CN112910336A - Method, system and device for suppressing torque ripple of permanent magnet synchronous motor through harmonic injection and storage medium - Google Patents
Method, system and device for suppressing torque ripple of permanent magnet synchronous motor through harmonic injection and storage medium Download PDFInfo
- Publication number
- CN112910336A CN112910336A CN202110057474.XA CN202110057474A CN112910336A CN 112910336 A CN112910336 A CN 112910336A CN 202110057474 A CN202110057474 A CN 202110057474A CN 112910336 A CN112910336 A CN 112910336A
- Authority
- CN
- China
- Prior art keywords
- harmonic
- torque
- current
- motor
- phase
- 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.)
- Granted
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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
-
- 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
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a method, a system, a device and a storage medium for inhibiting torque ripple of a permanent magnet synchronous motor by harmonic injection, wherein the method comprises the following steps: constructing a combined simulation model of a motor control system and an electromagnetic model to obtain electromagnetic torque output by a motor; carrying out fast Fourier transform on the output torque to obtain a harmonic torque spectrogram, acquiring a harmonic torque component with a larger content from the spectrogram, taking the harmonic torque component as a target object, and determining the order of the injected harmonic current; carrying out parameter scanning analysis by taking the amplitude and the phase of the harmonic current as variables; clark conversion and Park conversion are sequentially adopted to convert an injection current signal in a three-phase static coordinate system into a current signal in a two-phase rotating coordinate system, and the current signal is output and superposed on a given voltage signal through a current controller, so that the suppression of motor torque pulsation is realized. The invention generates harmonic torque with the same amplitude and frequency and opposite phase by injecting current harmonic, and has good torque ripple suppression effect and strong applicability.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a method, a system, a device and a storage medium for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection considering electromagnetic structure design.
Background
The permanent magnet synchronous motor is an important component of an electric automobile driving system. In the actual operation of the motor, the quality of the output torque is one of important indexes for measuring the motor. Due to the non-sinusoidal characteristic of air gap magnetic field distribution and the cogging effect of the motor body, the inverter has dead time and tube voltage drop, so that large torque pulsation exists in the output torque of the inverter, the control performance of a system is poor, and vibration and noise are generated at the same time. The existing torque ripple suppression method related to harmonic injection mainly improves the current waveform of a motor stator and suppresses torque ripple caused by current harmonics. However, the suppression of harmonic current can only eliminate the torque ripple generated by current harmonic, and the torque ripple actually output by the motor also includes the torque ripple caused by non-sine of the tooth slots and the air gap magnetic field, namely the torque ripple still exists under the excitation of ideal sine current.
Therefore, how to accurately predict the torque ripple of the motor and calculate the optimal current harmonic becomes a problem to be researched at present.
Disclosure of Invention
The invention aims to provide a method, a system, a device and a storage medium for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection in consideration of electromagnetic structure design, which solve the problem of poor effect of suppressing the torque ripple by the conventional harmonic injection, take the non-sinusoidal characteristic of air gap magnetic field distribution and the torque ripple caused by a cogging effect into consideration by the combined simulation of a control system and a motor electromagnetic model, and adopt a parameter scanning analysis method to obtain the optimal harmonic current for injection so as to suppress the torque ripple.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection comprises the following steps:
constructing a combined simulation model of a motor control system and an electromagnetic model to obtain electromagnetic torque output by a motor;
carrying out fast Fourier transform on the output torque to obtain a harmonic torque spectrogram, acquiring a harmonic torque component with a larger content from the spectrogram, taking the harmonic torque component as a target object, and determining the order of the injected harmonic current;
performing parameter scanning analysis by taking the amplitude and the phase of the harmonic current as variables, and solving the optimal solution of the harmonic torque component with larger content of the minimum time variable as a reference value for harmonic current injection;
clark conversion and Park conversion are sequentially adopted to convert an injection current signal in a three-phase static coordinate system into a current signal in a two-phase rotating coordinate system, and the current signal is output and superposed on a given voltage signal through a current controller, so that the suppression of motor torque pulsation is realized.
As a further improvement of the present invention, the joint simulation of the permanent magnet synchronous motor specifically comprises:
the motor model in the main circuit considers an electromagnetic field finite element model of the influence of motor leakage, magnetic field saturation, armature reaction and loss on the motor performance; the control system controls the input of the motor, and the motor feeds back information such as three-phase current, rotating speed, position, torque and the like to the control system.
As a further improvement of the present invention, the output torque is subjected to fast fourier transform to obtain the amplitude of each order harmonic torque component, and for the k-order harmonic torque order with a large amplitude, k-1 order harmonic current is injected to suppress the k-order harmonic torque order, and the injected current is:
where ω is the electrical angular velocity, IvAmplitude of the v harmonic current, thetavIs the phase of the v harmonic current.
As a further improvement of the invention, the method adopts the specific steps of a parameter scanning analysis method:
the amplitude of the harmonic current is fixed, the phase of the harmonic current is used as a variable, a variable range and a scanning step length are set, the variable is subjected to parameter scanning analysis, the optimal harmonic current phase capable of inhibiting torque pulsation is determined, on the basis, the amplitude of the harmonic current is used as the variable to perform parameter scanning analysis, the amplitude of the harmonic current capable of just offsetting target harmonic torque is determined, and the optimal harmonic current at the moment is used as a harmonic current reference value to be injected.
As a further improvement of the invention, the optimized three-phase harmonic current IAv、IBv、ICvConverting the current I into a current I under a two-phase synchronous rotating coordinate system through Clarke conversion and Park conversiondv、IqvOutput u by a current controllerdv、uqvAnd the voltage is superposed on a given voltage signal, so that the suppression of the motor torque ripple is realized.
As a further improvement of the invention, the coordinate transformation formula is as follows:
where θ is an electrical angle.
A harmonic injection suppression permanent magnet synchronous motor torque ripple system, comprising:
the building module is used for building a combined simulation model of the motor control system and the electromagnetic model to obtain the electromagnetic torque output by the motor;
the torque transformation module is used for performing fast Fourier transformation on the output torque to obtain a harmonic torque spectrogram, acquiring a harmonic torque component with a larger content from the spectrogram, taking the harmonic torque component as a target object and determining the order of the injected harmonic current;
the scanning analysis module is used for carrying out parameter scanning analysis by taking the amplitude and the phase of the harmonic current as variables, and solving the optimal solution of the harmonic torque component with larger content of the minimum time variable of the amplitude as a reference value of harmonic current injection;
and the pulsation suppression module is used for converting an injection current signal under a three-phase static coordinate system into a current signal under a two-phase rotating coordinate system by sequentially adopting Clark conversion and Park conversion, and outputting and superposing the current signal on a given voltage signal through the current controller, so that the suppression of the torque pulsation of the motor is realized.
A harmonic injection suppression permanent magnet synchronous motor torque ripple device comprises:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the harmonic injection suppression permanent magnet synchronous motor torque ripple method.
A storage medium having stored therein processor-executable instructions for implementing the harmonic injection suppression permanent magnet synchronous motor torque ripple method when executed by a processor.
Compared with the prior art, the invention has the beneficial effects that:
the method for suppressing the torque ripple of the permanent magnet synchronous motor by harmonic injection considering the electromagnetic structure design adopts a combined simulation model of a motor control system and an electromagnetic model to predict the output torque, can take the non-sinusoidal characteristic of air gap magnetic field distribution and the torque ripple caused by the cogging effect into consideration, has more accurate prediction result, and is closer to the actual working state of the motor. Meanwhile, the optimal harmonic current is obtained by adopting a parameter scanning analysis method, the method is simple, the calculation speed is high, and the torque ripple suppression effect is better after the electromagnetic structure design of the motor is considered.
The invention relates to a method for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection in consideration of electromagnetic structure design, which comprises the following steps: the method comprises the steps of constructing a combined simulation model of a motor control system and an electromagnetic finite element model, obtaining electromagnetic torque output by a motor, obtaining an electromagnetic torque spectrogram by utilizing fast Fourier transform, injecting k-1 harmonic current into the motor aiming at k-th harmonic torque components with large amplitude, and generating additional harmonic torque by utilizing the interaction between the harmonic current and a flux linkage to offset the original k-th harmonic torque. And with the minimum k-order harmonic torque amplitude as a target, sequentially carrying out parameter scanning on the phase and the amplitude of the harmonic current, determining the optimal harmonic current, and carrying out feed-forward injection in a control system to inhibit the harmonic torque component. The invention comprehensively considers the torque ripple caused by current harmonic, cogging torque and non-sine of air gap magnetic field, and generates harmonic torque with same amplitude and frequency and opposite phase by injecting current harmonic after determining the main harmonic torque order, and has good torque ripple suppression effect and strong applicability.
Drawings
The drawings herein are for clarity of illustration of embodiments of the present application or of prior art. The drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. Meanwhile, the invention is shown for better demonstration and validity verification.
FIG. 1 is a flow chart of a method for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection considering electromagnetic structure design according to the present invention;
FIG. 2 is a schematic block diagram of a method for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection considering electromagnetic structure design according to the present invention;
FIG. 3 is a flow chart of the present invention for determining optimal harmonic currents using a parametric scan method;
FIG. 4 is a simulation diagram constructed based on Maxwell2D, Ansys Simplorer, MATLAB/Simulink software in the embodiment of the present invention;
FIG. 5 is a comparison of the present invention before and after injection of harmonic current after 5 ms.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention are 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 embodiments. 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 invention will be further explained with reference to the drawings.
As shown in fig. 1, a method for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection considering electromagnetic structure design includes the following steps:
and S01, constructing a combined simulation model of the motor control system and the electromagnetic model to obtain the electromagnetic torque output by the motor. The electromagnetic finite element model of the motor considers the influence of factors such as motor magnetic leakage, magnetic field saturation, armature reaction and loss on the performance of the motor, and can reflect the working characteristics of the motor more accurately. The control system controls the input of the motor, and the motor feeds back information such as three-phase current, rotating speed, position, torque and the like to the control system, so that the actual situation is met, the calculation of the working performance of the motor by joint simulation is more accurate, and the actual working state of the motor can be approached.
S02, performing fast Fourier transform on the output torque to obtain a harmonic torque spectrogram, observing a harmonic torque component with a large content from the spectrogram, and injecting k-1 harmonic current to suppress the harmonic torque order with a large amplitude against k harmonic torque orders, wherein the injected current is as follows:
where ω is the electrical angular velocity, IvAmplitude of the v harmonic current, thetavIs the phase of the v harmonic current.
And S03, performing parameter scanning analysis by taking the amplitude and the phase of the harmonic current as variables to obtain an optimal solution of the harmonic torque component with a large content and the minimum amplitude time variable. The specific steps of the parametric scan analysis method include, as shown in fig. 2: the amplitude of the harmonic current is fixed, the phase of the harmonic current is used as a variable, a variable range and a scanning step length are set, parameter scanning analysis is carried out on the variable, the optimal harmonic current phase capable of inhibiting torque pulsation is determined, on the basis, the variable range and the scanning step length are set by using the amplitude of the harmonic current as the variable, parameter scanning analysis is carried out, the amplitude of the harmonic current capable of just offsetting the target harmonic torque is determined, and the optimal harmonic current at the moment is used as a harmonic current reference value to be injected.
S04, as shown in FIG. 3, Clark conversion and Park conversion are sequentially adopted to optimize the harmonic current IAv、IBv、ICvConverting the current I into a current I under a two-phase synchronous rotating coordinate system through Clarke conversion and Park conversiondv、IqvOutput u by a current controllerdv、uqvAnd the voltage is superposed on a given voltage signal, so that the suppression of the motor torque ripple is realized. The coordinate transformation formula is as follows:
where θ is an electrical angle.
The following simulation verification is performed on the effect of the method:
as shown in FIG. 4, a combined simulation platform of motor finite elements, control circuits and control strategies is built based on Maxwell2D, Ansys Simplorer and MATLAB/Simulink software. The motor referred to in the figure is an 8-pole 48-slot interior permanent magnet synchronous motor, and the electromagnetic torque output by the motor is calculated at the operating speed of 3000rpm and mainly appears as 6 times of torque pulsation. After the injection of the harmonic current of 5 th order according to the above method, the torque ripple suppression effect is remarkable, as shown in fig. 5, the harmonic current is injected after 5ms, and the front and back contrast can be seen, and the torque ripple is reduced by 43.7%.
Therefore, the method for suppressing the torque ripple of the permanent magnet synchronous motor by harmonic injection considering the electromagnetic structure design is realized.
The invention also provides a system for suppressing the torque ripple of the permanent magnet synchronous motor by harmonic injection, which comprises:
the building module is used for building a combined simulation model of the motor control system and the electromagnetic model to obtain the electromagnetic torque output by the motor;
the torque transformation module is used for performing fast Fourier transformation on the output torque to obtain a harmonic torque spectrogram, acquiring a harmonic torque component with a larger content from the spectrogram, taking the harmonic torque component as a target object and determining the order of the injected harmonic current;
the scanning analysis module is used for carrying out parameter scanning analysis by taking the amplitude and the phase of the harmonic current as variables, and solving the optimal solution of the harmonic torque component with larger content of the minimum time variable of the amplitude as a reference value of harmonic current injection;
and the pulsation suppression module is used for converting an injection current signal under a three-phase static coordinate system into a current signal under a two-phase rotating coordinate system by sequentially adopting Clark conversion and Park conversion, and outputting and superposing the current signal on a given voltage signal through the current controller, so that the suppression of the torque pulsation of the motor is realized.
The embodiment of the application provides a device for suppressing torque ripple of a permanent magnet synchronous motor through harmonic injection. The device can be an electronic device such as a smart phone and a tablet computer capable of running an application program, or a server. In the present application, a harmonic injection suppression permanent magnet synchronous motor torque ripple device, the priority balancing device includes:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method for harmonic injection suppression of permanent magnet synchronous motor torque ripple.
A processor may include one or more processing cores. The processor, using the various interfaces and lines to connect the various parts throughout the electronic device, performs various functions of the electronic device and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in memory, and invoking data stored in memory. Alternatively, the processor may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is to be understood that the modem may be implemented by a communication chip without being integrated into the processor.
The Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The data storage area can also store data (such as a phone book, audio and video data, chatting record data) and the like created by the electronic equipment in use.
The structure of a computer-readable storage medium provided by the embodiment of the application. Stored therein are processor-executable instructions that, when executed by a processor, are configured to implement the one harmonic injection suppression permanent magnet synchronous motor torque ripple method.
The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has a storage space for program code for performing any of the method steps of the above-described method. The program code can be read from or written to one or more computer program products.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A method for suppressing torque ripple of a permanent magnet synchronous motor by harmonic injection is characterized by comprising the following steps:
constructing a combined simulation model of a motor control system and an electromagnetic model to obtain electromagnetic torque output by a motor;
carrying out fast Fourier transform on the output torque to obtain a harmonic torque spectrogram, acquiring a harmonic torque component with a larger content from the spectrogram, taking the harmonic torque component as a target object, and determining the order of the injected harmonic current;
performing parameter scanning analysis by taking the amplitude and the phase of the harmonic current as variables, and solving the optimal solution of the harmonic torque component with larger content of the minimum time variable as a reference value for harmonic current injection;
clark conversion and Park conversion are sequentially adopted to convert an injection current signal in a three-phase static coordinate system into a current signal in a two-phase rotating coordinate system, and the current signal is output and superposed on a given voltage signal through a current controller, so that the suppression of motor torque pulsation is realized.
2. The method for suppressing the torque ripple of the permanent magnet synchronous motor through harmonic injection according to claim 1, wherein the joint simulation of the permanent magnet synchronous motor specifically comprises the following steps:
the motor model in the main circuit considers an electromagnetic field finite element model of the influence of motor leakage, magnetic field saturation, armature reaction and loss on the motor performance; the control system controls the input of the motor, and the motor feeds back information such as three-phase current, rotating speed, position, torque and the like to the control system.
3. The method for suppressing the torque ripple of the permanent magnet synchronous motor through harmonic injection according to claim 1, wherein the output torque is subjected to fast fourier transform to obtain the amplitude of each order of harmonic torque component, and for the k-order harmonic torque order with larger amplitude, k-1 harmonic current is injected to suppress the k-order harmonic torque order, and the injected current is as follows:
where ω is the electrical angular velocity, IvAmplitude of the v harmonic current, thetavIs the phase of the v harmonic current.
4. The method for suppressing the torque ripple of the permanent magnet synchronous motor through harmonic injection according to claim 1, which is characterized by comprising the following specific steps of:
the amplitude of the harmonic current is fixed, the phase of the harmonic current is used as a variable, a variable range and a scanning step length are set, the variable is subjected to parameter scanning analysis, the optimal harmonic current phase capable of inhibiting torque pulsation is determined, on the basis, the amplitude of the harmonic current is used as the variable to perform parameter scanning analysis, the amplitude of the harmonic current capable of just offsetting target harmonic torque is determined, and the optimal harmonic current at the moment is used as a harmonic current reference value to be injected.
5. The method for suppressing the torque ripple of the PMSM according to claim 1, wherein the optimized three-phase harmonic current IAv、IBv、ICvConverting the current I into a current I under a two-phase synchronous rotating coordinate system through Clarke conversion and Park conversiondv、IqvOutput u by a current controllerdv、uqvAnd the voltage is superposed on a given voltage signal, so that the suppression of the motor torque ripple is realized.
6. The method for suppressing the torque ripple of the permanent magnet synchronous motor through harmonic injection according to claim 5, wherein a coordinate transformation formula is as follows:
where θ is an electrical angle.
7. A harmonic injection suppression permanent magnet synchronous motor torque ripple system, comprising:
the building module is used for building a combined simulation model of the motor control system and the electromagnetic model to obtain the electromagnetic torque output by the motor;
the torque transformation module is used for performing fast Fourier transformation on the output torque to obtain a harmonic torque spectrogram, acquiring a harmonic torque component with a larger content from the spectrogram, taking the harmonic torque component as a target object and determining the order of the injected harmonic current;
the scanning analysis module is used for carrying out parameter scanning analysis by taking the amplitude and the phase of the harmonic current as variables, and solving the optimal solution of the harmonic torque component with larger content of the minimum time variable of the amplitude as a reference value of harmonic current injection;
and the pulsation suppression module is used for converting an injection current signal under a three-phase static coordinate system into a current signal under a two-phase rotating coordinate system by sequentially adopting Clark conversion and Park conversion, and outputting and superposing the current signal on a given voltage signal through the current controller, so that the suppression of the torque pulsation of the motor is realized.
8. A harmonic injection suppression permanent magnet synchronous motor torque ripple device is characterized by comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method for harmonic injection suppression of permanent magnet synchronous motor torque ripple according to any of claims 1-6.
9. A storage medium having stored therein instructions executable by a processor, the storage medium comprising: the processor-executable instructions, when executed by a processor, are for implementing a method for harmonic injection suppression of permanent magnet synchronous motor torque ripple as claimed in any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110057474.XA CN112910336B (en) | 2021-01-15 | 2021-01-15 | Method, system and device for inhibiting torque ripple of permanent magnet synchronous motor and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110057474.XA CN112910336B (en) | 2021-01-15 | 2021-01-15 | Method, system and device for inhibiting torque ripple of permanent magnet synchronous motor and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112910336A true CN112910336A (en) | 2021-06-04 |
| CN112910336B CN112910336B (en) | 2022-06-07 |
Family
ID=76113864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110057474.XA Active CN112910336B (en) | 2021-01-15 | 2021-01-15 | Method, system and device for inhibiting torque ripple of permanent magnet synchronous motor and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112910336B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114244220A (en) * | 2021-12-16 | 2022-03-25 | 武汉杰开科技有限公司 | Torque ripple suppression method and suppression system for permanent magnet synchronous motor |
| CN114368268A (en) * | 2021-08-24 | 2022-04-19 | 华为数字能源技术有限公司 | Power assembly, noise suppression method and electric automobile |
| CN116191969A (en) * | 2023-02-24 | 2023-05-30 | 山东大学 | Synchronous motor torque density improving method and system based on harmonic current injection |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080116835A1 (en) * | 2006-11-21 | 2008-05-22 | Tsui Wang Hay Kenneth | Model-based active electronic damping for stepper motors |
| CN101860300A (en) * | 2010-06-09 | 2010-10-13 | 东南大学 | Method for suppressing torque ripple of permanent-magnet motor based on space vector modulation |
| CN102088265A (en) * | 2011-03-08 | 2011-06-08 | 东南大学 | Method for restraining torque ripple of permanent magnet motor based on direct torque control |
| CN104852661A (en) * | 2015-04-29 | 2015-08-19 | 同济大学 | Permanent-magnet synchronous motor torque ripple suppression method based on coordinate transformation harmonic compensation |
| CN107404260A (en) * | 2017-08-31 | 2017-11-28 | 广东美芝制冷设备有限公司 | Compressor high-frequency harmonic torsion compensation process, compressor controller and air conditioner |
| CN109980998A (en) * | 2019-04-25 | 2019-07-05 | 广东金霸智能科技股份有限公司 | A kind of control method of permanent magnet synchronous motor, device and electric system |
| CN111953250A (en) * | 2020-08-05 | 2020-11-17 | 南京邮电大学 | Harmonic current injection permanent magnet synchronous motor torque ripple suppression method |
-
2021
- 2021-01-15 CN CN202110057474.XA patent/CN112910336B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080116835A1 (en) * | 2006-11-21 | 2008-05-22 | Tsui Wang Hay Kenneth | Model-based active electronic damping for stepper motors |
| CN101860300A (en) * | 2010-06-09 | 2010-10-13 | 东南大学 | Method for suppressing torque ripple of permanent-magnet motor based on space vector modulation |
| CN102088265A (en) * | 2011-03-08 | 2011-06-08 | 东南大学 | Method for restraining torque ripple of permanent magnet motor based on direct torque control |
| CN104852661A (en) * | 2015-04-29 | 2015-08-19 | 同济大学 | Permanent-magnet synchronous motor torque ripple suppression method based on coordinate transformation harmonic compensation |
| CN107404260A (en) * | 2017-08-31 | 2017-11-28 | 广东美芝制冷设备有限公司 | Compressor high-frequency harmonic torsion compensation process, compressor controller and air conditioner |
| CN109980998A (en) * | 2019-04-25 | 2019-07-05 | 广东金霸智能科技股份有限公司 | A kind of control method of permanent magnet synchronous motor, device and electric system |
| CN111953250A (en) * | 2020-08-05 | 2020-11-17 | 南京邮电大学 | Harmonic current injection permanent magnet synchronous motor torque ripple suppression method |
Non-Patent Citations (4)
| Title |
|---|
| WENXIANG ZHAO ET AL.: "Remedial Injected-Harmonic-Current Operation of Redundant Flux-Switching Permanent-Magnet Motor Drives", 《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》 * |
| WENXIANG ZHAO ET AL.: "Remedial Injected-Harmonic-Current Operation of Redundant Flux-Switching Permanent-Magnet Motor Drives", 《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》, vol. 60, no. 1, 26 January 2012 (2012-01-26), pages 151 - 159 * |
| 於锋 等: "3 种谐波电流注入模式下的磁通切换", 《中国电机工程学报》 * |
| 於锋 等: "3 种谐波电流注入模式下的磁通切换", 《中国电机工程学报》, vol. 36, no. 3, 5 February 2016 (2016-02-05), pages 836 - 844 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368268A (en) * | 2021-08-24 | 2022-04-19 | 华为数字能源技术有限公司 | Power assembly, noise suppression method and electric automobile |
| CN114368268B (en) * | 2021-08-24 | 2023-11-03 | 华为数字能源技术有限公司 | Power assembly, noise suppression method and electric automobile |
| CN114244220A (en) * | 2021-12-16 | 2022-03-25 | 武汉杰开科技有限公司 | Torque ripple suppression method and suppression system for permanent magnet synchronous motor |
| CN116191969A (en) * | 2023-02-24 | 2023-05-30 | 山东大学 | Synchronous motor torque density improving method and system based on harmonic current injection |
| CN116191969B (en) * | 2023-02-24 | 2023-11-28 | 山东大学 | Synchronous motor torque density improving method and system based on harmonic current injection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112910336B (en) | 2022-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112910336B (en) | Method, system and device for inhibiting torque ripple of permanent magnet synchronous motor and storage medium | |
| Wang et al. | Re-examination of synchronous machine modeling techniques for electromagnetic transient simulations | |
| CN110518852B (en) | Harmonic injection-based current harmonic suppression method for permanent magnet synchronous motor | |
| Hu et al. | High-fidelity nonlinear IPM modeling based on measured stator winding flux linkage | |
| JP5016504B2 (en) | Inductance table creation method, inductance table creation device, simulation device, and computer program | |
| Sozer et al. | Adaptive predictive current control technique for permanent magnet synchronous motors | |
| Pinto et al. | dq0-modeling of interior permanent-magnet synchronous machines for high-fidelity model order reduction | |
| Dutta et al. | A novel rotor topology for high-performance fractional slot concentrated winding interior permanent magnet machine | |
| Boesing et al. | Universal acoustic modelling framework for electrical drives | |
| CN111245326B (en) | Vector control system, suppression method, suppression device, motor, and storage medium | |
| CN115021638A (en) | Electromagnetic transient modeling method, system and equipment of efficient synchronous machine | |
| Dufour et al. | An induction machine and power electronic test system on a field-programmable gate array | |
| CN113364380A (en) | Motor parameter determination method and device | |
| Ding et al. | Analytical modelling approach for switched reluctance machines with deep saturation | |
| JP2013085330A (en) | Motor control device and torque value acquisition method | |
| CN114977165A (en) | Synchronous machine electromagnetic transient modeling method, system and equipment based on saturation effect | |
| Yoon et al. | Off-line parameter identification of permanent magnet synchronous motor using a Goertzel algorithm | |
| Rupar et al. | Iterative-learning-based torque-ripple compensation in a transverse flux motor | |
| JP2024503917A (en) | Motor, its harmonic noise optimization method, and device | |
| Jarzebowicz | Quasi‐discrete modelling of PMSM phase currents in drives with low switching‐to‐fundamental frequency ratio | |
| CN110299880B (en) | Control method and control device of permanent magnet synchronous motor and compressor | |
| De Soricellis et al. | Current and voltage shaping method via modified d–q transformation for the torque ripple compensation in PMSMs | |
| CN112383252A (en) | Per unit method and device for double-fed generator set excitation control system | |
| CN114598215A (en) | Method, device, equipment and medium for inhibiting counter electromotive force harmonic waves of motor | |
| JP4500155B2 (en) | Simulation method |
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 |