CN113206624B - Current sampling reconstruction method based on single resistor - Google Patents
Current sampling reconstruction method based on single resistor Download PDFInfo
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- CN113206624B CN113206624B CN202110547396.1A CN202110547396A CN113206624B CN 113206624 B CN113206624 B CN 113206624B CN 202110547396 A CN202110547396 A CN 202110547396A CN 113206624 B CN113206624 B CN 113206624B
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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
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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
- H02P21/22—Current control, e.g. using a current control loop
Abstract
The invention discloses a current sampling reconstruction method based on a single resistor, which has the technical scheme that the method comprises the following steps of S1, obtaining a plurality of continuous SVPWM periods; s2, acquiring sampling time in each period; s3, dividing the multiple periods into periods with sufficient sampling time and periods with insufficient sampling time; s4, increasing the sampling window time in the insufficient sampling time period, and returning the increased sampling window time in the insufficient sampling time period in the next period; and S5, until the total time of the sampling window is increased and the total basic vector is ensured to be unchanged, wherein the sampling reconstruction method has the advantages of improving the product performance and not increasing the additional hardware cost.
Description
Technical Field
The invention relates to a sampling method, in particular to a current sampling reconstruction method based on a single resistor.
Background
Siemens of the 70 th century first proposed the vector control theory of asynchronous motors to solve the torque control problem of alternating current motors. The basic principle of vector control is to control the exciting current and the torque current of the motor respectively according to the magnetic field orientation principle by measuring and controlling the stator current vector of the motor, thereby achieving the purpose of controlling the torque of the motor.
The stator current detection is accurate or not, and the effect of motor control is directly influenced. In low-cost application occasions, an asymmetric three-phase PWM mode used by the existing method carries out synchronous left phase shifting or right phase shifting on an effective non-observation window to expand the time of the non-observation window so as to meet the current reconstruction, and simultaneously can keep the time of a basic effective vector unchanged, or when the non-observation window is sampled, the observation window phase needs to carry out middle slot shifting towards two ends, so that the current reconstruction of the non-observation window is realized, however, no matter how the two methods are realized, the hardware of a processor is needed to support asymmetric three-phase PWM, or a mechanism that the middle slot shifting towards two ends of the PWM is needed, the reconstruction method is very dependent on the capability of the processor, has certain limitation, and increases the additional hardware cost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a single-resistor-based current sampling reconstruction method, which has the advantages of improving the product performance and not increasing the additional hardware cost.
In order to achieve the purpose, the invention provides the following technical scheme: a current sampling reconstruction method based on single resistor, S1, obtaining a plurality of continuous SVPWM periods;
s2, acquiring sampling time in each period;
s3, dividing the plurality of periods into periods with sufficient sampling time and periods with insufficient sampling time;
s4, increasing the sampling window time in the insufficient sampling time period, and returning the increased sampling window time in the insufficient sampling time period in the next period;
s5, until the entire incremental sampling window time is returned and the overall basis vector is guaranteed to be unchanged.
The invention is further configured to: the sampling time specifically includes V100 and V110.
The invention is further configured to: in the step S1, two continuous periods are obtained;
s2, acquiring sampling time of two periods;
s3, obtaining V110 effective vector with insufficient sampling time and V100 with enough first and second periods;
s4, when the vector time of the second period V110 is insufficient, the PWM of the second period C phase is reduced to meet the window of the V110 vector sampling time, and the time of the C phase PWM is added in the first period to return to the V100 vector time;
and S5, ensuring the total basic vector to be unchanged and also eliminating the time spent in the second period C.
The invention is further configured to: and sampling in the first period to obtain Ia, sampling in the second period to obtain Ic, and obtaining Ib based on Ia + Ib + Ic being 0.
The invention is further configured to: in S4, when the PWM return time is increased so that the first period V110 vector time is insufficient, a V101 new vector is generated.
The invention is further configured to: the step S1, acquiring a plurality of continuous periods;
s2, acquiring sampling time of a plurality of periods;
s3, obtaining a first period and a second period and a plurality of next periods, wherein the sampling time of the V110 effective vector and the sampling time of the V100 effective vector are both insufficient;
s4, inserting time t1 in the V100 voltage vector window of the first period to meet the requirement of sampling time to obtain Ia, properly adjusting the V110 vector inserting time t2 according to the reset adjusted A phase PWM position after the A phase return time t1 of the second period to meet the ic sampling time, and borrowing time t3 from the A phase of the next period to the next PWM according to the position of the C phase return time after the C phase return time t2 of the next period to meet the V100 voltage vector sampling time.
