CN113179066A - Time compensation method for dead zone of sensorless permanent magnet synchronous motor inverter - Google Patents

Time compensation method for dead zone of sensorless permanent magnet synchronous motor inverter Download PDF

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Publication number
CN113179066A
CN113179066A CN202110395904.9A CN202110395904A CN113179066A CN 113179066 A CN113179066 A CN 113179066A CN 202110395904 A CN202110395904 A CN 202110395904A CN 113179066 A CN113179066 A CN 113179066A
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Prior art keywords
time
phase
compensation method
permanent magnet
synchronous motor
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吴茂刚
李庆松
李平
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • 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

Abstract

The invention relates to a dead-time compensation method for a sensorless permanent magnet synchronous motor inverter, which utilizes the characteristic of high power factor of a permanent magnet synchronous motor, takes a voltage vector angle as a method for judging the polarity of three-phase current, and directly compensates the turn-on time of an inverter power device according to the dead-time characteristic. Compared with the traditional dead zone compensation method of the sensorless permanent magnet synchronous motor inverter, the dead zone compensation method has the following advantages: 1) the output voltage vector is adopted to judge the polarity of the three-phase current, the characteristic of high power factor of the permanent magnet synchronous motor is fully utilized, and the influence of estimation precision is small; 2) according to the three-phase current polarity, the on-time of the inverter power device is directly compensated, the compensation is accurate, and extra hardware is not needed.

Description

Time compensation method for dead zone of sensorless permanent magnet synchronous motor inverter
Technical Field
The invention relates to a control method of a sensorless permanent magnet synchronous motor, in particular to a method capable of realizing dead zone compensation of a sensorless permanent magnet synchronous motor inverter, and belongs to the technical field of alternating current motor transmission.
Background
A Permanent Magnet Synchronous Motor (PMSM) adopts a rotor permanent magnet for excitation, and has the advantages of simple structure, reliable operation, high efficiency, good controllability and the like. With the development of advanced motion control technology, digital signal processor technology, and power electronics technology, PMSM is widely used in various fields such as industry, defense technology, and daily life.
High performance PMSM systems typically employ vector control techniques, and the rotor position necessary for vector conversion is typically measured by sensors mounted on the rotor shaft, which increase the complexity and cost of the control system, reduce system reliability, and limit the application of PMSM in some special situations. PMSM sensorless estimation solves the above problem, using electrical characteristics to reflect mechanical characteristics, and the commonly used methods are: back emf calculation, flux linkage calculation, estimation on the basis of various observers, high-frequency injection, model reference adaptation, and the like. Because the rotor position information is indirectly obtained through measurement and calculation, the estimation precision is influenced by objective factors: such as the precision of a model, difficult realization of an observer due to complexity, influence of an inverter dead zone and current detection precision on high-frequency injection method signal generation and extraction, nonlinear distribution of an air gap magnetic field of the motor and the like. The above factors affect the accuracy of the position angle estimation, and limit the popularization and application of the sensorless technology.
The PMSM vector control system adopts a voltage source type inverter, and the dead time set for preventing short circuit of upper and lower bridge power devices of the inverter makes the output voltage waveform of the inverter distorted, reduces the output capacity of the inverter and influences the control effect of a motor. Therefore, the dead zone of the inverter needs to be compensated, the common compensation method directly detects the polarity of the three-phase current, but the zero-crossing current clamp caused by the dead zone effect influences the correctness of the current zero-crossing detection, and further influences the dead zone compensation effect.
The dead zone of the inverter is compensated, the polarity of the three-phase current needs to be obtained, the three-phase current is directly detected, the deviation exists at the zero-crossing point, the polarity of the three-phase current is indirectly obtained through a stator current vector, and the polarity is inaccurate due to the problem of estimation of the precision of a position angle.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a dead-time compensation method for a sensorless permanent magnet synchronous motor inverter.
The idea of the invention is that: the PMSM has the characteristic of high power factor, namely the angle of a voltage vector is close to that of an actual current vector, and the voltage vector angle is used as the polarity of three-phase current for judgment by utilizing the characteristic; the dead zone is generated by delaying the turn-on time of the power device, the turn-on time is directly compensated according to the dead zone characteristic, and the method is accurate and does not need extra hardware. Thus, a time compensation method for inverter dead zone of voltage vector discrimination is provided.
The invention discloses a dead-time compensation method for a sensorless permanent magnet synchronous motor inverter, which utilizes the characteristic of high power factor of a permanent magnet synchronous motor, takes a voltage vector angle as a method for judging the polarity of three-phase current, and directly compensates the turn-on time of an inverter power device according to the dead-time characteristic.
The method comprises the following specific steps:
step 1: and converting the output voltage vector to obtain alpha and beta axis components through coordinate transformation, and converting to obtain three components in an abc axis system, wherein the alpha and beta plane is divided into six sectors by the positive and negative of the three components, and each sector corresponds to a group of three-phase current polarities. The calculation is as follows:
ua＝uα
Figure BDA0003018584660000021
Figure BDA0003018584660000022
if ua>0, then A: ═ 1, otherwise A: ═ 0;
if ub>0, then B: ═ 1, otherwise B: ═ 0;
if uc>0, then C: ═ 1, otherwise C: ═ 0;
n＝4A+2B+C
in the formula uaIs a phase voltage, ubIs a b-phase voltage, ucIs a c-phase voltage, uαIs an alpha-axis voltage component, uβIs the beta axis voltage component. The assignment relation is expressed, and n is a sector number of the three-phase current polarity.
Step 2: taking the direction of current to take the current flowing into the motor as positive, taking the a-phase upper bridge arm power device as an example, within one modulation period, taking t as taon1T 'for trigger on time after compensation'aon1The compensation method is shown as follows:
if ia>0, then
Figure BDA0003018584660000023
If ia<0, then
Figure BDA0003018584660000024
In the formula, TerFor error time, the calculation is as follows:
Ter＝Td+Ton-Toff
in the formula, TdSetting time, T, for dead zoneonTurn-on delay time, T, for power devicesoffThe turn-off delay time of the power device is set.
b. And the time compensation method of the c-phase upper bridge arm power device is the same as that of the a-phase upper bridge arm.
And step 3: taking a-phase lower bridge arm power device as an example, within one modulation period, t is takenaon2T 'for trigger on time after compensation'aon2The compensation method is shown as follows:
if ia>0, then
Figure BDA0003018584660000025
If ia<0, then
Figure BDA0003018584660000031
b. And the time compensation method of the c-phase lower bridge arm power device is the same as that of the a-phase lower bridge arm.
Compared with the traditional dead zone compensation method of the sensorless permanent magnet synchronous motor, the dead zone compensation method of the sensorless permanent magnet synchronous motor provided by the invention has the following advantages: 1) the output voltage vector is adopted to judge the polarity of the three-phase current, the characteristic of high power factor of the permanent magnet synchronous motor is fully utilized, and the influence of estimation precision is small; 2) according to the three-phase current polarity, the on-time of the inverter power device is directly compensated, the compensation is accurate, and extra hardware is not needed.
Drawings
Fig. 1 is a diagram of a sensorless permanent magnet synchronous motor vector control system embodying the present invention.
Fig. 2 is a current polarity sector diagram of a sensorless permanent magnet synchronous motor embodying the present invention.
Fig. 3 is a diagram showing the correspondence between the output voltage vector of the sensorless permanent magnet synchronous motor and the three-phase current polarity.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the sensorless permanent magnet synchronous motor vector control system of the embodiment of the invention is shown in fig. 1 and comprises a permanent magnet synchronous motor, a three-phase voltage source type inverter, a space vector PWM modulation unit, a current detection and conversion unit, a direct-axis current regulator, an alternating-axis current regulator, a rotating speed regulator and a sensorless position and rotating speed estimation unit.
The method comprises the following specific steps:
step 1: and converting the output voltage vector to obtain alpha and beta axis components through coordinate transformation, and converting to obtain three components in an abc axis system, wherein the alpha and beta plane is divided into six sectors by the positive and negative of the three components, and each sector corresponds to a group of three-phase current polarities. The calculation is as follows:
ua＝uα
Figure BDA0003018584660000032
Figure BDA0003018584660000033
if ua>0, then A: ═ 1, otherwise A: ═ 0;
if ub>0, then B: ═ 1, otherwise B: ═ 0;
if uc>0, then C: ═ 1, otherwise C: ═ 0;
n＝4A+2B+C
in the formula uaIs a phase voltage, ubIs a b-phase voltage, ucIs a c-phase voltage, uαIs an alpha-axis voltage component, uβIs the beta axis voltage component. The assignment relation is expressed, and n is a sector number of the three-phase current polarity.
The six current polarity sectors are shown in figure 2. The corresponding relation graph of the output voltage vector of the sensorless permanent magnet synchronous motor and the three-phase current polarity is shown in figure 3.
Step 2: taking the direction of current to take the current flowing into the motor as positive, taking the a-phase upper bridge arm power device as an example, within one modulation period, taking t as taon1T 'for trigger on time after compensation'aon1The compensation method is shown as follows:
if ia>0, then
Figure BDA0003018584660000041
If ia<0, then
Figure BDA0003018584660000042
In the formula, TerFor error time, the calculation is as follows:
Ter＝Td+Ton-Toff
in the formula, TdSetting time, T, for dead zoneonTurn-on delay time, T, for power devicesoffThe turn-off delay time of the power device is set.
b. And the time compensation method of the c-phase upper bridge arm power device is the same as that of the a-phase upper bridge arm.
And step 3: taking a-phase lower bridge arm power device as an example, within one modulation period, t is takenaon2T 'for trigger on time after compensation'aon2The compensation method is shown as follows:
if ia>0, then
Figure BDA0003018584660000043
If ia<0, then
Figure BDA0003018584660000044
b. And the time compensation method of the c-phase lower bridge arm power device is the same as that of the a-phase lower bridge arm.

Claims (1)

1. A time compensation method for dead zones of a sensorless permanent magnet synchronous motor inverter is characterized by comprising the following steps: the method comprises the following specific steps:
step 1: converting the coordinates of the output voltage vector to obtain alpha and beta axis components, and converting to obtain three components in an abc axis system, wherein the alpha and beta plane is divided into six sectors by the positive and negative of the three components, and each sector corresponds to a group of three-phase current polarities; the calculation is as follows:
ua＝uα
Figure FDA0003018584650000011
Figure FDA0003018584650000012
if ua>0, then A: ═ 1, otherwise A: ═ 0;
if ub>0, then B: ═ 1, otherwise B: ═ 0;
if uc>0, then C: ═ 1, otherwise C: ═ 0;
n＝4A+2B+C
in the formula uaIs a phase voltage, ubIs a b-phase voltage, ucIs a c-phase voltage, uαIs an alpha-axis voltage component, uβIs the beta axis voltage component; representing an assignment relation, wherein n is a sector number of the three-phase current polarity; A. b, C is the median calculation;
step 2: taking the direction of current to take the current flowing into the motor as positive, taking the a-phase upper bridge arm power device as an example, within one modulation period, taking t as taon1T 'for trigger on time after compensation'aon1The compensation method is shown as follows:
if ia>0, then
Figure FDA0003018584650000013
If ia<0, then
Figure FDA0003018584650000014
In the formula, TerFor error time, the calculation is as follows:
Ter＝Td+Ton-Toff
in the formula, TdSetting time, T, for dead zoneonTurn-on delay time, T, for power devicesoffTime delay for turning off the power device;
b. the time compensation method of the c-phase upper bridge arm power device is the same as that of the a-phase upper bridge arm;
and step 3: take a-phase lower bridge arm power device as an exampleWithin one modulation period, at taon2T 'for trigger on time after compensation'aon2The compensation method is shown as follows:
if ia>0, then
Figure FDA0003018584650000021
If ia<0, then
Figure FDA0003018584650000022
b. And the time compensation method of the c-phase lower bridge arm power device is the same as that of the a-phase lower bridge arm.
CN202110395904.9A 2021-04-13 2021-04-13 Time compensation method for dead zone of sensorless permanent magnet synchronous motor inverter Pending CN113179066A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023109421A1 (en) * 2021-12-17 2023-06-22 宁德时代新能源科技股份有限公司 Dead zone compensation method and apparatus, computer device, and computer readable storage medium

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
吴茂刚: ""矢量控制永磁同步电动机交流伺服系统的研究"", 《中国博士学位论文全文数据库 (工程科技Ⅱ辑)》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023109421A1 (en) * 2021-12-17 2023-06-22 宁德时代新能源科技股份有限公司 Dead zone compensation method and apparatus, computer device, and computer readable storage medium

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Application publication date: 20210727