CN113872480B - Design method and device of phase compensator, storage medium and acquisition system - Google Patents
Design method and device of phase compensator, storage medium and acquisition system Download PDFInfo
- Publication number
- CN113872480B CN113872480B CN202111137852.1A CN202111137852A CN113872480B CN 113872480 B CN113872480 B CN 113872480B CN 202111137852 A CN202111137852 A CN 202111137852A CN 113872480 B CN113872480 B CN 113872480B
- Authority
- CN
- China
- Prior art keywords
- phase
- current
- equivalent
- sampling
- circuit
- 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.)
- Active
Links
- 238000013461 design Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000005070 sampling Methods 0.000 claims abstract description 81
- 230000003750 conditioning effect Effects 0.000 claims abstract description 59
- 238000012546 transfer Methods 0.000 claims abstract description 52
- 238000012937 correction Methods 0.000 claims abstract description 49
- 230000006870 function Effects 0.000 claims description 51
- 230000005291 magnetic effect Effects 0.000 claims description 17
- 230000006698 induction Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 230000010363 phase shift Effects 0.000 claims description 9
- 230000004907 flux Effects 0.000 claims description 7
- 230000035699 permeability Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 239000013598 vector Substances 0.000 abstract description 20
- 230000001360 synchronised effect Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 238000012545 processing Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 239000003990 capacitor Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 235000019800 disodium phosphate Nutrition 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- 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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The application discloses a design method and device of a phase compensator, a storage medium and an acquisition system. The method comprises the following steps: obtaining equivalent electrical parameters of a sampling conditioning circuit of the transformer; determining a transfer function representing the phase frequency characteristic of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer; determining design parameters of the phase compensator based on the transfer function, the design parameters including: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit. Therefore, the phase compensator designed based on the method of the embodiment of the application can carry out phase compensation on the current signals collected by the current transformer, can effectively reduce the control cost of the three-phase motor, particularly can realize collection of phase current on the basis of meeting effective voltage vectors in an overmodulation region, and can further increase the output torque of the motor and improve the utilization rate of power supply voltage under the condition that the bus voltage is unchanged.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a method and apparatus for designing a phase compensator, a storage medium, and an acquisition system.
Background
Along with the positive popularization of energy-saving and consumption-reducing technologies, the energy-saving technology of motor control is increasingly paid attention to. For example, inverter air conditioners employ permanent magnet synchronous motors (Permanent Magnetic Synchronous Machine, PMSM) with low losses and high efficiency.
When the frequency converter drives the permanent magnet synchronous motor, a three-phase bridge inverter of the frequency converter can be controlled by adopting a Space Vector Pulse Width Modulation (SVPWM) mode. SVPWM is derived from the idea of alternating current 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 in a direct current link and the like.
In the traditional SVPWM control system, because three-phase alternating current signals are required to be measured as feedback, closed-loop control of current is realized, namely, three current sensors are required to be arranged on the alternating current side of the frequency converter, so that the system has the advantages of high cost, complex structure and large volume, and is not beneficial to integration. Reconstruction of three-phase currents using a single current sensor is a hotspot of research.
In practical applications, in order to increase the output voltage of a three-phase bridge inverter to increase the maximum output torque of a motor in motor control, an overmodulation technique is often required. However, when the overmodulation phenomenon occurs, the space vector falls in the invisible area, and the related method for completing the phase current acquisition method based on the single current sensor is difficult to realize.
Therefore, the hall current sensor is often required to collect phase currents of any two phases of the three-phase motor in the overmodulation region, so that the current three-phase current value is obtained, however, the hall current sensor is high in cost, and the cost of three-phase motor control is increased.
Disclosure of Invention
In view of the above, the embodiment of the application provides a design method, a device, a storage medium and an acquisition system of a phase compensator, which aim to acquire phase current 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 method for designing a phase compensator, including:
the method comprises the steps of 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 transfer function characterizing phase frequency characteristics of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer;
determining design parameters of the phase compensator based on the transfer function, the design parameters including: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit.
