CN111049443B - Sampling method for single-resistor current of three-phase permanent magnet synchronous motor - Google Patents
Sampling method for single-resistor current of three-phase permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention relates to a sampling method of single resistance current of a three-phase permanent magnet synchronous motor, which comprises the following steps: s1: acquiring time of three-phase output high level in the current period, dividing a sampling area and a non-sampling area according to the three time in sequence from large to small, and performing phase shifting respectively; s2: setting sampling points of the sampling region and the non-sampling region divided in the step S1 respectively, and obtaining corresponding sampling current values; s3: the currents obtained in the sampling region and the non-sampling region divided in step S1 are subjected to a process of reconstructing the phase currents, respectively, to obtain three-phase currents. Compared with a three-resistor scheme, the method provided by the invention has the advantage of low cost, can greatly expand a single-resistor sampling area compared with the traditional single-resistor scheme, has extremely high continuity of current, and is very simple and convenient to realize.
Description
Technical Field
The invention relates to the field of motor control, in particular to a method for sampling single-resistor current of a three-phase permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is widely applied to household products due to the advantages of high efficiency and energy conservation, and the single-resistor sampling scheme draws people's attention to further reduce the system cost.
The scheme of utilizing the single resistor to sample the bus current and further reconstructing the three-phase current has certain restriction, the sampling can be carried out only when the three phases have effective voltage vector output, the sampling time needs to be more than or equal to dead time and the time for sampling current to be stable, the single resistor sampling scheme is completely invalid in a low modulation coefficient region and a region passing a sector boundary, and the voltage phase in the traditional method can generate distortion and the duty ratio is changed, so that the control is inaccurate.
CN104579106A discloses a single-resistor sampling phase-shift compensation method and system. The method collects the bus current through a sampling resistor arranged on a bus of a variable-frequency three-phase inverter circuit, and comprises the following steps: Tb-Ta = T1 and Tc-Tb = T2 were calculated, respectively; judging whether T1 is smaller than Tmin, if yes, sampling a first phase current after phase shift compensation; if not, directly sampling the first phase current; judging whether T2 is smaller than Tmin, if yes, sampling a first phase current after phase shift compensation; if not, the second phase current is directly sampled. The invention also provides a single-resistor sampling phase-shifting compensation system based on the same inventive concept. The single-resistor sampling phase-shift compensation method and the system perform phase-shift compensation on the duty ratio when the sampling time is short, so that the voltage phase is not distorted, the duty ratio is not changed, and the control is accurate. Therefore, the problem that the control is inaccurate due to duty ratio change when the sampling time is short in the traditional scheme is solved.
The problem of inaccurate duty ratio variation control can be solved in the above patent, but the main problem of this solution is that, because the current sampling is performed non-simultaneously, there is a discontinuous situation in the current obtained by sampling, which may adversely affect the control.
Therefore, the method provided by the invention can greatly expand the sampling area of the single resistor, the current has extremely high continuity, and the whole scheme is simple and convenient to realize.
Disclosure of Invention
The invention provides a method for sampling single-resistor current of a three-phase permanent magnet synchronous motor, which can expand the sampling area of a single resistor, has high continuity of the sampling current and is simple and convenient to realize the whole scheme.
The technical scheme of the invention is as follows:
a sampling method of single-resistor current of a three-phase permanent magnet synchronous motor comprises the following steps:
s1: phase shifting: the time for obtaining the three-phase output high level in the current period is T respectivelya、Tb、TcThe three times are respectively ordered from large to small as Tmax、Tmid、TminRemember T1=Tmax-Tmid、T2=Tmid-TminAdditionally, the minimum time required for sampling is recorded as TsampleAccording to T1、T2And TsampleThe size relationship between the two areas is divided into a sampling area and a non-sampling area, and phase shifting is carried out respectively;
s2: setting sampling points: respectively setting sampling points of the samplable areas and the non-samplable areas divided in the step S1, and obtaining corresponding sampling current values;
s3: current treatment: the currents obtained in the samplable areas and the non-samplable areas divided in step S1 are respectively subjected to a process of reconstructing phase currents to obtain three-phase currents.
Preferably, T is the same as T in step S1sampleIncluding dead time and sample current settling time.
Preferably, the division of the sampling region in step S1 is based on the determination T1、T2Whether or not less than TsampleIf T is1、T2Are all greater than or equal to TsampleThen, the data is positioned in a sampling area; if T1、T2Is less than TsampleThen it is located in the non-samplable area.
