current error of the phase A, the phase current error of the phase B and the phase current error of the phase C to obtain an observed value of the alpha-axis current and an observed value of the beta-axis current;
and step four, performing Clark transformation on the observed value of the alpha-axis current and the observed value of the beta-axis current to obtain the actual three-phase current value of the motor.
The invention has the beneficial effects that:
1. the defect of low precision caused by the moment that the minimum sampling time cannot be reached even if a phase-shifting compensation mode is adopted when the motor runs at a high speed is avoided, so that the distortion of a reconstructed current signal is relatively less;
2. the defect that sector boundary judgment is inaccurate due to the fact that current is reconstructed in a phase shift compensation mode, so that sampling precision is reduced is overcome, and phase current information of the motor can be reconstructed accurately.
Drawings
FIG. 1 is a block diagram of a PMSM vector control system employing a three-phase current reconstruction method of the present invention;
the vector control system is a double closed-loop vector control system with an inner loop as a current loop and an outer loop as a rotating speed loop; omega is a rotating speed reference value of the permanent magnet synchronous motor, and omega is a rotating speed feedback value of the permanent magnet synchronous motor;
Figure BDA0002201253900000021
for setting the direct-axis current value, IdIs a direct-axis current feedback value;
Figure BDA0002201253900000022
for quadrature axis current set-point, IqIs quadrature axis current feedback value; u. ofdIs a direct axis voltage u under a two-phase rotating coordinate systemqThe quadrature axis voltage under a two-phase rotating coordinate system; i isAIs the A-phase current in a three-phase stationary coordinate system, IBIs the phase B current in a three-phase stationary coordinate system, ICThe phase C current is under a three-phase static coordinate system; i isαIs an alpha-axis current in a two-phase stationary coordinate system, IβIs beta axis current under a two-phase static coordinate system; u. ofαAnd uβIs udAnd uqObtaining a voltage value under a two-phase static coordinate system through coordinate transformation; u. ofabcThe voltage information on the sampling resistor is obtained; i isDCBus current information; u. ofdcIs the bus voltage; cdcIs a bus capacitor; s1～S6Six switching tubes of a three-phase voltage type inverter module; f1～F6Are respectively S1～S6A corresponding drive control signal;
Figure BDA0002201253900000023
the angle required for the coordinate transformation between the two phase rotating coordinate systems and the two phase static coordinate systems,
Figure BDA0002201253900000024
is observed by a rotor position observer;
FIG. 2 is a graph showing a comparison of waveforms of phase A currents of a motor at a given rotation speed of 600r/min without using the three-phase current reconstruction method of the present invention and using the three-phase current reconstruction method of the present invention; the waveform of the phase A current of the motor which does not adopt the three-phase current reconstruction method is arranged on the lower part, and the waveform of the phase A current of the motor which adopts the three-phase current reconstruction method is arranged on the upper part;
FIG. 3 is a graph showing a comparison of waveforms of phase A currents of a motor at a given rotation speed of 1000r/min without using the three-phase current reconstruction method of the present invention and using the three-phase current reconstruction method of the present invention; the waveform of the motor phase A current without the three-phase current reconstruction method is arranged on the lower portion, and the waveform of the motor phase A current when the three-phase current reconstruction method is adopted is arranged on the upper portion.
Detailed Description
The method is mainly applied to a permanent magnet synchronous motor driving system adopting a single current sensor, after current sampling is carried out by adopting the single current sensor, corresponding algorithms need to be designed to extract the three-phase current information of the motor from the direct current bus current and reconstruct the three-phase current information, and therefore, the method for extracting the current information and reconstructing the algorithms is provided.
The present invention will be described more fully with reference to the accompanying drawings, 1-3, in which:
in a first specific embodiment, the method for reconstructing three-phase current of a driving system of a permanent magnet synchronous motor according to the present invention specifically includes the following steps:
the method comprises the following steps: under ideal conditions, the alpha and beta axis currents IαAnd IβAre two orthogonal sinusoids. Therefore, the alpha and beta axis current I can be constructed by a sine oscillatorαAnd IβAnd correcting the expected current signals by acquiring actual phase current information to obtain actual three-phase current information.
Obtaining alpha and beta axis current I by a sine oscillatorαAnd IβThe differential equation of the sine oscillator is:
Figure BDA0002201253900000031
in the formula, x1And x2Is a state variable of a sinusoidal oscillator,
Figure BDA0002201253900000032
and
Figure BDA0002201253900000033
are respectively a state variable x1And x2Differential of (a), omega being permanent magnet synchronizationAnd (4) a rotating speed feedback value of the motor. The desired steady state solution for this equation is:
x1(t)＝sinωt (2)
x2(t)＝cosωt (3)
the steady state solution is alpha and beta axis current IαAnd IβThe desired current signal.
Step two: acquiring bus current information through a single current sensor, and extracting three-phase current information from the bus current information, wherein the three-phase current information comprises an actual value of phase A current, an actual value of phase B current and an actual value of phase C current;
the current observed on the single current sensor contains specific information of the three-phase current of the motor, and only one phase of current passes through the sensor at any time. Therefore, the on-off states of the six switching tubes in the inverter module can be judged, so that the information of each phase of current on the sensor can be obtained. An enable equation for each phase current is established. The current information on the single current sensor is collected, the three-phase current information is collected through the on-off state of the inverter module driving control signal and is converted into alpha and beta axis current IαAnd IβThe actual current signal.
The inverter module comprises a switching tube S1, a switching tube S2, a switching tube S3, a switching tube S4, a switching tube S5 and a switching tube S6, wherein the switching tube S1 and the switching tube S4 are respectively located at an upper bridge arm and a lower bridge arm of the phase A, the switching tube S2 and the switching tube S5 are respectively located at an upper bridge arm and a lower bridge arm of the phase B, and the switching tube S3 and the switching tube S6 are respectively located at an upper bridge arm and a lower bridge arm of the phase C.
The current observed on the single current sensor contains specific information of the three-phase current of the motor, and only one phase of current passes through the sensor at any time. Thus, to extract the corresponding current information from the current sensor, the enable signal for each phase of current is represented by:
Figure BDA0002201253900000041
Figure BDA0002201253900000042
Figure BDA0002201253900000043
in the formula, aA、aBAnd aCRespectively representing enable signals of A-phase, B-phase and C-phase currents, F1Indicating switch tube S1Is placed in a high level,
Figure BDA0002201253900000044
indicating switch tube S1Is set to a low level, F1Indicating switch tube S1Is placed in a high level,
Figure BDA0002201253900000045
indicating switch tube S1Is set to a low level, F1Indicating switch tube S1Is placed in a high level,
Figure BDA0002201253900000046
indicating switch tube S1Is set to a low level, F1Indicating switch tube S1Is placed in a high level,
Figure BDA0002201253900000047
indicating switch tube S1Is set to a low level, F1Indicating switch tube S1Is placed in a high level,
Figure BDA0002201253900000048
indicating switch tube S1When the driving signal is set to a low level, the switch tube S is turned on1Is placed in a high level,
Figure BDA0002201253900000049
indicating switch tube S1Is set to a low level.
The per-phase current information extracted at the current sensor is given by:
IA＝aAIDC (7)
IB＝aBIDC (8)
IC＝aCIDC (9)
in the formula IDCFor information on the current flowing on the bus current, IA、IBAnd ICFor each phase current actual value.
FIG. 1 includes a schematic diagram of current sensor sampling using a sampling resistor RshAs a single resistance current sensor. Let F1To be applied to S1On signal of (2), in the same way as F2～F6Are respectively applied to S2～S6The drive signal of (1). Then there are two cases when the a-phase current is collected: s1Opening, S3And S5 off or S4On, S2, and S6 off. Therefore, in order to extract the a-phase current from the sampling resistor, the activation signal of the sampling resistor can be obtained by the following logic formula:
Figure BDA00022012539000000410
when the B-phase current is acquired, there are two cases: s3Opening, S1And S5Off or S6Opening, S2And S4And (6) turning off. Therefore, in order to extract the B-phase current from the sampling resistor, the activation signal of the sampling resistor can be obtained by the following logic formula:
Figure BDA0002201253900000051
when the C-phase current is collected, there are two cases: s5Opening, S3And S1Shut off orS2Opening, S4And S6And (6) turning off. Therefore, in order to extract the C-phase current from the sampling resistor, the activation signal of the sampling resistor can be obtained by the following logic formula:
Figure BDA0002201253900000052
step three: observing through a sliding mode observer to obtain an expected value of phase A current, an expected value of phase B current and an expected value of phase C current;
comparing the expected value of the phase A current with the actual value of the phase A current to obtain an error of the phase A current; comparing the expected value of the phase B current with the actual value of the phase B current to obtain a phase B current error; comparing the expected value of the phase C current with the actual value of the phase C current to obtain a phase C current error;
correcting the expected current signal of the alpha-axis current and the expected current signal of the beta-axis current according to the phase current error of the phase A, the phase current error of the phase B and the phase current error of the phase C to obtain an observed value of the alpha-axis current and an observed value of the beta-axis current;
and obtaining an error signal from the expected current signal and the actual current signal through the first step and the second step, wherein the error signal is used for correcting the expected current signal, and a sliding mode observer is adopted in a correcting part.
