CN113381655A - Method for eliminating sampling delay error in motor system controlled by single current sensor - Google Patents
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses a method for eliminating sampling delay errors in a motor system controlled by a single current sensor, which comprises the following steps: firstly, a single current sensor is arranged between switching tubes Q1 and Q3 to construct a single current sensor circuit topological structure; secondly, deducing an expression delta i with sampling delay time delay error according to a PMSM three-phase current expressionSDE(ii) a Thirdly, constructing a delta-gamma reference coordinate system; IV, based on Delta iSDEAnd delta-gamma reference coordinate system, converting delta i by coordinateSDEConverting into delta-gamma reference coordinate system to obtain error component delta iδAnd Δ iγ(ii) a Fifthly, by applying a notch filter, the delta i is adjustedδAnd Δ iγThe second harmonic component in the signal is directly filtered out, and then the sampling delay error is compensated.The method can eliminate the sampling delay error in the single current sensor method without depending on motor parameters, and improves the reconstructed phase current precision in the single current sensor technology.
Description
Technical Field
The invention belongs to the field of motor control, and relates to a method for eliminating a sampling delay error in a motor system controlled by a single current sensor, which can eliminate the sampling delay error in the method of the single current sensor without depending on motor parameters.
Background
Permanent Magnet Synchronous Motors (PMSM) have been widely used in aerospace, deep water servo, electric vehicles, and other scenarios in recent years due to their advantages of high power density, high reliability, high precision, and the like. The traditional PMSM control method needs at least two current sensors to obtain two-phase current information to complete vector or closed-loop control. However, the plurality of current sensors not only increases the size and cost of the controller, but also may have sampling differences among each other, causing current disturbance.
The single current sensor technology, also called phase current reconstruction technology, is a low-cost permanent magnet synchronous motor driving technology. According to the relation between the output of the single current sensor and the phase current of the motor, different voltage vectors are sampled in each switching period, so that different phase current information is obtained, and phase current reconstruction is completed according to kirchhoff's law. However, when obtaining different phase current information, there is a sampling delay problem between two samplings, which causes a sampling delay error between the sampling current and the actual current. When the traditional method is used for eliminating the error, control technologies such as current prediction and the like are mostly adopted, so that the algorithm is complex, the operation burden of a controller is increased, strong dependence exists on the parameters of the motor, and the method is difficult to ensure the accuracy of error compensation when the parameters of the motor cannot be measured or the accuracy is not high, especially under extreme scenes with large motor parameter variation.
Disclosure of Invention
The invention aims to provide a method for eliminating sampling delay errors in a motor system controlled by a single current sensor, which is based on a three-phase current basic expression and can eliminate the sampling delay errors in the single current sensor method without depending on motor parameters by introducing a new coordinate system, thereby improving the accuracy of reconstructed phase currents in the single current sensor technology.
The purpose of the invention is realized by the following technical scheme:
a method for eliminating sampling delay errors in a motor system controlled by a single current sensor comprises the following steps:
step one, on the basis of a topological structure of a three-phase voltage source inverter, a single current sensor is arranged between switching tubes Q1 and Q3, and a single current sensor circuit topological structure is constructed;
step two, deducing an expression of delay error when sampling delay exists according to a PMSM three-phase current expression, wherein:
the PMSM three-phase current expression is as follows:
in the formula iA(t)、iB(t)、iC(t) are respectively three-phase currents of the motor A, B, C, I is a phase current amplitude, ω ═ 2 π f is a phase current electrical angular velocity, and f is a phase current electrical frequency;
the delay error is expressed as follows:
in the formula (I), the compound is shown in the specification,
ΔiSDEin order to be able to measure the current delay error,
for the purpose of referencing the phase of the current vector,
for delaying the phase of the current, TSIs a switching cycle;
step three, constructing a delta-gamma reference coordinate system for eliminating sampling delay errors, wherein: the axis of the delta coordinate axis is coincided with the axis of the reference current vector; the axis of the gamma coordinate axis leads the axis of the delta coordinate axis by 90 degrees of electrical angle;
step four, deriving the obtained electricity based on the step twoFlow delay error expression Δ iSDEAnd step three, establishing a delta-gamma reference coordinate system, and transforming the delay error delta i through coordinate transformationSDEConversion into a delta-gamma reference frame can obtain an error component delta iδAnd Δ iγ：
In the formula iB_mea、iC_meaMeasured values of phase B and phase C, iA_recFor reconstruction of the current for phase A, iδ_meaAnd iγ_meaRespectively calculated delta-axis and gamma-axis current components, iδAnd iγRespectively delta-axis and gamma-axis current component ideal values; Δ iδAnd Δ iγCurrent errors of current components of a delta axis and a gamma axis respectively;
the position angle of the reference current vector under the delta-gamma reference coordinate system is the phase of the reference current vector in the step two, wherein
Theta is the electrical angle of the rotor of the motor and is provided by an encoder or a rotary transformer,
is the angular difference between the reference current vector and the d-axis,
taking an electrical angle of 90 degrees;
step five, applying a notch filter to obtain the error components obtained in the step four: Δ iδAnd Δ iγThe second harmonic component in (1) is directly filtered out, and then the sampling delay error is compensated, wherein:
the notch filter is expressed as:
in the formula, ω c2 omega is the fundamental angular frequency of the doubled phase current, ζnAnd ζdIs a damping coefficient and satisfies 0 < zetan＜ζd＜1；
Finally, the sampling delay error is compensated by:
in the formula,. DELTA.iδ_comAnd Δ iγ_comDelta-and gamma-axis compensated currents, Δ i'γAnd delta i'δThe dc components in the delta and gamma sampling delay errors are the dc components, respectively.
Compared with the prior art, the invention has the following advantages:
1. different from the traditional method, the method of the invention deduces the expression of delay error caused by two sampling delays in each PWM period based on the basic expression of PMSM three-phase current, converts the delay error into a reference coordinate system through coordinate transformation, and can easily compensate the sampling delay error after filtering corresponding second harmonic component.
2. When the method is adopted, the sampling delay error in the motor system controlled by the single current sensor is eliminated through coordinate transformation.
3. Different from the previous method, the error elimination method disclosed by the invention is completely independent of motor parameters, does not need to calculate the duration time of each voltage vector in each PWM period, is more suitable for the condition that the motor parameters are inaccurate or unmeasurable, and has a wider application scene. In addition, the method is very simple in implementation method, greatly simplifies the calculation program, reduces the calculation burden of the control unit, and is more suitable for low-cost occasions.
Drawings
FIG. 1 illustrates a circuit topology and mounting location of a single current sensor;
FIG. 2 is a single current sensor phase B sampling delay error;
FIG. 3 is a delta-gamma reference frame for eliminating sample delay errors;
FIG. 4 is a graph of experimental results prior to sample delay error compensation;
fig. 5 shows the experimental results after sample delay error compensation.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
FIG. 1 is a diagram of the circuit topology and mounting location of a single current sensor in the method of the present invention. As shown in fig. 1, a single current sensor is installed in one branch of the inverter, specifically between switching tubes Q1 and Q3. Q1, Q2, Q3, Q4, Q5 and Q6 are six switching tubes constituting a three-phase voltage source inverter, and VdcFor the dc bus voltage, A, B, C is the three-phase winding of the permanent magnet synchronous motor, N is the neutral point of the motor winding, and ia, ib, ic are the three-phase winding currents.
Fig. 2 is a single current sensor sampling delay error. Taking reconstruction point 2 as an example, at reconstruction point 2, the currents used for reconstruction are the B-phase current sampled at sampling point 2 and the C-phase current sampled at sampling point 3. It can be seen that the phase-C current has no sampling delay error, but the phase-B current has a delay of half a cycle, which is the sampling delay error.
Fig. 3 is a delta-gamma reference frame proposed in the present invention for eliminating sampling delay errors. Wherein, the axis of the delta coordinate axis is coincident with the axis of the reference current vector; the axis of the gamma coordinate axis leads the axis of the coordinate axis by 90 degrees of electrical angle; theta is the electrical angle of the motor rotor and is provided by an encoder or a rotary transformer;
is the angular difference between the reference voltage vector and the d-axis;
is the position angle of a reference voltage vector under a delta-gamma reference coordinate system, wherein
idAnd iqD-axis and q-axis currents, respectively. The invention adopts the traditional d-axis current as 0 control, id＝0，
Take 90 degrees electrical angle.
A method of eliminating sampling delay errors in a single current sensor controlled motor system is explained in detail below. As shown in fig. 1, in each PWM period, according to the relationship between the output of the single current sensor and the three-phase current of the motor, sampling can be performed under different voltage vectors, so as to obtain different-phase current information, thereby implementing current reconstruction.
First, a basic expression of three-phase current is as shown in formula (1):
then as shown in fig. 2, in the time interval between sampling point 2 and sampling point 3, the B phase current changes to:
ΔiB_SDE＝iB(t2)-iB(t1)＝Icos(ωt2-2π/3)-Icos(ωt1-2π/3) (2)。
further simplifying, the obtained sampling delay error of the phase B current is as follows:
wherein the content of the first and second substances,
the current phase of the B phase is the current phase.
At reconstruction point 2, the three-phase current can be represented as:
wherein iB_mea、iC_meaMeasured values of phase B and phase C, iA_recFor reconstruction of the current for phase A, iA、iB、iCActual values of phase A, phase B and phase C currents are obtained. Converting the three-phase current into a delta-gamma reference coordinate system according to equation (4) can obtain:
wherein iδ_meaAnd iγ_meaRespectively calculated delta-axis and gamma-axis current components, iδAnd iγIdeal values of current components, Δ i, of the delta and gamma axes, respectivelyδAnd Δ iγIs the current error of the delta-axis and gamma-axis current components. As can be seen, Δ iδAnd Δ iγBoth of which include a dc component and a second harmonic component. By applying a notch filter (as shown in equation 7), the second harmonic component of the two components can be directly filtered out, and only the dc component needs to be compensated.
Wherein, ω isc2 omega is the fundamental angular frequency of the doubled phase current, ζnAnd ζdIs a damping coefficient and satisfies 0 < zetan＜ζd＜1。
Finally, the sample delay error can be compensated by:
in the formula,. DELTA.iδ_comAnd Δ iγ_comDelta-and gamma-axis compensated currents, Δ i'γAnd delta i'δThe dc components in the delta and gamma sampling delay errors are the dc components, respectively.
In order to verify the circuit topology and the algorithm, the invention is experimentally verified, and the experimental results before and after the sampling delay error compensation are respectively shown in fig. 4 and fig. 5. It can be seen that there is an obvious deviation between the reconstructed current and the actual current curve before the sampling delay error compensation, and the peak error can reach 1.38A; after compensation, the reconstructed current curve can well track the actual current curve, the peak error is only 0.75A, and the effectiveness of the compensation method is verified.
In conclusion, the invention provides a sampling delay error compensation method completely independent of motor parameters aiming at the sampling delay error in the motor system controlled by the single current sensor, the control is simple, and the application occasions of the motor are expanded.
Claims (7)
1. A method of eliminating sampling delay errors in a single current sensor controlled motor system, said method comprising the steps of:
step one, on the basis of a topological structure of a three-phase voltage source inverter, a single current sensor is arranged between switching tubes Q1 and Q3, and a single current sensor circuit topological structure is constructed;
deducing an expression of delay error when sampling delay exists according to a PMSM three-phase current expression;
step three, constructing a delta-gamma reference coordinate system for eliminating sampling delay errors, wherein: the axis of the delta coordinate axis is coincided with the axis of the reference current vector; the axis of the gamma coordinate axis leads the axis of the delta coordinate axis by 90 degrees of electrical angle;
step four, deriving a current delay error expression delta i based on the step twoSDEAnd step three, establishing a delta-gamma reference coordinate system, and transforming the delay error delta i through coordinate transformationSDEConverting into delta-gamma reference coordinate system to obtain error component delta iδAnd Δ iγ；
Step five, applying a notch filter to obtain the error components obtained in the step four: Δ iδAnd Δ iγThe second harmonic component in the signal is directly filtered out, and then the sampling delay error is compensated.
2. The method for eliminating sampling delay errors in a single current sensor controlled motor system according to claim 1, wherein the PMSM three-phase current expression is as follows:
in the formula iA(t)、iB(t)、iCAnd (t) is the three-phase current of the motor A, B, C, I is the phase current amplitude, ω is 2 pi f is the phase current electrical angular velocity, and f is the phase current electrical frequency.
3. The method for eliminating sampling delay error in a single current sensor controlled motor system according to claim 1, wherein the expression of the delay error is as follows:
in the formula (I), the compound is shown in the specification,
ΔiSDEfor current delay error, θ is the reference current vector phase, Δ θ ═ π f TSFor delaying the phase of the current, TSIs a switching cycle.
4. The method of eliminating sample delay errors in a single current sensor controlled motor system of claim 1 wherein said method is characterized by
Theta is the electrical angle of the rotor of the motor,
is the angular difference between the reference current vector and the d-axis,
take 90 degrees electrical angle.
5. The method of eliminating sample delay errors in a single current sensor controlled electric motor system of claim 1 wherein said error component Δ iδAnd Δ iγThe expression of (a) is:
in the formula,. DELTA.iδAnd Δ iγThe current error of the delta-axis and gamma-axis current components, respectively.
6. The method of eliminating sample delay errors in a single current sensor controlled motor system as set forth in claim 1, wherein said notch filter is expressed as:
in the formula, ωc2 omega is the fundamental angular frequency of the doubled phase current, ζnAnd ζdIs a damping coefficient and satisfies 0 < zetan＜ζd＜1。
7. The method for eliminating sampling delay errors in a single current sensor controlled motor system according to claim 1, wherein the sampling delay error expression is:
in the formula,. DELTA.iδ_comAnd Δ iγ_comCompensated currents, Δ i, for the delta and gamma axes, respectivelyγ' and Δ iδ' is the DC component in the delta and gamma sampling delay errors, respectively.
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