CN112751519B - Motor beat frequency suppression method and system, electric transmission control system and storage medium - Google Patents
Motor beat frequency suppression method and system, electric transmission control system and storage medium Download PDFInfo
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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
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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
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention provides a motor beat frequency suppression method and system, an electric transmission control system and a storage medium, wherein the method comprises the following steps: collecting the intermediate voltage and the motor current of an electric transmission control system in real time; extracting alternating current components and direct current components of the intermediate voltage; calculating a static beat frequency compensation coefficient according to the alternating current component and the direct current component of the intermediate voltage; extracting a motor current beat frequency component representing a motor beat frequency current amplitude index; a search algorithm is adopted, and a dynamic beat frequency compensation coefficient which enables a beat frequency component of the motor current to be minimum is obtained through online iterative optimization; and obtaining a beat frequency compensation coefficient based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, and compensating the given torque or the given slip corresponding to the given torque by using the beat frequency compensation coefficient. The invention can inhibit the beat frequency phenomenon of the direct current alternating current pulse to the motor in the electric transmission control system with the intermediate voltage having the pulse component of double power grid frequency, thereby effectively reducing the problems of motor loss, heating and noise.
Description
Technical Field
The invention relates to the technical field of variable flow control, in particular to a motor beat frequency suppression method and system, an electric transmission control system and a storage medium.
Background
The electric drive control system formed by a single-phase rectifier, a three-phase inverter and an alternating current motor is one of the most common systems of an alternating current-direct current voltage type frequency converter and mainly comprises a single-phase rectifier, a middle direct current supporting capacitor, a three-phase inverter and an alternating current motor, wherein the single-phase rectifier is a single-phase diode uncontrolled rectifier or a single-phase PWM four-quadrant rectifier, a middle direct current loop is mainly a middle direct current supporting capacitor, and the capacitance value of the middle direct current supporting capacitor is CdAs shown in fig. 1, an intermediate dc loop of an electric transmission control system formed by a conventional single-phase rectifier, a three-phase inverter and an ac motor is provided with an LC hardware filter loop for filtering out a dc voltage 2 times grid voltage pulsating component, but the LC hardware filter loop is limited by space volume, weight and cost considerations of a converter, so that the electric transmission control system formed by the single-phase rectifier, the three-phase inverter and the ac motor without the LC hardware filter loop as shown in fig. 2 may be adopted, and the LC filter hardware loop is omitted. Different from the traditional single-phase intersection-direct current-phase intersection system (when an LC hardware filtering loop exists, the intermediate voltage is stable, and the fluctuation condition does not exist), under the condition of no LC hardware filtering loop, the intermediate voltage has a pulsating component with 2 times of network voltage frequency.
Intermediate voltage U due to the output characteristics of the single-phase rectifierdOften consists of two parts, one part being a dc component UdcA part being a pulsating component
Component of pulsation
The ripple frequency of (2) is twice the grid frequency, i.e. 2 times the single-phase ac input. At this time, since the intermediate dc loop still contains a pulsating component of twice the grid frequency, such pulsating intermediate voltage directly supplies the ac motor through the three-phase voltage-type inverter if the intermediate dc loop is used as a power supplyIf the control is not carried out effectively, the phenomena of three-phase unbalance of alternating current motor current, torque pulsation increase and the like, namely beat frequency phenomenon can be caused; especially when the three-phase inverter outputs a frequency omegasAnd the frequency 2. omega. of the pulsating component of the intermediate voltagenetWhen the phases are close to each other, the beat frequency phenomenon is more serious, and even a small voltage pulsation component can also cause a large beat frequency current and beat frequency torque, so that the phenomenon can cause additional loss, heat generation and noise of the motor, reduce the running performance of the motor and influence the overall stability of the system.
The existing methods for suppressing and eliminating beat frequency phenomena can be divided into two categories, namely hardware methods and software methods: the hardware method is to use a hardware LC filter loop (as shown in figure 1) to filter out the pulsating component of the DC bus voltage, thus fundamentally solving the beat frequency phenomenon; the software method for eliminating beat frequency phenomenon mainly comprises the following steps: a single period control method, a feedforward compensation method, a feedback compensation method, a frequency compensation method and the like. Due to the problems of complex control precision and digital realization, the application range of the first three methods is limited, and the inhibition parameters can not be optimized online in real time. Therefore, the research on the simple and practical technical scheme of online beat frequency suppression in the electric transmission control system of the single-phase rectifier, the three-phase inverter and the alternating current motor has important theoretical and practical significance.
