CN111313786A - Three-phase motor driver with current error correction capability and correction method - Google Patents
Three-phase motor driver with current error correction capability and correction method Download PDFInfo
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- CN111313786A CN111313786A CN202010091472.8A CN202010091472A CN111313786A CN 111313786 A CN111313786 A CN 111313786A CN 202010091472 A CN202010091472 A CN 202010091472A CN 111313786 A CN111313786 A CN 111313786A
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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
Abstract
The invention provides a three-phase motor driver with current error correction capability, wherein in the three-phase motor driver, an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of a motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through signal acquisition ports of a A, B, C three-phase current sensor in the forward direction, in addition, input cables of a lower circuit of a C-phase bridge arm of the inverter also respectively penetrate through signal acquisition ports of a A, B, C three-phase current sensor in the forward direction, offset errors are estimated and eliminated by using sampling values of the three-phase current sensor in an off-line state, and a gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two. The current sensor error estimation method has the advantages of few signal sampling and recording times, negligible error estimation calculation amount and no influence on the normal operation control of the system.
Description
Technical Field
The invention relates to the field of motor drivers, in particular to a three-phase motor driver and a correction method.
Background
The rapid development of modern power electronic conversion technology greatly promotes the overall performance of an alternating current motor system, and a plurality of high-precision current sensors are required to be installed in a current three-phase alternating current motor driver to realize closed-loop control of three-phase current, so that normal and efficient operation of the system is guaranteed. However, in an actual controller, due to the comprehensive factors such as incomplete coincidence of actual parameters of each device and design parameters, asymmetry between phases, severe operating environment, aging of a driver, and the like, the accuracy of the current sensors is often challenged variously, and an offset error and a gain error which are difficult to avoid in the current sampling process occur. In order to solve the above problems, the prior art mainly adopts an off-line estimation method to eliminate the offset error, but this scheme is difficult to estimate the gain error of the current sensor. Another scheme mainly uses the control variables of the control system to achieve the estimation of the current sensor error, however, this scheme needs the whole control system as a loop for the estimation of the current sensor error, and thus has certain limitations [ related contents are described in documents 1 to 3, wherein document 1 is young-shore chon, Thomas la bella, Jih-shrog Lai, "a line-phase current measurement structure with line current measurement compensation sensor," IEEE Transactions on Industrial Electronics, vol 59, No.7, No. 2924-2933, jul.2012, (journal of german), document 2 is Kwang-Woon Lee, Sang-Il m, "dynamics for a calibration of a current sensor, wo 6727, 6766, IEEE 6736, 679. current measurement sensor), document 3 is NegesseBelete Belayneh, Chang-Hwan Park, Jang-Mok Kim, "Compensation of arm currentsensor errors in modulated multilevel converter," IEEE Transactions on Industrial applications, vol.55, No.5, pp.5005-5012, Sep./Oct.2019. (journal of treatises) ]. Its main limitations are expressed as: firstly, the current sensor error estimation loop is long, the hardware composition is complex in type and large in quantity, so that the current sensor error estimation time consumption and the accuracy are easily influenced by other factors, such as load fluctuation, load type, system parameter change, operation conditions and the like. Secondly, since this kind of scheme needs to use a large number of complex algorithms such as observers and digital filters to participate in the operation, the calculation amount is usually large, which brings a great operation burden to the system. Finally, this type of solution is not very suitable, and in particular it has its own drawbacks that lead to a considerable reduction in effectiveness for inertial loads, which are subject to current sensor errors, usually in the form of an immeasurable torque ripple component, rather than measurable speed fluctuations. In view of the above problems, the current sensor error correction strategy should have the characteristics of fast estimation speed, small calculation burden, strong applicability, and the like.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the three-phase motor driver with the current error correction capability and the correction method, the driver not only has the necessary normal functions of a normal driver, but also does not need to be changed aiming at the conventional operation control, and the high-precision estimation of the current sensor error can be realized only by additionally adding an off-line estimation process and an on-line current sampling process.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a three-phase motor driver with current error correction capability is characterized in that an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of a motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, in addition, input cables of a lower branch of a C-phase bridge arm of the inverter also respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, offset errors are estimated and eliminated by using sampling values of a three-phase current sensor in an off-line state, the gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two zero-voltage vectors under a normal operation working condition.
The invention also provides a correction method of the three-phase motor driver with the current error correction capability, which comprises the following steps:
step (ii) of1: taking into account the effects of bias error and gain error, iPA、iPB、iPCThe value of (b) is expressed as formula (1):
wherein f isA、fBThe offset errors of the A-phase current sensor and the B-phase current sensor, kA、kBThe gain errors of the A-phase current sensor and the B-phase current sensor are respectively;
according to the circuit topology of the inverter under different switching states, the relation between the three-phase current sampling value and two zero voltage vectors is obtained by combining the formula (1), as shown in the formulas (2) to (4), wherein iPA_0、iPB_0、iPC_0Respectively, three-phase current sensor in each switching period V of the inverter0The current value under action;
at both ends V of the switching cycle0Under the action, the three-phase sensors are respectively sampled to obtain 2 current values of each phase, and V is obtained by utilizing the average algorithm of a formula (4)0Current value i of each phase under actionPA_0、iPB_0、iPC_0；
In the middle V of the switching period7Under the action, the three-phase sensor is respectively sampled to obtain 1 current value i of each phasePA_7、iPB_7、iPC_7；
Firstly, estimating the bias error of a current sensor, and estimating and eliminating the gain error of the current sensor on the basis of obtaining and eliminating the value of the bias error;
step 2: an offset error;
when the system is in a non-operation state, six switching tubes of the inverter are in an open circuit state, currents in three-phase windings of the motor are all 0, and currents in a lower branch circuit of the C-phase bridge arm are also 0, so that iPA、iPB、iPCThe actual value at this time is the three-phase offset error shown in formula (5), the three-phase current sensors are respectively sampled, and the obtained three values are respectively used as estimated values of the offset error of the corresponding phase sensor, as shown in formula (5):
and step 3: a gain error;
the estimation of the gain error requires that the estimated bias error is firstly counteracted from the detected current signal, and then the gain error is estimated;
subtracting the corresponding term of formula (3) from each term of formula (2) yields formula (6), where Δ iPA、ΔiPB、ΔiPCIs a defined variable;
from equation (6), the correlation of the gain errors of the three-phase current sensor can be obtained by using three defined variables, as shown in equation (7):
kA:kB:kC＝ΔiPA:ΔiPB:ΔiPC＝(iPA_0-iPA_7):(iPB_0-iPB_7):(iPC_0-iPC_7) (7)
in order to compensate for the gain errors of the three-phase current sensor in a balanced manner, compensation factors x, y, z are defined, as shown in equation (8), where iPA'、iPB'、iPC' is a compensated three-phase current detection value;
the compensation coefficients x, y, z need to satisfy the dual constraint shown in equation (9):
the compensation coefficients x, y, z are obtained by equation (9) as values shown in equation (10):
finally, the gain error of each phase current sensor is eliminated by multiplying the detection value of each phase current sensor by the corresponding compensation coefficient in the formula (10) by using the formula (8) and the formula (10).
The invention has the advantages that aiming at the problem of error correction of the current sensor of the three-phase motor driving system, the invention has the following advantages:
(1) the current sensor error estimation of the invention requires few signal sampling and recording times: because the prior art needs a large amount of system input and output variable information, and estimates the current sensor error through algorithms such as an observer, a filter and the like, a large amount of signal sampling points are often needed to be set and recorded and analyzed, so that the system memory consumption is large, the scheme can realize the accurate estimation of the current sensor error only by respectively sampling current off line and on line once, and the required signal sampling and signal recording times are few;
(2) the error estimation calculated amount of the current sensor can be ignored: because the estimation scheme of the current sensor error in the prior art usually depends on a large number of complex observers, digital filters and the like, the calculation amount of the estimation scheme is very large, and great operation burden is caused to a microprocessor;
(3) the error estimation of the current sensor has no influence on the normal operation control of the system: due to the realization defects of the prior art, the estimation capacity of the current sensor error is realized by a control system which needs to carry out a large amount of calculation, so that the control system can bring certain limit or influence to the normal operation control of the system0And V7Of the current sample values at two zero voltage vectors, V7The situation in the state is not separated from the normal mode, and the control of the normal system can be performed without changing the control mode, V0The sampled value in the state is then used for correction of the current sensor error.
Drawings
Fig. 1 is a three-phase motor drive topology with current error correction capability according to the present invention.
Fig. 2 is a current sampling point setting scheme of the current sensor error correction scheme on-line correction section in sector I of the present invention.
In the figure VDCIs the DC bus voltage of the motor drive system iA、iB、iCThe actual values of the phase A current, the phase B current and the phase C current, iPA、iPB、iPCThe sampled values of the A-phase current, B-phase current and C-phase current, iCLIs the current value of the input cable of the lower branch of the C-phase bridge arm, TsIs the switching period of the inverter, T0、T1、T2、T7Are respectively the basic voltage vector V0、V1、V2、V7Duration of action, S, in each inverter switching cycleA、SB、SCThree-phase arm switching states, i, of inverter A, B, CPA_0_1、iPB_0_1、iPC_0_1Respectively the current sample value, i, of the three-phase current sensor at the beginning of each switching cycle of the inverterPA_0_2、iPB_0_2、iPC_0_2Respectively, three-phase current sensor in each switching period of the inverterSample value of the current at the end iPA_7、iPB_7、iPC_7The current sampling values of the three-phase current sensor in the middle of each switching period of the inverter are respectively.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
A three-phase motor driver with current error correction capability is characterized in that an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of a motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, in addition, input cables of a lower branch of a C-phase bridge arm of the inverter also respectively penetrate through A, B, C three-phase current sensor signal acquisition ports in the forward direction, offset errors are estimated and eliminated by using sampling values of a three-phase current sensor in an off-line state, the gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two zero-voltage vectors under a normal operation working condition.
Step 1: in FIG. 1, the effects of bias error and gain error are taken into account, iPA、iPB、iPCThe value of (b) is expressed as formula (1):
wherein f isA、fBThe offset errors of the A-phase current sensor and the B-phase current sensor, kA、kBThe gain errors of the A-phase current sensor and the B-phase current sensor are respectively;
according to the circuit topology of the inverter under different switching states, the relation between the three-phase current sampling value and two zero voltage vectors is obtained by combining the formula (1), as shown in the formulas (2) to (4), wherein iPA_0、iPB_0、iPC_0Respectively, three-phase current sensor in each switching period V of the inverter0The current value under action;
on-off switchBoth ends of the cycle (V)0Under the action) respectively sampling the three-phase sensors to obtain 2 current values of each phase, and obtaining V by using an average algorithm of a formula (4)0Current value i of each phase under actionPA_0、iPB_0、iPC_0；
In the middle of the switching cycle (V)7Under the action) respectively sampling the three-phase sensors to obtain 1 current value i of each phasePA_7、iPB_7、iPC_7。
Firstly, estimating the bias error of a current sensor, and estimating and eliminating the gain error of the current sensor on the basis of obtaining and eliminating the value of the bias error;
step 2: an offset error;
when the system is in a non-operation state, six switching tubes of the inverter are in an open circuit state, currents in three-phase windings of the motor are all 0, and currents in a lower branch circuit of the C-phase bridge arm are also 0, so that iPA、iPB、iPCThe actual value at this time is the three-phase offset error shown in formula (5), the three-phase current sensors are respectively sampled, and the obtained three values are respectively used as estimated values of the offset error of the corresponding phase sensor, as shown in formula (5):
and step 3: a gain error;
the estimation of the gain error requires that the estimated bias error is firstly counteracted from the detected current signal, and then the gain error is estimated;
subtracting the corresponding term of formula (3) from each term of formula (2) yields formula (6), where Δ iPA、ΔiPB、ΔiPCIs a defined variable;
from equation (6), the correlation between the gain errors of the three-phase current sensor can be obtained by using three defined variables, as shown in equation (7):
kA:kB:kC＝ΔiPA:ΔiPB:ΔiPC＝(iPA_0-iPA_7):(iPB_0-iPB_7):(iPC_0-iPC_7) (7)
in order to compensate for the gain errors of the three-phase current sensor in a balanced manner, compensation factors x, y, z are defined, as shown in equation (8), where iPA'、iPB'、iPC' is a compensated three-phase current detection value;
the compensation coefficients x, y, z need to satisfy the dual constraint shown in equation (9):
the compensation coefficients x, y, z are obtained by equation (9) as values shown in equation (10):
finally, the gain error of each phase current sensor is eliminated by multiplying the detection value of each phase current sensor by the corresponding compensation coefficient in the formula (10) by using the formula (8) and the formula (10).
