CN111756287A - Dead zone compensation method suitable for permanent magnet motor control based on current prediction - Google Patents

Dead zone compensation method suitable for permanent magnet motor control based on current prediction Download PDF

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CN111756287A
CN111756287A CN202010563437.1A CN202010563437A CN111756287A CN 111756287 A CN111756287 A CN 111756287A CN 202010563437 A CN202010563437 A CN 202010563437A CN 111756287 A CN111756287 A CN 111756287A
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phase
current
formula
coordinate system
motor
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CN111756287B (en
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邹会杰
张涛
张宇龙
张吉斌
张瑞峰
詹哲军
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CRRC Yongji Electric Co Ltd
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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

Abstract

The invention relates to a dead zone compensation method for motor control, in particular to a dead zone compensation method suitable for permanent magnet motor control based on current prediction. The problem of prior art blind spot compensation effect relatively poor is solved. The dead zone compensation method based on current prediction and suitable for permanent magnet motor control is divided into a low-speed zone dead zone compensation strategy and a high-speed zone dead zone compensation strategy according to the running frequency of a motor; the dead zone compensation is carried out through the prediction current, and the problem that due to the fact that a digital controller has certain delay, the calculated result of the beat is updated until the next beat, and the dead zone compensation effect of the zero-crossing point accessory is poor is solved.

Description

Dead zone compensation method suitable for permanent magnet motor control based on current prediction
Technical Field
The invention relates to a dead zone compensation method for motor control, in particular to a dead zone compensation method suitable for permanent magnet motor control based on current prediction.
Background
The inverter main circuit topology of the electric locomotive generally adopts a bridge circuit structure, the switching devices of bridge arms adopt high-voltage-grade IGBTs, and because the IGBTs are not ideal devices and have turn-on and turn-off delay, certain dead time needs to be added into upper and lower IGBT driving pulses of the same bridge arm to ensure the reliable work of the switching devices; the turn-on and turn-off delay of the high-voltage level IGBT is more serious, so in order to ensure the reliable work of devices, longer dead time needs to be added to the driving pulse of the upper and lower tubes, the added dead time can cause the problem that the actual output voltage waveform is inconsistent with the theoretical voltage waveform, so that a dead time effect is caused, the dead time effect can generate harmonic voltage and current with different frequencies, the operation of a motor is influenced, particularly, the dead time effect is worse under the working condition of low-speed light load of a variable-frequency speed control system, and therefore the dead time needs to be compensated.
In the prior art, dead-time compensation is performed on a driving pulse of a switching device in a digital control mode by judging the polarity of a load current. The method mainly has the following problems:
1) because the inverter adopts a digital control mode, digital control can generate delay, and the next beat of the calculation result of the beat can take effect, so that dead zone compensation according to the sampling current of the beat has delay, and the dead zone compensation can not be accurately performed on the zero crossing point of the current.
2) The dead zone compensation of the method is inaccurate due to the fact that the conducting voltage drop of the IGBT of the switching device and the on-off delay of the switching tube are not considered.
Disclosure of Invention
The invention solves the problem of poor dead zone compensation effect in the prior art, and provides a dead zone compensation method suitable for permanent magnet motor control based on current prediction for the dead zone compensation control of a permanent magnet motor. The method predicts the motor current by combining coordinate transformation and a permanent magnet motor equivalent model, and performs dead zone compensation by predicting the motor current.
The invention is realized by adopting the following technical scheme: the dead zone compensation method based on current prediction and suitable for permanent magnet motor control is divided into a low-speed zone dead zone compensation strategy (below rated frequency) and a high-speed zone dead zone compensation strategy (above rated frequency) according to the running frequency of a motor;
when the motor runs at a low speed stage (below a rated frequency), firstly, three-phase currents i of the motor are suppliedA、iBAnd iCI is obtained through a change formula of converting a three-phase static coordinate system into a two-phase static coordinate systemαAnd iβThen i isαAnd iβThe dq axis current i is obtained through a change formula of converting a two-phase static coordinate system into a two-phase rotating coordinate systemdAnd iq(ii) a Then calculating the obtained idAnd iqThe predicted αβ axis current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinate systemα_preAnd iβ_preWhere phi used for coordinate transformation passes phi + wsTsCalculated, wherein phi is the synchronous rotation angle of the next beat, theta is the synchronous rotation angle of the motor of the current beat, and wsIs the synchronous angular frequency, TsIs the sampling interval time; and obtaining the predicted three-phase current i of the motor by a change formula of converting the two-phase static coordinate system into the three-phase static coordinate systemA_pre、iB_preAnd iC_pre(ii) a I obtained by calculationA_pre、iB_preAnd iC_prePerforming dead zone compensation;
when the motor runs at a high speed stage (above rated frequency), firstly, the three-phase current i of the motor is converted into the three-phase currentA、iBAnd iCI is obtained through a change formula of converting a three-phase static coordinate system into a two-phase static coordinate systemαAnd iβThen i isαAnd iβI is obtained through a change formula of converting a two-phase static coordinate system into a two-phase rotating coordinatedAnd iq(ii) a Then calculating the obtained idAnd iqObtaining predicted dq axis current i through stator voltage equation calculationd_preAnd iq_pre，id_preAnd iq_preThe predicted αβ axis current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinate systemα_preAnd iβ_preWhere phi used for coordinate transformation passes phi + wsTsCalculated, where φ is the nextThe synchronous rotation angle of the racket is theta, the synchronous rotation angle of the motor of the racket is wsIs the synchronous angular frequency, TsIs the sampling interval time; and obtaining the predicted three-phase current i of the motor by a change formula of converting the two-phase static coordinate system into the three-phase static coordinate systemA_pre、iB_preAnd iC_pre(ii) a I obtained by calculationA_pre、iB_preAnd iC_preDead zone compensation is performed.
The dead zone compensation is carried out through the prediction current, and the problem that due to the fact that a digital controller has certain delay, the calculated result of the beat is updated until the next beat, and the dead zone compensation effect of the zero-crossing point accessory is poor is solved.
Drawings
FIG. 1 is a schematic diagram of current closed loop control during a low speed phase;
FIG. 2 is a diagram of a main circuit topology employed in the present invention;
FIG. 3 is iA_pre0 dead zone compensation schematic diagram;
FIG. 4 shows iA_pre< 0 dead zone compensation schematic diagram;
fig. 5 is a schematic diagram of the current open loop control during the high speed phase.
Detailed Description
The dead zone compensation method based on current prediction and suitable for permanent magnet motor control is divided into a low-speed zone dead zone compensation strategy (below rated frequency) and a high-speed zone dead zone compensation strategy (above rated frequency) according to the running frequency of a motor;
1) low speed zone dead zone compensation strategy (below rated frequency)
In the low-speed stage, the control strategy adopts current closed-loop control, and the control strategy is shown in figure 1. The motor current value is predicted by coordinate transformation.
Obtaining a current predicted value through coordinate transformation at a low-speed stage to perform dead zone compensation control, and specifically comprising the following steps:
3/2 transformation formula for transforming motor current from three-phase stationary coordinate system to two-phase stationary coordinate system:
Figure BDA0002546238480000031
in the formula iA、iBAnd iCRespectively representing three-phase currents of the motor; i.e. iα、iβRespectively representing two-phase stationary αβ axis currents.
2/2 transformation formula for transformation of motor current from two-phase stationary coordinate system to two-phase rotating coordinate:
Figure BDA0002546238480000032
in the formula iα、iβRespectively representing αβ coordinate axis currents id、iqRespectively representing two-phase rotating dq coordinate axis currents; theta is the synchronous rotation angle of the motor of the beat.
The synchronous rotation angle of the next beat is changed into phi, phi is obtained through calculation of the synchronous rotation angle theta of the motor of the next beat, and a calculation formula is as follows:
φ＝θ+wsTs(3)
in the formula, wsIs the synchronous angular frequency; t issIs the sampling interval time; phi is the next beat synchronous rotation angle.
Then the αβ coordinate axis prediction current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinateα_preAnd iβ_preThe 2/2 transformation formula for transforming the two-phase rotating coordinate system to the two-phase stationary coordinate system is:
Figure BDA0002546238480000041
in the formula iα_pre、iβ_preRespectively representing αβ coordinate axes predicted current.
Finally, obtaining three-phase static coordinate axis prediction motor three-phase current i through a change formula of converting a two-phase static coordinate system into a three-phase static coordinate systemA_pre、iB_preAnd iC_pre2/3 transformation formula for transformation of motor current from two-phase stationary frame to three-phase stationary frame:
Figure BDA0002546238480000042
in the formula iA_pre、iB_preAnd iC_preRespectively representing the predicted current of the three phases of the motor.
I obtained by calculation of dead zone compensation moduleA_pre、iB_preAnd iC_preDead zone compensation is performed. The specific compensation process is as follows:
the main circuit topology adopted by the invention is a three-phase voltage type inverter as shown in fig. 2, wherein A, B and C respectively represent three bridge arms of the inverter. The dead zone effect is analyzed by taking the arm A as an example, and V1 and V2 correspond to the upper and lower tubes of the arm A.
Phase A is passed through judgment iA_preThe polarity of the voltage is subjected to dead zone compensation, the voltage V1 and the voltage V2 correspond to two IGBT devices of an A-phase bridge arm, and when i is equal to the voltage I, the voltage I is analyzed through the driving pulse and the output voltage waveform of the voltage V1 and the voltage V2A_preThe principle of dead zone compensation is shown in FIG. 3, where V isAOThe voltage representing point a for O is a theoretical voltage waveform without added dead zone; v1_ pulse and V2_ pulse are drive pulses of V1 and V2, respectively.
When i isA_preWhen the voltage is more than 0, the V2 turn-off process is carried out by adding V1 after dead zone compensation, as shown in b) in FIG. 3, and the pulse of V1 and VAOKeeping consistent, the pulse of V2 advances the dead time T _ dead to turn off; the process of turning off V2 by V1 is shown as c) in FIG. 3, and the added dead zone compensation pulse is the pulse of V1 and the pulse of V2AOIn agreement, the pulse of V2 is delayed by the dead time T dead on.
When i isA_preIf < 0, the compensation principle is as shown in FIG. 4.
When i isA_preWhen the voltage is less than 0, V1 is turned on after dead zone compensation, V2 is turned off as shown in b) in FIG. 4, and the pulse of V2 and VAOKeeping the complementation, and turning on the pulse delay dead time T _ dead of V1; the process of turning off V2 by V1 is shown as c) in FIG. 4, and the added dead zone compensation pulse is the pulse of V2 and the pulse of V2AORemaining complementary, the pulse of V1 is turned off early by the dead time T _ dead.
Phase B passing judgment iB_prePolarity dead zoneCompensation when iB_preWhen the value is more than 0, the compensation principle is shown in FIG. 3; when i isB_preIf < 0, the compensation principle is as shown in FIG. 4. C phase passing judgment iC_preIs dead zone compensated when iC_preWhen the value is more than 0, the compensation principle is shown in FIG. 3; when i isC_preIf < 0, the compensation principle is as shown in FIG. 4.
2) Dead zone compensation strategy of high speed zone (above rated frequency)
In the high-speed stage, the control strategy adopts current open-loop control, the motor current value is predicted through a permanent magnet motor equivalent model, and a schematic diagram is shown in fig. 5.
According to the equivalent circuit of the permanent magnet motor, the flux linkage equation of the motor is as follows:
Figure BDA0002546238480000051
Figure BDA0002546238480000052
in the formula (I), the compound is shown in the specification,
Figure BDA0002546238480000053
respectively represent dq magnetic chains; l isd、LqAre dq-axis inductances, respectively; i.e. id、iqAre dq-axis currents, respectively;
Figure BDA0002546238480000054
representing a permanent magnet flux linkage.
The voltage equation for the motor is as follows:
Figure BDA0002546238480000055
Figure BDA0002546238480000056
in the formula of Ud、UqRespectively representing dq coordinate axis voltages; rsRepresenting the motor stator resistance; p represents the differential; w represents stator angular frequency。
Three-phase current i of the motorA、iBAnd iCI is obtained through a change formula of converting a three-phase static coordinate system into a two-phase static coordinate systemαAnd iβThen i isαAnd iβI is obtained through a change formula of converting a two-phase static coordinate system into a two-phase rotating coordinatedAnd iq。
Exciting current change rate is measured by the exciting current i of this beatdAnd a predicted value id_preObtaining as shown in formula (10); similarly, the torque current change rate calculation formula is shown in (11).
Figure BDA0002546238480000061
Figure BDA0002546238480000062
In the formula id_pre、iq_preRespectively representing dq coordinate axis prediction currents; t issIs the sampling interval time.
Bringing formulae (10) and (11) into formulae (8) and (9) gives:
Figure BDA0002546238480000063
Figure BDA0002546238480000064
obtaining an excitation current predicted value i through the formulad_preAnd torque current predicted value iq_preAnd obtaining the current value of the motor after coordinate transformation.
The synchronous rotation angle of the next beat is changed into phi, phi is obtained through calculation of the synchronous rotation angle theta of the motor of the next beat, and a calculation formula is as follows:
φ＝θ+wsTs(14)
in the formula, wsIs the synchronous angular frequency; theta is the synchronous rotation angle of the motor; phi is the next beat synchronous rotation angle.
Then the αβ coordinate axis prediction current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinateα_preAnd iβ_preThe transformation formula for transforming the two-phase rotating coordinate system to the two-phase stationary coordinate is as follows:
Figure BDA0002546238480000065
in the formula id_pre、iq_preRespectively representing dq coordinate axis prediction currents; i.e. iα_pre、iβ_preRespectively representing αβ coordinate axes predicted current.
Finally, obtaining the three-phase stationary coordinate axis prediction current i through a change formula of converting the two-phase stationary coordinate system to the three-phase stationary coordinate systemA_pre、iB_preAnd iC_preThe change formula of the motor current transformed from the two-phase static coordinate system to the three-phase static coordinate system is as follows:
Figure BDA0002546238480000071
in the formula iA_pre、iB_preAnd iC_preRespectively representing the predicted current of the three phases of the motor.
I obtained by calculation of dead zone compensation moduleA_pre、iB_preAnd iC_preDead zone compensation is performed. Phase A is passed through judgment iA_preIs dead zone compensated when iA_preWhen the value is more than 0, the compensation principle is shown in FIG. 3; when i isA_preIf < 0, the compensation principle is as shown in FIG. 4. Phase B passing judgment iB_preIs dead zone compensated when iB_preWhen the value is more than 0, the compensation principle is shown in FIG. 3; when i isB_preIf < 0, the compensation principle is as shown in FIG. 4. C phase passing judgment iC_preIs dead zone compensated when iC_preWhen the value is more than 0, the compensation principle is shown in FIG. 3; when i isC_preIf < 0, the compensation principle is as shown in FIG. 4.

Claims (2)

1. A dead zone compensation method suitable for permanent magnet motor control based on current prediction is characterized in that a low-speed zone dead zone compensation strategy and a high-speed zone dead zone compensation strategy are divided according to the running frequency of a motor;
when the motor runs at a low speed stage, firstly, the three-phase current i of the motor is converted into the three-phase currentA、iBAnd iCI is obtained through a change formula of converting a three-phase static coordinate system into a two-phase static coordinate systemαAnd iβThen i isαAnd iβThe dq axis current i is obtained through a change formula of converting a two-phase static coordinate system into a two-phase rotating coordinate systemdAnd iq(ii) a Then calculating the obtained idAnd iqThe predicted αβ axis current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinate systemα_preAnd iβ_preWhere phi used for coordinate transformation passes phi + wsTsCalculated, wherein phi is the synchronous rotation angle of the next beat, theta is the synchronous rotation angle of the motor of the current beat, and wsIs the synchronous angular frequency, TsIs the sampling interval time; and obtaining the predicted three-phase current i of the motor by a change formula of converting the two-phase static coordinate system into the three-phase static coordinate systemA_pre、iB_preAnd iC_pre(ii) a I obtained by calculationA_pre、iB_preAnd iC_prePerforming dead zone compensation;
when the motor runs at a high speed stage, firstly, the three-phase current i of the motor is converted into the three-phase currentA、iBAnd iCI is obtained through a change formula of converting a three-phase static coordinate system into a two-phase static coordinate systemαAnd iβThen i isαAnd iβI is obtained through a change formula of converting a two-phase static coordinate system into a two-phase rotating coordinatedAnd iq(ii) a Then calculating the obtained idAnd iqObtaining predicted dq axis current i through stator voltage equation calculationd_preAnd iq_pre，id_preAnd iq_preThe predicted αβ axis current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinate systemα_preAnd iβ_preWhere phi used for coordinate transformation passes phi + wsTsCalculated, where phi is the next beat synchronous rotation angleDegree, theta is the synchronous rotation angle of the motor of the racket, wsIs the synchronous angular frequency, TsIs the sampling interval time; and obtaining the predicted three-phase current i of the motor by a change formula of converting the two-phase static coordinate system into the three-phase static coordinate systemA_pre、iB_preAnd iC_pre(ii) a I obtained by calculationA_pre、iB_preAnd iC_preDead zone compensation is performed.
