CN111769776B - Current reconstruction system and method for hub motor controller - Google Patents
Current reconstruction system and method for hub motor controller Download PDFInfo
- Publication number
- CN111769776B CN111769776B CN202010612840.9A CN202010612840A CN111769776B CN 111769776 B CN111769776 B CN 111769776B CN 202010612840 A CN202010612840 A CN 202010612840A CN 111769776 B CN111769776 B CN 111769776B
- Authority
- CN
- China
- Prior art keywords
- current
- phase
- module
- motor
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Abstract
The invention discloses a current reconstruction system and a current reconstruction method for a hub motor controller, which belong to the technical field of motor control and comprise a vector control loop module, a phase current sampling and reconstruction module, an angle detection module, a driving module and a motor; the vector control loop module generates 6 paths of PWM driving signals to the driving module according to an externally input speed regulation signal, a phase line current signal of the phase current sampling and reconstructing module and an angle position signal of the angle detecting module; the driving module provides a voltage and current reversing loop when in operation for the motor; the angle detection module captures the position information of the motor and provides a reversing basis; the phase current sampling and reconstructing module is used for collecting and reconstructing phase line current.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a current reconstruction system and method of a hub motor controller.
Background
The application of the hub motor to the electric bicycle is a typical case, and the hub motor controller mostly adopts a closed-loop vector control mode. In the vector control process, rotor position information needs to be detected in real time and phase line current needs to be acquired. In order to save cost, the hub motor controller mostly adopts a resistor sampling mode based on MOS internal resistance, and samples current when the lower tube of the MOS tube is conducted. According to the motor control theory, the sum of three-phase currents flowing through the motor at the same moment is zero, so that the three-phase currents can be calculated only by collecting two-phase currents. And the modern control technology solidifies the vector control algorithm into the microprocessor to realize the purpose of controlling the motor.
The accuracy of the phase line current is critical to the running effect of the motor, the resistance sampling mode based on the MOS internal resistance needs to be used for sampling when the MOS lower bridge arm is conducted, the MOS tube is conducted and turned off for a certain time, and the microprocessor ADC is used for sampling for a certain time. Therefore, a certain area exists, the current cannot be collected, and the phase line current can be accurately collected by adopting a mode of reducing the modulation ratio or reducing the PWM frequency, so that the voltage output is reduced, and the motor cannot operate in the full-speed range. Therefore, a single-resistor sampling method is widely studied, but the single-resistor sampling needs to collect current data twice in one control period, and the requirement on the micro-processing speed is very high.
Disclosure of Invention
The invention aims to provide a current reconstruction system and method for a hub motor controller, which are used for solving the problem that when the current cannot be acquired due to the fact that the conduction time of an MOS tube is smaller than the sampling time of phase line current, the voltage output is reduced by adopting a mode of reducing the modulation ratio or the PWM frequency, so that the motor cannot operate in a full-speed range.
In order to solve the technical problems, the invention provides a current reconstruction system of a hub motor controller, which comprises a vector control loop module, a phase current sampling and reconstruction module, an angle detection module, a driving module and a motor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the vector control loop module generates 6 paths of PWM driving signals to the driving module according to an externally input speed regulation signal, a phase line current signal of the phase current sampling and reconstructing module and an angle position signal of the angle detecting module;
the driving module provides a voltage and current reversing loop when in operation for the motor;
the angle detection module captures the position information of the motor and provides a reversing basis;
the phase current sampling and reconstructing module is used for collecting and reconstructing phase line current.
Optionally, the vector control loop module calculates the required phase conduction time through Clark, park, inverse Park and inverse Clark conversion according to the speed regulation signal, the phase line current signal and the angle position signal, and generates 6 paths of PWM driving signals by means of a microprocessor.
Optionally, the phase current sampling and reconstructing module adopts a mode of MOS internal resistance to sample phase current, and divides sampling into two-phase current acquisition, one-phase current acquisition and no-acquisition according to phase conduction time and ADC current sampling time; and reconstructing the acquired current according to the classification to obtain the phase line current required by the vector control loop module.
The invention also provides a current reconstruction method of the hub motor controller, which comprises the following steps:
classifying the current samples according to the phase conduction time and the current sampling time;
the phase currents are reconstructed.
Optionally, classifying the current samples according to the phase on time and the current sample time includes:
case 1: if the phase conduction time is longer than the two-way phase current sampling time, acquiring corresponding two-phase current according to the sector number;
case 2: if the phase conduction time is longer than the phase current sampling time of one path, acquiring corresponding phase current according to the sector number;
case 3: if the phase on time is insufficient to meet the current sampling time, the phase current is not sampled.