Claims (2)
1. A three-phase motor driver having current error correction capability, comprising:
in the three-phase motor driver with the current error correction capability, an inverter is powered by direct-current bus voltage, the middle points of three-phase bridge arms of the inverter are respectively connected with three-phase windings of the motor, input cables of A, B, C three-phase windings of the motor respectively penetrate through A, B, C signal acquisition ports of a three-phase current sensor in the forward direction, in addition, input cables of a lower branch of a C-phase bridge arm of the inverter also respectively penetrate through A, B, C signal acquisition ports of the three-phase current sensor in the forward direction, offset errors are estimated and eliminated by using sampling values of the three-phase current sensor in an off-line state, the gain error relation of the three-phase current sensor is estimated by using the sampling values of the three-phase current sensor under the action of two zero voltage vectors under a normal operation.
2. A correction method using the three-phase motor driver with current error correction capability of claim 1, characterized by comprising the steps of:
step 1: taking into account the effects of bias error and gain error, iPA、iPB、iPCThe value of (b) is expressed as formula (1):
wherein f isA、fBThe offset errors of the A-phase current sensor and the B-phase current sensor, kA、kBThe gain errors of the A-phase current sensor and the B-phase current sensor are respectively;
according to the circuit topology of the inverter under different switching states, the relation between the three-phase current sampling value and two zero voltage vectors is obtained by combining the formula (1), as shown in the formulas (2) to (4), wherein iPA_0、iPB_0、iPC_0Respectively, three-phase current sensor in each switching period V of the inverter0The current value under action;
at both ends V of the switching cycle0Under the action, the three-phase sensors are respectively sampled to obtain 2 current values of each phase, and V is obtained by utilizing the average algorithm of a formula (4)0Current value i of each phase under actionPA_0、iPB_0、iPC_0；
In the middle V of the switching period7Under the action, the three-phase sensor is respectively sampled to obtain 1 current value i of each phasePA_7、iPB_7、iPC_7；
Firstly, estimating the bias error of a current sensor, and estimating and eliminating the gain error of the current sensor on the basis of obtaining and eliminating the value of the bias error;
step 2: an offset error;
when the system is in a non-operation state, six switching tubes of the inverter are in an open circuit state, currents in three-phase windings of the motor are all 0, and currents in a lower branch circuit of the C-phase bridge arm are also 0, so that iPA、iPB、iPCThe actual value at this time is the three-phase offset error shown in formula (5), the three-phase current sensors are respectively sampled, and the obtained three values are respectively used as estimated values of the offset error of the corresponding phase sensor, as shown in formula (5):
and step 3: a gain error;
the estimation of the gain error requires that the estimated bias error is firstly counteracted from the detected current signal, and then the gain error is estimated;
subtracting the corresponding term of formula (3) from each term of formula (2) yields formula (6), where Δ iPA、ΔiPB、ΔiPCIs a defined variable;
from equation (6), the correlation of the gain errors of the three-phase current sensor can be obtained by using three defined variables, as shown in equation (7):
kA:kB:kC＝ΔiPA:ΔiPB:ΔiPC＝(iPA_0-iPA_7):(iPB_0-iPB_7):(iPC_0-iPC_7) (7)
in order to compensate for the gain errors of the three-phase current sensor in a balanced manner, compensation factors x, y, z are defined, as shown in equation (8), where iPA'、iPB'、iPC' is a compensated three-phase current detection value;
the compensation coefficients x, y, z need to satisfy the dual constraint shown in equation (9):
the compensation coefficients x, y, z are obtained by equation (9) as values shown in equation (10):
finally, the gain error of each phase current sensor is eliminated by multiplying the detection value of each phase current sensor by the corresponding compensation coefficient in the formula (10) by using the formula (8) and the formula (10).
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