Preferably, the non-sampling area is divided into a non-sampling area 1, a non-sampling area 2 and a non-sampling area 3.
Preferably, the non-sampling area is divided according to the following: when T is2Less than TsampleWhen in the non-sampling area 1, when T is1Less than TsampleWhen in the non-sampling region 2, when T is1And T2Are all less than TsampleAnd is located in the non-sampling region 3.
Preferably, the specific process of phase shifting is as follows: when the non-sampling area is 1, T is setmidOutput set to middle low, high mode on both sides, Tmax，TminSetting the mode to be high in the middle and low on two sides; when the non-sampling area is 2, T is setmaxOutput set to middle low, high mode on both sides, Tmid，TminSetting the mode to be high in the middle and low on two sides; when the region is located in the non-sampling region 3, T is setminOutput set to middle low, high mode on both sides, Tmax，TmidThe mode is set to be high in the middle and low on two sides.
Preferably, the specific process of setting the sampling points in step S2 is as follows: when the sampling trigger points are positioned in the sampling area, 4 sampling trigger points are set in the current period and are respectively positioned at TmaxRising edge of, TmidRising edge of, and TminFalling edge of, TmidFalling edge of, sample transition T after the sample trigger pointsampleTime is carried out, and the current acquired by the sampling trigger point is recorded as current _ max _ up, current _ mid _ up, current _ min _ down and current _ mid _ down according to the sequence; when the current cycle is located in the non-sampling area, three sampling conversion points are set in the current cycle, the overflow point of the counter is set as the sampling conversion point, the obtained current is marked as current _ up, the two underflow points of the counter are set as the sampling conversion points, and the obtained currents are respectively marked as current _ down _1 and current _ down _ 2.
Preferably, the current processing procedure in step S3 is: when the current is located in the sampling area, the phase current reconstruction is carried out in the next period by using the four currents obtained in the current period, so that current _ x = (current _ max _ up + current _ mid _ down)/2, and current _ y = (current _ mid _ up + current _ min _ down)/2; when the current is located in the non-sampling area, the phase current is reconstructed by using three currents obtained in the current period in the next period, so that current _ x = current _ up, and current _ y = (current _ down _1+ current _ down _ 2)/2; the current _ x and current _ y are average values of the currents.
Preferably, the current _ x and the current _ y are obtained by sampling under the same effective voltage vector.
More preferably, i is reconstructed from current _ x and current _ y according to the specific effective voltage vector when the current is sampled in the last cycleabcReconstructing to obtain iabcThe specific method (2) is shown in the following table:
| switching function | 100 | 110 | 010 | 011 | 001 | 101 |
| Voltage vector | V4 | V6 | V2 | V3 | V1 | V5 |
| Sampling current | ia | -ic | ib | -ia | ic | -ib |
According to the obtained two currents and the relation ia+ib+ic=0 available three-phase current.
The invention has the beneficial effects that: compared with a three-resistor scheme, the method provided by the invention has the advantage of low cost, can greatly expand a single-resistor sampling area compared with the traditional single-resistor scheme, has extremely high continuity of current, and is very simple and convenient to realize.
Drawings
Fig. 1 is a three-phase drive and sampling circuit.
Fig. 2 is a diagram of the sampleable and non-sampleable regions partitioned according to SVPWM.
Fig. 3 is a phase shifting method of the non-sampling region 1 illustrated by the first sector.
Fig. 4 is a phase shifting method of the non-samplable area 2 illustrated as the first sector.
Fig. 5 is a phase shift method of the non-samplable area 3, which is illustrated by the first sector as an example.
Fig. 6 is a waveform of a conventional single-resistor non-simultaneously sampled current.
Fig. 7 is a sampling timing diagram of the sampleable region illustrated by the first sector as an example.
Fig. 8 is a sampling timing diagram of the non-sampling area 1 described by taking the first sector as an example.
Fig. 9 is a sampling timing chart of the non-sampling area 2 explained by taking the first sector as an example.
Fig. 10 is a sampling timing chart of the non-sampling area 3 explained by taking the first sector as an example.
Detailed Description
Embodiments of the present invention will now be described in detail with reference to the drawings, it being understood that the following drawings illustrate only some embodiments of the invention and are therefore not to be considered limiting of scope, for those skilled in the art will appreciate that other related drawings may be derived therefrom without inventive faculty.
A sampling method of single resistance current of a three-phase permanent magnet synchronous motor adopts a sampling circuit and a three-phase driving circuit, as shown in figure 1, the method comprises the following specific steps:
step 1: and (4) phase shifting.
The time for obtaining the three-phase output high level in the current period is T respectivelya，Tb，TcThe three times are respectively expressed as T in descending ordermax，Tmid，TminNote T1= Tmax-Tmid，T2=Tmid-TminAdditionally, the minimum time required for sampling is recorded as TsampleThe time includes dead time and sampling current stabilization time when T1And T2Are all less than TsampleWhen in the non-sampling region 3, when T1Less than TsampleWhen in the non-sampling region 2, when T is2Less than TsampleWhen in the non-sampling area 1, when T is1And T2Are all greater than or equal to TsampleThen, the three-phase output circuit is positioned in a sampling area, the areas are divided as shown in figure 2, and according to the time T of A, B, C three-phase output high levela，Tb，TcThe permutation and combination of (2) is divided into 6 sectors.
Taking the first sector as an example, the phase shifting method is implemented as shown in fig. 3, and the phase shifting methods of other sectors are similar to the above, and the specific manner of phase shifting is as follows:
when the current sampling device is positioned in a sampling area, the current can be directly sampled without operation;
when the non-sampling region 1 is located, T is setmidOutput set to middle low, high mode on both sides, Tmax，TminSetting the mode to be high in the middle and low on two sides;
when in the non-sampling region 2, T is setmaxOutput set to middle low, high mode on both sides, Tmid，TminSetting the mode to be high in the middle and low on two sides;
current positionIn the non-sampling region 3, T is setminOutput set to middle low, high mode on both sides, Tmax，TmidSet to mid-high.
Through the process of step 1, the sampling area of the single resistance sampling can be greatly expanded.
Step 2: and setting sampling points.
And after the phase shifting operation in the step 1 is completed, setting sampling points according to the divided sampling areas.
When the sampling trigger points are positioned in the sampling area, 4 sampling trigger points are set in the current period and are respectively positioned at TmaxRising edge of, TmidRising edge of, and TminFalling edge of, TmidFalling edge of, sample transition T after the sample trigger pointsampleAnd (4) carrying out time. The resulting currents are sequentially noted as current _ max _ up, current _ mid _ up, current _ min _ down, and current _ mid _ down, which are handed to step 3 for processing.
When the current is located in the non-sampling area, three sampling conversion points are set in the current period, the overflow point of the counter is set as the sampling conversion point, the obtained current is current _ up, the two underflow points of the counter are set as the sampling conversion points, the obtained currents are current _ down _1 and current _ down _2, and the currents are also handed to the step 3 for processing.
Taking the first sector as an example, the arrangement of the sampling trigger point and the sampling transition point is shown in fig. 4.
And step 3: and (4) current processing.
When the current is located in the sampling area, the phase current reconstruction is carried out in the next period by using the four currents obtained in the current period, so that:
current_x=(current_max_up+current_mid_down)/2；current_y=(current_mid_up+current_min_down)/2。
when the current is located in the non-sampling area, the phase current is reconstructed by using three currents obtained in the current period in the next period, so that:
current_x=current_up；
current_y=(current_down_1+current_down_2)/2。
it is noted that the currents used for averaging the currents are all obtained under the same effective voltage vector. The obtained average value current _ x and current _ y can infinitely approximate the current sampled at the same time in the current cycle, which avoids the adverse effect of discontinuous sampling current caused by non-simultaneous sampling, and the adverse effect can be seen from fig. 5.
In the next period, i is obtained by reconstructing current _ x and current _ y according to the specific effective voltage vector when the current is sampled in the previous periodabcThe method is shown in Table 1, based on the two currents obtained and the relation ia+ib+ic=0 full three-phase current can be obtained. Taking 4 sampling trigger points of the sampling region in fig. 5 as an example, the 4 sampling trigger points respectively correspond to (1, 0, 0), (1, 1, 0), (1, 1, 0), and (1, 0, 0) in table 1, and after reconstructing the three-phase current, the current can be used for the next step of control.
TABLE 1
| Switching function | 100 | 110 | 010 | 011 | 001 | 101 |
| Voltage vector | V4 | V6 | V2 | V3 | V1 | V5 |
| Sampling current | ia | -ic | ib | -ia | ic | -ib |
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A sampling method of single resistance current of a three-phase permanent magnet synchronous motor is characterized by comprising the following steps:
s1: phase shifting: obtaining the time of three-phase output high level in the current periodEach of which is Ta、Tb、TcThe three times are respectively ordered from large to small as Tmax、Tmid、TminRemember T1=Tmax-Tmid、T2= Tmid-TminAdditionally, the minimum time required for sampling is recorded as TsampleAccording to T1、T2And TsampleThe size relationship between the two areas is divided into a sampling area and a non-sampling area, and phase shifting is carried out respectively;
s2: setting sampling points: respectively setting sampling points of the samplable areas and the non-samplable areas divided in the step S1, and obtaining corresponding sampling current values;
s3: current treatment: respectively performing phase current reconstruction processing on the currents obtained in the samplable areas and the non-samplable areas divided in the step S1 to obtain three-phase currents;
the division of the sampling region in step S1 is based on the determination T1、T2Whether or not less than TsampleIf T is1、T2Are all greater than or equal to TsampleThen, the data is positioned in a sampling area; if T1、T2Is less than TsampleIf the sampling area is not available, the sampling area is located in an unsamplable area;
the specific process of setting the sampling points in step S2 is as follows: when the sampling trigger points are positioned in the sampling area, 4 sampling trigger points are set in the current period and are respectively positioned at TmaxRising edge of, TmidRising edge of, and TminFalling edge of, TmidFalling edge of, sample transition T after the sample trigger pointsampleTime is carried out, and the current acquired by the sampling trigger point is recorded as current _ max _ up, current _ mid _ up, current _ min _ down and current _ mid _ down according to the sequence; when the current cycle is located in the non-sampling area, three sampling conversion points are set in the current cycle, the overflow point of the counter is set as the sampling conversion point, the obtained current is marked as current _ up, the two underflow points of the counter are set as the sampling conversion points, and the obtained currents are respectively marked as current _ down _1 and current _ down _ 2;
the current being processed in step S3The process is as follows: when the current is located in the sampling area, the phase current reconstruction is carried out in the next period by using the four currents obtained in the current period, so that current _ x = (current _ max _ up + current _ mid _ down)/2, and current _ y = (current _ mid _ up + current _ min _ down)/2; when the current is located in the non-sampling area, the phase current is reconstructed by using three currents obtained in the current period in the next period, so that current _ x = current _ up, and current _ y = (current _ down _1+ current _ down _ 2)/2; current _ x and current _ y are average values of the currents; according to the specific effective voltage vector when the current is sampled in the last period, i is obtained by reconstructing current _ x and current _ yabcReconstructing to obtain iabcThe specific method (2) is shown in the following table:
According to the obtained two currents and the relation ia+ib+ic=0 available three-phase current.
2. The method for sampling the single-resistor current of the three-phase permanent magnet synchronous motor according to claim 1, wherein the T in the step S1sampleIncluding dead time and sample current settling time.
3. The method for sampling the single-resistance current of the three-phase permanent magnet synchronous motor according to claim 2, wherein the non-sampling region is divided into a non-sampling region 1, a non-sampling region 2 and a non-sampling region 3.
4. The method for sampling the single-resistance current of the three-phase permanent magnet synchronous motor according to claim 1, wherein the non-sampling area is divided according to the following steps: when T is2Less than TsampleWhen in the non-sampling area 1, when T is1Less than TsampleWhen in the non-sampling region 2, when T is1And T2Are all less than TsampleAnd is located in the non-sampling region 3.
5. According to claim 4The method for sampling the single-resistor current of the three-phase permanent magnet synchronous motor is characterized in that the specific process of phase shifting is as follows: when the non-sampling area is 1, T is setmidOutput set to middle low, high mode on both sides, Tmax，TminSetting the mode to be high in the middle and low on two sides; when the non-sampling area is 2, T is setmaxOutput set to middle low, high mode on both sides, Tmid，TminSetting the mode to be high in the middle and low on two sides; when the region is located in the non-sampling region 3, T is setminOutput set to middle low, high mode on both sides, Tmax，TmidThe mode is set to be high in the middle and low on two sides.
6. The method for sampling the single-resistor current of the three-phase permanent magnet synchronous motor according to claim 1, wherein the current _ x and the current _ y are obtained by sampling under the action of the same effective voltage vector.
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| WO2022099637A1 (en) * | 2020-11-13 | 2022-05-19 | 深圳市汇顶科技股份有限公司 | Phase shift compensation and phase current reconstruction methods, chip, electronic device, and storage medium |
| CN112436773B (en) * | 2020-11-17 | 2022-04-01 | 北京理工大学 | Improved dead-beat prediction control method for permanent magnet synchronous motor single current sensor |
| CN112994578B (en) * | 2021-03-05 | 2022-05-31 | 苏州士林电机有限公司 | Phase current single-resistor sampling reconstruction optimization method for frequency converter |
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