Disclosure of Invention
The invention aims to provide a motor beat frequency suppression method and system, an electric transmission control system and a storage medium, which solve the problem of motor current three-phase imbalance caused by fluctuating intermediate voltage in the electric transmission control system and realize beat frequency suppression.
In a first aspect, the present invention provides a method for suppressing beat frequency of a motor, including:
collecting the intermediate voltage and the motor current of an electric transmission control system in real time;
extracting an alternating current component and a direct current component of the intermediate voltage;
calculating a static beat frequency compensation coefficient according to the alternating current component and the direct current component of the intermediate voltage;
extracting a motor current beat frequency component representing a motor beat frequency current amplitude index;
a search algorithm is adopted, and a dynamic beat frequency compensation coefficient which enables a beat frequency component of the motor current to be minimum is obtained through online iterative optimization;
and obtaining a beat frequency compensation coefficient based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, and compensating the given torque or the given slip corresponding to the given torque by using the beat frequency compensation coefficient.
Furthermore, the static beat frequency compensation coefficient is calculated according to the alternating current component and the direct current component of the intermediate voltage by using the following static beat frequency compensation coefficient function:
wherein, χstatIs a static beat frequency compensation coefficient and is,
is an intermediate voltage UdAC component of (1), UdcIs an intermediate voltage UdOf (d) a direct current component, kampIs the correction factor, ωnetIs the rotational angular frequency of the single-phase alternating current.
Further, the extracting the motor current beat frequency component representing the motor beat frequency current amplitude index includes:
performing FFT analysis on the a-phase motor current or the b-phase motor current in a static abc coordinate system;
extracting characteristic frequency |2 ωnet-ωsI is the corresponding amplitude of the beat frequency component of the motor current, wherein, omeganetIs the rotation angular frequency, omega, of a single-phase alternating currentsIs the stator rotational angular velocity.
Further, the extracting the motor current beat frequency component representing the motor beat frequency current amplitude index includes:
under a synchronous dq-axis rotation coordinate system, extracting a frequency of 2 omega from d-axis motor current and q-axis motor currentnetIncluding 2 times the d-axis currentAn alternating current component of the grid voltage frequency and an alternating current component of 2 times the grid voltage frequency in the q-axis current, wherein ω isnetIs the rotation angular frequency of the single-phase alternating current;
calculating an effective value of an alternating current component with 2 times of grid voltage frequency in d-axis current and an effective value of an alternating current component with 2 times of grid voltage frequency in q-axis current;
and solving a mean square root and a root of the two effective values to obtain a beat frequency component of the motor current.
Furthermore, the search algorithm is a gradient descent method, the dynamic beat frequency compensation coefficient which enables the beat frequency component of the motor current to be minimum is obtained by adopting the gradient descent method through online iterative optimization, and the method specifically comprises the following steps:
and continuously adjusting the value of the dynamic beat frequency compensation coefficient in the concave function by adopting a gradient descent method based on the concave function characteristics of the motor current beat frequency component and the dynamic beat frequency compensation coefficient, and searching and obtaining the dynamic beat frequency compensation coefficient which enables the motor current beat frequency component to be minimum.
Further, the concave function is represented in discrete form as follows:
ΔIp[k-1]＝Ip[k-1]-Ip[k-2]；
in the formula, xdyn[k]To control the dynamic beat compensation coefficient at the kth time of the cycle,%dyn[k-1]To control the dynamic beat frequency compensation coefficient at the k-1 th moment of the cycle, alpha is the search step length, Ip[k]To control the beat component of the motor current at the kth moment of the cycle, Ip[k-1]To control the beat frequency component of the motor current at time k-1 of the cycle, Δ Ip [ k-1 ]]The beat frequency component difference value of the motor current corresponding to the beat frequency compensation coefficients at the first K-1 time and the K-2 time is a set limit value, epsilon is a positive number, K1、K2Gradient descent coefficients are given, and are all positive.
Further, the dynamic beat frequency compensation coefficient χdyn_optimalAnd static beat frequency compensation coefficient xstatAdding to obtain a beat frequency compensation coefficient xcomp＝χdyn_optimal+χstatCompensating the beat frequency by the coefficient xcompCompensating to a given torque
Or a given torque
Corresponding given slip ωsip *To move upwards, i.e.