2. The current prediction based dead-zone compensation method for permanent magnet motor control according to claim 1,
1) low-speed zone dead zone compensation strategy
Obtaining a current predicted value through coordinate transformation at a low-speed stage to perform dead zone compensation control, and specifically comprising the following steps:
3/2 transformation formula for transforming motor current from three-phase stationary coordinate system to two-phase stationary coordinate system:
Figure FDA0002546238470000021
in the formula iA、iBAnd iCRespectively representing three-phase currents of the motor; i.e. iα、iβRespectively representing the currents of two static αβ coordinate axes;
2/2 transformation formula for transformation of motor current from two-phase stationary coordinate system to two-phase rotating coordinate:
Figure FDA0002546238470000022
in the formula iα、iβRespectively representing αβ coordinate axis currents id、iqRespectively representing two-phase rotating dq coordinate axis currents; theta is the synchronous rotation angle of the motor;
the synchronous rotation angle of the next beat is changed into phi, phi is obtained through calculation of the synchronous rotation angle theta of the motor of the next beat, and a calculation formula is as follows:
φ＝θ+wsTs(3)
in the formula, wsIs the synchronous angular frequency; t issIs the sampling interval time; phi is the next beat synchronous rotation angle;
then the αβ coordinate axis prediction current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinateα_preAnd iβ_preThe 2/2 transformation formula for transforming the two-phase rotating coordinate system to the two-phase stationary coordinate system is:
Figure FDA0002546238470000023
in the formula iα_pre、iβ_preRespectively representing αβ coordinate axis predicted current;
finally, obtaining three-phase static coordinate axis prediction motor three-phase current i through a change formula of converting a two-phase static coordinate system into a three-phase static coordinate systemA_pre、iB_preAnd iC_pre2/3 transformation formula for transformation of motor current from two-phase stationary frame to three-phase stationary frame:
Figure FDA0002546238470000031
in the formula iA_pre、iB_preAnd iC_preRespectively representing three-phase predicted currents of the motor;
2) high-speed zone dead zone compensation strategy
According to the equivalent circuit of the permanent magnet motor, the flux linkage equation of the motor is as follows:
Figure FDA0002546238470000032
Figure FDA0002546238470000033
in the formula (I), the compound is shown in the specification,
Figure FDA0002546238470000034
respectively represent dq magnetic chains; l isd、LqAre dq-axis electricity, respectivelyFeeling; i.e. id、iqAre dq-axis currents, respectively;
Figure FDA0002546238470000035
represents a permanent magnet flux linkage;
the voltage equation for the motor is as follows:
Figure FDA0002546238470000036
Figure FDA0002546238470000037
in the formula of Ud、UqRespectively representing dq coordinate axis voltages; rsRepresenting the motor stator resistance; p represents the differential; w represents the stator angular frequency;
three-phase current i of the motorA、iBAnd iCI is obtained through a change formula of converting a three-phase static coordinate system into a two-phase static coordinate systemαAnd iβThen i isαAnd iβI is obtained through a change formula of converting a two-phase static coordinate system into a two-phase rotating coordinatedAnd iq；
Exciting current change rate is measured by the exciting current i of this beatdAnd a predicted value id_preObtaining as shown in formula (10); similarly, the torque current change rate calculation formula is shown in (11);
Figure FDA0002546238470000038
Figure FDA0002546238470000039
in the formula id_pre、iq_preRespectively representing dq coordinate axis prediction currents; t issIs the sampling interval time;
bringing formulae (10) and (11) into formulae (8) and (9) gives:
Figure FDA0002546238470000041
Figure FDA0002546238470000042
obtaining an excitation current predicted value i through the formulad_preAnd torque current predicted value iq_pre；
The synchronous rotation angle of the next beat is changed into phi, phi is obtained through calculation of the synchronous rotation angle theta of the motor of the next beat, and a calculation formula is as follows:
φ＝θ+wsTs(14)
in the formula, wsIs the synchronous angular frequency; theta is the synchronous rotation angle of the motor; phi is the next beat synchronous rotation angle;
then the αβ coordinate axis prediction current i is obtained by a change formula of converting a two-phase rotating coordinate system into a two-phase stationary coordinateα_preAnd iβ_preThe transformation formula for transforming the two-phase rotating coordinate system to the two-phase stationary coordinate is as follows:
Figure FDA0002546238470000043
in the formula id_pre、iq_preRespectively representing dq coordinate axis prediction currents; i.e. iα_pre、iβ_preRespectively representing αβ coordinate axis predicted current;
finally, obtaining the three-phase stationary coordinate axis prediction current i through a change formula of converting the two-phase stationary coordinate system to the three-phase stationary coordinate systemA_pre、iB_preAnd iC_preThe change formula of the motor current transformed from the two-phase static coordinate system to the three-phase static coordinate system is as follows:
Figure FDA0002546238470000044
in the formula iA_pre、iB_preAnd iC_preRespectively representing the predicted current of the three phases of the motor.
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