CN113179058B - Stepper motor current harmonic suppression method based on harmonic current injection method - Google Patents
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- H—ELECTRICITY
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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
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Abstract
The invention provides a method for suppressing current harmonics of a stepping motor based on a harmonic current injection method, which specifically comprises the following steps: setting a reference current, and solving a current difference value of the reference current and the phase current; transforming the current difference into a dq rotation coordinate system; phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current component is obtained through first-order low-pass filtering; regulating the output of the PI controller to be zero through the PI controller to obtain the output of the PI controller, and obtaining harmonic compensation voltage through a harmonic suppression module; adding the harmonic compensation voltage into the d-axis voltage and the q-axis voltage obtained by the current loop, calculating a control voltage, and converting the control voltage into a static coordinate system to obtain a phase voltage; the phase voltage is subjected to SPWM modulation, passes through an inverter and is output to a motor. The invention applies the harmonic current injection method to the two-phase hybrid stepping motor to solve the harmonic current component generated in the operation of the two-phase hybrid stepping motor, and has less required modules and low computation amount.
Description
Technical Field
The invention particularly relates to a stepping motor current harmonic suppression method based on a harmonic current injection method.
Background
During the operation of the motor, the smoothness of output torque is reduced due to current harmonics, the system performance is negatively affected, and the loss of a stator winding and an iron core is increased.
In the prior art:
prior art 1: wangxing, bauxu, & ratten. (2020). a five-phase hybrid stepper motor space vector pulse width modulation optimization control strategy capable of suppressing the third harmonic, Nanjing university of aerospace, 052(002), 181-.
The prior art 1 proposes a method: in the five-phase hybrid stepping motor, the purpose of inhibiting the third harmonic is achieved by enabling the voltage space vector synthesized in the third harmonic coordinate system to be 0, so that the torque pulsation of the motor is small, and the motor runs more stably.
Prior art 2: liao Yoghao, Yanshuai, Liu Sha, Yao Jun, (2011) harmonic injection is used for restraining torque ripple of permanent magnet synchronous motor.
The prior art 2 proposes a method: harmonic voltage is obtained through extracting fifth and seventh harmonic currents and passing through a harmonic current loop and is injected into the voltage, so that harmonic components in the operation of the motor are suppressed, and torque pulsation of the motor is suppressed.
However, the method in the prior art 1 is suitable for a five-phase hybrid stepping motor, but not suitable for a two-phase hybrid stepping motor, and the method in the prior art 2 has many modules, a large amount of calculation and a complex algorithm.
Therefore, a method for suppressing the current harmonic of the stepping motor based on the harmonic current injection method is needed, and the problems that the harmonic current injection method is not suitable for a two-phase hybrid stepping motor and the harmonic current injection method in the prior art has more modules, large calculation amount and complex algorithm are solved.
Disclosure of Invention
The invention provides a stepping motor current harmonic suppression method based on a harmonic current injection method, which is applied to a two-phase hybrid stepping motor to solve harmonic current components generated in the operation of the two-phase hybrid stepping motor, and has the advantages of less required modules and low calculation amount. Thereby making up for the deficiencies in the prior art.
A stepping motor current harmonic suppression method based on a harmonic current injection method specifically comprises the following steps:
step 1, setting a reference current of a motor, and solving a current difference value of the reference current and a phase current; then transforming the current difference value from a static coordinate system into a dq rotation coordinate system;
step 2, phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current components are obtained through first-order low-pass filtering;
step 3, adjusting the control error of the third harmonic current component to zero through a PI controller to obtain the output of the PI controller, and then passing the output of the PI controller through a harmonic suppression module to obtain harmonic compensation voltage;
step 4, adding the harmonic compensation voltage into d-axis voltage and q-axis voltage obtained by a current loop, then calculating control voltage on the basis, and converting the control voltage into a static coordinate system to obtain phase voltage of an A phase and a B phase of the motor;
and 5, modulating the phase voltages of the A phase and the B phase of the motor by SPWM, and outputting the phase voltages to the motor through an inverter.
