CN113395029A - Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation - Google Patents

Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation Download PDF

Info

Publication number
CN113395029A
CN113395029A CN202110525665.4A CN202110525665A CN113395029A CN 113395029 A CN113395029 A CN 113395029A CN 202110525665 A CN202110525665 A CN 202110525665A CN 113395029 A CN113395029 A CN 113395029A
Authority
CN
China
Prior art keywords
phase
voltage
current
time
turn
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110525665.4A
Other languages
Chinese (zh)
Other versions
CN113395029B (en
Inventor
吴春
刘奇
邢展鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University of Technology ZJUT
Original Assignee
Zhejiang University of Technology ZJUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University of Technology ZJUT filed Critical Zhejiang University of Technology ZJUT
Priority to CN202110525665.4A priority Critical patent/CN113395029B/en
Publication of CN113395029A publication Critical patent/CN113395029A/en
Application granted granted Critical
Publication of CN113395029B publication Critical patent/CN113395029B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • 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
    • 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
    • H02P2207/01—Asynchronous machines

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Inverter Devices (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A low-speed performance improving method of an asynchronous motor full-order observer based on accurate voltage dead zone compensation comprises the following steps: 1) when the motor stably runs, the PWM wave emitted by the MCU and the voltage waveform of the output end of the inverter bridge are measured, and the switching delay time T of the power tube is stored and measureddelay_onAnd on time Tturn_onAnd turn-off delay time Tdelay_offAnd off time Tturn_off(ii) a 2) Calculating dead zone compensation voltage according to the actually measured time of each part; 3) and performing low-pass filtering on the actually measured d and q axis currents, reconstructing A, B, C three-phase currents through inverse Park and inverse Clark transformation for current polarity judgment, and calculating and compensating each phase of compensation voltage. The invention can realize better inverter nonlinear factor compensation and effectively improve the low speed of the full-order observer of the asynchronous motorThe control performance of the non-speed sensor is realized, and the method is easy to realize and has important engineering application value.

Description

Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation
Technical Field
The invention relates to the field of asynchronous motor control, in particular to a method for improving the low-speed performance of a full-order observer of an asynchronous motor with accurate voltage compensation.
Background
Asynchronous Motors (AM) have the advantages of simple structure, high reliability and the like, and their position in ac Motor drive systems is increasing day by day. In the variable frequency speed regulating system of the asynchronous motor, due to the wide application of vector control, the exciting current and the torque current of the asynchronous motor can be separately controlled, and the control rule of controlling the direct current motor is achieved to control the asynchronous motor. In the full-order observer, when the motor runs in a low-speed area, the problems of reduced rotating speed precision, reduced loading capacity and the like can occur. The main reason for this is that the power transistors used in the inverter are not ideal switching devices, and have a certain time delay and a certain transistor drop in both their turn-on and turn-off processes. Meanwhile, under the influence of dead time, the distortion and the amplitude reduction of the output voltage can be further reduced. Therefore, the voltage error may cause an increase in flux linkage estimation and rotation speed estimation errors in the non-speed sensor control of the asynchronous motor, which may cause a series of problems such as torque ripple and system stability deterioration. In model-based motor control techniques, voltage accuracy is critical to control performance. The solution is to add a phase voltage detection sensor, but this method needs to add an additional voltage detection hardware circuit, which increases the system cost and volume. Another approach is to design a reasonable voltage error compensation strategy to counteract the effects of inverter non-linearity factors.
At present, experts and scholars in the field of motor control propose various dead zone compensation strategies in order to overcome the problem of voltage distortion caused by nonlinear factors of inverters. Compensation strategies can be basically divided into two categories: one is based on an average error voltage compensation method, which has the advantage of easy implementation; another type of approach is to vary the duty cycle of the output pulses, but adds complexity to the implementation. The core of the traditional dead zone compensation is to compensate the dead zone time through judging the polarity of current, and a dead zone compensation method based on voltage space vector modulation control is provided in the document simulation research on dead zone compensation in asynchronous motor vector control (Wang Junrui, Ma hong xing, Guo Jiling Ridge. Motor and control science and report 2006,10(02): 164-170.). The method adopts a compensation method of instantaneous voltage average value, calculates error voltage average value in each switching period, but only considers dead time and does not consider the on-off delay time of a switching tube and a diode, so that the compensated voltage is not accurate. The document "dead zone compensation method based on pulse in inverter pulse width modulation" (yangbuck, wuqingbuso. power electronics, 2009,43(03): 70-72) proposes a method for correcting dead zone time, i.e., a dead zone compensation method based on pulse, which has the disadvantage that the compensation effect is not ideal when the dead zone time is too large. In the document "compensation of dead zone effect of space vector PWM controlled inverter for induction motor" (wanggulin, shang, yangrong, china motor engineering, 2008,28(15):79-83.), an average dead zone time compensation method is used to compensate error voltage, but the difference of on-time delay, off-time delay and switching time of a switching device when the current polarity is different is not considered. Therefore, how to improve the precision of the dead zone compensation voltage has important research value and application prospect.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a method for improving the low-speed performance of a full-order observer of an asynchronous motor with accurate voltage compensation, which improves the voltage precision of dead zone compensation, does not need a complex algorithm, and is convenient for engineering implementation. The delay time and the switching time before the power tube is switched on and off are obtained by directly measuring the PWM output waveform of the output end voltage PWM of the inverter and the PWM output waveform of the output end voltage of the MCU, and then different delay time and different switching time are compensated according to the measured current polarity, so that the accurate voltage is obtained to perform dead zone compensation.
The invention adopts the technical scheme for solving the technical problems that:
a low-speed performance improving method for a full-order observer of an asynchronous motor with accurate voltage compensation comprises the following steps:
step 1) when the motor runs stably, when the phase A current is less than zero and more than zero, respectively using an oscilloscope probe and an isolation probe to measure the PWM sent by the MCU and the voltage waveform of the output end of the inverter bridge, and storing the screenshot of the oscilloscope;
step 2) measuring the delay time, the rise time and the fall time of the on and off of the PWM respectively, and calculating the precise voltage of dead zone compensation;
and 3) low-pass filtering the d-axis current and the q-axis current, converting the d-axis current and the q-axis current into a, b and c three-phase currents through inverse Park and inverse Clark to judge the current polarity, and finally performing accurate voltage compensation.
Further, in the step 1), recording an A-phase PWM wave sent by the MCU and an A-phase end voltage waveform output by the inverter when the A-phase current is less than zero; and when the A-phase current is greater than zero, recording an A-phase PWM wave sent by the MCU and an A-phase end voltage waveform output by the inverter, and drawing by a Matlab program to obtain an experimental data waveform for analysis.
Still further, in the step 2), through data waveform analysis, when the polarities of the a-phase currents are different, the analyzed turn-on delay time T of the power tube is obtaineddelay_onAnd on time Tturn_onAnd turn-off delay time Tdelay_offAnd off time Tturn_offIs different, depending on the current polarity.
After the time required for calculating the accurate voltage is obtained, the output voltage of the A phase of the three-phase PWM inverter of the asynchronous motor is obtained by analyzing the three-phase alternating current PWM inverter of the asynchronous motor:
when S is1Taking 1, S4When 0 is taken out, the condition i is satisfieda＞0，UAN＝UDC-UIGBT(ii) a Satisfies the condition ia＜0，UAN＝UDC+UFD；
When S is1Take 0, S4When 1 is taken out, the condition i is satisfieda＞0，UAN＝-UFD(ii) a Satisfies the condition ia＜0，UAN＝UIGBT；
When S is1Take 0, S4When 0 is taken out, the condition i is satisfieda＞0，UAN＝-UFD(ii) a Satisfies the condition ia＜0，UAN＝UDC+UFD；
S1、S4The states of an upper power tube and a lower power tube of the phase A are respectively; u shapeAN、UFD、UDC、UIGBTRespectively the output voltage of the phase A, the voltage drop of a fly-wheel diode, the voltage of a direct current bus and the voltage drop of a power tube;
when the a-phase current is less than zero, the voltage error during one switching cycle is calculated as follows:
U1＝(toff-td)UIGBT (1)
Figure BDA0003065625770000021
U3＝(ton-Tdelay-off-Tturn-off)UFD (3)
Figure BDA0003065625770000022
Usum＝U1+U2+U3+U4 (5)
wherein x and y are temporary variables, and x + y is Tturn_offWherein x is UFDTturn_off/(UDC+UFD-UIGBT)，y＝Tturn_off(1-UFD/(UDC+UFD-UIGBT))；ton、toffThe ideal on-time and off-time of the switch in one switching period; t isturn-on、Tturn_off、Tdelay_on、Tdelay_offRespectively setting the turn-on time, the turn-off time, the turn-on delay time and the turn-off delay time of the power tube; u shape1、U2、U3、U4Respectively, the compensation voltage, U, of each time intervalsumIs the sum of the compensation voltages of each phase; on the contrary, when the phase A current is larger than zero, the sum U of the compensation voltagessum1＝-Usum；
According to the analysis of the acquired PWM waveform, when the phase A current is less than zero, the on time, the off time, the on delay time and the off delay time of the power tube are different from the on time, the off time, the on delay time and the off delay time of the power tube when the phase A current is greater than zero. Therefore, the voltage value of compensation is different according to the difference of current polarity, thereby achieving accurate voltage dead zone compensation.
Furthermore, in the step 3), the d-axis current and the q-axis current obtained by phase current conversion are actually measured, and the d-axis current and the q-axis current are direct current in a steady state, so that the delay problem does not need to be considered, and low-pass filtering can be performed on the d-axis current and the q-axis current to weaken the noise influence of the actual current. Judging the polarity of the filtered current, and judging the T of the power tube according to different on-off duty ratios of each phase of bridge arm and different current polaritiesturn_on、Tturn_off、Tdelay_on、Tdelay_offThe voltage value required to be compensated for each phase is calculated, the error voltage in the three-phase static shafting can be calculated through the analysis, the error voltage in the two-phase static shafting can be obtained through the Clark transformation of the voltage, and the voltage input value after compensation can be obtained, and the calculation is as follows:
Figure BDA0003065625770000031
in the formula,. DELTA.uan、Δubn、ΔucnFor each phase compensated voltage, Δ uα、ΔuβError voltage in a two-phase static shafting; after the error voltage in the two-phase static shafting is calculated, the compensated voltage input value can be obtained:
UCOMPα＝uα+Δuα (7)
UCOMPβ＝uβ+Δuβ (8)
in the formula uα、uβGiven voltage of alpha, beta axis, UCOMPα、UCOMPβTo compensate the input voltage of the subsequent alpha and beta axes.
The invention provides a method for improving the low-speed performance of a full-order observer of an asynchronous motor with accurate voltage compensation. Compensating different delay time and switching time according to the reconstructed phase current polarity and different phase current polarities through the actually measured time parameters,obtaining the precise compensation voltage Deltauα、ΔuβDead zone compensation is performed, and low-speed performance in the full-order observer of the asynchronous motor is improved. The method provided by the invention is simple and easy to realize, and has important engineering application value.
The invention has the following beneficial effects:
(1) directly obtaining the switching-on time, the switching-off time, the switching-on delay time and the switching-off delay time of the power tube by directly measuring an A-phase PWM wave emitted by the MCU and an A-phase end voltage waveform output by the inverter;
(2) and calculating the on-time, the off-time, the on-delay time and the off-delay time of the power tube used in the compensation voltage according to the actually measured time parameter and the reconstructed phase current polarity. And different delay time and switching time are used for calculating more accurate compensation voltage for dead zone compensation when the current polarity is different.
Drawings
FIG. 1 is a diagram of the A-phase PWM wave generated by the MCU and the A-phase terminal voltage waveform output by the inverter during a switching period when the A-phase current is less than zero;
FIG. 2 is a diagram of the A-phase PWM wave generated by the MCU and the A-phase voltage waveform outputted by the inverter when the A-phase current is less than zero and the switch is turned on;
FIG. 3 is a diagram of the A-phase PWM wave generated by the MCU and the A-phase terminal voltage waveform output by the inverter when the A-phase current is less than zero and the switch is turned off;
FIG. 4 is a graph of the A-phase PWM wave generated by the MCU and the A-phase terminal voltage waveform output by the inverter during a switching period when the A-phase current is greater than zero;
FIG. 5 is a graph of the A-phase PWM wave generated by the MCU and the A-phase terminal voltage waveform output by the inverter when the upper switch is turned on when the A-phase current is greater than zero;
FIG. 6 is a graph of the A-phase PWM wave generated by the MCU and the A-phase terminal voltage waveform output by the inverter when the upper switch is turned off when the A-phase current is greater than zero;
FIG. 7 is a three-phase PWM inverter for an asynchronous machine;
fig. 8 is a PWM signal waveform diagram and an output voltage diagram, in which (1) shows an ideal PWM signal waveform diagram; (2) showing a PWM signal waveform with dead time; (3) a graph of the output voltage waveform with phase a current less than zero is shown; (4) a graph of the output voltage waveform with phase a current greater than zero is shown;
FIG. 9 is a control diagram of voltage distortion compensation of a full-order observer of an asynchronous machine;
FIG. 10 is a graph of ramp speed with load without accurate voltage compensation for the full-order observer of an asynchronous machine;
FIG. 11 is a graph of ramp speed with load for a full-order observer of an asynchronous machine with accurate voltage compensation;
fig. 12 is a flow chart of a low-speed lifting method of a full-order observer of an asynchronous motor with accurate voltage compensation.
Detailed Description
The following describes the embodiments of the present invention with reference to the drawings by taking a three-phase asynchronous motor as an example.
Referring to fig. 1 to 11, a method for improving low-speed performance of a full-order observer of an asynchronous motor with accurate voltage compensation includes the following steps:
step 1) when the motor operates stably, when the phase A current is less than zero and greater than zero, respectively using an oscilloscope probe and an isolation probe to measure the phase A PWM wave sent by the MCU and the phase A end voltage waveform output by the inverter, as shown in fig. 1 and fig. 4, respectively, and fig. 7 is a three-phase PWM inverter of the asynchronous motor.
And 2) calculating the precise voltage of the dead zone compensation by processing the obtained delay time and switching time of the power tube. FIG. 2 shows the A-phase PWM wave generated by the MCU when the A-phase current is less than zero and the A-phase end voltage waveform output by the inverter, and we can obtain the lower switch tube turn-on delay time T by analyzingdelay_onAnd on time Tturn_on(ii) a FIG. 3 shows the A-phase PWM wave generated by the MCU when the switch is turned on when the A-phase current is less than zero and the A-phase end voltage waveform output by the inverter, and we can obtain the turn-off delay time T of the upper switch tube by analyzingdelay_offAnd off time Tturn_off. FIG. 5 shows the A-phase PWM wave generated by the MCU when the upper switch is turned on when the A-phase current is greater than zero and the A-phase end voltage waveform output by the inverter, and we can obtain the turn-on delay time T of the upper switch tube by analyzingdelay_onAnd on time Tturn_on(ii) a FIG. 6 shows the A-phase PWM wave generated by the MCU and the A-phase voltage waveform outputted by the inverter when the switch is turned off when the A-phase current is greater than zero, and we can obtain the turn-off delay time T of the upper switch tube by analyzingdelay_offAnd off time Tturn_off. From the above analysis, it can be known that when the current polarities are different, the turn-on delay time T of the switching tube isdelay_onAnd on time Tturn_onAnd turn-off delay time Tdelay_offAnd off time Tturn_offIs different, depending on the current polarity.
After the time required for calculating the accurate voltage is obtained, the output voltage of the A phase of the three-phase PWM inverter of the asynchronous motor is obtained through analyzing the three-phase alternating current PWM inverter of the asynchronous motor:
when S is1Taking 1, S4When 0 is taken out, the condition i is satisfieda＞0，UAN＝UDC-UIGBT(ii) a Satisfies the condition ia＜0，UAN＝UDC+UFD；
When S is1Take 0, S4When 1 is taken out, the condition i is satisfieda＞0，UAN＝-UFD(ii) a Satisfies the condition ia＜0，UAN＝UIGBT；
When S is1Take 0, S4When 0 is taken out, the condition i is satisfieda＞0，UAN＝-UFD(ii) a Satisfies the condition ia＜0，UAN＝UDC+UFD；
S1、S4The states of an upper power tube and a lower power tube of the phase A are respectively; u shapeAN、UFD、UDC、UIGBTRespectively the output voltage of the phase A, the voltage drop of a fly-wheel diode, the voltage of a direct current bus and the voltage drop of a power tube;
fig. 8(1) to 8(4) are respectively an ideal PWM signal waveform diagram, a PWM signal waveform diagram with dead time, an output voltage waveform diagram when phase a current is less than zero, and an output voltage waveform diagram when phase a current is greater than zero. By analyzing these four graphs, one can obtain:
when the a-phase current is less than zero, the voltage error during one switching cycle is calculated as follows:
U1＝(toff-td)UIGBT (1)
Figure BDA0003065625770000051
U3＝(ton-Tdelay-off-Tturn-off)UFD (3)
Figure BDA0003065625770000052
Usum＝U1+U2+U3+U4 (5)
wherein x and y are temporary variables, and x + y is Tturn_offWherein x is UFDTturn_off/(UDC+UFD-UIGBT)，y＝Tturn_off(1-UFD/(UDC+UFD-UIGBT))；ton、toffThe ideal on-time and off-time of the upper switch in one switching period; t isturn-on、Tturn_off、Tdelay_on、Tdelay_offRespectively setting the turn-on time, the turn-off time, the turn-on delay time and the turn-off delay time of the power tube; u shape1、U2、U3、U4Respectively, the compensation voltage, U, of each time intervalsumIs the sum of the compensation voltages of each phase. On the contrary, when the phase A current is larger than zero, the sum U of the compensation voltagessum1＝-Usum；
According to the analysis of the acquired PWM waveform, when the phase A current is less than zero, the on time, the off time, the on delay time and the off delay time of the power tube are different from the on time, the off time, the on delay time and the off delay time of the power tube when the phase A current is greater than zero, so that the compensated voltage values are different according to the difference of current polarities, and the accurate voltage dead zone compensation is achieved.
Go further forwardIn step 3), three-phase currents of a, b and c are obtained through current sampling, currents on d and q axes are obtained through Clark and Park conversion, and the currents on the d and q axes are direct current quantities, so that the delay problem does not need to be considered, and low-pass filtering can be performed on the currents to overcome the noise influence of the detected currents. And then, obtaining a three-phase current of a, b and c through reverse Clark and reverse Park conversion, judging the current polarity of the three-phase current, and judging the power tube T according to different on-off duty ratios of each phase of bridge arm and different current polaritiesturn-on、Tturn_off、Tdelay_on、Tdelay_offTo calculate the voltage value to be compensated for each phase. The error voltage in the three-phase static shafting can be determined through the analysis, the error voltage in the two-phase static shafting can be obtained through Clark transformation, and the compensated voltage input value can be obtained through calculation as follows:
Figure BDA0003065625770000053
in the formula,. DELTA.uan、Δubn、ΔucnFor each phase compensated voltage, Δ uα、ΔuβError voltage in a two-phase static shafting;
after the error voltage in the two-phase static shafting is calculated, the compensated voltage input value can be obtained:
UCOMPα＝uα+Δuα (7)
UCOMPβ＝uβ+Δuβ (8)
in the formula uα、uβGiven voltage of alpha, beta axis, UCOMPα、UCOMPβTo compensate the input voltage of the subsequent alpha and beta axes.
The low-speed performance in the full-order observer of the asynchronous motor is improved through the obtained accurate compensation voltage, the full-order observer of the asynchronous motor selects stator current and rotor flux as state variables, and a mathematical model of the asynchronous motor is established under a rotating coordinate system as follows:
Figure BDA0003065625770000061
the output equation is:
Figure BDA0003065625770000062
in the formula (I), the compound is shown in the specification,
Figure BDA0003065625770000063
Figure BDA0003065625770000064
wherein isd、isq、usd、usq、ψrd、ψrqD and q axis stator currents, stator voltage and rotor flux linkage; rs、RrThe resistance of the stator and the rotor is set; l ism、Ls、LrMutual inductance and stator and rotor inductance respectively; sigma is a leakage inductance coefficient; t isrIs the rotor time constant; omegarIs the rotor angular velocity; omegaeIs the synchronous angular velocity.
According to equations (15) and (16), the model of the full-order observer of the asynchronous motor can be obtained as follows:
Figure BDA0003065625770000065
Figure BDA0003065625770000066
in the formula, the superscript ^ represents an observed value; variable of state
Figure BDA0003065625770000067
G is a feedback gain matrix of the full-order state observer, and G in the feedback matrix1、g2、g3、g4The gain of the current and flux linkage observer can be improved by feeding back the gain matrix G.
According to an error equation of an observer and the Lyapunov stability theorem, the rotation speed self-adaptation law under a synchronous rotation coordinate system is as follows:
Figure BDA0003065625770000068
in the formula (I), the compound is shown in the specification,
Figure BDA0003065625770000071
FIG. 9 is a control diagram of voltage distortion compensation of a full-order observer of an asynchronous machine, in which
Figure BDA0003065625770000072
*
ωr、
Figure BDA0003065625770000073
And ωslRespectively given d-axis current value, given rotor angular velocity, estimated rotor angular velocity and slip angular velocity,
Figure BDA0003065625770000074
is the electrical angular velocity uabc、usd、usq、UDCThe three-phase voltage of a, b and c, the d and q axis voltage and the bus voltage are divided.
In order to verify the effectiveness of the method provided by the patent, the algorithm is verified on a 0.75kW asynchronous motor experiment platform. FIGS. 10 to 11 are graphs of the ramp speed belt load obtained by the experiment. By comparing the two experimental graphs, the compensation method of adding accurate voltage under the condition of load can be obtained, and the estimated rotating speed can better track the actual rotating speed.
The experimental analysis shows that the method provided by the invention obtains the turn-on time, the turn-off time, the turn-on delay time and the turn-off delay time of the power tube more intuitively after the mapping analysis by actually measuring the A-phase PWM wave emitted by the MCU and the A-phase end voltage waveform output by the inverter. And then, the reconstructed phase current is utilized to judge that the polarity of the phase current weakens the noise influence of current measurement. According to different current polarities, the on time, the off time, the on delay time and the off delay time of the power tube used in calculating the compensation voltage are different, and the more accurate compensation voltage is calculated by using different delay times and different switching times according to different current polarities. The method can realize better nonlinear compensation of the inverter and effectively improve the control performance of the low-speed non-speed sensor of the asynchronous motor. The method is easy to realize, has high compensation precision and has important engineering application value.

Claims (4)

1. A low-speed performance improving method of a full-order observer of an asynchronous motor with accurate voltage compensation is characterized by comprising the following steps:
step 1) when the motor runs stably, when the phase A current is less than zero and greater than zero, respectively measuring the phase A PWM wave sent by the MCU and the phase A end voltage waveform output by the inverter by using an oscilloscope probe and an isolation probe, and storing an oscilloscope screenshot;
step 2) measuring the delay time, the rise time and the fall time of the on and off of the PWM respectively, and calculating the precise voltage of dead zone compensation;
and 3) low-pass filtering the d-axis current and the q-axis current, converting the d-axis current and the q-axis current into a, b and c three-phase currents through inverse Park and inverse Clark to judge the current polarity, and finally performing accurate voltage compensation.
2. The method for improving the low-speed performance of the full-order observer of the precise voltage compensation asynchronous motor according to claim 1, wherein in the step 1), when the phase A current is less than zero, recording the phase A PWM wave sent by the MCU and the phase A end voltage wave output by the inverter; and when the A-phase current is greater than zero, recording an A-phase PWM wave sent by the MCU and an A-phase end voltage waveform output by the inverter, and drawing by a Matlab program to obtain an experimental data waveform for analysis.
3. The method for improving the low-speed performance of the full-order observer of the precise voltage compensation asynchronous motor according to claim 2, wherein in the step 2), the data waveform analysis is performed when the low-speed performance of the full-order observer of the precise voltage compensation asynchronous motor is obtainedWhen the A-phase current has different polarities, the analyzed opening delay time T of the power tubedelay_onAnd on time Tturn_onAnd turn-off delay time Tdelay_offAnd off time Tturn_offIs different, related to current polarity;
after the time required for calculating the accurate voltage is obtained, the output voltage of the A phase of the three-phase PWM inverter of the asynchronous motor is obtained by analyzing the three-phase alternating current PWM inverter of the asynchronous motor:
when S is1Taking 1, S4When 0 is taken out, the condition i is satisfieda＞0，UAN＝UDC-UIGBT(ii) a Satisfies the condition ia＜0，UAN＝UDC+UFD；
When S is1Take 0, S4When 1 is taken out, the condition i is satisfieda＞0，UAN＝-UFD(ii) a Satisfies the condition ia＜0，UAN＝UIGBT；
When S is1Take 0, S4When 0 is taken out, the condition i is satisfieda＞0，UAN＝-UFD(ii) a Satisfies the condition ia＜0，UAN＝UDC+UFD；S1、S4The states of an upper power tube and a lower power tube of the phase A are respectively; u shapeAN、UFD、UDC、UIGBTRespectively the output voltage of the phase A, the voltage drop of a fly-wheel diode, the voltage of a direct current bus and the voltage drop of a power tube;
when the a-phase current is less than zero, the voltage error during one switching cycle is calculated as follows:
U1＝(toff-td)UIGBT (1)
Figure FDA0003065625760000011
U3＝(ton-Tdelay-off-Tturn-off)UFD (3)
Figure FDA0003065625760000012
Usum＝U1+U2+U3+U4 (5)
wherein x and y are temporary variables, and x + y is Tturn_offWherein x is UFDTturn_off/(UDC+UFD-UIGBT)，y＝Tturn_off(1-UFD/(UDC+UFD-UIGBT))；ton、toffThe ideal on-time and off-time of the switch in one switching period; t isturn-on、Tturn_off、Tdelay_on、Tdelay_offRespectively setting the turn-on time, the turn-off time, the turn-on delay time and the turn-off delay time of the power tube; u shape1、U2、U3、U4Respectively, the compensation voltage, U, of each time intervalsumIs the sum of the compensation voltages of each phase; on the contrary, when the phase A current is larger than zero, the sum U of the compensation voltagessum1＝-Usum；
According to the analysis of the acquired PWM waveform, when the phase A current is less than zero, the on time, the off time, the on delay time and the off delay time of the power tube are different from the on time, the off time, the on delay time and the off delay time of the power tube when the phase A current is greater than zero. Therefore, the voltage value of compensation is different according to the difference of current polarity, thereby achieving accurate voltage dead zone compensation.
4. The method for improving the low-speed performance of the full-order observer of the asynchronous motor with accurate voltage compensation according to claim 3, wherein in the step 3), the d-axis current and the q-axis current obtained by actually measuring the phase current conversion are low-pass filtered to weaken the noise influence of the actual current because the d-axis current and the q-axis current are direct-current quantities in a steady state and do not need to consider a delay problem; judging the polarity of the filtered current, and judging the T of the power tube according to different on-off duty ratios of each phase of bridge arm and different current polaritiesturn_on、Tturn_off、Tdelay_on、Tdelay_offCalculating the voltage value to be compensated of each phase; through the analysis, the error voltage in the three-phase static shafting can be calculated, the error voltage in the two-phase static shafting can be obtained through Clark transformation, and the compensated voltage input value can be obtained, and the calculation is as follows:
Figure FDA0003065625760000021
in the formula,. DELTA.uan、Δubn、ΔucnFor each phase compensated voltage, Δ uα、ΔuβError voltage in a two-phase static shafting; after calculating the error voltage in the two-phase static shafting, obtaining a compensated voltage input value:
UCOMPα＝uα+Δuα (7)
UCOMPβ＝uβ+Δuβ (8)
in the formula uα、uβGiven voltage of alpha, beta axis, UCOMPα、UCOMPβTo compensate the input voltage of the subsequent alpha and beta axes.
CN202110525665.4A 2021-05-14 2021-05-14 Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation Active CN113395029B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110525665.4A CN113395029B (en) 2021-05-14 2021-05-14 Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110525665.4A CN113395029B (en) 2021-05-14 2021-05-14 Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation

Publications (2)

Publication Number Publication Date
CN113395029A true CN113395029A (en) 2021-09-14
CN113395029B CN113395029B (en) 2022-06-17

Family

ID=77617137

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110525665.4A Active CN113395029B (en) 2021-05-14 2021-05-14 Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation

Country Status (1)

Country Link
CN (1) CN113395029B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1615331A1 (en) * 2004-07-06 2006-01-11 Favess Co., Ltd. Motor controller
KR20070113818A (en) * 2006-05-26 2007-11-29 현대중공업 주식회사 Dead time compansation method
CN103138671A (en) * 2013-03-20 2013-06-05 西安航空学院 Method and system for compensating dead zone effects of inverter of permanent magnet synchronous motor
CN103236798A (en) * 2013-04-26 2013-08-07 北方工业大学 Three-level inverter dead time compensation control method
KR20160059077A (en) * 2014-11-17 2016-05-26 현대중공업 주식회사 Voltage compensaton apparatus for driving induction motor and voltage compensaton method usinig the same

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1615331A1 (en) * 2004-07-06 2006-01-11 Favess Co., Ltd. Motor controller
KR20070113818A (en) * 2006-05-26 2007-11-29 현대중공업 주식회사 Dead time compansation method
CN103138671A (en) * 2013-03-20 2013-06-05 西安航空学院 Method and system for compensating dead zone effects of inverter of permanent magnet synchronous motor
CN103236798A (en) * 2013-04-26 2013-08-07 北方工业大学 Three-level inverter dead time compensation control method
KR20160059077A (en) * 2014-11-17 2016-05-26 현대중공업 주식회사 Voltage compensaton apparatus for driving induction motor and voltage compensaton method usinig the same

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
冯振东 等: "基于干扰观测器的逆变器在线死区补偿", 《机电工程技术》 *
徐翔: "感应电机无速度传感器控制及非线性补偿研究", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 *

Also Published As

Publication number Publication date
CN113395029B (en) 2022-06-17

Similar Documents

Publication Publication Date Title
CN109660170B (en) High-reliability current prediction control method and system for permanent magnet synchronous motor
De Belie et al. A sensorless drive by applying test pulses without affecting the average-current samples
KR100999352B1 (en) Dead-time Compensator and Method for Permanent Magnet Synchronous Drives
CN104995829B (en) Power inverter
CN101917158A (en) Dead-zone compensation method for voltage source inverter
Wang et al. Online feedback dead time compensation strategy for three-level T-type inverters
CN112072986B (en) Accurate dead-zone compensation method for three-phase inverter and three-phase inverter
Wang et al. Current reconstruction considering time-sharing sampling errors for single DC-link shunt motor drives
CN109039199B (en) Bus current estimation method and system for EPS controller
CN110120763B (en) Permanent magnet synchronous motor non-weight coefficient prediction torque control method
CN110912480A (en) Permanent magnet synchronous motor model-free predictive control method based on extended state observer
CN112688611A (en) Method for inhibiting low-speed noise of single-resistor sampling permanent magnet synchronous motor
CN112398394A (en) Low-rotation-speed dead-zone torque compensation method for permanent magnet synchronous motor
Shen et al. A mixed SVPWM technique for three-phase current reconstruction with single DC negative rail current sensor
CN109586625B (en) Driving method and device of brushless direct current motor
US9154070B2 (en) Controller for AC motor
Arias et al. Enhancing the flux estimation based sensorless speed control for switched reluctance machines
Hu et al. Inductance-Resistance Online Identification for Sensorless High-Speed PMSM Considering Resistive Characteristic of Invertor Nonlinearity
CN113395029B (en) Low-speed performance improving method for asynchronous motor full-order observer with accurate voltage compensation
JP5806633B2 (en) Motor control device
JP2018164325A (en) Controller for ac rotary electric machine
CN114301361B (en) Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control
Yu et al. Parameter Identification for Induction Motor Eliminating Dead Zone Effect
Wang et al. A novel dead-time compensation in vector controlled PMSM system
Hu et al. Deadbeat robust current predictive control for PMSM with Sliding Mode Observer

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant