CN111478634A - Electrolytic capacitor-free motor driving system and resonance suppression method, device and system thereof - Google Patents
Electrolytic capacitor-free motor driving system and resonance suppression method, device and system thereof Download PDFInfo
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- CN111478634A CN111478634A CN201910062874.2A CN201910062874A CN111478634A CN 111478634 A CN111478634 A CN 111478634A CN 201910062874 A CN201910062874 A CN 201910062874A CN 111478634 A CN111478634 A CN 111478634A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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Abstract
The invention provides an electric appliance, an electrolytic capacitor-free motor driving system and a resonance suppression method, a device and a system thereof, wherein the resonance suppression method comprises the following steps: acquiring three-phase current of a motor, direct-current bus voltage of a motor driving system and rotating speed of the motor; calculating a compensation voltage vector according to the three-phase current and the direct-current bus voltage so as to inhibit the resonance of the motor driving system; and generating a control signal according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control an inverter in the motor driving system without the electrolytic capacitor. The resonance inhibition method of the electrolytic capacitor-free motor driving system can effectively inhibit resonance generated by the bus small capacitor, the power grid inductive reactance and the filter inductor, and improve the bus voltage and the input current waveform.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a resonance inhibition method of a motor driving system without electrolytic capacitor, a resonance inhibition device of the motor driving system without electrolytic capacitor, a resonance inhibition system of the motor driving system without electrolytic capacitor and a motor driving system without electrolytic capacitor.
Background
The AC-DC converter is a general inverterOne of the important components of the rectifier is a back-to-back structure composed of a rectification link (AC to DC) and an AC link (DC to AC), the rectification link can be a diode uncontrolled rectifier or a PWM controllable rectifier, compared with the diode uncontrolled rectifier, the PWM controllable rectifier can adjust the bus voltage, and can obtain a larger bus voltage, a higher power factor and a smaller input current harmonic wave, but under the consideration of economic factors, the diode rectifier is still the most widely used rectification means at present, the basic structure is shown in figure 1, CdcAnd a bus supports a capacitor which is used for filtering and storing energy. In order to obtain as smooth a bus voltage as possible, CdcElectrolytic capacitors with large capacitance values are usually selected. FIG. 2 shows the bus voltage and bus current waveforms, CdcWhen the capacitor is large, the charging and discharging speed of the capacitor is slow, the conduction time of the diode is short, the current is in an intermittent state, and theoretically, the current is CdcThe input current harmonic in a large capacitance is large because the bus voltage is kept constant and the current is pulsed → ∞. In addition, the electrolytic capacitor has the problems of large volume, high price and short service life, which greatly affects the reliability of the system.
In view of the problems of using large electrolytic capacitors, in recent years, experts and scholars have studied electrolytic capacitor solutions to replace the large electrolytic capacitors in the conventional solutions with capacitors (such as thin film capacitors) having smaller capacitance values, thereby greatly reducing the size and increasing the lifetime of the controller. In addition, due to the reduction of the capacitance value, the charging current of the capacitor is reduced, a pre-charging loop can be omitted, the input current of the power grid tends to be continuous under the condition of small capacitance, and the harmonic waves on the side of the power grid can be effectively reduced. However, when a thin film capacitor with a small capacitance value is adopted, the filter characteristic of the capacitor is also weakened, the bus voltage obviously has six-time frequency components of a power grid, and the problem of resonance is easily caused without an electrolytic capacitor.
In order to solve the resonance problem, some related technologies propose a method for suppressing the resonance of an electrolytic capacitor-free system, but most of the related technologies adopt a band-pass or high-pass digital filter to extract a resonance component in a bus voltage to construct a compensation quantity. Since the digital filter delays the signal, the digital filter biases the compensation signal, thereby reducing the stability margin of the system. In addition, the design of the filter parameters depends on the actual inductance and capacitance values in the circuit, and the impedance of different power grids is different and difficult to measure, and the filter inductance and capacitance values in the operation process are changed continuously, so that the design of the filter has difficulty. In addition, the suppression effect of the compensation scheme is related to the system sampling frequency (interrupt execution frequency), and the suppression effect on the resonance is reduced along with the reduction of the sampling frequency.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a resonance suppression method for an electrolytic capacitor-free motor driving system, so as to effectively suppress resonance generated by a bus small capacitor and grid inductance and filter inductance, and improve bus voltage and input current waveforms.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a resonance suppressing apparatus for an electrolytic capacitor-free motor driving system.
A fourth object of the present invention is to provide an electrolytic capacitor-free motor driving system.
A fifth object of the invention is to propose an electrical apparatus.
In order to achieve the above object, a first embodiment of the present invention provides a method for suppressing resonance of an electrolytic capacitor-free motor driving system, including the following steps: acquiring three-phase current of a motor, direct-current bus voltage of a motor driving system and rotating speed of the motor; calculating a compensation voltage vector according to the three-phase current and the direct current bus voltage so as to inhibit resonance of the motor driving system; and generating a control signal according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control an inverter in the motor driving system without the electrolytic capacitor.
According to the resonance suppression method of the electrolytic capacitor-free motor driving system, the compensation voltage vector is calculated according to the three-phase current and the direct-current bus voltage so as to suppress the resonance of the motor driving system, and then the control signal is generated according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control the inverter in the electrolytic capacitor-free motor driving system, so that the resonance generated by the small bus capacitor and the power grid inductance and the filter inductance can be effectively suppressed, and the bus voltage and the input current waveform can be improved.
In addition, the resonance suppression method of the electrolytic capacitor-free motor driving system according to the embodiment of the invention may further have the following additional technical features:
according to an embodiment of the present invention, the method further includes: and detecting the position signal of the motor so as to calculate the rotating speed of the motor according to the position signal of the motor.
According to an embodiment of the present invention, the calculating a compensation voltage vector according to the three-phase current and the dc bus voltage includes: obtaining d-axis current and q-axis current under a rotating coordinate system according to the three-phase current, and obtaining the direct-current bus voltage and alternating-current components thereof; and calculating to obtain the compensation voltage vector according to the d-axis current, the q-axis current, the direct-current bus voltage and the alternating-current component thereof and a gain coefficient.
According to an embodiment of the present invention, the generating a control signal according to the three-phase current of the motor, the rotation speed of the motor, and the compensation voltage vector includes: obtaining a q-axis current given value according to a difference value between the given rotating speed and the rotating speed of the motor; obtaining d-axis voltage according to the difference value between the d-axis current and the q-axis current given value, and obtaining q-axis voltage according to the difference value between the q-axis current and the q-axis current given value, wherein the d-axis current given value is 0; and generating a control signal according to the sum of the modulus value of the compensation voltage vector and the q-axis voltage and the d-axis current.
According to one embodiment of the invention, the gain factor is determined from the load power, the equivalent inductance of the power supply of the motor drive system, the filter inductance connected in series on the dc bus, the equivalent resistance of the power supply, the supply angular frequency, the dc component of the dc bus voltage and the bus support capacitance in the motor drive system.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the resonance suppression method of the electrolytic capacitor-less motor driving system.
When the computer-readable storage medium of the embodiment of the present invention stores the program corresponding to the resonance suppression method of the above embodiment, and the program is executed by the processor, the computer-readable storage medium can effectively suppress the resonance generated by the bus small capacitor and the grid inductive reactance and the filter inductance, and improve the bus voltage and the input current waveform.
In order to achieve the above object, a third embodiment of the present invention provides a resonance suppression apparatus for an electric motor driving system without electrolytic capacitor, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the resonance suppression method for the electric motor driving system without electrolytic capacitor.
According to the resonance suppression device of the electrolytic capacitor motor driving system, when the computer program which is stored in the memory and corresponds to the resonance suppression method of the electrolytic capacitor-free motor driving system is executed by the processor, the resonance generated by the small capacitor of the bus, the inductive reactance of the power grid and the filter inductance can be effectively suppressed, and the bus voltage and the input current waveform can be improved.
In order to achieve the above object, a fourth aspect of the present invention provides a resonance suppression system for an electrolytic capacitor-less motor driving system, including: the acquisition module is used for acquiring three-phase current of a motor, direct-current bus voltage of the motor driving system and rotating speed of the motor; the calculation module is used for calculating a compensation voltage vector according to the three-phase current and the direct-current bus voltage so as to inhibit the resonance of the motor driving system; and the control module is used for generating a control signal according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control an inverter in the motor driving system without the electrolytic capacitor.