By passingPhase current of two-phase hybrid stepping motorI a AndI b change to
Under the rotating coordinate system, a direct current component is extracted through a first-order low-pass filter, and then the direct current component passes through a PI controller, so that the control error is zero. Therefore, the output of the PI controller obtains the third current harmonic voltage compensation through the harmonic suppression moduleU d3th AndU q3th and by transforming the harmonic wave to a-3 theta rotation coordinate system, the extraction of the third harmonic wave can be simple and easy without changing along with the change of the current frequency. In addition, the current difference value under the static coordinate system is obtained by firstly making a difference between the reference current and the phase current, and the current difference value is converted into the rotating coordinate system through park to carry out PI control. By adopting the method, the accuracy of harmonic compensation voltage injection is ensured, the dynamic response characteristic of current is improved, and the speed and the accuracy of control are improved.
Further, step 1 includes the following steps:
step 1.1, the reference current is distributed to the currents of the two phases A and B as follows:
I a_ref =Im*cos(θ) (1)
I b_ref =Im*sin(θ) (2)
wherein the content of the first and second substances,I a_ref andI b_ref respectively a reference current of phase a and a reference current of phase B,I m and theta is the amplitude of the reference current and is a given angle of the motor.
Further, step 1 includes the following steps:
step 1.2, respectively making difference on reference current and phase current of the phase A and the phase B:
err_I a =I a _ ref -I a (3)
err_I b =I b _ ref -I b (4)
wherein the content of the first and second substances,err_I a anderr_I b respectively the difference value of the reference current in the phase A and the phase B and the phase current of the motor,I a andI b phase currents of a phase and a phase B of the motor are respectively.
Further, step 1 includes the following steps:
step 1.3, the current difference obtained in the step 1.2 is comparederr_I a Anderr_I b conversion to dq rotation coordinate system by park transformation:
wherein the content of the first and second substances,err_I d anderr_I q the components of the current difference on the d-axis and q-axis, respectively, and theta is the motor given angle.
Further, step 2 includes the following steps:
step 2.1, phase current of the motor is converted into a-3 theta coordinate system in a park transformation mode:
wherein the content of the first and second substances,I d3th andI q3th for phase current after park conversionI a AndI b theta is a given angle of the motor;
step 2.2, thenI d3th AndI q3th obtaining phase current through a first-order low-pass filterI a AndI b third harmonic current component in-3 theta coordinate systemI d3th _ f AndI q3th _ f 。
after park conversion, the third harmonic component in the phase current becomes a direct current component in the-3 θ coordinate system, and therefore the third harmonic component can be extracted by the first-order low-pass filter.
Further, in step 3, the third harmonic current component in step 2 is regulated by a PI controller:
err_I d3th =I d3th _ set -I d3th _ f （7）
err_I q3th =I q3th _ set -I q3th _ f （8）
in the formulas (7) and (8):
I d3th _ set =0 （9）
I q3th _ set =0 （10）
wherein the content of the first and second substances,I d3th _ set andI q3th _ set the third harmonic currents for a given d-axis and q-axis, respectively.
Further, in step 3:
the output of the PI controller is recorded asI d3th _ out AndI q3th _ out ；
the above-mentionedI d3th _ out AndI q3th _ out the formula for obtaining the harmonic compensation voltage through the harmonic suppression module is as follows:
U d3th =3ωL q I q3th_out +RI d3th_out （11）
U q3th =-3ωL d I d3th_out +RI q3th_out （12）
wherein the content of the first and second substances,U d3th andU q3th in order to compensate for the voltage in the harmonics,ωin order to determine the angular velocity of the motor,L q in order to be the q-axis inductance,L d is d-axis inductance and R is resistance.
Further, step 4 includes the following steps:
step 4.1, calculating the control voltage according to the formula:
U d_sum = U d – U d3th （13）
U q_sum = U q – U q3th （14）
wherein the content of the first and second substances,U d_sum andU q_sum respectively a d-axis control voltage and a q-axis control voltage under a dq rotation coordinate system,U d is a voltage of the d-axis,U q is the q-axis voltage;
and 4.2, converting the d-axis control voltage and the q-axis control voltage into phase voltages of an A phase and a B phase of the motor under a static coordinate system through inverse park transformation, wherein the formula is as follows:
wherein the content of the first and second substances,U a andU b phase voltages of A phase and B phase are respectively, and theta is a given angle of the motor.
The invention has the following beneficial effects:
1. the invention applies a harmonic current injection method to a two-phase hybrid stepping motor to solve harmonic current components generated in the operation of the two-phase hybrid stepping motor.
2. The invention realizes simple extraction of the third harmonic wave without changing along with the change of the current frequency.
3. The invention simplifies the calculation process and reduces the operation time of the MCU.
4. The invention ensures the accuracy of harmonic compensation voltage injection, improves the dynamic response characteristic of current, and improves the speed and accuracy of control.
Drawings
Fig. 1 is a schematic development diagram of a step motor current harmonic suppression method based on a harmonic current injection method according to the present invention.
Detailed Description
It should be apparent that the embodiments described below are some, but not all embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise specifically indicated and limited.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
As shown in fig. 1, the present embodiment provides a method for suppressing a current harmonic of a stepping motor based on a harmonic current injection method, which specifically includes the following steps:
step 1, setting a reference current of a motor, and solving a current difference value of the reference current and a phase current; then transforming the current difference value from a static coordinate system into a dq rotation coordinate system;
step 2, phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current components are obtained through first-order low-pass filtering;
step 3, adjusting the control error of the third harmonic current component to zero through a PI controller to obtain the output of the PI controller, and then passing the output of the PI controller through a harmonic suppression module to obtain harmonic compensation voltage;
step 4, adding the harmonic compensation voltage into d-axis voltage and q-axis voltage obtained by a current loop, then calculating control voltage on the basis, and converting the control voltage into a static coordinate system to obtain phase voltage of an A phase and a B phase of the motor;
and 5, modulating the phase voltages of the A phase and the B phase of the motor by SPWM, and outputting the phase voltages to the motor through an inverter.
By current-current of phase of two-phase hybrid stepping motorI a AndI b and transforming to a-3 theta rotating coordinate system, extracting a direct current component through a first-order low-pass filter, and then enabling the direct current component to pass through a PI controller to enable the control error to be zero. Therefore, the output of the PI controller obtains the third current harmonic voltage compensation through the harmonic suppression moduleU d3th AndU q3th and by transforming the harmonic wave to a-3 theta rotation coordinate system, the extraction of the third harmonic wave can be simple and easy without changing along with the change of the current frequency. In addition, the current difference value under the static coordinate system is obtained by firstly making a difference between the reference current and the phase current, and the current difference value is converted into the rotating coordinate system through park to carry out PI control. By adopting the method, the accuracy of harmonic compensation voltage injection is ensured, the dynamic response characteristic of current is improved, and the speed and the accuracy of control are improved.
In the step 1, the method comprises the following steps:
step 1.1, the reference current is distributed to the currents of the two phases A and B as follows:
I a_ref =Im*cos(θ) (1)
I b_ref =Im*sin(θ) (2)
wherein the content of the first and second substances,I a_ref andI b_ref respectively a reference current of phase a and a reference current of phase B,I m and theta is the amplitude of the reference current and is a given angle of the motor.
In the step 1, the method also comprises the following steps:
step 1.2, respectively making difference on reference current and phase current of the phase A and the phase B:
err_I a =I a _ ref -I a (3)
err_I b =I b _ ref -I b (4)
wherein the content of the first and second substances,err_I a anderr_I b reference electrodes in phase A and phase B respectivelyThe difference between the current and the motor phase current,I a andI b phase currents of a phase and a phase B of the motor are respectively.
In the step 1, the method also comprises the following steps:
step 1.3, the current difference obtained in the step 1.2 is comparederr_I a Anderr_I b conversion to dq rotation coordinate system by park transformation:
wherein the content of the first and second substances,err_I d anderr_I q the components of the current difference on the d-axis and q-axis, respectively, and theta is the motor given angle.
In the step 2, the method comprises the following steps:
step 2.1, phase current of the motor is converted into a-3 theta coordinate system in a park transformation mode:
wherein the content of the first and second substances,I d3th andI q3th for phase current after park conversionI a AndI b theta is a given angle of the motor;
step 2.2, thenI d3th AndI q3th obtaining phase current through a first-order low-pass filterI a AndI b third harmonic current component in-3 theta coordinate systemI d3th _ f AndI q3th _ f 。
after park conversion, the third harmonic component in the phase current becomes a direct current component in the-3 θ coordinate system, and therefore the third harmonic component can be extracted by the first-order low-pass filter.
In step 3, the third harmonic current component in step 2 is regulated by a PI controller:
err_I d3th =I d3th _ set -I d3th _ f （7）
err_I q3th =I q3th _ set -I q3th _ f （8）
in the formulas (7) and (8):
I d3th _ set =0 （9）
I q3th _ set =0 （10）
wherein the content of the first and second substances,I d3th _ set andI q3th _ set the third harmonic currents for a given d-axis and q-axis, respectively.
In the step 3:
the output of the PI controller is recorded asI d3th _ out AndI q3th _ out ；
the above-mentioned
And
the formula for obtaining the harmonic compensation voltage through the harmonic suppression module is as follows:
U d3th =3ωL q I q3th_out +RI d3th_out （11）
U q3th =-3ωL d I d3th_out +RI q3th_out （12）
wherein the content of the first and second substances,U d3th andU q3th in order to compensate for the voltage in the harmonics,ωin order to determine the angular velocity of the motor,L q in order to be the q-axis inductance,L d is d-axis inductance and R is resistance.
In the step 4, the method comprises the following steps:
step 4.1, calculating the control voltage according to the formula:
U d_sum = U d – U d3th （13）
U q_sum = U q – U q3th （14）
wherein the content of the first and second substances,U d_sum andU q_sum respectively a d-axis control voltage and a q-axis control voltage under a dq rotation coordinate system,U d is a voltage of the d-axis,U q is the q-axis voltage;
and 4.2, converting the d-axis control voltage and the q-axis control voltage into phase voltages of an A phase and a B phase of the motor under a static coordinate system through inverse park transformation, wherein the formula is as follows:
wherein the content of the first and second substances,U a andU b phase voltages of A phase and B phase are respectively, and theta is a given angle of the motor.
The invention has the following beneficial effects:
1. the invention applies a harmonic current injection method to a two-phase hybrid stepping motor to solve harmonic current components generated in the operation of the two-phase hybrid stepping motor.
2. The invention realizes simple extraction of the third harmonic wave without changing along with the change of the current frequency.
3. The invention simplifies the calculation process and reduces the operation time of the MCU.
4. The invention ensures the accuracy of harmonic compensation voltage injection, improves the dynamic response characteristic of current, and improves the speed and accuracy of control.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (5)
1. A stepping motor current harmonic suppression method based on a harmonic current injection method is characterized by comprising the following steps:
step 1, setting a reference current of a motor, and solving a current difference value of the reference current and a phase current; then transforming the current difference value from a static coordinate system into a dq rotation coordinate system;
step 2, phase current of the motor is converted to a-3 theta coordinate system, and third harmonic current components are obtained through first-order low-pass filtering;
step 3, adjusting the control error of the third harmonic current component to zero through a PI controller to obtain the output of the PI controller, and then passing the output of the PI controller through a harmonic suppression module to obtain harmonic compensation voltage;
step 4, adding the harmonic compensation voltage into d-axis voltage and q-axis voltage obtained by a current loop, then calculating control voltage on the basis, and converting the control voltage into a static coordinate system to obtain phase voltage of an A phase and a B phase of the motor;
step 5, modulating phase voltages of the A phase and the B phase of the motor by SPWM, and outputting the phase voltages to the motor by an inverter;
in the step 1, the method comprises the following steps:
step 1.1, the reference current is distributed to the currents of the two phases A and B as follows:
I a_ref =Im*cos(θ) (1)
I b_ref =Im*sin(θ) (2)
wherein the content of the first and second substances,I a_ref andI b_ref respectively a reference current of phase a and a reference current of phase B,I m the amplitude of the reference current is theta, and theta is a given angle of the motor;
in the step 1, the method also comprises the following steps:
step 1.2, respectively making difference on reference current and phase current of the phase A and the phase B:
err_I a =I a _ ref -I a (3)
err_I b =I b _ ref -I b (4)
wherein the content of the first and second substances,err_I a anderr_I b respectively the difference value of the reference current in the phase A and the phase B and the phase current of the motor,I a andI b phase currents of a phase A and a phase B of the motor are respectively;
in the step 1, the method also comprises the following steps:
step 1.3, the current difference obtained in the step 1.2 is comparederr_I a Anderr_I b by park transformation, conversionTo dq rotational coordinate system:
wherein the content of the first and second substances,err_I d anderr_I q the components of the current difference on the d-axis and q-axis, respectively, and theta is the motor given angle.
2. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 1, wherein the step 2 comprises the steps of:
step 2.1, phase current of the motor is converted into a-3 theta coordinate system in a park transformation mode:
wherein the content of the first and second substances,I d3th andI q3th for phase current after park conversionI a AndI b theta is a given angle of the motor;
step 2.2, thenI d3th AndI q3th obtaining phase current through a first-order low-pass filterI a AndI b third harmonic current component in-3 theta coordinate systemI d3th _ f AndI q3th _ f 。
3. the method for suppressing the current harmonic of the stepping motor based on the harmonic current injection method as claimed in claim 2, wherein in step 3, the third harmonic current component in step 2 is adjusted by a PI controller:
err_I d3th =I d3th _ set -I d3th _ f （7）
err_I q3th =I q3th _ set -I q3th _ f （8）
in the formulas (7) and (8):
I d3th _ set =0 （9）
I q3th _ set =0 （10）
wherein the content of the first and second substances,I d3th _ set andI q3th _ set the third harmonic currents for a given d-axis and q-axis, respectively.
4. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 3, wherein in step 3:
the output of the PI controller is recorded asI d3th _ out AndI q3th _ out ；
the above-mentionedI d3th _ out AndI q3th _ out the formula for obtaining the harmonic compensation voltage through the harmonic suppression module is as follows:
U d3th =3ωL q I q3th_out +RI d3th_out （11）
U q3th =-3ωL d I d3th_out +RI q3th_out （12）
wherein the content of the first and second substances,U d3th andU q3th in order to compensate for the voltage in the harmonics,ωin order to determine the angular velocity of the motor,L q in order to be the q-axis inductance,L d is d-axis inductance and R is resistance.
5. The method for suppressing the current harmonics of the stepping motor based on the harmonic current injection method as claimed in claim 4, wherein the step 4 comprises the following steps:
step 4.1, calculating the control voltage according to the formula:
U d_sum = U d – U d3th （13）
U q_sum = U q – U q3th （14）
wherein the content of the first and second substances,U d_sum andU q_sum respectively a d-axis control voltage and a q-axis control voltage under a dq rotation coordinate system,U d is a voltage of the d-axis,U q is the q-axis voltage;
and 4.2, converting the d-axis control voltage and the q-axis control voltage into phase voltages of an A phase and a B phase of the motor under a static coordinate system through inverse park transformation, wherein the formula is as follows:
wherein the content of the first and second substances,U a andU b phase voltages of A phase and B phase, respectively, theta is a given angle of the motorAnd (4) degree.
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