CN113098361A - Driving system, control method and control device of alternating current motor and vehicle - Google Patents
Driving system, control method and control device of alternating current motor and vehicle Download PDFInfo
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- CN113098361A CN113098361A CN201911342342.0A CN201911342342A CN113098361A CN 113098361 A CN113098361 A CN 113098361A CN 201911342342 A CN201911342342 A CN 201911342342A CN 113098361 A CN113098361 A CN 113098361A
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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
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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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- 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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Abstract
The invention provides a driving system, a control method and a control device of an alternating current motor and a vehicle, wherein the method comprises the following steps: acquiring a three-phase actual output voltage of a previous period and a first three-phase control voltage actually output by the previous period; calculating three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage; and calculating the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output in the current period, and taking the sum voltage as the third three-phase control voltage which is actually output in the current period. Therefore, the driving control method of the alternating current motor can compensate voltage distortion caused by dead time, further can reduce torque ripple and noise of a motor control system, is simple to control, and can be applied to the motor control system in mass production.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and a device for controlling driving of an ac motor, a driving system of an ac motor, and a vehicle.
Background
The motor control system is used as a power system of a vehicle, comprises an alternating current motor and an inverter, and is used for controlling the motor to output required torque according to a control command of the whole vehicle, and driving the vehicle to realize functions of energy feedback and the like during advancing, backing and braking.
The motor control system is generally driven by a three-phase bridge circuit based on IGBT, and the IGBT is characterized in that the IGBT is fast in conduction and slow in disconnection, so that the upper bridge arm is disconnected and the lower bridge arm is immediately conducted in each phase, and the upper bridge arm and the lower bridge arm are in short-time through connection. Therefore, in a specific time period, the upper and lower bridge arms need to be kept in the off state, and the time period is the dead time. The dead time can prevent short circuit caused by direct connection of upper and lower bridge arms, but the dead time can cause distortion of input voltage and current of an alternating current motor, further causes motor torque ripple and generates noise.
In the related art, the signal width of the control electrode is adjusted based on the polarity of the current and the turn-on and turn-off sequence of the switching tube, so that the output voltage is the same as the reference voltage, and the compensation of dead time is further realized. However, the related art has a problem that in an actual circuit, various factors such as transmission delay of control pole control signals of each switch tube, inconsistency of turn-on and turn-off times, unbalanced three-phase voltage of an inverter, zero current clamping, voltage distortion caused by stray capacitance of a semiconductor switch device and the like all affect the effect of an algorithm. Therefore, various correction and compensation algorithms need to be added on the basis of the above algorithm to obtain a better effect, and in addition, in consideration of individual differences of each inverter after batch production, the better effect is required to be obtained, and the realization difficulty is higher.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a driving control method of an ac motor, which can compensate for voltage distortion due to dead time, thereby reducing torque ripple and noise of a motor control system.
A second object of the present invention is to provide a drive control device for an ac motor.
A third object of the present invention is to provide a driving system of an ac motor.
A fourth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a driving control method for an ac motor, including: acquiring a three-phase actual output voltage of a previous period and a first three-phase control voltage actually output by the previous period; calculating three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage; and calculating the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output in the current period, and taking the sum voltage as the third three-phase control voltage which is actually output in the current period.
According to the driving control method of the alternating current motor, the three-phase actual output voltage of the previous period and the first three-phase control voltage actually output by the previous period are obtained, the three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage is calculated, the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output in the current period is calculated, and the sum voltage is used as the third three-phase control voltage actually output in the current period. Therefore, the driving control method of the alternating current motor of the embodiment of the invention can compensate the voltage distortion caused by the dead time, further can reduce the torque ripple and the noise of the motor control system, is simple to control, can be free from the influences of output delay, phase voltage imbalance, zero current clamping, voltage distortion caused by the stray resistance of a semiconductor switch, dispersion of devices and the like, and further can be applied to the motor control system in mass production.
According to an embodiment of the present invention, the obtaining the three-phase actual output voltage of the previous cycle includes: acquiring three-phase actual output voltage of analog quantity of the previous period obtained by sampling; and obtaining the three-phase actual output voltage of the digital quantity in the previous period according to the three-phase actual output voltage of the analog quantity in the previous period.
According to an embodiment of the present invention, the obtaining the three-phase actual output voltage of the previous cycle includes: acquiring the voltage of the sampled pulse width modulation signal of the last period; and obtaining the three-phase actual output voltage of the digital quantity of the previous period according to the voltage of the pulse width modulation signal of the previous period.
According to an embodiment of the present invention, the driving control method further includes: acquiring three-phase actual output current of the previous period; carrying out current transformation on the three-phase actual output current to obtain quadrature axis calculation current and direct axis calculation current; carrying out current regulation on the quadrature axis reference current, the direct axis reference current, the quadrature axis calculation current and the direct axis calculation current to obtain quadrature axis calculation voltage and direct axis calculation voltage; and performing voltage conversion on the quadrature axis calculation voltage and the direct axis calculation voltage to obtain the second three-phase control voltage. In order to achieve the above object, a second embodiment of the present invention provides a driving control apparatus for an ac motor, including: the acquisition module is used for acquiring the three-phase actual output voltage of the previous period and the first three-phase control voltage actually output by the previous period; the first calculation module is used for calculating three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage; and the second calculation module is used for calculating the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output in the current period, and taking the sum voltage as the third three-phase control voltage which is actually output in the current period.
According to the control device of the vehicle of the embodiment of the invention, the three-phase actual output voltage of the previous period and the first three-phase control voltage actually output by the previous period are obtained through the obtaining module, the three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage is calculated through the first calculating module, the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output by the current period is calculated through the second calculating module, and the sum voltage is used as the third three-phase control voltage actually output by the current period. Therefore, the drive control device of the alternating current motor according to the embodiment of the present invention can compensate for voltage distortion due to dead time, can reduce torque ripple and noise of the motor control system, can disregard influences of output delay, phase voltage imbalance, zero current clamp, voltage distortion due to stray resistance of a semiconductor switch, dispersion of devices, and the like, and can be applied to a motor control system in mass production.
According to an embodiment of the present invention, the obtaining module is specifically configured to: acquiring three-phase actual output voltage of analog quantity of the previous period obtained by sampling; and obtaining the three-phase actual output voltage of the digital quantity in the previous period according to the three-phase actual output voltage of the analog quantity in the previous period.
According to an embodiment of the present invention, the obtaining module is specifically configured to: acquiring the voltage of the sampled pulse width modulation signal of the last period; and obtaining the three-phase actual output voltage of the digital quantity of the previous period according to the voltage of the pulse width modulation signal of the previous period.
According to an embodiment of the invention, the second calculation module is further configured to: acquiring three-phase actual output current of the previous period; carrying out current transformation on the three-phase actual output current to obtain quadrature axis calculation current and direct axis calculation current; carrying out current regulation on the quadrature axis reference current, the direct axis reference current, the quadrature axis calculation current and the direct axis calculation current to obtain quadrature axis calculation voltage and direct axis calculation voltage; and performing voltage conversion on the quadrature axis calculation voltage and the direct axis calculation voltage to obtain the second three-phase control voltage.
To achieve the above object, a third aspect of the present invention provides a driving system of an ac motor, including: an alternating current motor, a power drive unit and a drive control device of the alternating current motor according to the embodiment of the second aspect of the invention.
According to the driving system of the alternating current motor of the embodiment of the invention, the voltage distortion caused by dead time can be compensated through the arranged driving control device of the alternating current motor, so that the torque pulsation and noise of the motor control system can be reduced, and the influence of output delay, phase voltage unbalance, zero current clamping, voltage distortion caused by stray resistance of a semiconductor switch, dispersion of devices and the like can be ignored, so that the driving system of the alternating current motor can be applied to the motor control system in mass production.
In order to achieve the above object, a fourth aspect of the present invention provides a vehicle including the drive system of the alternating-current motor according to the third aspect of the present invention.
According to the vehicle provided by the embodiment of the invention, the voltage distortion caused by dead time can be compensated through the arranged driving system of the alternating current motor, so that the torque ripple and the noise of the motor control system can be reduced, in addition, the influences of the voltage distortion caused by output delay, phase voltage unbalance, zero current clamping, stray resistance of a semiconductor switch, dispersion of devices and the like can be ignored, and the vehicle can be further applied to the motor control system in mass production.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart illustrating a driving control method of an ac motor according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a driving control method of an ac motor according to an embodiment of the present invention;
FIG. 3 is a block diagram illustrating a vector closed-loop control of a method for controlling the drive of an AC motor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a phase voltage sampling device of a drive control method of an ac motor according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a driving control method of an ac motor according to an embodiment of the present invention;
fig. 6 is a block diagram schematically illustrating a drive control apparatus for an ac motor according to an embodiment of the present invention;
FIG. 7 is a block schematic diagram of a drive system for an AC motor according to an embodiment of the present invention;
FIG. 8 is a block schematic diagram of a drive system for an AC motor according to one embodiment of the present invention;
fig. 9 is a schematic circuit diagram of a power driving unit of a driving system of an ac motor according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A driving system, a control method, and a control apparatus of an alternating-current motor, and a vehicle according to embodiments of the invention are described below with reference to the drawings.
Fig. 1 is a flowchart illustrating a driving control method of an ac motor according to an embodiment of the present invention. As shown in fig. 1, the method for controlling the driving of an ac motor according to the embodiment of the present invention includes the steps of:
and S1, acquiring the three-phase actual output voltage of the previous period and the first three-phase control voltage actually output by the previous period.
Specifically, as shown in fig. 3, the a-phase actual output voltage U of the previous cycle is obtainedasAnd the first phase A control voltage U actually output in the last perioda_lastObtaining the actual output voltage U of the phase B of the previous periodbsAnd the first B-phase control voltage U actually output in the last periodb_lastObtaining the actual output voltage U of the phase C of the previous periodcsAnd the first C-phase control voltage U actually output in the last periodc_last。
According to an embodiment of the present invention, obtaining the three-phase actual output voltage of the previous cycle includes: acquiring three-phase actual output voltage of analog quantity of the previous period obtained by sampling; and obtaining the three-phase actual output voltage of the digital quantity in the previous period according to the three-phase actual output voltage of the analog quantity in the previous period.
It can be understood that the phase voltage sampling device shown in fig. 4 can be used to collect the a-phase actual output voltage of the analog quantity of the previous period, and then obtain the a-phase actual output voltage of the digital quantity of the previous period, i.e. the a-phase actual output voltage U of the previous period, according to the a-phase actual output voltage of the analog quantity of the previous periodas。
The phase voltage sampling device shown in fig. 4 can be used for collecting the B-phase actual output voltage of the analog quantity of the previous period, and then the B-phase actual output voltage is obtained according to the analog quantity of the previous periodThe output voltage obtains the B-phase actual output voltage of the digital quantity of the previous period, namely the B-phase actual output voltage U of the previous periodbs。
The phase voltage sampling device shown in fig. 4 can be used for collecting the C-phase actual output voltage of the analog quantity of the previous period, and then the C-phase actual output voltage of the digital quantity of the previous period, that is, the C-phase actual output voltage U of the previous period, is obtained according to the C-phase actual output voltage of the analog quantity of the previous periodcs。
According to another embodiment of the present invention, acquiring the three-phase actual output voltage of the previous cycle includes: acquiring the voltage of the sampled pulse width modulation signal of the last period; and obtaining the three-phase actual output voltage of the digital quantity of the previous period according to the voltage of the pulse width modulation signal of the previous period.
It can be understood that the voltage sampling device shown in fig. 4 can be used to collect the voltage of the PWM signal in the previous period, and then obtain the three-phase actual output voltage of the digital value in the previous period, i.e. the a-phase actual output voltage U in the previous period according to the voltage of the PWM signal in the previous periodasB phase actual output voltage U of previous periodbsAnd the actual output voltage U of the phase C of the previous periodcs。
Therefore, the phase voltage sampling device in the embodiment of fig. 4 can collect the three-phase actual output voltage of the analog quantity of the previous period, directly obtain the three-phase actual output voltage of the digital quantity of the previous period according to the three-phase actual output voltage of the analog quantity of the previous period, simultaneously collect the voltage of the pulse width modulation signal of the previous period, and indirectly obtain the three-phase actual output voltage of the digital quantity of the previous period according to the voltage of the pulse width modulation signal of the previous period, so that the signal has enough redundancy, and the reliability of the system is improved.
S2, three-phase difference voltages of the three-phase actual output voltages and the first three-phase control voltages are calculated.
Understandably, according to the obtained actual output voltage U of the phase AasAnd a first A-phase control voltage Ua_lastCalculating actual output voltage U of phase AasAnd a first A-phase control voltage Ua_lastPhase difference ofValue voltage of Uas-Ua_last。
According to the obtained B-phase actual output voltage UbsAnd a first B-phase control voltage Ub_lastCalculating actual output voltage U of phase BbsAnd a first B-phase control voltage Ub_lastB has a phase difference voltage of Ubs-Ub_last。
According to the obtained C-phase actual output voltage UcsAnd a first C phase control voltage Uc_lastCalculating C-phase actual output voltage UcsAnd a first C phase control voltage Uc_lastC has a phase difference voltage of Ucs-Uc_last。
And S3, calculating the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output in the current period, and taking the sum voltage as the third three-phase control voltage which is actually output in the current period.
It should be noted that the second three-phase control voltage calculated and output in the current cycle refers to the three-phase control voltage calculated and output before compensation by the drive control method of the ac motor according to the embodiment of the present invention. The third three-phase control voltage actually output in the current cycle refers to the three-phase control voltage actually output after compensation by the driving control method of the alternating current motor according to the embodiment of the present invention.
It can be understood that the second a-phase control voltage U outputted is calculated according to the present cycleaAnd the A phase difference voltage U obtained by the calculationas-Ua_lastCalculating the sum voltage between the two as Ua+(Uas-Ua_last) Will sum up the value voltage Ua+(Uas-Ua_last) Third A-phase control voltage U as actual output of current perioda *I.e. Ua *＝Ua+(Uas-Ua_last)。
Calculating the output second B-phase control voltage U according to the current periodbAnd the calculated B phase difference value voltage Ubs-Ub_lastCalculating the sum voltage between the two as Ub+(Ubs-Ub_last) Will sum up the value voltage Ub+(Ubs-Ub_last) As the current weekThird B-phase control voltage U output actuallyb *I.e. Ub *＝Ub+(Ubs-Ub_last)。
Calculating the output second C-phase control voltage U according to the current periodcAnd the calculated C phase difference value voltage Ucs-Uc_lastCalculating the sum voltage between the two as Uc+(Ucs-Uc_last) Will sum up the value voltage Uc+(Ucs-Uc_last) Third C-phase control voltage U as actual output of current periodc *I.e. Uc *＝Uc+(Ucs-Uc_last)。
According to an embodiment of the present invention, as shown in fig. 2, the driving control method of the alternating current motor of the embodiment of the present invention further includes the steps of:
and S4, acquiring the three-phase actual output current of the previous period.
It can be understood that the phase current sampling device can obtain the actual output current i of the phase A of the previous periodAB phase actual output current iBAnd C phase actual output current iC。
S5, carrying out current transformation on the three-phase actual output current to obtain a quadrature axis calculation current iqAnd the direct axis calculates the current id。
It can be understood that the current i is actually output for the A phase as shown in FIG. 3AB phase actual output current iBAnd C phase actual output current iCCarrying out current transformation to obtain quadrature axis calculation current iqAnd the direct axis calculates the current id。
S6, for quadrature axis reference current iq_refDirect axis reference current id_refQuadrature axis calculating current iqAnd the direct axis calculates the current idCurrent regulation is carried out to obtain quadrature axis calculation voltage UqAnd the direct axis calculates the voltage Ud。
It will be appreciated that the quadrature reference current i may be referenced by a current regulator as shown in FIG. 3q_refDirect axis reference current id_refQuadrature axis calculating current iqAnd the direct axis calculates the current idCurrent regulation is carried out to obtain quadrature axis calculation voltage UqAnd the direct axis calculates the voltage Ud。
S7, calculating the voltage U for the quadrature axisqAnd the direct axis calculates the voltage UdAnd performing voltage conversion to obtain a second three-phase control voltage.
It will be appreciated that the voltage U is calculated for quadrature axes as shown in FIG. 3qAnd the direct axis calculates the voltage UdThe voltage conversion is carried out to obtain a second A-phase control voltage UaSecond B-phase control voltage UbAnd a second C-phase control voltage Uc。
As described above, in an embodiment of the present invention, as shown in fig. 5, a driving control method of an ac motor according to an embodiment of the present invention may include the steps of:
s10, obtaining the actual A-phase output voltage U of the previous periodasAnd the first phase A control voltage U actually output in the last perioda_lastB phase actual output voltage U of previous periodbsAnd the first B-phase control voltage U actually output in the last periodb_lastAnd the actual output voltage U of the phase C of the previous periodcsAnd the first C-phase control voltage U actually output in the last periodc_last。
S11, calculating the actual output voltage U of the phase AasAnd a first A-phase control voltage Ua_lastHas a phase A difference voltage of Uas-Ua_lastCalculating the actual output voltage U of phase BbsAnd a first B-phase control voltage Ub_lastB has a phase difference voltage of Ubs-Ub_lastAnd calculating the actual output voltage U of the C phasecsAnd a first C phase control voltage Uc_lastC has a phase difference voltage of Ucs-Uc_last。
S12, obtaining the actual A-phase output current i of the previous periodAB phase actual output current iBAnd C phase actual output current iC。
S13, outputting the actual current i to the A phaseAB phase actual output current iBAnd C phase actual output current iCCarrying out current transformation to obtain quadrature axis calculation current iqAnd the direct axis calculates the current id。
S14, for quadrature axis reference current iq_refDirect axis reference current id_refQuadrature axis calculating current iqAnd the direct axis calculates the current idCurrent regulation is carried out to obtain quadrature axis calculation voltage UqAnd the direct axis calculates the voltage Ud。
S15, calculating the voltage U for the quadrature axisqAnd the direct axis calculates the voltage UdThe voltage conversion is carried out to obtain a second A-phase control voltage UaSecond B-phase control voltage UbAnd a second C-phase control voltage Uc。
S16, calculating the second A-phase control voltage U according to the current periodaAnd the A phase difference voltage U obtained by the calculationas-Ua_lastCalculating the sum voltage between them, and adding the sum voltage Ua+(Uas-Ua_last) Third A-phase control voltage U as actual output of current perioda *Calculating the second B-phase control voltage U according to the current periodbAnd the calculated B phase difference value voltage Ubs-Ub_lastCalculating the sum voltage between them, and adding the sum voltage Ub+(Ubs-Ub_last) Third B-phase control voltage U as actual output of current periodb *And calculating the output second C-phase control voltage U according to the current periodcAnd the calculated C phase difference value voltage Ucs-Uc_lastCalculating the sum voltage between them, and adding the sum voltage Uc+(Ucs-Uc_last) Third C-phase control voltage U as actual output of current periodc *。
Therefore, according to the drive control method of the alternating current motor, the phase voltage sampling device is used for collecting the three-phase actual output voltage of the previous period in real time, the three-phase actual output voltage is compared with the first three-phase control voltage actually output by the previous period, dead time compensation is carried out according to the three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage, and therefore the third three-phase control voltage actually output by the current period can be infinitely close to the second three-phase control voltage calculated and output by the current period, and a good control effect is achieved.
In summary, according to the driving control method of the ac motor in the embodiment of the present invention, the three-phase actual output voltage of the previous period and the first three-phase control voltage actually output by the previous period are first obtained, the three-phase difference voltage between the three-phase actual output voltage and the first three-phase control voltage is calculated, the sum voltage of the second three-phase control voltage and the three-phase difference voltage calculated and output by the current period is calculated, and the sum voltage is used as the third three-phase control voltage actually output by the current period. Therefore, the driving control method of the alternating current motor of the embodiment of the invention can compensate the voltage distortion caused by the dead time, further can reduce the torque ripple and the noise of the motor control system, is simple to control, can be free from the influences of output delay, phase voltage imbalance, zero current clamping, voltage distortion caused by the stray resistance of a semiconductor switch, dispersion of devices and the like, and further can be applied to the motor control system in mass production.
Corresponding to the driving control method of the alternating current motor in the above embodiment, the embodiment of the present invention further provides a driving control device of the alternating current motor.
Fig. 6 is a block diagram schematically illustrating a drive control apparatus for an ac motor according to an embodiment of the present invention, and as shown in fig. 6, the drive control apparatus for an ac motor according to an embodiment of the present invention includes: an acquisition module 10, a first calculation module 20 and a second calculation module 30.
The obtaining module 10 is configured to obtain a three-phase actual output voltage of a previous period and a first three-phase control voltage actually output by the previous period; the first calculating module 20 is used for calculating three-phase difference voltages of the three-phase actual output voltage and the first three-phase control voltage; the second calculating module 30 is configured to calculate a sum voltage of the second three-phase control voltage and the three-phase difference voltage that are calculated and output in the current cycle, and use the sum voltage as a third three-phase control voltage that is actually output in the current cycle.
According to an embodiment of the present invention, the obtaining module 10 is specifically configured to: acquiring three-phase actual output voltage of analog quantity of the previous period obtained by sampling; and obtaining the three-phase actual output voltage of the digital quantity in the previous period according to the three-phase actual output voltage of the analog quantity in the previous period.
Further, according to an embodiment of the present invention, the obtaining module 10 is specifically configured to: acquiring the voltage of the sampled pulse width modulation signal of the last period; and obtaining the three-phase actual output voltage of the digital quantity of the previous period according to the voltage of the pulse width modulation signal of the previous period.
According to an embodiment of the invention, the second calculation module 30 is further configured to: acquiring three-phase actual output current of the previous period; carrying out current transformation on the actual three-phase output current to obtain quadrature axis calculated current iqAnd the direct axis calculates the current id(ii) a To quadrature axis reference current iq_refDirect axis reference current id_refQuadrature axis calculating current iqAnd the direct axis calculates the current idCurrent regulation is carried out to obtain quadrature axis calculation voltage UqAnd the direct axis calculates the voltage Ud(ii) a Calculating voltage U from quadrature axisqAnd the direct axis calculates the voltage UdAnd performing voltage conversion to obtain a second three-phase control voltage.
It should be noted that the foregoing explanation of the embodiment of the method for driving and controlling an ac motor is also applicable to the apparatus for driving and controlling an ac motor according to the embodiment of the present invention, and will not be described herein again.
In summary, according to the control apparatus of the vehicle of the embodiment of the invention, the obtaining module obtains the three-phase actual output voltage of the previous period and the first three-phase control voltage actually output by the previous period, the first calculating module calculates the three-phase difference voltage between the three-phase actual output voltage and the first three-phase control voltage, and the second calculating module calculates the sum voltage of the second three-phase control voltage and the three-phase difference voltage calculated and output by the current period, and the sum voltage is used as the third three-phase control voltage actually output by the current period. Therefore, the drive control device of the alternating current motor according to the embodiment of the present invention can compensate for voltage distortion due to dead time, can reduce torque ripple and noise of the motor control system, can disregard influences of output delay, phase voltage imbalance, zero current clamp, voltage distortion due to stray resistance of a semiconductor switch, dispersion of devices, and the like, and can be applied to a motor control system in mass production.
Based on the driving control device of the alternating current motor in the above embodiment, the embodiment of the present invention further provides a driving system of the alternating current motor. Fig. 7 is a block diagram schematically illustrating a driving system of an ac motor according to an embodiment of the present invention, and as shown in fig. 7, the driving system of an ac motor according to an embodiment of the present invention includes an ac motor 40, a power driving unit 50, and the aforementioned driving control apparatus 1 of an ac motor.
Specifically, in one embodiment of the present invention, as shown in fig. 8, the driving system of the alternating current motor of the embodiment of the present invention may further include a current detection unit 60, a voltage detection unit 70, and a position detection unit 80.
It is to be understood that the current detecting unit 60, the voltage detecting unit 70, and the position detecting unit 80 respectively transmit the detected current information of the ac motor, the detected voltage information of the ac motor, and the detected position information of the ac motor to the drive control apparatus 1 of the ac motor, and the drive control apparatus 1 of the ac motor processes the received current information of the ac motor, the received voltage information of the ac motor, and the received position information of the ac motor, and controls the power driving unit 50 to control the ac motor 40 according to the processed data. Wherein the power driving unit 50 is shown in fig. 9.
According to the driving system of the alternating current motor of the embodiment of the invention, the voltage distortion caused by dead time can be compensated through the arranged driving control device of the alternating current motor, so that the torque pulsation and noise of the motor control system can be reduced, and the influence of output delay, phase voltage unbalance, zero current clamping, voltage distortion caused by stray resistance of a semiconductor switch, dispersion of devices and the like can be ignored, so that the driving system of the alternating current motor can be applied to the motor control system in mass production.
Based on the driving system of the alternating current motor in the above embodiment, an embodiment of the present invention further provides a vehicle including the driving system of the alternating current motor.
According to the vehicle provided by the embodiment of the invention, the voltage distortion caused by dead time can be compensated through the arranged driving system of the alternating current motor, so that the torque ripple and the noise of the motor control system can be reduced, and in addition, the influences of the voltage distortion caused by output delay, phase voltage unbalance, zero current clamping, stray resistance of a semiconductor switch, dispersion of devices and the like can be ignored, so that the vehicle can be applied to the motor control system in mass production.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A drive control method for an alternating-current motor, comprising:
acquiring a three-phase actual output voltage of a previous period and a first three-phase control voltage actually output by the previous period;
calculating three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage;
and calculating the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output in the current period, and taking the sum voltage as the third three-phase control voltage which is actually output in the current period.
2. The drive control method according to claim 1, wherein the obtaining of the three-phase actual output voltages of the previous cycle includes:
acquiring three-phase actual output voltage of analog quantity of the previous period obtained by sampling;
and obtaining the three-phase actual output voltage of the digital quantity in the previous period according to the three-phase actual output voltage of the analog quantity in the previous period.
3. The drive control method according to claim 1, wherein the obtaining of the three-phase actual output voltages of the previous cycle includes:
acquiring the voltage of the sampled pulse width modulation signal of the last period;
and obtaining the three-phase actual output voltage of the digital quantity of the previous period according to the voltage of the pulse width modulation signal of the previous period.
4. The drive control method according to claim 1, characterized by further comprising:
acquiring three-phase actual output current of the previous period;
carrying out current transformation on the three-phase actual output current to obtain quadrature axis calculation current and direct axis calculation current;
carrying out current regulation on the quadrature axis reference current, the direct axis reference current, the quadrature axis calculation current and the direct axis calculation current to obtain quadrature axis calculation voltage and direct axis calculation voltage;
and performing voltage conversion on the quadrature axis calculation voltage and the direct axis calculation voltage to obtain the second three-phase control voltage.
5. A drive control device for an alternating-current motor, comprising:
the acquisition module is used for acquiring the three-phase actual output voltage of the previous period and the first three-phase control voltage actually output by the previous period;
the first calculation module is used for calculating three-phase difference voltage of the three-phase actual output voltage and the first three-phase control voltage;
and the second calculation module is used for calculating the sum voltage of the second three-phase control voltage and the three-phase difference voltage which are calculated and output in the current period, and taking the sum voltage as the third three-phase control voltage which is actually output in the current period.
6. The drive control device according to claim 5, wherein the obtaining module is specifically configured to:
acquiring three-phase actual output voltage of analog quantity of the previous period obtained by sampling;
and obtaining the three-phase actual output voltage of the digital quantity in the previous period according to the three-phase actual output voltage of the analog quantity in the previous period.
7. The drive control device according to claim 5, wherein the obtaining module is specifically configured to:
acquiring the voltage of the sampled pulse width modulation signal of the last period;
and obtaining the three-phase actual output voltage of the digital quantity of the previous period according to the voltage of the pulse width modulation signal of the previous period.
8. The drive control device according to claim 5, characterized in that the second calculation module is further configured to:
acquiring three-phase actual output current of the previous period;
carrying out current transformation on the three-phase actual output current to obtain quadrature axis calculation current and direct axis calculation current;
carrying out current regulation on the quadrature axis reference current, the direct axis reference current, the quadrature axis calculation current and the direct axis calculation current to obtain quadrature axis calculation voltage and direct axis calculation voltage;
and performing voltage conversion on the quadrature axis calculation voltage and the direct axis calculation voltage to obtain the second three-phase control voltage.
9. A drive system for an ac motor, comprising: an alternating current motor, a power drive unit and a drive control apparatus of an alternating current motor according to any one of claims 5 to 8.
10. A vehicle, characterized by comprising: the drive system of an alternating current motor according to claim 9.
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