CN113300648A - Voltage compensation method for dead zone of sensorless permanent magnet synchronous motor inverter - Google Patents
Voltage compensation method for dead zone of sensorless permanent magnet synchronous motor inverter Download PDFInfo
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- CN113300648A CN113300648A CN202110395989.0A CN202110395989A CN113300648A CN 113300648 A CN113300648 A CN 113300648A CN 202110395989 A CN202110395989 A CN 202110395989A CN 113300648 A CN113300648 A CN 113300648A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000013598 vector Substances 0.000 claims abstract description 40
- 230000003068 static effect Effects 0.000 claims abstract description 5
- 230000000694 effects Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 4
- 238000012850 discrimination method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
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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
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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
- 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
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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
Abstract
The invention relates to a voltage compensation method for a dead zone of 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 three-phase current polarity discrimination method, and utilizes the characteristic of a voltage vector generated by the dead zone to perform voltage compensation on the dead zone of an SPWM inverter in a three-phase static shafting. 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) the voltage vector characteristic generated by the dead zone is utilized to perform voltage compensation on the SPWM inverter dead zone in the three-phase static shafting, and extra hardware is not needed.
Description
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
Permanent Magnet Synchronous Motors (PMSM) provide a constant rotor magnetic field by using permanent magnets, and have the advantages of high efficiency, high power density, high dynamic response, good controllability and the like. With the development of industrial technology, permanent magnet synchronous motors are widely applied in the fields of numerical control machines, aerospace, industrial control and the like.
The vector control algorithm is used for controlling a high-performance permanent magnet synchronous motor, and is often obtained by a sensor arranged at the tail of the motor as necessary rotor position information in the vector control algorithm, such as a photoelectric encoder and a rotary transformer. The sensor increases the equipment cost, and once the motor fails, the motor cannot normally operate, so the sensorless technology of the permanent magnet synchronous motor becomes a research hotspot. The permanent magnet synchronous motor sensorless estimation of the rotor position: generally, the voltage and the current inside the motor are detected, and are calculated through a motor model or acquired through an observer method; or injecting a specific high-frequency carrier signal and then obtaining the carrier signal through a specific signal processing process. The sensorless estimation has technical bottlenecks in practical application, for example, the use of a low-pass filter reduces the nonlinear characteristics such as system response bandwidth, inverter dead zone and the like, the cross saturation effect between the stators of the motor, the system delay and the like. The above factors affect the accuracy of sensorless estimation of the permanent magnet synchronous motor.
The vector control system of the permanent magnet synchronous motor 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 in the PWM modulation process enables the output voltage waveform of the inverter to be distorted, reduces the output capability of the inverter and influences the control effect of the 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 voltage compensation method for a dead zone of a sensorless permanent magnet synchronous motor inverter.
The characteristic that a permanent magnet synchronous motor has high power factor, namely the angle of a voltage vector is close to the angle of an actual current vector, and the characteristic is utilized to judge the polarity of three-phase current by taking the angle of the voltage vector as the polarity of the three-phase current; and voltage compensation is carried out on the SPWM inverter dead zone in the three-phase static shafting by utilizing the voltage vector characteristic generated by the dead zone. Thus, a voltage compensation method for an inverter dead zone of voltage vector determination is provided.
A voltage compensation method for a dead zone of a sensorless permanent magnet synchronous motor inverter 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
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: the voltage compensation is to generate a vector which is equal to the magnitude of the voltage vector generated by the dead zone and opposite to the direction of the voltage vector generated by the dead zone according to the polarity of the current so as to counteract the dead zone effect; with Vi comRepresents a compensation voltage vector, then
Vi com＝-ΔVi
Will Vi comProjecting to alpha and beta axes respectively to obtain a component uα comAnd uβ com；
In the formula,. DELTA.ViFor dead-zone induced voltage vectors, uα comAnd uβ comAre each Vi comα, β axis components of (a);
and step 3: the Clarke inverse transformation is adopted to obtain three-phase compensation voltage of
ua com＝uα com
Compensated three-phase voltage of
ua’＝ua+ua com
ub’＝ub+ub com
uc’＝uc+uc com
In the formula ua、ub、ucFor a given three-phase voltage, ua com、ub com、uc comFor three-phase compensation voltage ua'、ub'、uc' is the compensated three-phase voltage.
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) the voltage vector characteristic generated by the dead zone is utilized to perform voltage compensation on the SPWM inverter dead zone in the three-phase static shafting, 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.
Fig. 4 is a voltage vector due to dead band of a sensorless permanent magnet synchronous motor inverter embodying the present invention.
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 sine 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
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.
The six current polarity sectors are shown in figure 2. The corresponding relation graph of the output voltage vector and the three-phase current polarity of the sensorless permanent magnet synchronous motor is shown in figure 3;
step 2: the voltage compensation is based on the polarity of the current and generates a vector with the same magnitude and the opposite direction of the voltage vector generated by the dead zone to counteract the dead zone effect. With Vi comRepresents a compensation voltage vector, then
Vi com＝-ΔVi
Will Vi comProjecting to alpha and beta axes respectively to obtain a component uα comAnd uβ com。
In the formula,. DELTA.ViFor dead-zone induced voltage vectors, uα comAnd uβ comAre each Vi comThe α, β axis components of (c).
As shown in fig. 4, it is a voltage vector caused by the dead zone of the sensorless permanent magnet synchronous motor inverter of the present invention.
And step 3: the Clarke inverse transformation is adopted to obtain three-phase compensation voltage of
ua com＝uα com
Compensated three-phase voltage of
ua’＝ua+ua com
ub’＝ub+ub com
uc’＝uc+uc com
In the formula ua、ub、ucFor a given three-phase voltage, ua com、ub com、uc comFor three-phase compensation voltage ua'、ub'、uc' is the compensated three-phase voltage.
Claims (2)
1. A voltage compensation method for a dead zone of a sensorless permanent magnet synchronous motor inverter is characterized by comprising the following steps: the characteristic of high power factor of the permanent magnet synchronous motor is utilized, a voltage vector angle is used as a three-phase current polarity distinguishing method, and voltage compensation is carried out on the dead zone of the SPWM inverter in a three-phase static shafting by utilizing the characteristic of a voltage vector generated by the dead zone.
2. The voltage compensation method for the dead zone of the sensorless permanent magnet synchronous motor inverter according to claim 1, characterized in that: 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
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: the voltage compensation is to generate a vector which is equal to the magnitude of the voltage vector generated by the dead zone and opposite to the direction of the voltage vector generated by the dead zone according to the polarity of the current so as to counteract the dead zone effect; with Vi comRepresents a compensation voltage vector, then
Vi com＝-ΔVi
Will Vi comProjecting to alpha and beta axes respectively to obtain a component uα comAnd uβ com；
In the formula,. DELTA.ViFor dead-zone induced voltage vectors, uα comAnd uβ comAre each Vi comα, β axis components of (a);
and step 3: the Clarke inverse transformation is adopted to obtain three-phase compensation voltage of
ua com＝ua com
Compensated three-phase voltage of
ua’＝ua+ua com
ub’＝ub+ub com
uc’＝uc+uc com
In the formula ua、ub、ucFor a given three-phase voltage, ua com、ub com、uc comFor three-phase compensation voltage ua'、ub'、uc' is the compensated three-phase voltage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110395989.0A CN113300648A (en) | 2021-04-13 | 2021-04-13 | Voltage compensation method for dead zone of sensorless permanent magnet synchronous motor inverter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110395989.0A CN113300648A (en) | 2021-04-13 | 2021-04-13 | Voltage compensation method for dead zone of sensorless permanent magnet synchronous motor inverter |
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| CN202110395989.0A Pending CN113300648A (en) | 2021-04-13 | 2021-04-13 | Voltage compensation method for dead zone of sensorless permanent magnet synchronous motor inverter |
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2021
- 2021-04-13 CN CN202110395989.0A patent/CN113300648A/en active Pending
Non-Patent Citations (1)
| 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)》 * |
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Application publication date: 20210824 |