In some embodiments, the equivalent electrical parameters include: equivalent resistance, equivalent inductance, equivalent capacitance and load resistance, the equivalent model of the current transformer is as follows:
wherein e (t) is electromotive force generated by secondary side induction of the current transformer, phi is induction magnetic flux, M is mutual inductance coefficient, i is primary side winding current, t is time, mu 0 Is magnetic permeability, N 1 N is the number of turns on the primary side 2 Is the number of turns on the secondary side, h is the coercivity coefficient, R out R is the primary side equivalent resistance in Is the secondary side equivalent resistance;
and determining a transfer function representing the phase frequency characteristic of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer, wherein the transfer function adopts the following formula:
wherein H(s) is a transfer function, s is a complex variable of the transfer function, M is a mutual inductance coefficient, R 0 Sampling and conditioning equivalent resistance L of circuit for the mutual inductor 0 Sampling and conditioning the equivalent inductance of the circuit for the mutual inductor, C 0 Sampling and conditioning equivalent capacitance of circuit for the mutual inductor, R l And sampling the load resistance of the conditioning circuit for the mutual inductor.
In some implementations, the determining the design parameters of the phase compensator based on the transfer function includes:
determining a resonant frequency of the current transformer based on the transfer function;
determining a phase correction parameter of the lead compensation circuit and a phase correction parameter of the lag compensation circuit based on the resonant frequency;
and determining the amplitude correction parameters of the lead compensation circuit and the amplitude correction parameters of the lag compensation circuit based on the mutual inductance of the transfer function.
In a second aspect, an embodiment of the present application provides a design apparatus for a phase compensator, including:
the acquisition module is used for acquiring equivalent electrical parameters of the 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 transfer function representing the phase frequency characteristic of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer;
a parameter design module for determining design parameters of the phase compensator based on the transfer function, the design parameters comprising: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit.
In some embodiments, the equivalent electrical parameters include: equivalent resistance, equivalent inductance, equivalent capacitance and load resistance, the equivalent model of the current transformer is as follows:
wherein e (t) is electromotive force generated by secondary side induction of the current transformer, phi is induction magnetic flux, M is mutual inductance coefficient, i is primary side winding current, t is time, mu 0 Is magnetic permeability, N 1 N is the number of turns on the primary side 2 Is the number of turns on the secondary side, h is the coercivity coefficient, R out R is the primary side equivalent resistance in Is the secondary side equivalent resistance;
the operation module adopts the following formula:
wherein H(s) is a transfer function, s is a complex variable of the transfer function, M is a mutual inductance coefficient, R 0 Sampling and conditioning equivalent resistance L of circuit for the mutual inductor 0 Sampling and conditioning the equivalent inductance of the circuit for the mutual inductor, C 0 Sampling and conditioning equivalent capacitance of circuit for the mutual inductor, R l And sampling the load resistance of the conditioning circuit for the mutual inductor.
In some embodiments, the parameter design module is specifically configured to:
determining a resonant frequency of the current transformer based on the transfer function;
determining a phase correction parameter of the lead compensation circuit and a phase correction parameter of the lag compensation circuit based on the resonant frequency;
and determining the amplitude correction parameters of the lead compensation circuit and the amplitude correction parameters of the lag compensation circuit based on the mutual inductance of the transfer function.
In a third aspect, an embodiment of the present application provides a design apparatus for a phase compensator, including: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is adapted to perform the steps of the method according to the first aspect of the embodiment of the application when the computer program is run.
In a fourth aspect, an embodiment of the present application provides a phase current acquisition system of an electric machine, 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 current signals of the secondary side of the current transformer;
the phase compensator designed by the method according to the first aspect of the embodiment of the application is connected with the transformer sampling and conditioning circuit and is used 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.
In some embodiments, the number of the current transformers is two, and the current transformers are respectively arranged on phase lines of any two phases of the three-phase motor, and correspondingly, the transformer sampling conditioning circuit and the phase compensator are arranged in one-to-one correspondence with the current transformers.
In some embodiments, the transformer sampling conditioning circuit comprises: and the sampling resistor is connected in series with the secondary side of the current transformer, and the operational amplifier is connected with two ends of the sampling resistor and used for differential amplification.
In a fifth aspect, an embodiment of the present application provides a storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method according to the embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, the equivalent electrical parameters of the transformer sampling conditioning circuit are obtained, and the transformer sampling conditioning circuit is used for collecting the current signals of the secondary side of the current transformer arranged on the phase line of the motor; determining a transfer function representing the phase frequency characteristic of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer; determining design parameters of the phase compensator based on the transfer function, the design parameters including: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit. Therefore, the phase compensator designed based on the method of the embodiment of the application can carry out phase compensation on the current signals collected by the current transformer, thereby realizing collection of phase line current of the three-phase motor, effectively reducing the control cost of the three-phase motor, especially realizing collection of phase current on the basis of meeting effective voltage vectors in an overmodulation region, and further increasing the output torque of the motor and improving the utilization rate of power supply voltage under the condition of unchanged bus voltage.
Drawings
FIG. 1 is a schematic diagram of a related art motor application system based on bus current collection;
FIG. 2 is a schematic diagram of the distribution of space voltage vectors;
FIG. 3 is a schematic diagram of a space voltage vector invisible area according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a phase shift process in the related art;
FIG. 5 is a flow chart of a design method of a phase compensator according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a sampling conditioning circuit of a transformer according to an embodiment of the present application;
fig. 7 is an equivalent circuit schematic diagram of a transformer sampling conditioning circuit according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a phase compensator according to an embodiment of the present application;
FIG. 9 is a second schematic circuit diagram of a phase compensator according to an embodiment of the present application;
FIG. 10 is a schematic diagram of a design apparatus of a phase compensator according to an embodiment of the present application;
FIG. 11 is a schematic diagram of a design apparatus of a phase compensator according to an embodiment of the present application;
fig. 12 is a schematic diagram showing an arrangement of current transformers on phase lines 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 accompanying 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 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 motor M, the three-phase bridge inverter 101, the direct current power supply DC and the bus current acquisition device 102.
Illustratively, a capacitor C1 is also connected between the positive and negative poles of the direct current power supply DC. The direct current supplied by the direct current power DC is converted into a three-phase power of a motor M, which may be a PMSM, via a three-phase bridge inverter 101. The three-phase bridge inverter 101 may be controlled by a frequency converter using SVPWM. The bus current collection 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 direct current power supply DC and the three-phase bridge inverter 101, and voltages at two ends of the sampling resistor Shunt are transferred to the AD conversion circuit through the operational amplifier, and the AD conversion circuit converts the voltages to generate bus currents, and the bus currents are used in a subsequent phase current collection method, so that the reconstructed three-phase alternating current is used as feedback to realize closed loop control of the currents.
It will be appreciated that the three-phase bridge inverter is controlled by SVPWM modulation, and has 8 switching states, including 6 non-zero voltage vectors (V 1 -V 6 ) And 2 zero voltage vectors (V 0 And V 7 ) 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 bus current sampled at different moments 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 |
| V 1 | I c | V 5 | -I b |
| V 2 | I b | V 6 | -I c |
| V 3 | -I a | V 0 | 0 |
| V 4 | I a | V 7 | 0 |
In practical applications, the sampling window is satisfied in consideration of the sampling of the bus current, i.e. a non-zero voltage vector is required to last for 1 minimum sampling period T min ，T min ＝T d +T set +T AD Wherein T is d Represents dead time length of upper and lower bridge arms, T set Indicating the bus current establishment time length, T AD Representing the sample transition duration.
As shown in fig. 3, when the output voltage vector is in the vicinity of the low modulation region or the non-zero voltage vector, the duration in which the non-zero voltage vector may exist for 1 PWM period is less than T min Is the case in (a). This situation makes the sampled bus current meaningless. In the embodiment of the application, the area where two different-phase currents (namely, bus direct currents corresponding to two non-zero voltage vectors) cannot be sampled in one PWM period is collectively called an invisible area.
In the related art, in order to ensure that two-phase currents can be sampled in each PWM period, it is necessary to ensure that two-phase currents are sampled in one PWM period through phase shifting processing in an invisible area. For example, as shown in fig. 4, illustratively, the three-phase line includes: a phase, b phase and c phase circuits, the original sampling window of T1 is smaller than T min Will shift the b phase high level to the right by T through phase shift processing shift The sampling window of the phase-shifted T1 can be made equal to T min 。
When the invisible area is an overmodulation area, for example, an area outside the hexagonal inscribed circle shown in fig. 3, a problem that the effective vector voltage cannot be satisfied due to shifting the phase shift out of the PWM period occurs, however, if the PWM period of the vector voltage is ensured, a situation that a sampling window cannot be provided, so that two-phase currents cannot be collected in one PWM period occurs, and therefore, the related method for collecting phase currents based on the phase shift processing cannot satisfy the reconstruction requirement of three-phase currents of the overmodulation area.
It should be noted that, the above-mentioned three-phase current reconstruction based on bus current sampling does not obtain the phase current of the motor at the same time, and the two samples have a certain time difference, so that the sampling is error, and the current of very narrow pulse cannot be collected due to the influence of switch oscillation. In addition, if a conventional phase current sampling sensor (e.g., a hall current sensor) is used instead, an excessive increase in cost is caused.
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 low-price current transformer is used to sample the phase current, however, the current transformer is an instrument for converting the current of the primary side into the current of the secondary side to measure according to the electromagnetic induction principle, which has the problem of phase delay.
Based on the above, in various embodiments of the present application, a method for designing a phase compensator for sampling topology of a current transformer is provided, and based on the phase compensator designed by the method of the embodiment of the present application, phase compensation can be performed on a current signal collected by the current transformer, so as to obtain an actual phase current.
As shown in fig. 5, an embodiment of the present application provides a method for designing a phase compensator, including:
step 501, 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.
Step 502, determining a transfer function characterizing the phase frequency characteristic of the current transformer based on the equivalent electrical parameters and the equivalent model of the current transformer.
Step 503, determining design parameters of the phase compensator based on the transfer function, the design parameters including: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit.
It can be understood that the phase compensator designed on the basis of the method can perform phase compensation on the current signals collected by the current transformer, so that collection of phase line current of the three-phase motor is realized, control cost of the three-phase motor can be effectively reduced, especially in an overmodulation region, collection of phase current can be realized on the basis of meeting an effective voltage vector, and further, under the condition that bus voltage is unchanged, output torque of the motor is increased, and utilization rate of power supply voltage is improved.
As shown in fig. 6, in an embodiment of the present application, a transformer sampling conditioning circuit includes: the sampling resistor Rs is connected in series with the secondary side of the current transformer, and the operational amplifier is connected to the two ends of the sampling resistor Rs and used for differential amplification.
It can be understood that when the current induced by the secondary side of the current transformer flows through the sampling resistor Rs, the current can be outputted after being amplified by the operational amplifier, 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, because the current transformer is based on electromagnetic induction effect, there is phase shift that the time delay leads to in the current signal of secondary side, leads to the current signal that the current transformer gathered to have the phase delay, can't carry out the vector control of motor.
Illustratively, the equivalent model of the current transformer is as follows:
wherein e (t) is electromotive force generated by secondary side induction of the current transformer, phi is induction magnetic flux, M is mutual inductance coefficient, i is primary side winding current, t is time, mu 0 Is magnetic permeability, N 1 N is the number of turns on the primary side 2 Is the number of turns on the secondary side, h is the coercivity coefficient, R out R is the primary side equivalent resistance in Is the secondary side equivalent resistance.
Illustratively, the transformer sampling conditioning circuit shown in fig. 6 is equivalent to the equivalent circuit shown in fig. 7. The equivalent electrical parameters of the equivalent circuit shown in fig. 7 can be tested by an LCR (inductance capacitance resistance) tester. As shown in fig. 7, equivalent electrical parameters include: equivalent resistance R 0 Equivalent inductance L 0 Equivalent capacitance C 0 Load resistor R l 。
Illustratively, the transfer function characterizing the phase frequency characteristics of the current transformer is determined based on the equivalent electrical parameters and the equivalent model of the current transformer using the following formula:
wherein H(s) is a transfer function, s is a complex variable of the transfer function, M is a mutual inductance coefficient, R 0 Equivalent resistance L of sampling and conditioning circuit for mutual inductor 0 Equivalent inductance of sampling conditioning circuit for mutual inductor, C 0 Equivalent capacitance R of sampling conditioning circuit for mutual inductor l The load resistance of the conditioning circuit is sampled for the transformer.
From the transfer function H(s) described above, it can be known that: the phase frequency characteristic of the current transformer is smaller than the resonance frequencyIs advanced at a frequency band greater than the resonance frequency +>Is lagging, based on which the design parameters of the phase compensator can be designed。
In some embodiments, determining the design parameters of the phase compensator based on the transfer function includes:
determining a resonant frequency of the current transformer based on the transfer function;
determining a phase correction parameter of the lead compensation circuit and a phase correction parameter of the lag compensation circuit based on the resonant frequency;
and determining the amplitude correction parameters of the lead compensation circuit and the amplitude correction parameters of the lag compensation circuit based on the mutual inductance of the transfer function.
Illustratively, as shown in fig. 8 and 9, the phase compensator may include: and a lead compensation circuit A and a lag compensation circuit B connected in series. Wherein, the lead compensation circuit A includes: the first end of the resistor R1 is used as an input end, the second end of the resistor R1 is connected with the first end of the resistor R2, the capacitor C1 is connected in parallel with the two ends of the resistor R2, the second end of the resistor R2 is used as an output end, and the second end is grounded through the resistor R3. The hysteresis compensation circuit B includes: the inverting input end of the operational amplifier is grounded, the non-inverting input end of the operational amplifier is connected with the resistor Rs, and the non-inverting input end of the operational amplifier is connected with the output end through the capacitor C2 and the resistor Rf.
Here, the transfer function of the lead compensation circuit a is as follows:
wherein K is 1 For the amplitude correction parameter of the lead compensation circuit a,w 11 、w 22 for the phase correction parameter of the lead compensation circuit A, < >>
The transfer function of the hysteresis compensation circuit B is as follows:
wherein K is 2 For the amplitude correction parameter of the hysteresis compensation circuit B,w 2 for the phase correction parameter of the hysteresis compensation circuit B, < >>
Illustratively, the resonant frequency of the current transformer may be basedDetermining a phase correction parameter of the lead compensation circuit and a phase correction parameter of the lag compensation circuit, in particular, < >>
The amplitude correction parameters of the lead compensation circuit and the lag compensation circuit, in particular, K, may be determined based on the mutual inductance of the transfer function of the current transformer 1 And K 2 Satisfy K 1 *K 2 * M=1.
Therefore, the design parameters of the phase compensator can be reasonably designed based on the method of the embodiment of the application, and the parameters of each element in the lead compensation circuit A and the lag compensation circuit B can be further determined, so that the phase compensator can compensate the phase deviation caused by the acquisition of the current transformer, and the phase current is restored.
In order to implement the method according to the embodiment of the present application, the embodiment of the present application further provides a device for designing a phase compensator, where the device for designing a phase compensator corresponds to the method for designing a phase compensator, and each step in the method embodiment of designing a phase compensator is also fully applicable to the embodiment of the device for designing a phase compensator according to the present application.
As shown in fig. 10, the design apparatus of the phase compensator includes: an acquisition module 1001, an operation module 1002 and a parameter design module 1003.
The acquisition module 1001 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 1002 is configured to determine a transfer function characterizing a phase frequency characteristic of the current transformer based on the equivalent electrical parameter and an equivalent model of the current transformer;
a parameter design module 1003, configured to determine design parameters of the phase compensator based on the transfer function, where the design parameters include: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit.
In some embodiments, the equivalent electrical parameters include: equivalent resistance, equivalent inductance, equivalent capacitance and load resistance, the equivalent model of the current transformer is as follows:
wherein e (t) is electromotive force generated by secondary side induction of the current transformer, phi is induction magnetic flux, M is mutual inductance coefficient, i is primary side winding current, t is time, mu 0 Is magnetic permeability, N 1 N is the number of turns on the primary side 2 Is the number of turns on the secondary side, h is the coercivity coefficient, R out R is the primary side equivalent resistance in Is the secondary side equivalent resistance;
the arithmetic module 1002 uses the following formula:
wherein H(s) is a transfer function, s is a complex variable of the transfer function, M is a mutual inductance coefficient, R 0 Equivalent resistance L of sampling and conditioning circuit for mutual inductor 0 Equivalent inductance of sampling conditioning circuit for mutual inductor, C 0 Equivalent capacitance R of sampling conditioning circuit for mutual inductor l The load resistance of the conditioning circuit is sampled for the transformer.
In some embodiments, the parameter design module 1003 is specifically configured to:
determining a resonant frequency of the current transformer based on the transfer function;
determining a phase correction parameter of the lead compensation circuit and a phase correction parameter of the lag compensation circuit based on the resonant frequency;
and determining the amplitude correction parameters of the lead compensation circuit and the amplitude correction parameters of the lag compensation circuit based on the mutual inductance of the transfer function.
In practical application, the obtaining module 1001, the calculating module 1002 and the parameter designing module 1003 may be implemented by a processor of the phase compensator designing apparatus. Of course, the processor needs to run a computer program in memory to implement its functions.
It should be noted that: in the design apparatus for a phase compensator according to the above embodiment, only the division of the program modules is used for illustration, and in practical application, the process allocation may be performed by different program modules according to needs, i.e. the internal structure of the apparatus is divided into different program modules to complete all or part of the processes described above. In addition, the design device of the phase compensator provided in the above embodiment and the design method embodiment of the phase compensator belong to the same concept, and the detailed implementation process of the design device of the phase compensator is detailed in the method embodiment, which is not repeated here.
Based on the hardware implementation of the program modules, and in order to implement the method of the embodiment of the present application, the embodiment of the present application further provides a design device of the phase compensator. