CN113541547B - Method for extracting current harmonic characteristic quantity of built-in permanent magnet synchronous motor - 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
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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
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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
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- H02P29/50—Reduction of harmonics
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Abstract
The invention discloses a method for extracting current harmonic characteristic quantity of a built-in permanent magnet synchronous motor. Sampling to obtain real-time three-phase current of the built-in permanent magnet synchronous motor; sampling the rotor position of the built-in permanent magnet synchronous motor in real time to obtain a real-time rotor position angle, and reconstructing fundamental wave components of three-phase current; subtracting real-time three-phase current from fundamental wave components of the three-phase current to obtain total harmonic components, respectively performing 5-time synchronous coordinate transformation and 7-time synchronous coordinate transformation on the total harmonic components, and obtaining 5-order and 7-order current harmonic characteristic quantities in the three-phase current through a first-order low-pass filter; and then processing to obtain 6-order current harmonic amplitude and 6-order current harmonic characteristic quantity in the d and q currents. The method does not need a complex filter structure, is simple to implement, and can accurately extract the current harmonic characteristic quantity and amplitude in the phase current of the built-in permanent magnet synchronous motor.
Description
Technical Field
The invention relates to a permanent magnet synchronous motor data processing method in the field of motor control, in particular to a method for extracting current harmonic characteristic quantity of a built-in permanent magnet synchronous motor.
Background
The Interior Permanent Magnet Synchronous Motor (IPMSM) has the advantages of compact structure, high power density and the like, and is widely applied to the driving system of the electric automobile. Ideally, the phase current of the motor should be of a standard sinusoidal waveform. However, in practice, non-idealities cause the phase currents of the motor to contain a certain amount of harmonics, which causes additional motor losses. Therefore, the current harmonic wave is effectively restrained, and the method is very important for ensuring the stable operation quality of the IPMSM.
Recently, researchers have proposed a current harmonic suppression strategy based on frequency multiplication synchronous rotating coordinate transformation (MSRFT) aiming at extracting a current harmonic feature quantity of a certain frequency in a phase current. The strategy consists of two parts, namely extraction of current harmonic characteristic quantity and injection of harmonic voltage.
And the current harmonic characteristic quantity extraction is the basis of the current harmonic suppression method. The existing method generally comprises the steps of converting three-phase current into a form of combining a direct current quantity (corresponding to a certain frequency of current harmonic waves in the phase current) and a plurality of alternating current components by passing the three-phase current through an MSRFT, and then combining a first-order low-pass filter to realize open-loop extraction of harmonic characteristic quantity (direct current quantity) in the phase current. However, since the fundamental component in the phase current is much larger than the harmonic component, it is difficult for the first-order low-pass filter to completely eliminate the alternating current amount corresponding to the fundamental current in the phase current, and thus it is difficult to ensure the extraction accuracy of the current harmonic characteristic amount. To improve accuracy, a first order low pass filter plus closed loop feedback approach or higher performance filters such as second order butterworth filters and type II chebyshev filters may be used. However, the implementation method is slightly complicated. Secondly, the current method only aims at extracting 5 and 7 orders of current harmonic characteristic quantity in the phase current.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for simply and accurately extracting 5 and 7-order current harmonic characteristic quantities in phase current of a built-in permanent magnet synchronous motor and 6-order current harmonic amplitude and characteristic quantities in d and q-axis current.
On the basis of simply and accurately extracting 5-order and 7-order current harmonic characteristic quantities in the phase current, the method further accurately realizes the extraction of 6-order current harmonic characteristic quantities and 6-order current amplitudes in d and q axes.
As shown in fig. 2, the object of the present invention is achieved by the following technical solutions:
according to the invention, the three-phase current obtained by sampling is processed to obtain accurate 5 and 7 order current harmonic characteristic quantities in the three-phase current, and 6 order current harmonic amplitude and 6 order current harmonic characteristic quantities in d and q currents.
The method comprises the following steps:
1) Sampling to obtain real-time three-phase current of the built-in permanent magnet synchronous motor;
2) The method comprises the steps that the position of a rotor of the built-in permanent magnet synchronous motor is sampled in real time, so that a real-time rotor position angle is obtained, and fundamental wave components of three-phase currents are reconstructed by using reference values of d-axis currents and q-axis currents of the built-in permanent magnet synchronous motor and the rotor position angle;
3) Subtracting the real-time fundamental wave components of the three-phase current and the three-phase current to obtain total harmonic components, respectively carrying out 5-time synchronous coordinate transformation and 7-time synchronous coordinate transformation on the total harmonic components to obtain transformed quantities, and carrying out a first-order low-pass filter on the transformed quantities to obtain 5-order and 7-order current harmonic characteristic quantities in the three-phase current;
4) And processing the obtained 5-order and 7-order current harmonic characteristic quantities in the three-phase current to obtain 6-order current harmonic amplitude and 6-order current harmonic characteristic quantities in the d-order and q-order currents.
The current harmonic characteristics extracted and obtained by the method can be more beneficial to the suppression of the current harmonic.
In specific implementation, harmonic voltage can be further generated through the obtained 5 th and 7 th order current harmonic characteristic quantities, the obtained 6 th order current harmonic amplitude and the obtained 6 th order current harmonic characteristic quantity, so that current harmonics are suppressed.
In the step 1), current sensors are arranged at three phases of the built-in permanent magnet synchronous motor, each current sensor is connected to the DSP, and AD sampling current is carried out at the three phases of the built-in permanent magnet synchronous motor through the current sensors and is used as real-time three-phase current of the built-in permanent magnet synchronous motor and is sent to the DSP for control processing.
In the step 2), the three-phase current is reconstructed according to the following formula to obtain the fundamental component of the three-phase current:
in the formula i a_ref 、i b_ref And i c_ref Obtaining fundamental wave components of the three-phase current through reconstruction; i is s_ref The amplitude of the fundamental component of the three-phase current; theta e Representing a rotor position angle; alpha is an included angle between the reference value of the d-axis current and the reference value of the q-axis current;
angle alpha and amplitude I s_ref The calculation is as follows:
in the formula i d_ref And i q_ref Reference values for d and q-axis currents, respectively.
The step 3) is specifically as follows:
3.1 The total harmonic component of the three-phase current is obtained as shown in the following equation:
in the formula i a 、i b And i c Sampling three-phase current obtained in step 1) in real time; i.e. i a_h 、i b_h And i c_h Is the total harmonic component of the three-phase current;
3.2 Respectively carrying out 5 times of synchronous coordinate transformation and 7 times of synchronous coordinate transformation on the three-phase current total harmonic component obtained in the step 3.1), wherein the specific formula is as follows:
in the formula I sn 、η n The amplitude and the initial phase angle of the nth order harmonic in the three-phase current are respectively; n =5, 7, 11, 13 … ∞;
and
representing d-axis components and q-axis components of total harmonic components in three-phase current in a 5-time dq coordinate system after 5-time synchronous coordinate transformation;
and
representing a d-axis component and a q-axis component of a total harmonic component in the three-phase current in a 7-time dq coordinate system after 7-time synchronous coordinate transformation; omega e The method comprises the steps of representing the electrical angular speed of a rotor in the built-in permanent magnet synchronous motor, wherein t represents time;
3.3 The d and q axis components obtained in step 3.2)
And
respectively passing through a first-order low-pass filter to obtain 5-order and 7-order current harmonic characteristic quantities: I.C. A s5 cosη 5 、I s5 sinη 5 、I s7 cosη 7 、I s7 sinη 7 In which I s5 cosη 5 、I s5 sinη 5 Cosine components and of 5-order current harmonic characteristic quantities in three-phase currentSinusoidal component, I s7 cosη 7 、I s7 sinη 7 And cosine components and sine components of 7-order current harmonic characteristic quantities in the three-phase current are respectively represented.
In the step 4), according to the 5 and 7 order current harmonic characteristic quantity I in the three-phase current s5 cosη 5 、I s5 sinη 5 、I s7 cosη 7 And I s7 sinη 7 Obtaining 6-order current harmonic amplitude and 6-order current harmonic characteristic quantity in d-axis and q-axis currents by the following formulas:
in the formula I d6 、I q6 6-order current harmonic amplitudes of the d axis and the q axis respectively; mu.s d6 And mu q6 Initial phase angles of 6-order current harmonics representing the d-axis and q-axis, respectively; i is d6 cosμ d6 And I d6 sinμ d6 Cosine and sine components of the 6 th order current harmonic characteristic in the d and q axes, respectively, I q6 cosμ q6 And I q6 sinμ q6 Cosine component and sine component of the 6 th order current harmonic characteristic quantity in d axis and q axis respectively.
The beneficial effects of the invention are:
(1) The invention does not need a complex filter structure and is simple to implement;
(2) The invention can accurately extract the 5 and 7 order current harmonic characteristic quantities in the phase current of the built-in permanent magnet synchronous motor;
(3) The invention further accurately extracts the 6-order current harmonic amplitude and the 6-order current harmonic characteristic quantity in the d and q currents.
(4) The method can simplify the steps of extracting the current harmonic characteristic quantity in the current harmonic suppression process of the built-in permanent magnet synchronous motor, and provides a good foundation for effectively suppressing the harmonic wave subsequently.
The invention can be applied to the fields of built-in permanent magnet synchronous motor drive control and the like.
Drawings
Fig. 1 is a block diagram of a vector control current harmonic extraction system of a built-in permanent magnet synchronous motor.
Fig. 2 is a block diagram of current harmonic extraction according to the present invention.
Fig. 3 is a real-time three-phase current diagram of the built-in permanent magnet synchronous motor obtained by the reconstructed three-phase current fundamental component and sampling.
Fig. 4 is a diagram of 5, 7 order current harmonic characteristic quantities in the extracted phase current.
Fig. 5 is a 6-order current harmonic characteristic quantity diagram in d-axis and q-axis currents obtained through extraction.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1, the present invention comprises the steps of:
as shown in fig. 1, the implementation apparatus includes an interior permanent magnet synchronous motor, a two-level inverter, and a controller, the interior permanent magnet synchronous motor is connected to the two-level inverter, and the controller is connected to the interior permanent magnet synchronous motor.
1) Sampling to obtain real-time three-phase current of the built-in permanent magnet synchronous motor;
current sensors are arranged at three phases of the built-in permanent magnet synchronous motor, each current sensor is connected to the DSP, AD sampling current is conducted at the three phases of the built-in permanent magnet synchronous motor through the current sensors, the AD sampling current is used as real-time three-phase current of the built-in permanent magnet synchronous motor and is sent to the DSP to be controlled and processed.
2) The rotor position of the built-in permanent magnet synchronous motor is sampled in real time, so that a real-time rotor position angle is obtained, and the fundamental wave components of three-phase currents are reconstructed by using the reference values of d-axis and q-axis currents of the built-in permanent magnet synchronous motor and the rotor position angle.
Reconstructing the three-phase current according to the following formula to obtain fundamental components of the three-phase current:
in the formula i a_ref 、i b_ref And i c_ref In order to reconstruct the fundamental wave components of the obtained three-phase current, a, b and c respectively represent three phases; i is s_ref The amplitude of the fundamental component of the three-phase current; theta e Representing a rotor position angle; alpha is an included angle between the reference value of the d-axis current and the reference value of the q-axis current;
angle alpha and amplitude I s_ref The calculation is as follows:
in the formula i d_ref And i q_ref Reference values for d and q-axis currents, respectively.
3) Subtracting the real-time fundamental wave components of the three-phase current and the three-phase current to obtain a total harmonic component, respectively carrying out 5-time synchronous coordinate transformation and 7-time synchronous coordinate transformation on the total harmonic component to obtain transformed quantities, and carrying out a first-order low-pass filter on the transformed quantities to obtain 5-order and 7-order current harmonic characteristic quantities in the three-phase current;
3.1 The total harmonic component of the three-phase current is obtained as shown in the following equation:
in the formula i a 、i b And i c Sampling three-phase current obtained by step 1) in real time; i.e. i a_h 、i b_h And i c_h Is the total harmonic component of the three-phase current;
3.2 Respectively carrying out 5 times of synchronous coordinate transformation and 7 times of synchronous coordinate transformation on the three-phase current total harmonic component obtained in the step 3.1), wherein the specific formula is as follows:
in the formula I sn 、η n The amplitude and the initial phase angle of the nth order harmonic in the three-phase current are respectively; n =5, 7, 11, 13 … ∞;
and
representing a d-axis component and a q-axis component of a total harmonic component in the three-phase current in a dq coordinate system after 5 times of synchronous coordinate transformation;
and
representing a d-axis component and a q-axis component of a total harmonic component in the three-phase current in a dq coordinate system after 7 times of synchronous coordinate transformation; omega e The method comprises the steps of representing the electrical angular speed of a rotor in the built-in permanent magnet synchronous motor, wherein t represents time;
3.3 The d and q axis components obtained in step 3.2)
And
respectively passing through a first-order low-pass filter to obtain 5-order and 7-order current harmonic characteristic quantities: i is s5 cosη 5 、I s5 sinη 5 、I s7 cosη 7 、I s7 sinη 7 In which I s5 cosη 5 、I s5 sinη 5 Cosine component and sine component respectively representing 5-order current harmonic characteristic quantity in three-phase current, I s7 cosη 7 、I s7 sinη 7 And cosine components and sine components of 7-order current harmonic characteristic quantities in the three-phase current are respectively represented.
4) And processing the obtained 5 and 7 order current harmonic characteristic quantities in the three-phase current to obtain 6 order current harmonic amplitude and 6 order current harmonic characteristic quantities in the d and q currents.
In the step 4), according to the 5 and 7 order current harmonic characteristic quantity I in the three-phase current s5 cosη 5 、I s5 sinη 5 、I s7 cosη 7 And I s7 sinη 7 Obtaining 6-order current harmonic amplitude and 6-order current harmonic characteristic quantity in d-axis and q-axis currents by the following formulas:
in the formula I d6 、I q6 6-order current harmonic amplitudes of the d axis and the q axis respectively; mu.s d6 And mu q6 Initial phase angles of 6-order current harmonics representing the d-axis and q-axis, respectively; i is d6 cosμ d6 And I d6 sinμ d6 Cosine components of 6-order current harmonic characteristic quantities of d-axis and q-axis respectivelyAnd a sinusoidal component, I q6 cosμ q6 And I q6 sinμ q6 Cosine component and sine component of the 6 th order current harmonic characteristic quantity of d axis and q axis respectively.
In order to verify the feasibility of the proposed current harmonic characteristic quantity extraction method, simulation verification is carried out on a Matlab/Simulik platform, and experiment verification is carried out on an experiment platform of the built-in permanent magnet synchronous motor. The reconstructed fundamental component of the three-phase current and the sampled real-time three-phase current of the interior permanent magnet synchronous motor are shown in fig. 3. Therefore, the reconstructed fundamental component of the three-phase current can accurately reflect the fundamental component of the real-time three-phase current. Fig. 4 is a diagram of 5, 7 order current harmonic characteristic quantities in the extracted phase current. Fig. 5 is a 6-order current harmonic characteristic quantity diagram in d-axis and q-axis currents obtained through extraction. As can be seen from the figure, the extracted 5 and 7-order current harmonic feature quantities and the 6-order current harmonic feature quantity in the d and q-axis currents do not include an alternating current component.
Claims (5)
1. A method for extracting current harmonic characteristic quantity of a built-in permanent magnet synchronous motor is characterized by comprising the following steps:
1) Sampling to obtain real-time three-phase current of the built-in permanent magnet synchronous motor;
2) The method comprises the steps that the position of a rotor of the built-in permanent magnet synchronous motor is sampled in real time, so that a real-time rotor position angle is obtained, and fundamental wave components of three-phase currents are reconstructed by using reference values of d-axis currents and q-axis currents of the built-in permanent magnet synchronous motor and the rotor position angle;
3) Subtracting the real-time fundamental wave components of the three-phase current and the three-phase current to obtain a total harmonic component, respectively carrying out 5-time synchronous coordinate transformation and 7-time synchronous coordinate transformation on the total harmonic component to obtain transformed quantities, and carrying out a first-order low-pass filter on the transformed quantities to obtain 5-order and 7-order current harmonic characteristic quantities in the three-phase current;
4) And processing the obtained 5 and 7 order current harmonic characteristic quantities in the three-phase current to obtain 6 order current harmonic amplitude and 6 order current harmonic characteristic quantities in the d and q currents.
2. The method for extracting the current harmonic characteristic quantity of the interior permanent magnet synchronous motor according to claim 1, is characterized in that: in the step 1), current sensors are arranged at three phases of the built-in permanent magnet synchronous motor, each current sensor is connected to the DSP, and the current sensors are used for sampling the three phases of the built-in permanent magnet synchronous motor to carry out AD sampling current as real-time three-phase current of the built-in permanent magnet synchronous motor and sending the current to the DSP for control processing.
3. The method for extracting the current harmonic characteristic quantity of the interior permanent magnet synchronous motor according to claim 1, is characterized in that: in the step 2), the three-phase current is reconstructed according to the following formula to obtain the fundamental component of the three-phase current:
in the formula i a_ref 、i b_ref And i c_ref Obtaining fundamental wave components of the three-phase current through reconstruction; I.C. A s_ref The amplitude of the fundamental component of the three-phase current; theta e Representing a rotor position angle; alpha is an included angle between the reference value of the d-axis current and the reference value of the q-axis current;
angle alpha and amplitude I s_ref The calculation is as follows:
in the formula i d_ref And i q_ref Reference values for d and q-axis currents, respectively.
4. The method for extracting the current harmonic characteristic quantity of the interior permanent magnet synchronous motor according to claim 1, is characterized in that: the step 3) is specifically as follows:
3.1 The total harmonic component of the three-phase current is obtained as shown in the following equation:
in the formula i a 、i b And i c Sampling three-phase current obtained by step 1) in real time; i.e. i a_h 、i b_h And i c_h Is the total harmonic component of the three-phase current;
3.2 Respectively carrying out 5 times of synchronous coordinate transformation and 7 times of synchronous coordinate transformation on the three-phase current total harmonic component obtained in the step 3.1), wherein the specific formula is as follows:
in the formula I sn 、η n The amplitude and the initial phase angle of the nth order harmonic in the three-phase current are respectively; n =5, 7, 11, 13 … ∞;
and
representing d-axis components and q-axis components of total harmonic components in three-phase current in a 5-time dq coordinate system after 5-time synchronous coordinate transformation;
and
representing a d-axis component and a q-axis component of a total harmonic component in the three-phase current in a 7-time dq coordinate system after 7-time synchronous coordinate transformation; omega e The method comprises the steps of representing the electrical angular speed of a rotor in the built-in permanent magnet synchronous motor, wherein t represents time;
3.3 The d and q axis components obtained in step 3.2)
And
respectively passing through a first-order low-pass filter to obtain 5-order and 7-order current harmonic characteristic quantities: i is s5 cosη 5 、I s5 sinη 5 、I s7 cosη 7 、I s7 sinη 7 In which I s5 cosη 5 、I s5 sinη 5 Cosine component and sine component respectively representing 5-order current harmonic characteristic quantity in three-phase current, I s7 cosη 7 、I s7 sinη 7 And cosine components and sine components of 7-order current harmonic characteristic quantities in the three-phase current are respectively represented.
5. The method for extracting the current harmonic characteristic quantity of the interior permanent magnet synchronous motor according to claim 1, is characterized in that: in the step 4), according to the 5 and 7 order current harmonic characteristic quantity I in the three-phase current s5 cosη 5 、I s5 sinη 5 、I s7 cosη 7 And I s7 sinη 7 Obtaining 6-order current harmonic amplitude and 6-order current harmonic characteristic quantity in d-axis and q-axis currents by the following formulas:
in the formula I d6 、I q6 6-order current harmonic amplitudes of the d axis and the q axis respectively; mu.s d6 And mu q6 Initial phase angles of 6-order current harmonics representing the d-axis and q-axis, respectively; i is d6 cosμ d6 And I d6 sinμ d6 Cosine and sine components of the 6 th order current harmonic characteristic in the d and q axes, respectively, I q6 cosμ q6 And I q6 sinμ q6 Cosine component and sine component of the 6 th order current harmonic characteristic quantity in d axis and q axis respectively.
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