Or
In a second aspect, the present invention further provides a motor beat frequency suppression system, configured to implement the motor beat frequency suppression method, where the system includes:
the acquisition unit is used for acquiring the intermediate voltage and the motor current of the electric transmission control system in real time;
a filtering unit for extracting an alternating current component and a direct current component of the intermediate voltage;
the beat frequency current extraction unit is used for extracting a motor current beat frequency component representing a motor beat frequency current amplitude index;
the static compensation unit is used for calculating a static beat frequency compensation coefficient according to the alternating current component and the direct current component of the intermediate voltage;
the dynamic compensation unit is used for obtaining a dynamic beat frequency compensation coefficient which enables a beat frequency component of the motor current to be minimum by adopting a search algorithm and performing online iterative optimization;
and the compensation feedback unit is used for obtaining a beat frequency compensation coefficient based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, and compensating the given torque or the given slip corresponding to the given torque by using the beat frequency compensation coefficient.
In a third aspect, the present invention further provides an electric drive control system, which includes a memory and a processor, where the memory stores a computer program, and the computer program, when executed by the processor, implements the motor beat frequency suppression method.
In a fourth aspect, the present invention further provides a storage medium, where a computer program is stored, and when the computer program is executed by one or more processors, the method for suppressing motor beat frequency is implemented.
The invention provides a motor beat frequency suppression method and system, an electric transmission control system and a storage medium, which realize the suppression of beat frequency phenomenon (the motor current beat frequency component is reduced to the minimum) generated by direct current and alternating current (DC/AC) pulsation on a motor in an AC/DC type electric transmission control system with the intermediate voltage having the pulsation component of twice grid frequency, effectively reduce the problems of motor loss, heating and noise, and improve the running performance of the motor and the system stability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of an electric transmission control system consisting of a conventional single-phase rectifier, a three-phase inverter and an alternating current motor;
FIG. 2 is a schematic diagram of an electric transmission control system consisting of a single-phase rectifier, a three-phase inverter and an alternating current motor without an LC hardware filter loop;
FIG. 3 is a schematic diagram of an application of a motor beat frequency suppression method according to an embodiment of the present invention;
fig. 4 is a flowchart of a motor beat frequency suppression method according to an embodiment of the present invention;
fig. 5 is a flowchart of step S4 according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a principle of extracting a beat frequency component of a motor current in a stationary abc coordinate according to an embodiment of the present invention;
fig. 7 is another flowchart of step S4 according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a principle of extracting a beat frequency component of a motor current under a synchronous dq-axis rotating coordinate system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a gradient descent method according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a motor beat frequency suppression system according to a second embodiment of the present invention;
fig. 11 is a block diagram of a motor beat frequency suppression system according to a second embodiment of the present invention.
In the figure:
ψ*motor flux (stator or rotor flux)
ωsip *-given slip
Te *(ωsip *)otptimal-given torque or given slip with beat frequency compensation factor superimposed
ia-a-phase motor current
ib-b-phase motor current
ic-c-phase motor current
id-motor stator d-axis current
iq-motor stator q-axis current
ωs-stator rotation angular velocity
ωr-rotor rotational angular velocity
ωnet-angular frequency of rotation of single-phase alternating current
θeSynchronous rotation of stator frequency
PWM-pulse width modulation
Sa、Sb、Sc-a switch state.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The motor beat frequency suppression method and system, the electric transmission control system and the storage medium provided by the invention are applied to the electric transmission control system of the existing single-phase rectifier, three-phase inverter and alternating current motor, and as shown in figure 3, the single-phase cross-current network voltage
Flows into a single-phase rectifier, generates an intermediate voltage U between the single-phase rectifier and a three-phase inverterdThe output of the single-phase rectifier flows into a three-phase inverter, the output of the three-phase inverter flows into an alternating current motor IM, and the intermediate voltage U of the electric drive control system is acquired in real timedAnd motor current for extracting AC component of intermediate voltage
(including amplitude and phase) and DC component, calculating static beat frequency compensation coefficient and dynamic beat frequency compensation coefficient, and introducing the beat frequency compensation coefficient χ of the present invention based on the existing motor control unit and PWM modulation unitcompSuperimposed on the given torque
Or a given torque
Corresponding given slip ωsip *To realize the motor racketAnd (4) frequency suppression.
Example one
The embodiment provides a motor beat frequency suppression method, as shown in fig. 4, including:
step S1, collecting the intermediate voltage U of the electric drive control system in real timedAnd motor current (at least two phases);
step S2, extracting the alternating current component of the intermediate voltage
(including amplitude and phase) and DC component Udc；
Step S3, calculating the static beat frequency compensation coefficient chi according to the alternating current component and the direct current component of the intermediate voltagestat；
Specifically, the static beat frequency compensation coefficient is calculated by adopting the following static beat frequency compensation coefficient function:
wherein, χstatIs a static beat frequency compensation coefficient and is,
is an intermediate voltage UdOf medium alternating current component, UdcIs an intermediate voltage UdOf (d) a direct current component, kampIs the correction factor, ωnetIs the rotation angular frequency of the single-phase alternating current.
Step S4, extracting motor current beat frequency component I representing motor beat frequency current amplitude indexp；
Specifically, as shown in fig. 5 and 6, the step S4 includes:
step 41, under a static abc coordinate system, a-phase motor current i is measuredaAnd b-phase motor current ibPerforming FFT analysis;
step 42, extracting characteristic frequency |2 ωnet-ωsI corresponding amplitude, which is the beat frequency component of the motor current, wherein ω isnetIs a rotation of single-phase alternating currentAngular frequency, omegasIs the stator rotational angular velocity.
Alternatively, as shown in fig. 7 and 8, the step S4 includes:
step 43, extracting the frequency of 2 omega from the d-axis motor current and the q-axis motor current in the synchronous dq-axis rotating coordinate systemnetIncluding 2 times the grid voltage frequency 2 omega in the d-axis currentnetOf alternating current component id_acAnd 2 times the grid voltage frequency 2 omega in the q-axis currentnetOf alternating current component iq_acIn which ω isnetIs the rotation angular frequency of the single-phase alternating current;
step 44, calculating the 2-time grid voltage frequency 2 omega in the d-axis currentnetAlternating current component id_acEffective value of (I)d_acAnd 2 times the grid voltage frequency 2 omega in the q-axis currentnetAlternating current component iq_acEffective value of (I)q_ac；
Step 45, solving the root mean square sum of the two effective values to obtain a motor current beat frequency component Ip。
The motor current beat component extraction method is selected from the two implementation methods of step S4 described above, according to whether the stationary abc coordinate system or the synchronous dq-axis rotation coordinate system.
Step S5, adopting search algorithm, and optimizing the dynamic beat frequency compensation coefficient χ through online iterationdynObtaining a dynamic beat frequency compensation coefficient chi for minimizing the beat frequency component of the motor currentdyn_optimal；
Specifically, the search algorithm is preferably a gradient descent method (but not limited thereto, other mathematical search algorithms suitable for the concave function may also be suitable), and the dynamic beat frequency compensation coefficient χ is optimized through online iterationdynObtaining a dynamic beat frequency compensation coefficient chi for minimizing the beat frequency component of the motor currentdyn_optimal。
According to engineering experience, based on motor current beat frequency component IpAnd a dynamic beat frequency compensation coefficient χdynThe characteristic of the concave function can continuously adjust the dynamic beat frequency compensation coefficient chi according to the mathematical theory and the gradient descent methoddynFinally, a dynamic beat frequency compensation coefficient x is obtained by searchingdyn_optimalSo that the beat frequency component I of the motor currentpMinimum, motor current beat frequency component IpTo a minimum value of IpAnd min is the aim of inhibiting the beat frequency current of the motor.
The gradient descent method means: and aiming at the concave function, searching the corresponding x when the y is minimum.
The principle of the gradient descent method is shown in fig. 9, and the formula of the gradient descent method is as follows:
Δy[k-1]＝y[k-1]-y[k-2]；
x 0 is 0 (initial value)
The concave function described above is represented in discrete form as follows:
let y be Ip[k]，x＝χdyn[k]，
ΔIp[k-1]＝Ip[k-1]-Ip[k-2]；
In the formula, xdyn[k]To control the dynamic beat compensation coefficient at the kth time of the cycle,%dyn[k-1]To control the dynamic beat frequency compensation coefficient at the k-1 th moment of the cycle, alpha is the search step length, Ip[k]To control the beat frequency component of the motor current at the kth moment of the cycle, Ip[k-1]To control the beat frequency component of the motor current at time k-1 of the cycle, Δ Ip [ k-1 ]]The beat frequency component difference value of the motor current corresponding to the beat frequency compensation coefficients at the first K-1 time and the K-2 time is a set limit value, epsilon is a positive number, K1、K2The gradient descent coefficients are all positive and are set according to engineering debugging basis.
And continuously adjusting the value of the dynamic beat frequency compensation coefficient in the concave function by adopting a gradient descent method, and searching and obtaining the dynamic beat frequency compensation coefficient which enables the current beat frequency component of the motor to be minimum. Dynamic beat frequency compensation coefficient chidyn_optimalFor iterative calculation based on a concave function in discrete formThe final steady state value after that is to achieve | Δ Ip [ k-1]And the value of | < epsilon is the converged value after continuous iteration and updating.
And step S6, obtaining a beat frequency compensation coefficient based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, and compensating the given torque or the given slip corresponding to the given torque by using the beat frequency compensation coefficient.
Specifically, the dynamic beat frequency compensation coefficient chidyn_optimalAnd static beat frequency compensation coefficient xstatAdding to obtain a beat frequency compensation coefficient χcomp＝χdyn_optimal+χstatCompensating the beat frequency by the coefficient xcompCompensating to a given torque
Or a given torque
Corresponding given slip ωsip *To move upwards, i.e.
Or
Example two
The present embodiment provides a motor beat suppression system for implementing a motor beat suppression method of an electric drive control system, as shown in fig. 9 and 10, the system including:
the acquisition unit 1 is used for acquiring the intermediate voltage and the motor current of the electric transmission control system in real time;
a filtering unit 2 for extracting an alternating current component and a direct current component of the intermediate voltage;
the beat frequency current extraction unit 3 is used for extracting a motor current beat frequency component representing a motor beat frequency current amplitude index;
the static compensation unit 4 is used for calculating a static beat frequency compensation coefficient according to the alternating current component and the direct current component of the intermediate voltage;
the dynamic compensation unit 5 is used for obtaining a dynamic beat frequency compensation coefficient which enables the beat frequency component of the motor current to be minimum by adopting a search algorithm and online iterative optimization;
and the compensation feedback unit 6 is used for obtaining a beat frequency compensation coefficient based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, and compensating the given torque or the given slip corresponding to the given torque by using the beat frequency compensation coefficient.
The filtering unit 2 further includes a low-pass filter for extracting a dc component and a band-pass filter or a wave limiter for extracting an ac component.
The beat frequency current extraction unit 3 is specifically configured to:
performing FFT analysis on the a-phase motor current or the b-phase motor current in a static abc coordinate system;
extracting characteristic frequency |2 ωnet-ωsThe amplitude corresponding to the l is a beat frequency component of the motor current, wherein, omeganetIs the rotation angular frequency, omega, of a single-phase alternating currentsIs the stator rotational angular velocity.
Or the beat frequency current extraction unit 3 is specifically configured to:
under a synchronous dq-axis rotating coordinate system, extracting frequency of 2 omega from d-axis motor current and q-axis motor currentnetComprises an alternating current component of 2 times the grid voltage frequency in the d-axis current and an alternating current component of 2 times the grid voltage frequency in the q-axis current, wherein ω isnetIs the rotation angular frequency of the single-phase alternating current;
calculating an effective value of an alternating current component with 2 times of grid voltage frequency in d-axis current and an effective value of an alternating current component with 2 times of grid voltage frequency in q-axis current;
and solving the mean square sum root of the two effective values to obtain the beat frequency component of the motor current.
And selecting a motor current beat component extraction mode from the two implementation modes according to a static abc coordinate system or a synchronous dq axis rotation coordinate system.
The dynamic compensation unit 5 is configured to obtain a dynamic beat frequency compensation coefficient that minimizes a beat frequency component of the motor current by using a gradient descent method and performing online iterative optimization, and specifically includes:
and continuously adjusting the value of the dynamic beat frequency compensation coefficient in the concave function by adopting a gradient descent method based on the concave function characteristics of the motor current beat frequency component and the dynamic beat frequency compensation coefficient, and searching and obtaining the dynamic beat frequency compensation coefficient which enables the motor current beat frequency component to be minimum.
The present embodiment also provides an electric drive control system, which includes a memory and a processor, where the memory stores a computer program, and the computer program is executed by the processor to implement the motor beat frequency suppression method.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by one or more processors, implements the above-described motor beat suppression method.
According to the motor beat frequency suppression method and system, the electric transmission control system and the storage medium provided by the embodiment of the invention, the static beat frequency compensation coefficient is obtained by extracting the direct current component and the alternating current component of the intermediate voltage; by extracting a motor current beat frequency component, a search algorithm is adopted to iteratively optimize a dynamic beat frequency compensation coefficient; the beat frequency compensation coefficient is obtained based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, the beat frequency compensation coefficient is used for compensating the given torque or the given slip corresponding to the given torque, and the beat frequency compensation coefficient is superposed on the front-end given torque or the given slip of the traditional motor control to minimize the current beat frequency component of the motor, so that the adverse effects of the fluctuating intermediate voltage on the loss, the heating and the noise of the motor in the electric transmission control system without an LC hardware filter loop are reduced.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (7)
1. A method for suppressing beat frequency of a motor, comprising:
collecting the intermediate voltage and the motor current of an electric transmission control system in real time;
extracting alternating current components and direct current components of the intermediate voltage;
calculating a static beat frequency compensation coefficient according to the alternating current component and the direct current component of the intermediate voltage;
extracting a motor current beat frequency component representing a motor beat frequency current amplitude index;
a search algorithm is adopted, and a dynamic beat frequency compensation coefficient which enables the beat frequency component of the motor current to be minimum is obtained through online iterative optimization;
obtaining a beat frequency compensation coefficient based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, and compensating the given torque or the given slip corresponding to the given torque by using the beat frequency compensation coefficient;
the static beat frequency compensation coefficient is calculated according to the alternating current component and the direct current component of the intermediate voltage, and the static beat frequency compensation coefficient is calculated by adopting the following static beat frequency compensation coefficient function:
wherein, χstatIs a static beat frequency compensation coefficient and is,
is an intermediate voltage UdAC component of (1), UdcIs an intermediate voltage UdA direct current component of (1), KampIs the correction factor, ωnetIs the rotation angular frequency of the single-phase alternating current;
the search algorithm is a gradient descent method, adopts the gradient descent method, and obtains a dynamic beat frequency compensation coefficient which enables the beat frequency component of the motor current to be minimum through online iterative optimization, and specifically comprises the following steps:
continuously adjusting the value of the dynamic beat frequency compensation coefficient in the concave function by adopting a gradient descent method based on the concave function characteristics of the motor current beat frequency component and the dynamic beat frequency compensation coefficient, and searching and obtaining the dynamic beat frequency compensation coefficient which enables the motor current beat frequency component to be minimum;
the concave function is represented in discrete form as follows:
ΔIp[k-1]＝Ip[k-1]-Ip[k-2]；
in the formula, chidyn[k]For controlling the dynamic beat compensation coefficient at the kth moment of the cycle, χdyn[k-1]Alpha is the search step length, I is the dynamic beat frequency compensation coefficient at the k-1 time of the control periodp[k]To control the beat frequency component of the motor current at the kth moment of the cycle, Ip[k-1]To control the beat frequency component of the motor current at time k-1 of the cycle, Δ Ip [ k-1 ]]Is the difference value of the beat frequency components of the motor current corresponding to the beat frequency compensation coefficients at the K-1 th moment and the K-2 th moment, epsilon is a set limit value and is a positive number, K1、K2Gradient descent coefficients are given, and are all positive.
2. The motor beat frequency suppression method according to claim 1, wherein said extracting a motor current beat frequency component that characterizes a motor beat frequency current magnitude indicator comprises:
performing FFT analysis on the a-phase motor current or the b-phase motor current in a static abc coordinate system;
extracting characteristic frequency |2 ωnet-ωsI is the corresponding amplitude of the beat frequency component of the motor current, wherein, omeganetIs the rotation angular frequency, omega, of a single-phase alternating currentsIs the stator rotational angular velocity.
3. The motor beat frequency suppression method according to claim 1, wherein said extracting a motor current beat frequency component that characterizes a motor beat frequency current magnitude indicator comprises:
under a synchronous dq-axis rotating coordinate system, extracting frequency of 2 omega from d-axis motor current and q-axis motor currentnetIncluding an ac component at 2 times the grid voltage frequency in the d-axis currentAnd an alternating component of 2 times the grid voltage frequency in the q-axis current, ω thereofnetIs the rotation angular frequency of the single-phase alternating current;
calculating the effective value of the alternating current component with 2 times of grid voltage frequency in the d-axis current and the effective value of the alternating current component with 2 times of grid voltage frequency in the q-axis current;
and solving a mean square root and a root of the two effective values to obtain a beat frequency component of the motor current.
4. The motor beat frequency suppression method according to claim 1,
compensating the dynamic beat frequency by the coefficient xdyn_optimalAnd static beat frequency compensation coefficient xstatAdding to obtain a beat frequency compensation coefficient xcomp＝χdyn_optimal+χstatCompensating the beat frequency by the coefficient xcompCompensated to a given torque Te *Or a given torque Te *Corresponding given slip ωsip *Upper, i.e. Te * otptimal＝Te *+χcompOr ωsip * otptimal＝ωsip *+χcomp。
5. A motor beat suppression system for implementing the motor beat suppression method according to any one of claims 1 to 4, comprising:
the acquisition unit is used for acquiring the intermediate voltage and the motor current of the electric transmission control system in real time;
a filtering unit for extracting an alternating current component and a direct current component of the intermediate voltage;
the beat frequency current extraction unit is used for extracting a motor current beat frequency component representing a motor beat frequency current amplitude index;
the static compensation unit is used for calculating a static beat frequency compensation coefficient according to the alternating current component and the direct current component of the intermediate voltage;
the dynamic compensation unit is used for obtaining a dynamic beat frequency compensation coefficient which enables a beat frequency component of the motor current to be minimum by adopting a search algorithm and performing online iterative optimization;
the compensation feedback unit is used for obtaining a beat frequency compensation coefficient based on the dynamic beat frequency compensation coefficient and the static beat frequency compensation coefficient, and compensating the given torque or the given slip corresponding to the given torque by using the beat frequency compensation coefficient;
and calculating a static beat frequency compensation coefficient according to the alternating current component and the direct current component of the intermediate voltage, and calculating by adopting the following static beat frequency compensation coefficient function:
wherein, χstatIs a static beat frequency compensation coefficient and is,
is an intermediate voltage UdAC component of (1), UdcIs an intermediate voltage UdOf (d) a direct current component, kampIs the correction factor, ωnetIs the rotation angular frequency of the single-phase alternating current;
the search algorithm is a gradient descent method, adopts the gradient descent method, and obtains a dynamic beat frequency compensation coefficient which enables the beat frequency component of the motor current to be minimum through online iterative optimization, and specifically comprises the following steps:
continuously adjusting the value of the dynamic beat frequency compensation coefficient in the concave function by adopting a gradient descent method based on the concave function characteristics of the motor current beat frequency component and the dynamic beat frequency compensation coefficient, and searching and acquiring the dynamic beat frequency compensation coefficient which enables the motor current beat frequency component to be minimum;
the concave function is represented in discrete form as follows:
ΔIp[k-1]＝Ip[k-1]-Ip[k-2]；
in the formula, chidyn[k]For controlling the dynamic beat compensation coefficient at the kth moment of the cycle, χdyn[k-1]To control the weekThe dynamic beat frequency compensation coefficient at the k-1 time, alpha is the search step length, Ip[k]To control the beat component of the motor current at the kth moment of the cycle, Ip[k-1]To control the beat frequency component of the motor current at time k-1 of the cycle, Δ Ip [ k-1 ]]The beat frequency component difference value of the motor current corresponding to the beat frequency compensation coefficients at the first K-1 time and the K-2 time is a set limit value, epsilon is a positive number, K1、K2The gradient descent coefficients are all positive.
6. An electric drive control system comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, implements a motor beat frequency suppression method as claimed in any one of claims 1 to 4.
7. A storage medium having stored thereon a computer program which, when executed by one or more processors, implements a motor beat suppression method as claimed in any one of claims 1 to 4.
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| JPH0246173A (en) * | 1988-08-04 | 1990-02-15 | Hitachi Ltd | Frequency converter |
| CN101884164A (en) * | 2007-12-04 | 2010-11-10 | 三菱电机株式会社 | Ac motor controller |
| CN102832874A (en) * | 2012-02-24 | 2012-12-19 | 株洲南车时代电气股份有限公司 | System and method for controlling motor |
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