CN113740601A - Phase current acquisition method, device, equipment, system and storage medium - Google Patents

Phase current acquisition method, device, equipment, system and storage medium Download PDF

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CN113740601A
CN113740601A CN202111136034.XA CN202111136034A CN113740601A CN 113740601 A CN113740601 A CN 113740601A CN 202111136034 A CN202111136034 A CN 202111136034A CN 113740601 A CN113740601 A CN 113740601A
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current
phase
transformer
phase shift
conditioning circuit
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CN113740601B (en
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刘文龙
黄招彬
赵鸣
徐锦清
胡斌
江海昊
龙谭
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GD Midea Air Conditioning Equipment Co Ltd
Foshan Shunde Midea Electric Science and Technology Co Ltd
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GD Midea Air Conditioning Equipment Co Ltd
Foshan Shunde Midea Electric Science and Technology Co Ltd
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Priority to PCT/CN2022/108620 priority patent/WO2023045556A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
    • G01R15/14—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
    • G01R15/18—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using inductive devices, e.g. transformers

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  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application discloses a phase current collecting method, a device, equipment, a system and a storage medium. The method comprises the following steps: obtaining equivalent electrical parameters of a transformer sampling conditioning circuit, wherein the transformer sampling conditioning circuit is used for collecting current signals of a secondary side of a current transformer arranged on a phase line of a motor; determining a phase shift angle of the current transformer based on the equivalent electrical parameter and the electrical angular velocity of the motor rotor; and performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on the phase shift angle to obtain the phase current of the phase line. Therefore, phase current on a phase line of the motor can be collected based on the current transformer, particularly in an overmodulation region, the collection of the phase current can be achieved on the basis of meeting effective voltage vectors, and then the output torque of the motor can be increased under the condition that bus voltage is not changed, and the utilization rate of power supply voltage is improved.

Description

Phase current acquisition method, device, equipment, system and storage medium
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, a system, and a storage medium for collecting phase current.
Background
With the active popularization of energy-saving and consumption-reducing technologies, the energy-saving technology of motor control is increasingly paid attention. For example, a variable frequency air conditioner employs a Permanent Magnet Synchronous Motor (PMSM) having low loss and high efficiency.
When the frequency converter drives the permanent magnet synchronous motor, the three-phase bridge inverter of the frequency converter can be controlled in a Space Vector Pulse Width Modulation (SVPWM) mode. SVPWM is derived from the idea of AC motor stator flux linkage tracking, is easy to realize by a digital controller, and has the advantages of good output current waveform, high voltage utilization rate of a DC link and the like.
In traditional SVPWM control system, because need measure the alternating current signal of three-phase as the feedback, realize the closed-loop control of electric current, the interchange side of converter need set up three current sensor promptly, leads to with high costs, the structure is complicated and bulky, is unfavorable for integrating. The single current sensor is adopted to complete the reconstruction of the three-phase current, which becomes a research hotspot.
In practical applications, in order to increase the output voltage of the three-phase bridge inverter to increase the maximum output torque of the motor in motor control, an overmodulation technique is often required. However, since the space vector falls in an unobservable region when the overmodulation phenomenon occurs, the related method for completing the phase current collection method based on the single current sensor is difficult to implement.
Therefore, in the overmodulation region, the hall current sensor is often needed to collect phase currents of any two phases of the three-phase motor, so as to obtain the current three-phase current value, however, the hall current sensor is high in cost, and the cost for controlling the three-phase motor is increased.
Disclosure of Invention
In view of this, embodiments of the present application provide a method, an apparatus, a device, a system, and a storage medium for phase current acquisition, which aim to perform phase current acquisition based on a current transformer and reduce the control cost of a three-phase motor.
The technical scheme of the embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a phase current collecting method, including:
obtaining equivalent electrical parameters of a transformer sampling conditioning circuit, wherein the transformer sampling conditioning circuit is used for collecting current signals of a secondary side of a current transformer arranged on a phase line of a motor;
determining a phase shift angle of the current transformer based on the equivalent electrical parameter and an electrical angular velocity of a rotor of the electric machine;
and performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on the phase shift angle to obtain the phase current of the phase line.
In some embodiments, the equivalent electrical parameters include: the phase shift angle of the current transformer is determined based on the equivalent electrical parameters and the electrical angular velocity of the motor rotor, and the following formula is adopted:
Figure BDA0003282447700000021
wherein θ is the currentThe phase shift angle of the mutual inductor, omega, is the electrical angular velocity of the rotor of the motor, R0Is an equivalent resistance, L0Is an equivalent inductance, C0Is an equivalent capacitance.
In some embodiments, the phase shift compensating the current signal collected by the transformer sampling conditioning circuit based on the phase shift angle includes:
performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on a differential compensator H (j omega); the differential compensator H (j ω) uses the following equation:
Figure BDA0003282447700000022
wherein the compensating phase shift angle of the differential compensator H (j ω)
Figure BDA0003282447700000023
Omega is the electrical angular speed of the motor rotor, a is a first correction parameter, b is a second correction parameter, and the compensation phase shift angle
Figure BDA0003282447700000024
Equal to the phase shift angle of the current transformer.
In a second aspect, an embodiment of the present application provides a phase current collecting device, including:
the acquisition module is used for acquiring equivalent electrical parameters of a transformer sampling conditioning circuit, and the transformer sampling conditioning circuit is used for acquiring current signals of a secondary side of a current transformer arranged on a phase line of the motor;
the operation module is used for determining a phase shift angle of the current transformer based on the equivalent electrical parameter and the electrical angular speed of the motor rotor;
and the phase shift compensation module is used for carrying out phase shift compensation on the current signals acquired by the transformer sampling and conditioning circuit based on the phase shift angle to obtain the phase current of the phase line.
In some embodiments, the equivalent electrical parameters include: the equivalent resistance, the equivalent inductance and the equivalent capacitance, the operation module adopts the following formula:
Figure BDA0003282447700000031
wherein theta is the phase shift angle of the current transformer, omega is the electrical angular velocity of the motor rotor, R0Is an equivalent resistance, L0Is an equivalent inductance, C0Is an equivalent capacitance.
In some embodiments, the phase shift compensation module is specifically configured to:
performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on a differential compensator H (j omega); the differential compensator H (j ω) uses the following equation:
Figure BDA0003282447700000032
wherein the compensating phase shift angle of the differential compensator H (j ω)
Figure BDA0003282447700000033
Omega is the electrical angular speed of the motor rotor, a is a first correction parameter, b is a second correction parameter, and the compensation phase shift angle
Figure BDA0003282447700000034
Equal to the phase shift angle of the current transformer.
In a third aspect, an embodiment of the present application provides a phase current collecting device, including: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor, when running the computer program, is configured to perform the steps of the method according to the first aspect of the embodiments of the present application.
In a fourth aspect, an embodiment of the present application provides a phase current collecting system for a motor, including:
the current transformer is arranged on a phase line of the three-phase motor;
the transformer sampling conditioning circuit is connected with the secondary side of the current transformer and is used for collecting a current signal of the secondary side of the current transformer;
the phase current collecting device according to the third aspect of the embodiment of the present application is connected to the transformer sampling and conditioning circuit, and configured to perform phase shift compensation on a current signal output by the transformer sampling and conditioning circuit, so as to obtain a phase current of the phase line.
In some embodiments, the number of the current transformers is two, and the two current transformers are respectively disposed on phase lines of any two phases of the three-phase motor, and correspondingly, the number of the transformer sampling conditioning circuits is two, and the two transformer sampling conditioning circuits are disposed in one-to-one correspondence with the current transformers.
In some embodiments, the transformer sampling conditioning circuit comprises: the sampling resistor is connected to the secondary side of the current transformer in series, and the operational amplifier is connected to two ends of the sampling resistor and used for differential amplification.
In a fifth aspect, the present application provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the present application are implemented.
According to the technical scheme provided by the embodiment of the application, equivalent electrical parameters of a transformer sampling conditioning circuit are obtained, and the transformer sampling conditioning circuit is used for collecting current signals of a secondary side of a current transformer arranged on a phase line of a motor; determining a phase shift angle of the current transformer based on the equivalent electrical parameter and the electrical angular velocity of the motor rotor; and performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on the phase shift angle to obtain the phase current of the phase line. Therefore, phase current on a phase line of the motor can be collected based on the current transformer, particularly in an overmodulation region, the collection of the phase current can be achieved on the basis of meeting effective voltage vectors, and then the output torque of the motor can be increased under the condition that bus voltage is not changed, and the utilization rate of power supply voltage is improved.
Drawings
Fig. 1 is a schematic structural diagram of a motor application system based on bus current collection in the related art;
FIG. 2 is a schematic diagram of the distribution of space voltage vectors;
FIG. 3 is a schematic diagram of an unobservable space voltage vector region in an embodiment of the present application;
FIG. 4 is a schematic diagram of a related art phase shift-based process;
FIG. 5 is a schematic flow chart illustrating a phase current collection method according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a sampling and conditioning circuit of a transformer according to an embodiment of the present application;
FIG. 7 is a schematic diagram of an equivalent circuit of a sampling and conditioning circuit of a transformer according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a phase current collecting apparatus according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a phase current collecting apparatus according to an embodiment of the present application;
fig. 10 is a schematic diagram of an arrangement of current transformers on phases of a three-phase motor according to an application example of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In the related art, a motor application system based on bus current collection is shown in fig. 1, and the system includes: the system comprises a motor M, a three-phase bridge inverter 101, a direct current power supply DC and a bus current collecting device 102.
Illustratively, a capacitor C1 is also connected between the positive pole and the negative pole of the direct current power supply DC. The DC power supplied by the DC power source DC is converted to three-phase power for the motor M, which may be a PMSM, by a three-phase bridge inverter 101. The three-phase bridge inverter 101 may be controlled by a frequency converter in an SVPWM manner. The bus current collecting device 102 may adopt a typical single-resistor sampling circuit, for example, the sampling circuit includes a sampling resistor Shunt connected between a negative electrode of the DC power supply DC and the three-phase bridge inverter 101, a voltage at two ends of the sampling resistor Shunt is transmitted to the AD conversion circuit through the operational amplifier, the AD conversion circuit converts the voltage into a bus current, the bus current is used in a subsequent phase current collecting method, and the reconstructed three-phase ac current is used as a feedback to realize closed-loop control of the current.
It can be understood that the three-phase bridge inverter is controlled by adopting an SVPWM (space vector pulse width modulation) modulation mode, and has 8 switch working states comprising 6 non-zero voltage vectors (V)1-V6) And 2 zero voltage vectors (V)0And V7) Which divides the voltage space plane into hexagons as shown in fig. 2. The basic principle of phase current reconstruction is to obtain each phase current by using the bus current sampled at different times in 1 PWM period. The relationship between the current of the dc bus and the three-phase current is determined by the state of the instantaneous switching value, and the relationship is shown in table 1.
TABLE 1
Voltage vector Phase current Voltage vector Phase current
V1 Ic V5 -Ib
V2 Ib V6 -Ic
V3 -Ia V0 0
V4 Ia V7 0
In practical applications, the sampling window is satisfied in consideration of the sampling of the bus current, that is, the non-zero voltage vector is required to last for 1 minimum sampling time Tmin，Tmin＝Td+Tset+TADWherein, TdIndicating the dead time duration, T, of the upper and lower legssetIndicating the bus current settling time, TADIndicating the sample transition duration.
As shown in FIG. 3, when the output voltage vector is in the low modulation region or near the non-zero voltage vector, there may be a non-zero voltage vector within 1 PWM cycle for a duration less than TminThe case (1). This condition makes the sampled bus current meaningless. In the embodiment of the present application, a region where two phases of different phase currents (i.e., bus direct currents corresponding to two non-zero voltage vectors) cannot be sampled in one PWM period is collectively referred to as an unobservable region.