According to the resonance suppression system of the electrolytic capacitor-free motor driving system, the compensation voltage vector is calculated according to the three-phase current and the direct-current bus voltage so as to suppress the resonance of the motor driving system, and then the control signal is generated according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control the inverter in the electrolytic capacitor-free motor driving system, so that the resonance generated by the small bus capacitor and the power grid inductance and the filter inductance can be effectively suppressed, and the bus voltage and the input current waveform can be improved.
In order to achieve the above object, a fifth embodiment of the present invention provides an electrolytic capacitor-free motor driving system, including: the main loop comprises a bus support capacitor, a damping resistor and a filter inductor connected in series on a direct current bus, wherein the damping resistor is connected with the filter inductor in parallel, or the damping resistor is connected with the bus support capacitor in series; the resonance suppression apparatus of the electrolytic capacitor-less motor drive system of the above-described embodiment, or the resonance suppression system of the electrolytic capacitor-less motor drive system of the above-described embodiment.
According to the electrolytic capacitor-free motor driving system provided by the embodiment of the invention, the resonance suppression device or system of the electrolytic capacitor motor driving system is adopted, so that the resonance generated by the bus small capacitor, the grid inductive reactance and the filter inductance can be effectively suppressed, the bus voltage and the input current waveform are improved, and the influence of lower sampling frequency can be reduced by increasing the damping resistance.
In order to achieve the above object, a sixth aspect of the present invention provides an electrical apparatus including the motor driving system without electrolytic capacitor according to the above embodiment of the present invention.
According to the electric equipment provided by the embodiment of the invention, by adopting the motor driving system without the electrolytic capacitor, when the motor is controlled, the resonance generated by the small capacitor of the bus, the inductive reactance of a power grid and the filter inductance can be effectively inhibited, and the waveform of the bus voltage and the input current is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a topology diagram of a main circuit of a motor drive system in the related art;
FIG. 2 is a graph of the three-phase diode rectifier bus voltage and input current waveforms of FIG. 1;
FIG. 3 is a flow chart of a method of resonance suppression for an electrolytic capacitor-less motor drive system according to an embodiment of the present invention;
FIG. 4 is a topology diagram of an electrolytic capacitor-less motor drive system according to one embodiment of the present invention;
FIG. 5 is an equivalent circuit diagram of the main circuit of FIG. 4 without the addition of damping current;
FIG. 6 is an equivalent circuit diagram of the main loop of FIG. 4 with the damping current added;
FIG. 7 is a schematic diagram of the output voltage space vector synthesis principle according to one embodiment of the present invention;
FIG. 8 is an equivalent circuit diagram of the addition of damping current and damping resistance in the main loop of one example of the present invention;
FIGS. 9(a) and 9(b) are the results obtained without the simulation according to the present invention;
FIGS. 10(a) and 10(b) are simulation results obtained by the method of the present invention;
fig. 11 is a block diagram showing the configuration of a resonance suppressing apparatus of an electrolytic capacitor-less motor driving system according to an embodiment of the present invention;
FIG. 12 is a block diagram of a resonance suppression system for an electrolytic capacitor-less motor drive system according to an embodiment of the present invention;
FIG. 13 is a schematic structural diagram of an electrolytic capacitor-less motor drive system according to one embodiment of the present invention;
FIG. 14 is a schematic structural diagram of an electrolytic capacitor-less motor drive system according to another embodiment of the present invention;
fig. 15 is a block diagram of the structure of an electric appliance according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An electrolytic capacitor-less motor drive system, a resonance suppression method and apparatus therefor, and an electric appliance according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
Fig. 3 is a flowchart of a resonance suppression method of an electrolytic capacitor-less motor driving system according to an embodiment of the present invention.
As shown in fig. 3, the method for suppressing resonance of the motor driving system without electrolytic capacitor includes the following steps:
and S1, acquiring the three-phase current of the motor, the direct-current bus voltage of the motor driving system and the rotating speed of the motor.
In an embodiment of the present invention, as shown in fig. 4, a position sensor may be disposed on the motor to detect a position signal of the motor, so as to calculate the rotation speed ω of the motor according to the position signal of the motor.
And S2, calculating a compensation voltage vector according to the three-phase current and the direct-current bus voltage so as to restrain the resonance of the motor driving system.
Specifically, referring to fig. 4, the d-axis current i in the rotating coordinate system can be obtained from the three-phase currentsdAnd q-axis current iqObtaining the DC bus voltage UdcAnd its alternating current component
According to id、iq、Udc、
And gain coefficient calculation
Specifically, the compensation voltage vector can be calculated according to the following formula (1)
Wherein the content of the first and second substances,
to compensate for the voltage vector, K is the gain factor.
In one embodiment of the present invention, the gain factor may be determined according to the load power, the equivalent inductance of the power supply of the motor drive system, the filter inductance connected in series with the dc bus, the equivalent resistance of the power supply, the power supply angular frequency, the dc portion of the dc bus voltage, and the bus support capacitance in the motor drive system.
Specifically, the gain coefficient K may satisfy the following formula (2):
wherein, Ls＝2Lg+Ldc，PLFor load power, Rs＝2Rg+3ωegLg/π，Udc0Is the DC part of the DC bus voltage, RgEquivalent resistance at the input of the rectifier circuit, LgEquivalent inductance at the input of the rectifier circuit, LdcIs a filter inductor, CdcSupporting capacitors, omega, for the bus-barsegIs the supply corner frequency.
And S3, generating a control signal according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control the inverter in the motor driving system without the electrolytic capacitor.
In particular, with reference to fig. 4, it is possible to vary the speed according to a given rotation speed ω*Obtaining a given value of the q-axis current through a PI regulator according to the difference value of the rotating speed omega of the motor
According to idAnd
the d-axis voltage U is obtained by a PI regulatordAnd according to iqAnd
the difference value of the q-axis voltage U is obtained through a PI regulatorqWherein the d-axis current is given
In turn according to
And UqSum of, and UdA control signal is generated.
The resonance suppression method of the electrolytic capacitor-less motor driving system of the embodiment of the present invention is described below with reference to fig. 4 to 10 for ease of understanding:
as shown in fig. 4, the front stage of the motor driving system without electrolytic capacitor adopted in the present invention is a three-phase diode rectifier, and the rear stage is a PWM controllable rectifier, that is, the three-phase diode rectifier is used to rectify the voltage of the power supply (such as a utility grid), and the PWM controllable rectifier is used to control the inverter. The equivalent circuit of the main circuit of the motor drive system without electrolytic capacitor is shown in FIG. 5, RgTo grid equivalent resistance, LgTo grid equivalent inductance, LdcIs a filter inductor, CdcSupporting capacitors for busbars, CdcSmaller will be associated with inductance in the circuit (including L)gAnd Ldc) Resonance is generated, and the resonance frequency is greatly improved (the resonance frequency is usually designed to be the frequency tripled of the power grid frequency to inhibit resonance when the traditional electrolytic capacitor system designs the capacitor size), and the resonance frequency and the damping of the systemThe coefficient can be calculated by the following formula (3):
wherein R iss＝2Rg+3ωegLg/π，Ls＝2Lg+Ldc。
Aiming at the resonance problem, the invention uses the fluctuation delta U of the bus voltagedcMultiplying by a gain factor K and adding up to U of the current controllerqThe specific principle and implementation mode are as follows:
referring to fig. 4, since the three-phase diode rectifier has only one upper tube and one lower tube conducting at a time, and the inverter and the motor can be equivalent to a current source when the motor operates in a constant power state, the main circuit in fig. 2 can be equivalent to the circuit shown in fig. 6. In the case of a low system damping, the damping current i can be increased by adding a damping current to the inverter currentdampSo as to achieve the effect of increasing the damping of the system. Ideally, the bus voltage UdcShould be a constant value, thereby ensuring that the output torque of the motor is stable, and therefore, can
As idampTo balance the fluctuation of the bus bar, wherein
K is the ac portion of the bus and is the gain factor to adjust the virtual damping of the system.
Increased damping current idampWill give the inverter an additional power input, while according to the conservation of power, its effect is equal to the effect of an additional voltage vector on the inverter
Is given by the following formula (4) since
Is the current vector on the dq coordinate system, therefore
There are theoretically an infinite number. As shown in fig. 6, in vectors
As an end point of
A starting point of (1), then
Falls on a vector perpendicular to
On a straight line of
The value should be as small as possible as a voltage disturbance, so that
And
keeping the same direction is the optimal solution, so equation (5) can be derived from equation (4), for using
The permanent magnet synchronous motor driving system of the control strategy directly drives the motor to rotate
Superimposed to the output voltage UqThe method can be used.
The following formula (6) is a characteristic equation after the damping current is added to the system, wherein Udc0Is the direct part of the bus voltage, PLFor the load power:
the system is a second-order system, and the value range of K for stabilizing the system can be obtained according to the Laus stabilization criterion:
namely, the above formula (2).
As shown in the following formula (7), the resonance peak value Mr of the second-order system is only related to the system damping ξ, and the larger the ξ is, the smaller the resonance peak value is, and when ξ >0.707 is, the resonance peak value of the system disappears, so that theoretically, the larger the value of K is, the better the value of K is, but in practice, the damping voltage of the system is used as a disturbance input, and the value of K is too large, so that the system is unstable.
In addition, the actual suppression effect of the above method is influenced by the sampling frequency, i.e. the system execution frequency, so that in the case of a low system sampling frequency, the filter inductor L can be useddcUpper parallel damping resistor RdcFig. 8 is a corresponding equivalent circuit diagram.
At LdcUpper and lower are connected in parallel to RdcCan be equivalent to a resistance value of
Resistance and one
Are connected in series, so RdcThe method is to further increase the damping coefficient of the circuit by increasing the actual damping, accelerate the attenuation speed of the resonance, and for the resonance frequency fs，RdcHas a value of 2 pi fsLdcThe optimal inhibition effect is obtained. In this example, RdcThe resistance value is selected by considering RdcThe current actually flowing, the power consumption, and the like.
In addition, a damping resistor RdcCan also be connected in series with the bus supporting capacitor CdcSince the circuit only flows through CdcCharging and discharging current of RdcIs relatively small, so that R is relatively smalldcIs connected in series with CdcThe above is also possible. The control mode adopted by the system is unchanged.
Specifically, referring to fig. 4, the motor rotation speed ω is calculated from the position signal of the motor, and the given rotation speed ω is calculated*The difference value of the actual rotating speed omega is sent to a rotating speed loop regulator, and the output signal is a current loop iqGiven of
idUnder the control strategy of 0 ═ c
Three-phase current i of an electric machinea、ib、icObtaining a current vector i in a rotating coordinate system after clarke and park transformationd、iqIt is then mixed with
The compared difference value is fed into a current regulator, and the output of the current regulator is a voltage signal Ud、Uq(ii) a Calculated according to the formula (5)
Add up to UqTo obtain updated output voltage signal
UdAnd
and after carrying out park inverse transformation and clarke inverse transformation, sending the result to an SVPWM (space vector pulse width modulation) module, and finally outputting a signal serving as a switching signal of the inverter.
It should be noted that the present invention is still valid for other control schemes and other types of motors, according to which
And id、 iqGet the cumulative addition to UdComponent of
Add up to UqComponent of
Further, to illustrate the effect of the resonance suppression method of the present invention, the above-mentioned scheme is simulated, the system resonance frequency is about 1044Hz, fig. 9(a) is a simulation result without the resonance suppression method of the present invention, signals in three coordinate systems are bus voltage, power grid input current and torque of the motor from top to bottom in sequence, it can be seen that the bus voltage and the power grid current have larger resonance components, and it can be seen from the corresponding harmonic frequency spectrum of fig. 9(b) that the harmonic content around 1044Hz is larger; fig. 10(a) is a simulation result of the resonance suppression method of the present invention, the bus voltage has a regular six-pulse waveform, and the resonance component of the grid current is greatly suppressed, and compared with the harmonic frequency spectrums of fig. 10(b) and 9(b), the harmonic content near the resonance frequency is greatly reduced.
In summary, the resonance suppression method for the electrolytic capacitor-free motor driving system according to the embodiment of the present invention is provided for an electrolytic capacitor-free permanent magnet synchronous motor driving system in which a three-phase diode rectifier is used at a preceding stage, and is capable of effectively suppressing resonance generated by a bus small capacitor, a power grid inductive reactance and a filter inductance, improving a bus voltage and an input current waveform, and directly calculating an inverter compensation voltage by using a fluctuation component of the bus voltage as a disturbance, thereby omitting a high pass filter or a band pass filter, and avoiding a decrease in system stability caused by a delay of an input signal by the filter. In addition, the resonance suppression method does not need to consider specific resonance frequency, so that the method can actively adapt to the change of the impedance of the power grid and the change of the capacitance and the inductance value in the system operation process.
Further, the present invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the resonance suppression method of the electrolytic capacitor-less motor drive system of the above-described embodiments.
When the program corresponding to the resonance suppression method of the embodiment stored on the computer-readable storage medium is executed by the processor, the computer-readable storage medium of the embodiment can effectively suppress resonance generated by the bus small capacitor and the grid inductive reactance and the filter inductance, improve the bus voltage and the input current waveform, omit the design of a high-pass filter or a band-pass filter, avoid the reduction of the system stability caused by the delay of the filter on the input signal, and actively adapt to the change of the grid impedance and the change of the capacitor and the inductor in the system operation process.
Fig. 11 is a block diagram of a resonance suppressing apparatus of an electrolytic capacitor-less motor driving system according to an embodiment of the present invention.
As shown in fig. 11, the resonance suppression apparatus 100 of the electric motor driving system without the electrolytic capacitor includes a memory 110, a processor 120, and a computer program stored in the memory 110 and executable on the processor 120, and when the processor 120 executes the computer program, the resonance suppression method of the electric motor driving system without the electrolytic capacitor is implemented.
When a computer program stored in a memory of the resonance suppression device of the electrolytic capacitor motor driving system is executed by a processor, the resonance suppression device of the electrolytic capacitor motor driving system can effectively suppress the resonance generated by the small capacitance of the bus, the inductive reactance of a power grid and a filter inductor, improve the waveform of the bus voltage and the input current, save the design of a high-pass filter or a band-pass filter, avoid the reduction of the stability of the system caused by the delay of an input signal by the filter, and actively adapt to the change of the impedance of the power grid and the change of the capacitance and the inductance in the running process of the system.
Fig. 12 is a block diagram of a resonance suppression system of an electrolytic capacitor-less motor driving system according to an embodiment of the present invention.
As shown in fig. 12, the resonance suppression system 200 of the electrolytic capacitor-less motor driving system includes: an acquisition module 210, a calculation module 220, and a control module 230.
The obtaining module 210 is configured to obtain a three-phase current of the motor, a dc bus voltage of the motor driving system, and a rotation speed of the motor. The calculation module 220 is configured to calculate a compensation voltage vector according to the three-phase current and the dc bus voltage, so as to suppress resonance of the motor driving system. The control module 230 is configured to generate a control signal according to the three-phase current of the motor, the rotation speed of the motor, and the compensation voltage vector, so as to control an inverter in the motor driving system without the electrolytic capacitor.
It should be noted that, the foregoing explanation of the embodiment of the resonance suppression method for the motor driving system without electrolytic capacitor is also applicable to the resonance suppression system for the motor driving system without electrolytic capacitor of this embodiment, and details are not repeated here.
According to the resonance suppression system of the electrolytic capacitor-free motor driving system, the compensation voltage vector is calculated according to the three-phase current and the direct-current bus voltage so as to suppress the resonance of the motor driving system, and then the control signal is generated according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control the inverter in the electrolytic capacitor-free motor driving system, so that the resonance generated by the small bus capacitor and the power grid inductance and the filter inductance can be effectively suppressed, and the bus voltage and the input current waveform can be improved.
Further, the invention provides a motor driving system without electrolytic capacitors.
In an embodiment of the present invention, as shown in fig. 13 and 14, the motor driving system 300 includes a main circuit 310 and the resonance suppression apparatus 100 of the motor driving system without electrolytic capacitor of the above embodiment.
In another embodiment of the present invention, the motor drive system 300 includes the primary circuit 310 and the resonance suppression system 200 of the electrolytic capacitor-less motor drive system of the above-described embodiment.
According to the electrolytic capacitor-free motor driving system provided by the embodiment of the invention, the resonance generated by the small bus capacitor, the inductive reactance of the power grid and the filter inductor can be effectively inhibited, the bus voltage and the input current waveform are improved, the design of a high-pass filter or a band-pass filter is omitted, the reduction of the system stability caused by the delay of the filter on an input signal is avoided, and the change of the impedance of the power grid and the change of the capacitor and the inductor in the system operation process can be actively adapted.
Fig. 15 is a block diagram of the structure of an electric appliance according to an embodiment of the present invention.
As shown in fig. 15, the electric device 100 includes the electrolytic capacitor-less motor driving system 300 of the above-described embodiment.
In this embodiment, the electrical apparatus 1000 may be a blender, a wall breaking machine, or the like.
The electric equipment of the embodiment of the invention adopts the motor driving system without the electrolytic capacitor, can effectively inhibit the resonance generated by the small capacitance of the bus, the inductive reactance of the power grid and the filter inductance when controlling the motor, improves the waveform of the bus voltage and the input current, saves the design of a high-pass filter or a band-pass filter, avoids the reduction of the system stability caused by the delay of the filter on the input signal, and can actively adapt to the change of the impedance of the power grid and the change of the capacitance and the inductance in the running process of the system.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A resonance suppression method of an electrolytic capacitor-free motor driving system is characterized by comprising the following steps:
acquiring three-phase current of a motor, direct-current bus voltage of a motor driving system and rotating speed of the motor;
calculating a compensation voltage vector according to the three-phase current and the direct current bus voltage so as to inhibit resonance of the motor driving system;
and generating a control signal according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control an inverter in the motor driving system without the electrolytic capacitor.
2. The method of claim 1, further comprising:
and detecting the position signal of the motor so as to calculate the rotating speed of the motor according to the position signal of the motor.
3. The method of claim 1 or 2, wherein said calculating a compensation voltage vector based on said three phase currents and said dc bus voltage comprises:
obtaining d-axis current and q-axis current under a rotating coordinate system according to the three-phase current, and obtaining the direct-current bus voltage and alternating-current components thereof;
and calculating to obtain the compensation voltage vector according to the d-axis current, the q-axis current, the direct-current bus voltage and the alternating-current component thereof and a gain coefficient.
4. The method of claim 3, wherein generating the control signal based on the three-phase current of the motor, the rotational speed of the motor, and the compensation voltage vector comprises:
obtaining a q-axis current given value according to a difference value between the given rotating speed and the rotating speed of the motor;
obtaining d-axis voltage according to the difference value between the d-axis current and the q-axis current given value, and obtaining q-axis voltage according to the difference value between the q-axis current and the q-axis current given value, wherein the d-axis current given value is 0;
and generating a control signal according to the sum of the modulus value of the compensation voltage vector and the q-axis voltage and the d-axis current.
5. The method of claim 3, wherein the gain factor is determined based on load power, an equivalent inductance of a power supply of the motor drive system, a filter inductance in series with the DC bus, an equivalent resistance of the power supply, a supply angular frequency, a DC component of the DC bus voltage, and a bus support capacitance in the motor drive system.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a resonance suppression method of an electrolytic capacitor-less motor drive system according to any one of claims 1 to 5.
7. A resonance suppression apparatus for an electric motor drive system without electrolytic capacitor, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the resonance suppression method for the electric motor drive system without electrolytic capacitor as set forth in any one of claims 1 to 5.
8. A resonance suppression system for an electrolytic capacitor-less motor drive system, comprising:
the acquisition module is used for acquiring three-phase current of a motor, direct-current bus voltage of the motor driving system and rotating speed of the motor;
the calculation module is used for calculating a compensation voltage vector according to the three-phase current and the direct-current bus voltage so as to inhibit the resonance of the motor driving system;
and the control module is used for generating a control signal according to the three-phase current of the motor, the rotating speed of the motor and the compensation voltage vector so as to control an inverter in the motor driving system without the electrolytic capacitor.
9. An electrolytic capacitor-less motor drive system, comprising:
the main loop comprises a bus support capacitor, a damping resistor and a filter inductor connected in series on a direct current bus, wherein the damping resistor is connected with the filter inductor in parallel, or the damping resistor is connected with the bus support capacitor in series;
the resonance suppression apparatus of an electrolytic capacitor-less motor drive system according to claim 7, or the resonance suppression system of an electrolytic capacitor-less motor drive system according to claim 8.
10. An electrical apparatus, characterized in that it comprises an electrolytic capacitor-less motor drive system as claimed in claim 9.
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| CN201910062874.2A CN111478634A (en) | 2019-01-23 | 2019-01-23 | Electrolytic capacitor-free motor driving system and resonance suppression method, device and system thereof |
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| CN201910062874.2A CN111478634A (en) | 2019-01-23 | 2019-01-23 | Electrolytic capacitor-free motor driving system and resonance suppression method, device and system thereof |
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Application publication date: 20200731 |