CN112798846B - Harmonic current detection system and method for vehicle motor controller - Google Patents
Harmonic current detection system and method for vehicle motor controller Download PDFInfo
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Abstract
The invention provides a harmonic current detection system and method of a motor controller for a vehicle, wherein the harmonic current detection system of the motor controller for the vehicle comprises a front end coordinate transformation unit, a current harmonic residual unit and a filtering unit, wherein the front end coordinate transformation unit is used for carrying out coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental current and each subharmonic current; the current harmonic wave surplus unit is used for removing each harmonic current of the d-q axis in the sum of the d-q axis fundamental current and each harmonic current, or removing d-q axis fundamental current and d-q axis other harmonic currents except for a certain harmonic current of the d-q axis; the filtering unit is used for filtering the 1 st, 2 nd, … th and N th residual currents. According to the invention, on one hand, the phase lag introduced in the filtering process of the low-pass filter on other harmonic components is reduced, the response speed of harmonic current extraction is improved, and on the other hand, the attenuation coefficient of the low-pass filter on other harmonic components is increased, and the fluctuation amount of the extracted harmonic current is reduced.
Description
Technical Field
The invention relates to the technical field of automotive motors, in particular to a system and a method for detecting harmonic current of an automotive motor controller.
Background
Torque pulsation is commonly present in a motor for a vehicle due to non-sinusoidal tooth space and air gap magnetic fields, harmonic current and the like, and causes torsional vibration of a conventional system of the vehicle at low speed and squeal in the vehicle at medium and high speeds, as shown in fig. 1 (a) and 1 (b), so that riding comfort of the whole vehicle is reduced. The motor torque pulsation can be effectively restrained through active harmonic current injection, and as can be seen from fig. 2, the torque pulsation can be greatly reduced through injection of a small amount of harmonic current, the method is completely based on optimization of software, and the method can be realized on the original hardware platform of the electric drive system without adding extra cost; aiming at different permanent magnet synchronous motors, the method only needs to complete the suppression of torque pulsation through the adaptation of parameters; in addition, compared with motor structure optimization, the method has less influence on motor torque density.
In order to achieve accurate injection of harmonic currents, it is necessary that the control system be able to accurately and rapidly extract the harmonic currents in order to effectively perform closed loop feedback control of the harmonic currents. The traditional harmonic current extraction method is designed based on a synchronous axis filter, and consists of two parts, namely a coordinate transformation and a low-pass filter, as shown in fig. 3, taking 5 th harmonic current as an example, using Park transformation to obtain d-q axis current under a 5 th synchronous coordinate system, changing the 5 th harmonic current into direct current under the synchronous coordinate system, and the current of the other orders is alternating current, and extracting the 5 th harmonic current by using the low-pass filter, and similarly, extracting 7, 11 and 13 th harmonic currents respectively.
However, since a low-pass filter is used in the process of harmonic current extraction, it introduces phase lag in the filtering process, and the selection of the filter type and parameters has a great influence on the dynamic response of harmonic current extraction. Fig. 4 shows the 5 th harmonic current acquisition result obtained by the conventional harmonic current extraction method, it can be seen that a phase delay of 0.4s occurs in the dynamic process of harmonic current extraction, and the finally extracted harmonic current value fluctuates by 1.6A, although the fluctuation value of the 5 th harmonic current can be reduced by reducing the filter cut-off frequency, the phase delay time can be further increased. Therefore, by adopting the traditional harmonic current extraction method, although accurate tracking of the harmonic current can be ensured in a steady state, the phase lag in the transient response process is serious, and the dynamic response performance of the harmonic current injection is greatly reduced.
Disclosure of Invention
The invention aims to provide a harmonic current detection system and method for a vehicle motor controller, which are used for solving the problem of poor dynamic response performance caused by the existing harmonic current extraction.
In order to solve the technical problems, the invention provides a harmonic current detection system of a motor controller for a vehicle, which comprises a front end coordinate transformation unit, a current harmonic residual unit and a filtering unit, wherein:
the front end coordinate transformation unit is used for carrying out coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental wave current and each subharmonic current;
the current harmonic wave surplus unit is used for removing d-q axis harmonic currents from the sum of d-q axis fundamental current and harmonic currents, surplus d-q axis fundamental current or d-q axis other harmonic currents except d-q axis harmonic current, surplus d-q axis harmonic current to obtain 1 st, 2 nd, … th and N surplus currents, wherein N is a positive integer;
the filtering unit is used for filtering the 1 st, 2 nd, … th and N th residual currents to obtain 1 st, 2 nd, … th and N th harmonic current sampling values.
Optionally, in the harmonic current detection system of the vehicle motor controller, the vehicle motor controller injects harmonic current into three-phase current input by the vehicle motor according to the d-q axis fundamental current sampling value and the d-q axis harmonic current sampling value so as to adjust torque of the vehicle motor.
Optionally, in the harmonic current detection system of a vehicle motor controller, the filtering unit includes a plurality of synchronous shaft filters, each synchronous shaft filter includes a low-pass filter, and the low-pass filter filters the 1 st residual current after the coordinate transformation to obtain the 1 st harmonic current sampling value;
the synchronous shaft filter for filtering the 2 nd, 3 rd, … th and N th residual currents further comprises a synchronous coordinate system module, the synchronous coordinate system module performs coordinate transformation on the 2 nd, 3 rd, … th and N th residual currents, and the low-pass filter filters the 2 nd, 3 rd, … th residual currents after coordinate transformation to obtain the 2 nd, 3 rd, … th and N th harmonic current sampling values.
Optionally, in the harmonic current detection system of a motor controller for a vehicle, the transfer function of the low-pass filter is:
wherein alpha is the cut-off frequency of the filter;
α＝Kω r
wherein omega r And K is a design parameter for balancing the response time and the fluctuation amplitude of the filter for the electric angular speed of the motor for the vehicle.
Optionally, in the harmonic current detection system of a motor controller for a vehicle, the harmonic current detection system of a motor controller for a vehicle further includes a plurality of inverse coordinate system modules, and the plurality of inverse coordinate system modules respectively input the 2 nd harmonic current sampling value, the 3 rd harmonic current sampling value, the … th harmonic current sampling value, and the nth harmonic current sampling value to respectively obtain a 2 nd harmonic inverse transformation current, a 3 rd harmonic inverse transformation current, … th harmonic inverse transformation current.
Optionally, in the harmonic current detection system of a vehicle motor controller, the synchronous coordinate system module and the inverse coordinate system module both input rotor position information of the vehicle motor.
Optionally, in the harmonic current detection system of a motor controller for a vehicle, the current harmonic residual unit includes a first summation module, the first summation module inputs the 1 st harmonic current sampling value and the 2 nd, 3, …, N harmonic reverse conversion current, and the first summation module outputs a residual current sum, where the residual current sum is a sum of the 1 st harmonic current sampling value and the 2 nd, 3, …, N harmonic reverse conversion current.
Optionally, in the harmonic current detection system of the motor controller for a vehicle, the current harmonic residual unit comprises a 2 nd summation module, a 3 rd summation module, a … and an Nth summation module,
the 2 nd summation module inputs the sum of the d-q axis fundamental wave current and each subharmonic current, the 1 st harmonic current sampling value and the negative value of the sum of the residual currents to obtain a 1 st residual current;
the Nth summing module inputs the sum of the d-q axis fundamental wave current and each subharmonic current, the negative value of the sum of the Nth-1 harmonic reverse transformation current and the residual current to obtain the 2 nd, 3 rd, … th and N th residual currents.
The invention also provides a method for detecting the harmonic current of the motor controller for the vehicle, which comprises the following steps:
the front end coordinate transformation unit performs coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental current and each subharmonic current;
the current harmonic wave surplus unit removes d-q axis harmonic currents from the sum of the d-q axis fundamental current and the harmonic currents, surplus d-q axis fundamental current, or d-q axis other harmonic currents except d-q axis harmonic currents, surplus d-q axis harmonic currents to obtain 1 st, 2 nd, … th and N th surplus currents, wherein N is a positive integer;
and the filtering unit filters the 1 st, 2 nd, … th and N th residual currents to obtain 1 st, 2 nd, … th and N th harmonic current sampling values.
In the harmonic current detection system and method of the motor controller for the vehicle, d-q other harmonic currents except for d-q certain harmonic currents (or d-q fundamental currents) are removed from the sum of the d-q fundamental currents and each harmonic current through the current harmonic surplus unit, only certain d-q harmonic currents (or d-q fundamental currents) are remained, then the filtering unit filters the d-q other harmonic currents to obtain each harmonic current sampling value, the extracted harmonic current information is fully utilized, for example, other harmonic currents such as 1 th harmonic current and 7 th harmonic currents which are extracted in the total current are removed before the 5 th harmonic currents are extracted through the low-pass filter, on one hand, phase lag introduced in the filtering process of other harmonic components by the low-pass filter is reduced, and the response speed of harmonic current extraction is improved; on the other hand, the attenuation coefficient of the low-pass filter to other harmonic components is increased, and the fluctuation amount of the extracted harmonic current is reduced.
Drawings
FIG. 1 (a) is a schematic diagram of a torque ripple suppression effect electromagnetic torque of a conventional vehicle motor active harmonic current injection;
FIG. 1 (b) is a schematic diagram of a conventional torque ripple suppression effect of active harmonic current injection for a motor vehicle;
FIG. 2 is a schematic diagram of a prior art harmonic current extraction system for a motor controller for a vehicle;
FIG. 3 is a schematic diagram of a prior art motor controller harmonic current extraction;
FIG. 4 is a schematic diagram of a harmonic current detection system of a motor controller for a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing the comparison of the harmonic current detection method of the motor controller for a vehicle according to an embodiment of the present invention with the 5-time q-axis current extracted by the conventional method;
FIG. 6 is a schematic diagram showing the comparison of the harmonic current detection method of the motor controller for a vehicle according to an embodiment of the present invention with the d-axis current of 7 times extracted by the conventional method;
FIG. 7 is a graph showing the transient response test results of a method for detecting harmonic current of a motor controller for a vehicle according to an embodiment of the present invention;
FIG. 8 is a graph showing test results of a motor controller harmonic current detection method for a vehicle according to an embodiment of the present invention at different rotational speeds;
the figure shows: 10-a synchronous axis filter; 11-a synchronous coordinate system module; a 12-low pass filter; a 20-reverse coordinate system module; 31-a first summing module; 32-2 nd summing module; 33-3 rd summing module; 34-4 th summing module.
Detailed Description
The invention provides a harmonic current detection system and a harmonic current detection method for a motor controller for a vehicle, 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.
The invention provides a method for detecting harmonic current of a motor controller for a vehicle, which aims to solve the problem of poor dynamic response performance caused by the existing harmonic current extraction. In order to achieve the above-mentioned idea, the present invention provides a system and a method for detecting harmonic current of a motor controller for a vehicle, where the system for detecting harmonic current of a motor controller for a vehicle includes a front end coordinate transformation unit, a current harmonic residual unit, and a filtering unit, where: the front end coordinate transformation unit is used for carrying out coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental current and each subharmonic current; the current harmonic wave surplus unit is used for removing d-q axis harmonic currents from the sum of the d-q axis fundamental current and the harmonic currents, surplus d-q axis fundamental current or removing d-q axis fundamental current and d-q axis other harmonic currents except d-q axis harmonic current, and surplus d-q axis harmonic current to obtain 1 st, 2 nd, … th and N surplus currents, wherein N is a positive integer; the filtering unit is used for filtering the 1 st, 2 nd, … th and N th residual currents to obtain 1 st, 2 nd, … th and N th harmonic current sampling values. According to the invention, d-q other harmonic currents except d-q axis certain harmonic current (or d-q axis fundamental current) are removed from the sum of d-q axis fundamental current and each harmonic current through a current harmonic residual unit, only certain d-q axis harmonic current (or d-q axis fundamental current) is remained, and then a filtering unit filters the d-q axis harmonic current (or d-q axis fundamental current) to obtain each harmonic current sampling value, and each extracted harmonic current information is fully utilized, for example, 1-time, 7-time and other extracted harmonic currents in the total current are removed before 5-time harmonic current is extracted through a low-pass filter, so that on one hand, the phase lag introduced in the filtering process of the low-pass filter to other harmonic components is reduced, and the response speed of harmonic current extraction is improved; on the other hand, the attenuation coefficient of the low-pass filter to other harmonic components is increased, and the fluctuation amount of the extracted harmonic current is reduced.
Example 1
The invention provides a harmonic current detection system of a motor controller for a vehicle, which comprises a front end coordinate transformation unit, a current harmonic residual unit and a filtering unit, wherein the front end coordinate transformation unit comprises a front end coordinate transformation unit, a front end coordinate transformation unit and a front end coordinate transformation unit, and a front end coordinate transformation unit respectively comprises a front end coordinate transformation unit respectively: the front end coordinate transformation unit is used for carrying out coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental wave current and each subharmonic current; the current harmonic wave surplus unit is used for removing d-q axis harmonic currents from the sum of d-q axis fundamental current and harmonic currents, surplus d-q axis fundamental current or d-q axis other harmonic currents except d-q axis harmonic current, surplus d-q axis harmonic current to obtain 1 st, 2 nd, … th and N surplus currents, wherein N is a positive integer; the filtering unit is used for filtering the 1 st, 2 nd, … th and N th residual currents to obtain 1 st, 2 nd, … th and N th harmonic current sampling values.
Specifically, in the harmonic current detection system of the vehicle motor controller, the vehicle motor controller injects harmonic current into three-phase current input by the vehicle motor according to the d-q axis fundamental current sampling value and the d-q axis harmonic current sampling value so as to adjust the torque of the vehicle motor. For example, the sum of the d-q axis fundamental current and each subharmonic current is dq Is the sum of the 1 st harmonic, the 5 th harmonic and the 7 th harmonic. When 1 st fundamental wave is extracted, 5 th harmonic wave and 7 th harmonic wave are removed, and the remaining 1 st fundamental wave is the 1 st residual current i dq_A The method comprises the steps of carrying out a first treatment on the surface of the When 5 th harmonic wave is extracted, 1 st fundamental wave and 7 th harmonic wave are removed, and the remaining 5 th harmonic wave is the 2 nd residual current i dq_B The method comprises the steps of carrying out a first treatment on the surface of the When 7 harmonics are extracted, 1 fundamental wave and 5 harmonics are removed, and the remaining 7 harmonics are the 3 rd residual current i dq_C . The filtering unit respectively calculates the 1 st residual current i dq_A Residual current i at 2 nd dq_B And 3 rd residual current i dq_C Filtering to obtain 1 st harmonic current sampling value i dq_1th Harmonic current sampling value i of 2 nd dq_5th And 3 rd harmonic current sample value i dq_7th 。
As shown in fig. 4, in the motor controller harmonic current detection system for a vehicle, the filtering unit includes a plurality of synchronous shaft filters 10,each of the synchronous shaft filters 10 includes a low-pass filter 12, and the low-pass filter 12 converts the 1 st residual current i after the coordinate transformation dq_A Filtering to obtain the 1 st harmonic current sampling value i dq_1th The method comprises the steps of carrying out a first treatment on the surface of the The synchronous axis filter 10 for filtering the 2 nd, 3 rd, … th and N th residual currents further comprises a synchronous coordinate system module 11, the synchronous coordinate system module 11 performs coordinate transformation on the 2 nd, 3 rd, … th and N th residual currents, and the low-pass filter 12 filters the 2 nd, 3 rd, … th and N th residual currents after coordinate transformation to obtain the 2 nd, 3 rd, … th and N th harmonic current sampling values. In the example illustrated in this embodiment, the 2 nd residual current i dq_B The synchronous axis filter 10 for filtering further comprises a synchronous coordinate system module 11, wherein the synchronous coordinate system module 11 outputs the 2 nd residual current i dq_B Coordinate transformation is carried out, the low-pass filter 12 filters the 2 nd residual current after coordinate transformation to obtain the 2 nd harmonic current sampling value i dq_5th . For the 3 rd residual current i dq_C The synchronous axis filter 10 for filtering further comprises a synchronous coordinate system module 11, wherein the synchronous coordinate system module 11 outputs the 3 rd residual current i dq_C Coordinate transformation is carried out, the low-pass filter 12 filters the 3 rd residual current after coordinate transformation to obtain the 2 nd harmonic current sampling value i dq_7th 。
Further, in the harmonic current detection system of the motor controller for a vehicle, the transfer function of the low-pass filter 12 is:
wherein alpha is the cut-off frequency of the filter;
α＝Kω r
wherein omega r And K is a design parameter for balancing the response time and the fluctuation amplitude of the filter for the electric angular speed of the motor for the vehicle.
In addition, in the harmonic current detection system of the motor controller for the vehicle, the harmonic current detection system of the motor controller for the vehicle further comprisesA plurality of inverse coordinate system modules 20 for respectively inputting the 2 nd harmonic current sampling value, the 3 rd harmonic current sampling value, …, the nth harmonic current sampling value (for example, the 2 nd harmonic current sampling value i) dq_5th And 3 rd harmonic current sample value i dq_7th ) To obtain the 2 nd harmonic reverse transformation current, the 3 rd harmonic reverse transformation current, …, the N th harmonic reverse transformation current (i.e. the 2 nd harmonic reverse transformation current i) dq_5 And 3 rd harmonic reverse transformation current i dq_7 ). In the harmonic current detection system of the vehicle motor controller, the synchronous coordinate system module 11 and the inverse coordinate system module 20 both input rotor position information of the vehicle motor, and the synchronous coordinate system module 11 corresponding to the 2 nd residual current and the inverse transformation current i corresponding to the 2 nd harmonic dq_5 Is input-6 theta by the inverse coordinate system module 20 of (c) r Synchronous coordinate system module 11 corresponding to 3 rd residual current and corresponding 3 rd harmonic reverse transformation current i dq_7 6 theta is input by the inverse coordinate system module 20 of (c) r 。
As shown in fig. 4, in the harmonic current detection system of the motor controller for a vehicle, the current harmonic residual unit includes a first summing module 31, and the first summing module 31 inputs the 1 st harmonic current sampling value and the 2 nd, 3 rd, … th, and N-harmonic inverse transformation currents (e.g., 1 st harmonic current sampling value i dq_1th 2 nd harmonic reverse conversion current i dq_5 And 3 rd harmonic reverse transformation current i dq_7 ) The first summing module 31 outputs a residual current sum, which is the sum of the 1 st harmonic current sample value and the 2 nd, 3, …, N harmonic reverse transformation current (i.e., 1 st harmonic current sample value i) dq_1th 2 nd harmonic reverse conversion current i dq_5 Reverse transforming current i with 3 rd harmonic dq_7 And (2) sum.
Specifically, in the harmonic current detection system of the motor controller for a vehicle, the current harmonic residual unit includes a 2 nd summation module, a 3 rd summation module, a …, and an nth summation module, and examples of the current harmonic residual unit include a 2 nd summation module 32, a 3 rd summation module 33, and a 4 th summation module 34 in this embodiment, where the 2 nd summation module 32 inputting the sum i of the d-q axis fundamental wave current and each subharmonic current dq The 1 st harmonic current sampling value i dq_1th Negative value of the sum of said residual currents- (i) dq_1th +i dq_5 +i dq_7 ) To obtain the 1 st residual current i dq_A The method comprises the steps of carrying out a first treatment on the surface of the The 3 rd summing module 33 inputs the sum i of the d-q axis fundamental current and each subharmonic current dq The 2 nd harmonic reverse conversion current i dq_5 Negative value of the sum of said residual currents- (i) dq_1th +i dq_5 +i dq_7 ) To obtain the 1 st residual current i dq_B The method comprises the steps of carrying out a first treatment on the surface of the The 4 th summing module 34 inputs the sum i of the d-q axis fundamental current and each subharmonic current dq The 3 rd harmonic reverse conversion current i dq_7 Negative value of the sum of said residual currents- (i) dq_1th +i dq_5 +i dq_7 ) To obtain the 1 st residual current i dq_C The method comprises the steps of carrying out a first treatment on the surface of the If the number of harmonic currents increases, the number of summing modules is correspondingly increased, and the Nth summing module inputs the sum i of the d-q axis fundamental current and each harmonic current dq And the N-1 harmonic reverse transformation current and the negative value of the residual current sum to obtain the N residual current.
In the harmonic current detection system and method of the motor controller for the vehicle provided by the embodiment of the invention, d-q other harmonic currents except for certain d-q harmonic current (or d-q fundamental current) are removed from the sum of d-q fundamental current and each subharmonic current through the current harmonic residual unit, only certain d-q harmonic current (or d-q fundamental current) is remained, and then the filtering unit filters the d-q harmonic current (or d-q fundamental current) to obtain each subharmonic current sampling value, an improved harmonic current real-time extraction algorithm is provided, and the key technology is that the extracted subharmonic current information is fully utilized, for example, the 1 st subharmonic current, the 7 th subharmonic current and the like which are extracted in the total current are removed before the 5 th subharmonic current is extracted through the low-pass filter 12, so that on one hand, the phase lag introduced in the filtering process of the low-pass filter 12 to other harmonic components is reduced, and the response speed of the harmonic current extraction is improved; on the other hand, the attenuation coefficient of the low-pass filter 12 with respect to other harmonic components is increased, and the fluctuation amount of the extracted harmonic current is reduced.
In summary, the foregoing embodiments describe in detail different configurations of the method for detecting harmonic current of the motor controller for a vehicle, and of course, the present invention includes, but is not limited to, the configurations listed in the foregoing embodiments, and any matters of transformation based on the configurations provided in the foregoing embodiments fall within the scope of the present invention. One skilled in the art can recognize that the above embodiments are illustrative.
< example two >
The invention also provides a method for detecting the harmonic current of the motor controller for the vehicle, which comprises the following steps: the front end coordinate transformation unit performs coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental current and each subharmonic current; the current harmonic wave surplus unit removes d-q axis harmonic currents from the sum of the d-q axis fundamental current and the harmonic currents, surplus d-q axis fundamental current, or d-q axis other harmonic currents except d-q axis harmonic currents, surplus d-q axis harmonic currents to obtain 1 st, 2 nd, … th and N th surplus currents, wherein N is a positive integer; and the filtering unit filters the 1 st, 2 nd, … th and N th residual currents to obtain 1 st, 2 nd, … th and N th harmonic current sampling values.
In the harmonic current detection system and method of the motor controller for the vehicle, d-q other harmonic currents except for d-q certain harmonic current (or d-q fundamental current) are removed from the sum of d-q fundamental current and each harmonic current through a current harmonic surplus unit, only certain d-q harmonic current (or d-q fundamental current) is remained, then a filtering unit filters the d-q harmonic current (or d-q fundamental current) to obtain each harmonic current sampling value, an improved harmonic current real-time extraction algorithm is provided, and the key technology is that the extracted harmonic current information is fully utilized, for example, other harmonic currents such as 1 times and 7 times which are extracted in the total current are removed before the 5 times of harmonic current is extracted through a low-pass filter 12, so that on one hand, the phase lag introduced in the filtering process of the low-pass filter 12 to other harmonic components is reduced, and the response speed of harmonic current extraction is improved; on the other hand, the attenuation coefficient of the low-pass filter 12 with respect to other harmonic components is increased, and the fluctuation amount of the extracted harmonic current is reduced.
As shown in fig. 4, i dq Is the sum of d-q axis fundamental wave and each subharmonic current obtained after three-phase current transformation, theta r I is motor rotor position information dq_1th 、i dq_5th 、i dq_7th The extracted fundamental wave current, 5 th harmonic current and 7 th harmonic current are respectively. It can be seen that the harmonic current before being input to the synchronous shaft filter is changed compared with the conventional harmonic current extraction method, and the total harmonic current input to the synchronous shaft filter thereof is i, taking 1 st order fundamental current as an example dq_A It can be expressed as:
i dq_A ＝i dq -i dq_5 -i dq_7
i dq_5 ＝T 5 ×i dq_5th ；i dq_7 ＝T 7 ×i dq_7th
wherein T is 5 And T is 7 The transformation matrix for transforming the 5 th harmonic current and the 7 th harmonic current into a 1 st synchronous coordinate system is respectively expressed as follows:
similarly, i can be derived dq_B And i dq_C The expressions of (2) are respectively:
i dq_B ＝i dq -i dq_1th -i dq_7 ＝i dq -i dq_1th -T 7 ×i dq_7th
i dq_C ＝i dq -i dq_1th -i dq_5 ＝i dq -i dq_1th -T 5 ×i dq_5th
in addition, considering that the speed change range of the motor for the vehicle is wider, the harmonic current frequency range fluctuates, and the filter with single performance cannot necessarily meet the harmonic current extraction requirements at different speeds, the parameters of the low-pass filter LPF in the block diagram are designed to be related to the speeds, so that the accurate and rapid extraction of the harmonic current at different speeds can be ensured in the effective range of harmonic current control. In the following, LPF constructed by first-order inertia is taken as an example, and its transfer function may be expressed as:
wherein, the parameter alpha is the cut-off frequency of the filter.
Thus, the parameter α is designed as a function of the motor speed:
α＝Kω r
wherein omega is r K is a design parameter for balancing the response time and the fluctuation amplitude of the filter.
The effect of the improved harmonic current extraction method of the present invention was verified from simulations and experiments, respectively.
1. Simulation verification:
the improved harmonic current extraction and the traditional harmonic current extraction schemes provided by the invention are respectively built in the Simulink, and the two harmonic current extraction results under the same working condition are compared, as shown in fig. 5 and 6. It can be seen that the improved harmonic current extraction scheme has obvious advantages over the conventional scheme, in that the transient response speed is faster, the fluctuation amount in the steady state is smaller, the response speed is about 10 times that of the conventional method, and the steady state fluctuation amount is only 1/3 of that of the conventional method.
2. And (3) test verification:
fig. 7 shows transient response results of each subharmonic current by adopting the improved harmonic current extraction scheme, and it can be seen that each subharmonic current in the test can quickly track the upper set value, and the overshoot is very small, which indicates that the improved harmonic current extraction method provided by the invention can quickly extract a real harmonic current value, and has smaller phase delay. Wherein: the names and acquisition values of the individual signals in fig. 7 are shown in table 1.
TABLE 1
FIG. 8 shows the response of each subharmonic current at different speeds by adopting the improved harmonic current extraction scheme, and shows that the harmonic current results can be correctly extracted within the range of 1000 rpm-6000 rpm, and the extraction results are less influenced by the speed, thereby fully proving the effectiveness of the invention in designing the association of the filtering parameters and the speed. Wherein: wherein: the names and acquisition values of the individual signals in fig. 8 are shown in table 2.
TABLE 2
According to the analysis, compared with the traditional harmonic current extraction method, the harmonic current extraction scheme provided by the invention has obvious advantages, and the scheme is designed according to the filter parameters of the motor in a wide rotating speed range, has good harmonic current extraction effect at different rotating speeds, and is suitable for harmonic current control of the motor for the vehicle.
The method for extracting the harmonic current of the motor for the vehicle is not only suitable for extracting 5 th harmonic current and 7 th harmonic current, but also suitable for extracting any harmonic current, such as 11 th harmonic current, 13 th harmonic current, 17 th harmonic current, 19 th harmonic current, … th harmonic current, zero sequence current and the like; the low-pass filter used in the method is not limited to a first-order inertia link filter, and the design method of the parameter correlation with the rotating speed is applicable to all low-pass filters; the above description should be within the scope of this patent.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
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 (6)
1. The utility model provides a motor controller harmonic current detecting system for automobile-used, its characterized in that, motor controller harmonic current detecting system for automobile-used includes front end seat mark conversion unit, current harmonic residual unit and filter unit, wherein:
the front end coordinate transformation unit is used for carrying out coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental wave current and each subharmonic current;
the current harmonic wave residual unit is used for removing d-q axis harmonic currents, residual d-q axis fundamental currents or d-q axis harmonic currents except d-q axis harmonic currents in the sum of the d-q axis fundamental currents and the harmonic currents, residual d-q axis harmonic currents and residual d-q axis harmonic currents to obtain 1 st, 2 nd, … th and N residual currents, wherein the residual currents comprise residual d-q axis fundamental currents and/or residual d-q axis harmonic currents, and N is a positive integer;
the filtering unit is used for filtering the 1 st, 2 nd, … th and N th residual currents to obtain 1 st, 2 nd, … th and N th harmonic current sampling values, wherein the 1 st, 2 nd, … th and N th harmonic current sampling values comprise d-q axis fundamental current sampling values and d-q axis subharmonic current sampling values;
the harmonic current detection system of the motor controller for the vehicle further comprises a plurality of reverse coordinate system modules, wherein the plurality of reverse coordinate system modules respectively input the 2 nd harmonic current sampling value, the 3 rd harmonic current sampling value, the … th harmonic current sampling value and the Nth harmonic current sampling value to respectively obtain the 2 nd harmonic reverse conversion current, the 3 rd harmonic reverse conversion current, the … th harmonic reverse conversion current and the Nth harmonic reverse conversion current;
the current harmonic wave residual unit comprises a first summation module, wherein the first summation module inputs the 1 st harmonic wave current sampling value and the 2 nd, 3 rd, … th and N harmonic wave reverse conversion currents, and outputs a residual current sum which is the sum of the 1 st harmonic wave current sampling value and the 2 nd, 3 rd, … th and N harmonic wave reverse conversion currents;
the current harmonic wave residual unit further comprises a 2 nd summation module, a 3 rd summation module, a … th summation module and an N th summation module, wherein the 2 nd summation module inputs the sum of the d-q axis fundamental wave current and each subharmonic current, the 1 st harmonic current sampling value and the negative value of the residual current sum to obtain a 1 st residual current; the Nth summing module inputs the sum of the d-q axis fundamental wave current and each subharmonic current, the negative value of the sum of the Nth-1 harmonic reverse transformation current and the residual current to obtain the 2 nd, 3 rd, … th and N th residual currents.
2. The harmonic current detection system as in claim 1 wherein the motor controller injects harmonic current into the three-phase current input to the motor based on the d-q axis fundamental current sample value and the d-q axis harmonic current sample value to regulate the torque of the motor.
3. The system for detecting harmonic current in a motor controller for a vehicle according to claim 1, wherein the filtering unit comprises a plurality of synchronous shaft filters, each of the synchronous shaft filters comprises a low-pass filter, and the low-pass filter filters the 1 st residual current after coordinate transformation to obtain the 1 st harmonic current sampling value; the synchronous shaft filter for filtering the 2 nd, 3 rd, … th and N th residual currents further comprises a synchronous coordinate system module, the synchronous coordinate system module performs coordinate transformation on the 2 nd, 3 rd, … th and N th residual currents, and the low-pass filter filters the 2 nd, 3 rd, … th residual currents after coordinate transformation to obtain the 2 nd, 3 rd, … th and N th harmonic current sampling values.
4. A motor controller harmonic current detection system as in claim 3 wherein the transfer function of the low pass filter is:
wherein alpha is the cut-off frequency of the filter;
a＝Kω r
wherein omega r And K is a design parameter for balancing the response time and the fluctuation amplitude of the filter for the electric angular speed of the motor for the vehicle.
5. The vehicle motor controller harmonic current detection system as in claim 3 wherein the synchronous coordinate system module and the inverse coordinate system module both input rotor position information for the vehicle motor.
6. The harmonic current detection method for the motor controller of the vehicle is characterized by comprising the following steps of:
the front end coordinate transformation unit performs coordinate transformation on three-phase current input by the motor for the vehicle so as to obtain the sum of d-q axis fundamental current and each subharmonic current;
the current harmonic wave surplus unit removes d-q axis harmonic currents from the sum of d-q axis fundamental current and harmonic currents, and surplus d-q axis fundamental current or d-q axis harmonic current except d-q axis harmonic current, and surplus d-q axis harmonic current to obtain 1 st, 2 nd, … th and N surplus currents, wherein N is a positive integer;
the filtering unit filters the 1 st, 2 nd, … th and N th residual currents to obtain 1 st, 2 nd, … th and N th harmonic current sampling values, wherein the 1 st, 2 nd, … th and N th harmonic current sampling values comprise d-q axis fundamental current sampling values and d-q axis subharmonic current sampling values;
the plurality of inverse coordinate system modules respectively input the 2 nd harmonic current sampling value, the 3 rd harmonic current sampling value, the … th harmonic current sampling value and the Nth harmonic current sampling value to respectively obtain a 2 nd harmonic inverse transformation current, a 3 rd harmonic inverse transformation current, a … th harmonic inverse transformation current and an Nth harmonic inverse transformation current;
a first summation module inputs the 1 st harmonic current sampling value and the 2 nd, 3, … and N harmonic reverse transformation currents, and outputs a residual current sum which is the sum of the 1 st harmonic current sampling value and the 2 nd, 3, … and N harmonic reverse transformation currents;
the 2 nd summation module inputs the sum of the d-q axis fundamental wave current and each subharmonic current, the 1 st harmonic current sampling value and the negative value of the sum of the residual currents to obtain a 1 st residual current; the Nth summation module inputs the sum of the d-q axis fundamental wave current and each subharmonic current, the N-1 th harmonic reverse transformation current and the negative value of the sum of the residual currents to obtain 2 nd, 3 rd, … th and N th residual currents.
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