In the related art, in order to ensure that two-phase current can be sampled in each PWM period, it is necessary to ensure that two-phase current is sampled in one PWM period through phase shift processing in an unobservable region. For example, as shown in fig. 4, exemplarily, a three-phase line includes: the original sampling window of T1 is smaller than TminThe high level of the b phase is shifted to the right by T through phase shift processingshiftCan make it possible toThe sampling window of the phase-shifted T1 is equal to Tmin。
When the unobservable region is an overmodulation region, for example, a region outside an inscribed circle of a hexagon shown in fig. 3, a problem that phase shifting is shifted out of a PWM cycle so that an effective vector voltage cannot be satisfied occurs, however, if the PWM cycle of the vector voltage is ensured, a situation that a sampling window cannot be provided occurs so that a two-phase current cannot be acquired in one PWM cycle, and therefore, a related phase current acquisition method based on phase shifting cannot satisfy a reconstruction requirement of a three-phase current of the overmodulation region.
It should be noted that, in the above reconstruction of three-phase current based on bus current sampling, because the phase currents of the motor are not obtained at the same time, a time difference must exist between the two samples, which causes sampling errors, and the sampling is affected by switch oscillation, and the current of very narrow pulses cannot be acquired. Furthermore, if a conventional phase current sampling sensor (e.g., a hall current sensor) is used instead, the cost may be excessively increased.
Based on this, in various embodiments of the present application, in order to ensure phase current sampling and meet the requirement of cost control, a current transformer with a low price is used for phase current sampling, however, the current transformer is an instrument for converting a current on a primary side into a current on a secondary side to measure according to an electromagnetic induction principle, and therefore, the current transformer has a problem of phase delay.
Based on this, in various embodiments of the present application, a phase current sampling method based on phase compensation is provided, where phase compensation is performed on a current signal acquired by a current transformer to obtain an actual phase current.
As shown in fig. 5, an embodiment of the present application provides a phase current collecting method, including:
step 501, obtaining equivalent electrical parameters of a transformer sampling and conditioning circuit, wherein the transformer sampling and conditioning circuit is used for collecting current signals of a secondary side of a current transformer arranged on a phase line of a motor.
Step 502, determining a phase shift angle of the current transformer based on the equivalent electrical parameter and the electrical angular velocity of the motor rotor.
And 503, performing phase shift compensation on the current signal acquired by the transformer sampling and conditioning circuit based on the phase shift angle to obtain the phase current of the phase line.
It can be understood that, in the embodiment of the present application, phase current on a phase line of a motor can be collected based on phase shift compensation performed on a current signal collected by a transformer sampling and conditioning circuit, and particularly in an overmodulation region, the collection of phase current can be realized on the basis of meeting an effective voltage vector, so that under the condition that a bus voltage is not changed, an output torque of the motor can be increased, and a power supply voltage utilization rate can be improved.
As shown in fig. 6, in the embodiment of the present application, the transformer sampling conditioning circuit includes: a sampling resistor Rs connected in series with the secondary side of the current transformer and an operational amplifier connected with the two ends of the sampling resistor Rs and used for differential amplification.
It can be understood that when the current induced at the secondary side of the current transformer flows through the sampling resistor Rs, the current can be differentially amplified by the operational amplifier and then output, so as to be converted into a signal which can be sampled by the AD conversion circuit. For example, the operational amplifier outputs a signal to an MCU (microprocessor), so that a current value can be obtained by the microprocessor through AD conversion.
Here, since the current transformer is based on the electromagnetic induction effect, there is a phase shift caused by a time delay in the current signal on the secondary side, and it is necessary to determine the phase shift angle of the current transformer.
Illustratively, the transformer sampling conditioning circuit shown in fig. 6 is equivalent to an equivalent circuit shown in fig. 7. In fig. 7, e (t) is an electromotive force induced and generated by the secondary side of the current transformer, and is calculated as follows:
Figure BDA0003282447700000081
where phi is the induced magnetic flux and N1Is the number of primary turns, N2Secondary side number of turns, mu0Is the permeability, h is the coercivity coefficient, R1Is a primary side equivalent resistance, R2Is the equivalent resistance of the secondary side, i is the winding electricity of the primary sideAnd (4) streaming.
Illustratively, the equivalent electrical parameters of the equivalent circuit may be tested by an LCR (inductance capacitance resistance) tester. As shown in fig. 7, the equivalent electrical parameters include: equivalent resistance R0Equivalent inductance L0And an equivalent capacitance C0And a load resistor RL。
Illustratively, the phase shift angle of the current transformer is determined based on the equivalent electrical parameter and the electrical angular velocity of the rotor of the electric machine, using the following formula:
Figure BDA0003282447700000082
wherein theta is the phase shift angle of the current transformer, omega is the electrical angular velocity of the motor rotor, R0Is an equivalent resistance, L0Is an equivalent inductance, C0Is an equivalent capacitance.
Here, the electrical angular velocity of the motor rotor may employ the determined electrical angular velocity of the motor rotor of the last sampling period. In this way, the phase shift angle of the current transformer may be determined based on the obtained equivalent electrical parameter and the electrical angular velocity of the rotor of the electric machine.
In some embodiments, the phase shift compensation of the current signal collected by the transformer sampling conditioning circuit based on the phase shift angle includes:
carrying out phase shift compensation on a current signal acquired by the transformer sampling conditioning circuit based on a differential compensator H (j omega); the differential compensator H (j ω) uses the following equation:
Figure BDA0003282447700000083
wherein the compensating phase shift angle of the differential compensator H (j ω)
Figure BDA0003282447700000084
Omega is the electrical angular speed of the motor rotor, a is a first correction parameter, b is a second correction parameter, and the phase shift angle is compensated
Figure BDA0003282447700000085
Equal to the phase shift angle of the current transformer.
Note that the compensation phase shift angle of the differential compensator H (j ω)
Figure BDA0003282447700000086
The phase shift angle can be compensated by the same size as that of the phase shift angle of the current transformer determined as described above
Figure BDA0003282447700000091
The first correction parameter a and the second correction parameter b are calculated, thereby obtaining the differential compensator H (j ω) satisfying the phase shift compensation requirement.
For example, the value ranges of the first correction parameter a and the second correction parameter b may be preset, the value of one of the first correction parameter a and the second correction parameter b is assumed based on the value ranges, and then the compensation phase shift angle is based on
Figure BDA0003282447700000092
The other is found, thereby obtaining a first correction parameter a and a second correction parameter b.
In the embodiment of the application, the phase shift compensation can be performed on the current signal acquired by the transformer sampling conditioning circuit based on the differential compensator H (j ω) with the first correction parameter a and the second correction parameter b determined, the phase current of the obtained phase line can participate in the vector operation of the motor, and then the output torque of the motor can be increased under the condition that the bus voltage is not changed, and the utilization rate of the power voltage is improved.
In order to implement the method of the embodiment of the present application, an embodiment of the present application further provides a phase current collecting device, where the phase current collecting device corresponds to the phase current collecting method, and each step in the embodiment of the phase current collecting method is also completely applicable to the embodiment of the phase current collecting device.
As shown in fig. 8, the phase current collecting apparatus includes: an obtaining module 801, an operation module 802, and a phase shift compensation module 803.
The acquisition module 801 is used for acquiring equivalent electrical parameters of a transformer sampling conditioning circuit, and the transformer sampling conditioning circuit is used for acquiring current signals of a secondary side of a current transformer arranged on a phase line of a motor;
the operation module 802 is configured to determine a phase shift angle of the current transformer based on the equivalent electrical parameter and the electrical angular velocity of the motor rotor;
the phase shift compensation module 803 is configured to perform phase shift compensation on the current signal acquired by the transformer sampling and conditioning circuit based on the phase shift angle, so as to obtain a phase current of the phase line.
In some embodiments, the equivalent electrical parameters include: the equivalent resistance, the equivalent inductance, and the equivalent capacitance, the operation module 802 adopts the following formula:
Figure BDA0003282447700000093
wherein theta is the phase shift angle of the current transformer, omega is the electrical angular velocity of the motor rotor, R0Is an equivalent resistance, L0Is an equivalent inductance, C0Is an equivalent capacitance.
In some embodiments, phase shift compensation module 803 is specifically configured to:
carrying out phase shift compensation on a current signal acquired by the transformer sampling conditioning circuit based on a differential compensator H (j omega); the differential compensator H (j ω) uses the following equation:
Figure BDA0003282447700000101
wherein the compensating phase shift angle of the differential compensator H (j ω)
Figure BDA0003282447700000102
Omega is the electrical angular speed of the motor rotor, a is a first correction parameter, b is a second correction parameter, and the phase shift angle is compensated
Figure BDA0003282447700000103
Equal to the phase shift angle of the current transformer.
In practical applications, the obtaining module 801, the operation module 802, and the phase shift compensation module 803 may be implemented by a processor of the phase current collecting apparatus. Of course, the processor needs to run a computer program in memory to implement its functions.
It should be noted that: in the phase current collecting apparatus provided in the above embodiment, when the phase current collecting method is performed, only the division of the above program modules is taken as an example, and in practical applications, the processing distribution may be completed by different program modules according to needs, that is, the internal structure of the apparatus is divided into different program modules to complete all or part of the above-described processing. In addition, the phase current collecting device and the phase current collecting method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments in detail and are not described herein again.
Based on the hardware implementation of the program module, and in order to implement the method of the embodiment of the present application, the embodiment of the present application further provides a phase current collecting device. Fig. 9 shows only an exemplary structure of the phase current collecting apparatus, not the entire structure, and a part or the entire structure shown in fig. 9 may be implemented as necessary.
As shown in fig. 9, a phase current collecting apparatus 900 according to an embodiment of the present application includes: at least one processor 901, memory 902, and a user interface 903. The various components of the phase current acquisition apparatus 900 are coupled together by a bus system 904. It will be appreciated that the bus system 904 is used to enable communications among the components. The bus system 904 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration the various buses are labeled as bus system 904 in figure 9.
The user interface 903 may include a display, a keyboard, a mouse, a trackball, a click wheel, a key, a button, a touch pad, a touch screen, or the like, among others.
The memory 902 in the embodiment of the present application is used to store various types of data to support the operation of the phase current collecting apparatus. Examples of such data include: any computer program for operating on a phase current acquisition device.
The phase current acquisition disclosed by the embodiment of the present application can be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of phase current acquisition may be performed by hardware integrated logic circuits or instructions in software in the processor 901. The Processor 901 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 901 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 902, and the processor 901 reads the information in the memory 902, and completes the steps of phase current collection provided in the embodiments of the present application in combination with the hardware thereof.
In an exemplary embodiment, the phase current collecting Device may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.
It will be appreciated that the memory 902 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memories described in the embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.
The embodiment of the present application further provides a phase current collecting system of a motor, including: the current transformer, the transformer sampling conditioning circuit and the phase current acquisition equipment are arranged on a phase line of the three-phase motor; the transformer sampling conditioning circuit is connected with the secondary side of the current transformer and is used for collecting a current signal of the secondary side of the current transformer; the phase current acquisition equipment is connected with the mutual inductor sampling conditioning circuit and used for performing phase shift compensation on a current signal output by the mutual inductor sampling conditioning circuit to obtain phase current of the phase line.
Illustratively, as shown in fig. 10, the number of the current transformers is two, and the two current transformers are respectively arranged on phase lines of any two phases of the three-phase motor, and correspondingly, the number of the transformer sampling conditioning circuits is two, and the two transformer sampling conditioning circuits are arranged in one-to-one correspondence with the current transformers.
It can be understood that, in the overmodulation region, the phase shifting compensation processing can be performed on the current signals of the phase lines acquired by the two current transformers to obtain phase currents of two phases, so as to obtain the current three-phase current, and then the vector closed-loop control of the motor is realized.
Illustratively, as shown in fig. 6, the transformer sampling conditioning circuit includes: a sampling resistor Rs connected in series with the secondary side of the current transformer and an operational amplifier connected with the two ends of the sampling resistor Rs and used for differential amplification.
In an exemplary embodiment, the present application further provides a storage medium, i.e., a computer storage medium, which may be a computer readable storage medium, for example, a memory 902 storing a computer program, where the computer program is executable by a processor 901 of a phase current collecting apparatus to complete the steps of the method of the present application. The computer readable storage medium may be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM, among others.
It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The technical means described in the embodiments of the present application may be arbitrarily combined without conflict.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (11)

1. A method of phase current acquisition, comprising:
obtaining equivalent electrical parameters of a transformer sampling conditioning circuit, wherein the transformer sampling conditioning circuit is used for collecting current signals of a secondary side of a current transformer arranged on a phase line of a motor;
determining a phase shift angle of the current transformer based on the equivalent electrical parameter and an electrical angular velocity of a rotor of the electric machine;
and performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on the phase shift angle to obtain the phase current of the phase line.
2. The method of claim 1, wherein the equivalent electrical parameters comprise: the phase shift angle of the current transformer is determined based on the equivalent electrical parameters and the electrical angular velocity of the motor rotor, and the following formula is adopted:
Figure FDA0003282447690000011
wherein theta is the phase shift angle of the current transformer, omega is the electrical angular velocity of the motor rotor, R0Is an equivalent resistance, L0Is an equivalent inductance, C0Is an equivalent capacitance.
3. The method of claim 1, wherein the phase-shifting compensation of the current signal collected by the transformer sampling conditioning circuit based on the phase-shift angle comprises:
performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on a differential compensator H (j omega); the differential compensator H (j ω) uses the following equation:
Figure FDA0003282447690000012
wherein the compensating phase shift angle of the differential compensator H (j ω)
Figure FDA0003282447690000013
Omega is the electrical angular speed of the motor rotor, a is a first correction parameter, b is a second correction parameter, and the compensation phase shift angle
Figure FDA0003282447690000014
Equal to the phase shift angle of the current transformer.
4. A phase current collection device, comprising:
the acquisition module is used for acquiring equivalent electrical parameters of a transformer sampling conditioning circuit, and the transformer sampling conditioning circuit is used for acquiring current signals of a secondary side of a current transformer arranged on a phase line of the motor;
the operation module is used for determining a phase shift angle of the current transformer based on the equivalent electrical parameter and the electrical angular speed of the motor rotor;
and the phase shift compensation module is used for carrying out phase shift compensation on the current signals acquired by the transformer sampling and conditioning circuit based on the phase shift angle to obtain the phase current of the phase line.
5. Phase current acquisition apparatus according to claim 4, characterized in that said equivalent electrical parameters comprise: the equivalent resistance, the equivalent inductance and the equivalent capacitance, the operation module adopts the following formula:
Figure FDA0003282447690000021
wherein theta is the phase shift angle of the current transformer, omega is the electrical angular velocity of the motor rotor, R0Is an equivalent resistance, L0Is an equivalent inductance, C0Is an equivalent capacitance.
6. The phase current collection device of claim 4, wherein the phase shift compensation module is specifically configured to:
performing phase shift compensation on the current signal acquired by the transformer sampling conditioning circuit based on a differential compensator H (j omega); the differential compensator H (j ω) uses the following equation:
Figure FDA0003282447690000022
wherein the compensating phase shift angle of the differential compensator H (j ω)
Figure FDA0003282447690000023
Omega is the electrical angular speed of the motor rotor, a is a first correction parameter, b is a second correction parameter, and the compensation phase shift angle
Figure FDA0003282447690000024
Equal to the phase shift angle of the current transformer.
7. A phase current collection device, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor, when executing the computer program, is adapted to perform the steps of the method of any of claims 1 to 3.
8. A phase current acquisition system for an electric machine, comprising:
the current transformer is arranged on a phase line of the three-phase motor;
the transformer sampling conditioning circuit is connected with the secondary side of the current transformer and is used for collecting a current signal of the secondary side of the current transformer;
the phase current collecting apparatus according to claim 7, connected to the transformer sampling and conditioning circuit, for performing phase shift compensation on the current signal output by the transformer sampling and conditioning circuit to obtain the phase current of the phase line.
9. The phase current acquisition system of claim 8,
the number of the current transformers is two, the current transformers are respectively arranged on any two-phase lines of the three-phase motor, and correspondingly, the number of the transformer sampling conditioning circuits is two, and the two transformer sampling conditioning circuits are arranged in one-to-one correspondence with the current transformers.
10. The phase current acquisition system of claim 8,
the mutual-inductor sampling conditioning circuit includes: the sampling resistor is connected to the secondary side of the current transformer in series, and the operational amplifier is connected to two ends of the sampling resistor and used for differential amplification.
11. A storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the steps of the method of any one of claims 1 to 3.
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