Alternatively, in the case 1, two-phase currents are directly collected and brought into the vector control loop module, and a desired voltage output is generated through the driving module to control the motor to operate.
Optionally, in the case 2, the method includes:
Optionally, the case 3 specifically is: in this state, reliable phase current cannot be obtained, and the current I of the alpha and beta axes of the previous time slice is adopted α ，I β As input to the vector control loop module, the desired voltage is obtained.
The invention has the following beneficial effects:
(1) On the basis of not changing the original sampling mode, classifying sampling points, and calculating expected voltage output through the reconstructed phase current at the position where current is not collected, thereby meeting the control design requirement;
(2) The speed regulation control in the full speed range can be solved by introducing the provided phase current reconstruction method;
(3) The technical scheme provided by the invention is suitable for a single ADC module microprocessor.
Drawings
FIG. 1 is a block diagram of an in-wheel motor controller current reconstruction system;
FIG. 2 is a flow chart of a method for current reconstruction of an in-wheel motor controller;
FIG. 3 is a flow chart of the reconstruction of phase currents in case 1;
FIG. 4 is a flow chart of the reconstruction of phase currents in case 2;
fig. 5 is a flow chart of reconstruction of the phase current in case 3.
Detailed Description
The invention provides a current reconstruction system and a current reconstruction method for an in-wheel motor controller, which are further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
Example 1
The invention provides a current reconstruction system of an in-wheel motor controller, which is shown in fig. 1 and comprises a vector control loop module 1, a phase current sampling and reconstruction module 2, an angle detection module 3, a driving module 4 and a motor 5. The vector control loop module 1 outputs 6 paths of PWM driving signals to the driving module 4, the driving module 4 outputs to the phase current sampling and reconstruction module 2 and the motor 5, the angle detection module 3 obtains motor position information from the motor 5 and sends the motor position information to the vector control loop module 1, and the phase current sampling and reconstruction module 2 outputs reconstruction current to the vector control loop module 1.
The vector control loop module 1 mainly realizes a core control algorithm, receives an input speed regulation signal and a reconstruction current
And motor position angle θ. The speed regulating signal is provided by an external Hall rotary handle, the input signal is analog, and the motor position angle theta is provided by three Hall circuits in the motor 5. The reconstruction current is provided by the phase current sampling and reconstruction module 2. The vector control loop module 1 is mainly responsible for the implementation of the transformation of Clark, park, inverse Clark, inverse Park and the like; further, the on time of each phase is calculated, and a PWM generating module of the microprocessor is used for generating 6 paths of PWM signals. The present solution has been verified on STM32F030C8T6, but the algorithm is not limited to this processor.
The phase current sampling and reconstruction module 2 is responsible for collecting and reconstructing the phase current. The phase line current is sampled by means of MOS internal resistance. And the phase current sampling and reconstructing module 2 divides sampling into: two-phase current is collected, one-phase current is collected, and no current is collected. Then, according to the phase current reconstruction scheme provided by the invention, the reconstruction current required by the vector control loop module 1 is reconstructed
The angle detection module 3 is responsible for processing three exclusive-or Hall motor signals. The three paths of Hall motor signals change once every 60 degrees, and a microprocessor capturing unit in the angle detection module 3 can capture the time interval of the change signals, so that the angle rotated by the motor is calculated, and the position information of the motor is obtained.
The driving module 4 is a three-phase full-bridge circuit formed by MOS tubes, is controlled by 6 paths of PWM signals provided by the vector control loop module 1, and is responsible for providing the voltage V when the motor 5 operates a 、V b 、V c And a current commutation loop. The motor 5 is a hub motor, but is not limited to a model and manufacturer.