The sliding mode state observer, which observes the actual current signal, is represented by:
Figure BDA0002201253900000053
in the formula (I), the compound is shown in the specification,
Figure BDA0002201253900000054
as an observed value of the alpha-axis current,
Figure BDA0002201253900000055
is an observed value of the beta-axis current,
Figure BDA0002201253900000056
is alpha axis currentThe differential of the observed value is determined,
Figure BDA0002201253900000057
is the differential of the observed value of the beta axis current, omega is the rotating speed feedback value of the permanent magnet synchronous motor,
Figure BDA0002201253900000058
is an error transformation matrix (i.e., Clark transformation matrix) represented by:
Figure BDA0002201253900000059
EA、EBand ECFor each phase current error, it is represented by:
Figure BDA00022012539000000510
Figure BDA0002201253900000061
and
Figure BDA0002201253900000062
for the switching function, the specific representation is represented by the following formula:
Figure BDA0002201253900000063
Figure BDA0002201253900000064
when the A-phase enable signal is 1, the current information acquired by the sampling resistor is A-phase current information. During the period, the expected value of the A-phase current obtained by the sliding-mode observer is compared with the actual value of the A-phase current collected by the sampling resistor to obtain an error of the A-phase current, and the error is used for correcting the expected value of the A-phase current. Because the three-phase current is reflected on the bus in a time-sharing manner and does not interfere with each other when signals are acquired, only one error information (phase A, phase B or phase C) can be acquired during each acquisition. When each error signal is collected back, the error signals are used for correcting the current expected value observed by the sliding mode state observer to be closer to the true value. When no error signal is collected, no signal is used for correcting the expected value, and the observation sliding mode detector equivalently operates in a free mode to maintain the sine wave state.
Figure BDA0002201253900000065
As an observed value of the alpha-axis current,
Figure BDA0002201253900000066
is an observed value of the beta-axis current, namely a desired current signal of the alpha-axis current and the beta-axis current, is passed through the pair
Figure BDA0002201253900000067
And
Figure BDA0002201253900000068
the correction of the desired current signal is made closer to the actual current signal.
Step four: the observed alpha and beta axis currents I are obtained from the third stepαAnd IβAnd then, converting the two-phase current signals into three-phase current signals through Clark conversion to obtain the actual three-phase current value of the motor.
After the observation value information of the alpha and beta axis currents is obtained in the third step, the alpha and beta axis currents are converted into three-phase currents through Clark conversion:
Figure BDA0002201253900000069
as shown in fig. 2 and fig. 3, the effectiveness of the current reconstruction method proposed by the present invention is verified on a driving platform of a permanent magnet synchronous motor. The parameters of the experimental platform are set as follows: the power grid voltage is 220V, the power grid frequency is 50Hz, the d-axis inductance is 7.9mH, the q-axis inductance is 11.7mH, the rotor flux linkage is 0.11Wb, the number of pole pairs of the rotor is 3, the rated power is 1.0kW, and the stator resistance is 2.75 omega. All control algorithms in the experiment were done in the rassa RX 62T. The switching and sampling frequency was set to 10 kHz.
Fig. 2 is a comparison graph of waveforms of a phase current of a motor a without using the three-phase current reconstruction method of the present invention and using the three-phase current reconstruction method of the present invention at a given rotation speed of 600r/min, and fig. 3 is a comparison graph of waveforms of a phase current of a motor a without using the three-phase current reconstruction method of the present invention and using the three-phase current reconstruction method of the present invention at a given rotation speed of 1000 r/min. As can be seen from fig. 2 and 3, after the current reconstruction method provided by the method is adopted, the reconstructed current signal has less distortion, and the phase current information of the motor can be reconstructed more accurately.

Claims (3)

1. The three-phase current reconstruction method of the permanent magnet synchronous motor driving system is characterized by comprising the following steps of:
step one, obtaining an expected current signal of alpha-axis current and an expected current signal of beta-axis current by constructing an expected signal equation;
acquiring bus current information through a single current sensor, and extracting three-phase current information from the bus current information, wherein the three-phase current information comprises an actual value of phase A current, an actual value of phase B current and an actual value of phase C current;
observing by a sliding mode observer to obtain an expected value of phase A current, an expected value of phase B current and an expected value of phase C current;
comparing the expected value of the phase A current with the actual value of the phase A current to obtain an error of the phase A current; comparing the expected value of the phase B current with the actual value of the phase B current to obtain a phase B current error; comparing the expected value of the phase C current with the actual value of the phase C current to obtain a phase C current error;
correcting the expected current signal of the alpha-axis current and the expected current signal of the beta-axis current according to the phase-A current error, the phase-B current error and the phase-C current error to obtain an observed value of the alpha-axis current and an observed value of the beta-axis current;
and fourthly, performing Clark transformation on the observed value of the alpha-axis current and the observed value of the beta-axis current to obtain an actual three-phase current value of the motor.
2. The method for reconstructing three-phase current of a permanent magnet synchronous motor driving system according to claim 1, wherein the step one further comprises:
step one, constructing an expected signal equation, wherein the expected signal equation is a differential equation of a sine oscillator:
Figure FDA0003213758020000011
wherein x is1And x2Are state variables of the sinusoidal oscillator,
Figure FDA0003213758020000012
and
Figure FDA0003213758020000013
are respectively a state variable x1And x2Differentiation of (1);
step two, obtaining the expected steady state solution x of the differential equation1(t) and x2(t) as a desired current signal for the α -axis current and a desired current signal for the β -axis current, respectively, the desired steady state solution being as follows:
x1(t)＝sinωt (2)
x2(t)＝cosωt (3)
wherein, ω is the rotating speed feedback value of the permanent magnet synchronous motor.
3. The method for reconstructing three-phase current of a permanent magnet synchronous motor driving system according to claim 2, wherein the second step further comprises:
step two, obtaining an enabling signal of each phase current in the three-phase current information through an inverter module:
Figure FDA0003213758020000014
Figure FDA0003213758020000015
Figure FDA0003213758020000021
the inverter module is electrically connected with the three-phase alternating current output end of the permanent magnet synchronous motor and comprises a switching tube S1Switch tube S2Switch tube S3Switch tube S4Switch tube S5And a switching tube S6Switching tube S1And a switching tube S4An upper bridge arm, a lower bridge arm and a switch tube S which are respectively positioned at the phase A2And a switching tube S5An upper bridge arm, a lower bridge arm and a switch tube S which are respectively positioned on the B phase3And a switching tube S6An upper bridge arm and a lower bridge arm which are respectively positioned on the C phase;
wherein, aA、aBAnd aCEnable signals respectively representing the A-phase current, the B-phase current and the C-phase current; f1Indicating switch tube S1Is placed in a high level,
Figure FDA0003213758020000022
indicating switch tube S1A state when the drive signal of (b) is set at a low level; f2Indicating switch tube S2Is placed in a high level,
Figure FDA0003213758020000023
indicating switch tube S2A state when the drive signal of (b) is set at a low level; f3Indicating switch tube S3Is placed in a high level,
Figure FDA0003213758020000024
indicating switch tube S3A state when the drive signal of (b) is set at a low level; f4Indicating switch tube S4Is placed in a high level,
Figure FDA0003213758020000025
indicating switch tube S4A state when the drive signal of (b) is set at a low level; f5Indicating switch tube S5Is placed in a high level,
Figure FDA0003213758020000026
indicating switch tube S5A state when the drive signal of (b) is set at a low level; f6Indicating switch tube S6Is placed in a high level,
Figure FDA0003213758020000027
indicating switch tube S6A state when the drive signal of (b) is set at a low level;
step two, extracting each phase of current information in the three-phase current information through the bus current information, and the method comprises the following steps:
IA＝aAIDC (7)
IB＝aBIDC (8)
IC＝aCIDC (9)
wherein, IDCFor bus current information, IA、IBAnd ICThe actual current values of the A phase, the B phase and the C phase are respectively.
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