S5, until the overall basis vector is unchanged.
In conclusion, the invention has the following beneficial effects: and increasing the necessary sampling window time in a single period by using an equivalent invariance principle, returning the increased sampling window time in the next period, increasing the sampling window time when the sampling window needs to be increased, and avoiding increasing the window time when the sampling time is enough. The traditional symmetrical PWM method is used for sampling three-phase current in a time-sharing mode, current harmonics are reduced by only one phase time and one phase time, and the method abandons the use of 2 ADC devices for sampling 2 windows at the same time, so that the reconstruction of single-battery sampling current can be completed by only one ADC device through a low-cost processor, the current sampling and decoupling closed loop of the whole area can be completed by using the traditional motor control processor through proper software operation, and no additional hardware cost is added.
Drawings
FIG. 1 is a schematic view of a sector of a voltage vector;
FIG. 2 is a diagram of 2 SVPWM cycles of the first embodiment;
FIG. 3 is a diagram of the cyclic variation process of the first embodiment;
FIG. 4 is a graph of the cycle end result of the first embodiment;
FIG. 5 is a schematic diagram of the first embodiment without the V110 vector in the cycle;
FIG. 6 is a schematic diagram of a vector decomposition in a cycle of the first embodiment;
FIG. 7 is a diagram of 2 SVPWM cycles for the second embodiment;
FIG. 8 is a diagram of a cyclic variation process of the second embodiment;
FIG. 9 is a diagram of the cycle end result of the second embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1 to 9, in order to achieve the above object, the present invention provides the following technical solutions: a current sampling reconstruction method based on single resistor, S1, obtaining a plurality of continuous SVPWM periods;
s2, acquiring sampling time in each period;
s3, dividing the plurality of periods into periods with sufficient sampling time and periods with insufficient sampling time;
s4, increasing the sampling window time in the insufficient sampling time period, and returning the increased sampling window time in the insufficient sampling time period in the next period;
s5, until the entire incremental sampling window time is returned and the overall basis vector is guaranteed to be unchanged.
The design of the invention utilizes the principle of equivalent invariance to increase the necessary sampling window time in a single period, returns the increased sampling window time in the next period, and increases the sampling window time when the sampling window needs to be increased, and does not need to increase the window time when the sampling time is enough. The traditional symmetrical PWM method is used for sampling three-phase current in a time-sharing mode, current harmonics are reduced by only one phase time and one phase time, and the method abandons the use of 2 ADC devices for sampling 2 windows at the same time, so that the reconstruction of single-battery sampling current can be completed by only one ADC device through a low-cost processor, the current sampling and decoupling closed loop of the whole area can be completed by using the traditional motor control processor through proper software operation, and no additional hardware cost is added.
The sampling time specifically includes V100 and V110.
The first embodiment:
s1, acquiring two continuous periods;
s2, acquiring sampling time of two periods;
s3, obtaining V110 effective vector with insufficient sampling time and V100 with enough first and second periods;
s4, when the vector time of the second period V110 is insufficient, the PWM of the second period C phase is reduced to meet the window of the V110 vector sampling time, and the time of the C phase PWM is added in the first period to return to the V100 vector time;
and S5, ensuring the total basic vector to be unchanged and also eliminating the time spent in the second period C.
The first period sampling obtains Ia, the second period sampling obtains Ic, and Ib is obtained based on Ia + Ib + Ic being 0.
As shown in fig. 2, for 2 consecutive SVPWM periods, the sampling time of V110 valid vector is insufficient, while the sampling time of V100 is sufficient. The method of the present invention is implemented as shown in fig. 3 and 4, because the V110 vector time of the back window is insufficient, the PWM of the C phase is reduced to satisfy the window of the V110 vector sampling time, but the time of the C phase PWM needs to be increased in the next cycle to return to the V100 vector time to ensure that the total basic vector is not changed, so as to also eliminate the C-phase borrowed time of T2 cycle. (left-diagonal frame line is sampling time, right-diagonal frame line is borrowing time, cross frame line is returning time)
In S4, when the PWM return time is increased so that the first period V110 vector time is short, a V101 new vector is generated. This does not affect the overall vector direction of SVPWM, and the V100 vector action time is unchanged. As shown in fig. 5 and 6, assuming that no V110 vector is applied in the original image, the acting time of the space vector on the V100 voltage axis is t1, when the window borrowing behavior occurs, a V110 vector composite V1 vector of V100 and t2 at t1 time is generated, and the XY decomposition is performed on V1 to obtain the acting time of the V100 vector component on the V100 vector axis as t1+ t 2/2; when the window returning action occurs in the next period, a V100 voltage vector at t1-t2 time and a V101 vector at t2 time are obtained, a synthesized V1 'vector is obtained at the same time, and the XY decomposition is carried out on V1', so that the time-sharing action time of the V100 vector on the V100 vector axis is t1-t2+ t 2/2-t 1-t 2/2. While the Y-axis components act in equal time and cancel in opposite directions. The total V100 vector contribution time sum of those 2 SVPWM periods is still 2t 1. And vector equivalents where no borrow window action is performed.
Second embodiment:
s1, acquiring a plurality of continuous periods;
s2, acquiring sampling time of a plurality of periods;
s3, obtaining a first period and a second period and a plurality of next periods, wherein the sampling time of the V110 effective vector and the sampling time of the V100 effective vector are both insufficient;
s4, inserting time t1 in the V100 voltage vector window of the first period to meet the requirement of sampling time to obtain Ia, properly adjusting the V110 vector inserting time t2 according to the reset adjusted A phase PWM position after the A phase return time t1 of the second period to meet the ic sampling time, and borrowing time t3 from the A phase of the next period to the next PWM according to the position of the C phase return time after the C phase return time t2 of the next period to meet the V100 voltage vector sampling time.
S5, until the overall basis vector is unchanged.
The method is realized as shown in fig. 8, the V100 voltage vector window is sampled first, the time T1 is inserted to meet the requirement of sampling time to obtain ia, and the V110 vector insertion time T2 is properly adjusted according to the restored and adjusted A-phase PWM position to meet the ic sampling time after the T2 period A returns T1 time. After the third period C returns t2, phase a again borrows time t3 for a suitable further backward PWM according to the position after C returns to satisfy the sampling time of the V100 voltage vector, and so on, as shown in fig. 9.
The basic idea of space voltage vector pulse width modulation (SVPWM) is to use the ideal magnetic flux circle of three symmetrical sine voltage power supply type ac motors as reference, approximate the actual magnetic flux generated by different switching modes of the inverter to the reference circular magnetic flux, and determine the inversion switching state according to the comparison result to form the commanded PWM waveform. Any expected command voltage vector is formed by 8 basic voltage vectors, the states of the switching tubes of each phase of bridge arm are defined as Sa, Sb and Sc respectively, the state of the switching tube of the upper bridge arm is defined as '1' when the switching tube of the upper bridge arm is switched on, and the state of the switching tube of the upper bridge arm is defined as '0' when the switching tube of the upper bridge arm is judged. According to the on and off of 3 groups of bridge arms (Sa, Sb and Sc), 6 groups of basic non-zero space vectors are generated, namely V001, V010, V011, V100, V101 and V110, and 2 groups of zero vectors V000 and V111.
As shown in fig. 1 below, the reference voltage vector V is synthesized from V110 and V1002 basic vectors, and the active times are t1 and t2, respectively. The PWM waveform with the voltage vector V modulated is shown in fig. 2. In the time t2 when the basic vector V100 acts, only the A-phase bridge arm of the inverter bridge arm is conducted, and the B-phase lower bridge arm and the C-phase lower bridge arm are conducted to form a loop, as shown in FIG. 3. At this time, the bus current i is ia. In the same way, the basic vector V110 acts on the bus current i ═ ic. By analogy, when the phase currents which can be detected in different sectors are obtained, in one PWM period and 2 basic vectors act, the corresponding bus current is detected, and all phase current information is obtained through calculation of ia + ib + ic being 0.
The method is characterized in that the traditional symmetrical PWM method is used for sampling three-phase current in a time-sharing mode, current harmonic waves are ensured to be reduced by only one phase time and one phase time, 2 windows are sampled by 2 ADC devices at the same time, so that reconstruction of single-electric-set sampling current can be completed by only one ADC device, current sampling and decoupling closed loop of a whole region can be completed by using a traditional motor control processor through proper software operation, and no additional hardware cost is increased.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (4)
1. A current sampling reconstruction method based on a single resistor is characterized by comprising the following steps:
s1, obtaining a plurality of continuous SVPWM periods;
s2, acquiring sampling time in each period;
s3, dividing the plurality of periods into periods with sufficient sampling time and periods with insufficient sampling time;
s4, increasing the sampling window time in the insufficient sampling time period, and returning the increased sampling window time in the insufficient sampling time period in the next period;
s5, until all the time of the increasing sampling window is returned, and the total basic vector is ensured to be unchanged;
the sampling time specifically comprises V100 and V110;
the step S1, acquiring a plurality of continuous periods;
s2, acquiring sampling time of a plurality of periods;
s3, obtaining a first period and a second period and a plurality of next periods, wherein the sampling time of the effective vectors of V110 and V100 is insufficient;
s4, inserting time t1 into a V100 voltage vector window of a first period to meet the requirement of sampling time to obtain Ia, properly adjusting the time t2 for inserting the V110 vector to meet ic sampling time according to the reset adjusted A-phase PWM position after the time T1 for returning the A-phase of a second period, and borrowing time t3 from the A-phase of the next period to the next PWM to meet the sampling time of the V100 voltage vector according to the position returned by the C-phase after the time T2 for returning the C-phase of the next period;
s5, until the overall basis vector is unchanged.
2. The single-resistor-based current sampling reconstruction method according to claim 1, wherein the method comprises the following steps: in the step S1, two continuous periods are obtained;
s2, acquiring sampling time of two periods;
s3, obtaining V110 effective vector with insufficient sampling time and V100 with enough first and second periods;
s4, when the vector time of the second period V110 is insufficient, the PWM of the second period C phase is reduced to meet the window of the V110 vector sampling time, and the time of the C phase PWM is added in the first period to return to the V100 vector time;
and S5, ensuring the total basic vector to be unchanged and also eliminating the time spent in the second period C.
3. The single-resistor-based current sampling reconstruction method according to claim 2, wherein the method comprises the following steps: and sampling in the first period to obtain Ia, sampling in the second period to obtain Ic, and obtaining Ib based on Ia + Ib + Ic being 0.
4. The single-resistor-based current sampling reconstruction method according to claim 2, wherein the method comprises the following steps: in S4, when the PWM return time is increased so that the first period V110 vector time is insufficient, a V101 new vector is generated.
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| CN103199791A (en) * | 2013-04-15 | 2013-07-10 | 中颖电子股份有限公司 | Three-phase current reconstruction method using single sampling resistance |
| CN105958889A (en) * | 2016-06-21 | 2016-09-21 | 广州视源电子科技股份有限公司 | Single-resistor current sampling method and system |
| CN108712124A (en) * | 2018-06-20 | 2018-10-26 | 安徽美芝精密制造有限公司 | The method, apparatus and electric machine control system of single resistance detection DC bus current |
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| US6735537B2 (en) * | 2002-03-15 | 2004-05-11 | Motorola, Inc. | Procedure for measuring the current in each phase of a three-phase device via single current sensor |
| EP2120323B1 (en) * | 2008-05-13 | 2010-03-10 | STMicroelectronics S.r.l. | Phase current measurements in a three phase inverter using a single common dc-link current sensor |
| CN101769953B (en) * | 2010-01-14 | 2012-10-17 | 东元总合科技（杭州）有限公司 | Phase current detection method of motor based on direct-current bus current |
| CN111262489B (en) * | 2018-11-15 | 2023-12-22 | 北京大学 | Motor asymmetric SVPWM reconstruction method based on PWM phase shift |
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| CN103199791A (en) * | 2013-04-15 | 2013-07-10 | 中颖电子股份有限公司 | Three-phase current reconstruction method using single sampling resistance |
| CN105958889A (en) * | 2016-06-21 | 2016-09-21 | 广州视源电子科技股份有限公司 | Single-resistor current sampling method and system |
| CN108712124A (en) * | 2018-06-20 | 2018-10-26 | 安徽美芝精密制造有限公司 | The method, apparatus and electric machine control system of single resistance detection DC bus current |
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