Example two
The invention provides a current reconstruction method of a hub motor controller, wherein a flow chart is shown in fig. 2, and current samples are classified according to phase conduction time and current sampling time:
case 1: if the phase conduction time is longer than the sampling time of two paths of phase currents, the phase line currents can be completely collected, and the corresponding two-phase currents are collected according to sector numbers;
as shown in fig. 3, a phase current reconstruction flow chart in case 1 is shown. Firstly, step S100 obtains two-phase current I of corresponding sector a And I b 、I a And I c Or I b And I c Step S101 then directly enters a vector control loop module;
case 2: if the phase conduction time is longer than the phase current sampling time of one path, acquiring corresponding phase current according to the sector number; as shown in fig. 4, the following is specific:
s200, reading the dq axis current I of the previous time slice d_pre ，I q_pre And a current angle θ; the current data of the dq axis of the last time slice is extracted here to provide reconstruction data for the case 2;
s201, park inverse transformation is a transformation of transforming a variable in a rotating two-phase coordinate system into a stationary two-phase coordinate system, that is, a transformation of dq axis into α, β axis coordinates. The dq axis coordinate system obtained in the step S200 is setI d_pre ，I q_pre Performing Park inverse transformation on the current and the current angle theta to obtain current estimated values under an alpha-beta axis coordinate system
Wherein the current angle θ participates in the inverse transformation operation;
s202, clark inverse transformation is an operation of converting a variable in a stationary two-phase coordinate system into a variable in a stationary three-phase coordinate system. The current estimation value obtained in the step S201 is used for
Performing Clark inverse transformation to obtain estimated current
S203, first reading out a phase current under the corresponding sector, such as A phase current I a It is possible to obtain a B-phase current I b Cannot obtain the estimated current in the step S202
As phase B current, namely: />
S204, estimating a reconstruction current according to the step S203
S205, directly carrying the motor into the vector control loop module 1, and carrying out Clark conversion, park conversion, PID control and Park inverse conversion again to obtain the expected voltage output quantity and carry out speed regulation control on the motor.
Case 3: if the phase on time is insufficient to meet the current sampling time, this is an inability to obtain accurate phase current, at which time the phase current is not sampled.
As shown in fig. 5, a phase current reconstruction flow chart in case 3 is shown. First stepStep S300 obtaining the alpha, beta axis current I saved in the last time slice α ，I β Step S301 then jumps directly to the vector control loop module.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.
Claims (1)
1. A method for current reconstruction of a hub motor controller, comprising:
classifying the current samples according to the phase conduction time and the current sampling time;
reconstructing phase currents;
classifying the current samples according to the phase on time and the current sample time includes: case 1: if the phase conduction time is longer than the two-way phase current sampling time, acquiring corresponding two-phase current according to the sector number;
case 2: if the phase conduction time is longer than the phase current sampling time of one path, acquiring corresponding phase current according to the sector number;
case 3: if the phase conduction time is insufficient to meet the current sampling time, not sampling the phase current;
under the condition 1, two-phase current is directly collected and is brought into a vector control loop module, and expected voltage output is generated through a driving module to control the operation of a motor;
in the case 2, it includes: step 1, reading dq axis current and current angle of the last time slice;
step 2, performing Park inverse transformation on the obtained dq axis current and the current angle to obtain an estimated value
Step 3, the estimated value
An inverse transformation of Clark is performed,obtaining an estimated current +.>
Step 4, replacing the estimated current obtained in the step 3 with the collected one-phase current to obtain a reconstructed calculated current
Step 5, reconstructing the calculated current
The motor is brought into a vector control loop module, and a drive module generates expected voltage control output to carry out speed regulation control on the motor;
the case 3 specifically includes: in this state, reliable phase current cannot be obtained, and the α, β axis current I of the previous time slice is used α ，I β As input to the vector control loop module, the desired voltage is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010612840.9A CN111769776B (en) | 2020-06-30 | 2020-06-30 | Current reconstruction system and method for hub motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010612840.9A CN111769776B (en) | 2020-06-30 | 2020-06-30 | Current reconstruction system and method for hub motor controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111769776A CN111769776A (en) | 2020-10-13 |
| CN111769776B true CN111769776B (en) | 2023-04-28 |
Family
ID=72723043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010612840.9A Active CN111769776B (en) | 2020-06-30 | 2020-06-30 | Current reconstruction system and method for hub motor controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111769776B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113726256B (en) * | 2021-08-31 | 2023-09-19 | 中车株洲电机有限公司 | Reconstruction system of instantaneous voltage fundamental wave signal and alternating current motor drive control device |
| CN113872484B (en) * | 2021-09-27 | 2024-01-19 | 佛山市顺德区美的电子科技有限公司 | Three-phase current reconstruction method, device, equipment and storage medium |
| CN115313940B (en) * | 2022-08-19 | 2023-12-19 | 重庆海控科技合伙企业(有限合伙) | Current estimator for servo motor |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104022709A (en) * | 2014-05-22 | 2014-09-03 | 广东威灵电机制造有限公司 | Positioning method for initial position of rotor in permanent magnet synchronous motor and system thereof |
| CN105406790A (en) * | 2015-12-25 | 2016-03-16 | 上海交通大学 | Frequency converter three-resistance current sampling method based on current prediction |
| CN106452261A (en) * | 2016-10-19 | 2017-02-22 | 南京理工大学 | BCPWM based phase current reconstruction method and device |
| CN107508517A (en) * | 2017-07-11 | 2017-12-22 | 苏州大学 | A kind of low-speed electronic automobile AC induction motor vector control method and system |
| CN109039171A (en) * | 2018-08-23 | 2018-12-18 | 浙江大学 | A kind of high-speed permanent-magnet brushless DC motor control method based on variable turn-on cycle |
| CN111049443A (en) * | 2019-12-27 | 2020-04-21 | 吉林大学 | Sampling method for single-resistor current of three-phase permanent magnet synchronous motor |
| CN111262489A (en) * | 2018-11-15 | 2020-06-09 | 北京大学 | Motor asymmetric SVPWM reconstruction method based on PWM phase deviation |
-
2020
- 2020-06-30 CN CN202010612840.9A patent/CN111769776B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104022709A (en) * | 2014-05-22 | 2014-09-03 | 广东威灵电机制造有限公司 | Positioning method for initial position of rotor in permanent magnet synchronous motor and system thereof |
| CN105406790A (en) * | 2015-12-25 | 2016-03-16 | 上海交通大学 | Frequency converter three-resistance current sampling method based on current prediction |
| CN106452261A (en) * | 2016-10-19 | 2017-02-22 | 南京理工大学 | BCPWM based phase current reconstruction method and device |
| CN107508517A (en) * | 2017-07-11 | 2017-12-22 | 苏州大学 | A kind of low-speed electronic automobile AC induction motor vector control method and system |
| CN109039171A (en) * | 2018-08-23 | 2018-12-18 | 浙江大学 | A kind of high-speed permanent-magnet brushless DC motor control method based on variable turn-on cycle |
| CN111262489A (en) * | 2018-11-15 | 2020-06-09 | 北京大学 | Motor asymmetric SVPWM reconstruction method based on PWM phase deviation |
| CN111049443A (en) * | 2019-12-27 | 2020-04-21 | 吉林大学 | Sampling method for single-resistor current of three-phase permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111769776A (en) | 2020-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111769776B (en) | Current reconstruction system and method for hub motor controller | |
| CN109167545B (en) | Permanent magnet synchronous generator flux linkage online identification method and system | |
| CN108631678B (en) | Vector control dead zone compensation method and system for permanent magnet synchronous motor | |
| CN106533303A (en) | Permanent magnet brushless DC motor driver control method | |
| CN101783636B (en) | Motor rotor position estimation method and motor drive control method | |
| CN108631672A (en) | Meter and the permanent magnet synchronous motor of optimal duty ratio modulation predict flux linkage control method | |
| CN109039199B (en) | Bus current estimation method and system for EPS controller | |
| WO2023045555A1 (en) | Three-phase current reconstruction method and apparatus, device and storage medium | |
| CN113691186A (en) | Permanent magnet synchronous motor position angle compensation method for controlling rotor without position sensor | |
| CN113872483A (en) | Three-phase current reconstruction method, device, equipment and storage medium | |
| CN113067505B (en) | Method for compensating voltage vector in control process of permanent magnet synchronous motor | |
| CN112104294B (en) | Accurate current detection method for large-torque permanent magnet synchronous motor | |
| CN113726239B (en) | Control method and system for permanent magnet synchronous motor current loop prediction | |
| CN115514278A (en) | Semi-tangent integral type motor position and speed estimation method and device | |
| CN113258837A (en) | Robust model prediction current control method and device for permanent magnet synchronous motor | |
| CN112422017A (en) | Single-resistor sampling method | |
| CN113872478B (en) | Motor rotation speed adjusting method, device, equipment and storage medium | |
| CN113872486B (en) | Three-phase current reconstruction method, device, equipment and storage medium | |
| CN110868122A (en) | Motor control method, device and storage medium | |
| CN115913040B (en) | Current loop hardware acceleration engine and system | |
| CN114024382B (en) | Permanent magnet synchronous motor single-rotating-speed-loop speed regulating device based on load torque feedback | |
| CN111224603B (en) | Compressor direct torque control method and device, compressor device and air conditioning equipment | |
| CN113364366B (en) | Rapid self-correction device and method for commutation point of high-speed permanent magnet motor without position sensor | |
| CN111211723B (en) | Current error system without position sensor control and online correction method | |
| CN107994833A (en) | A kind of initial position of rotor detection device of permanent magnet synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |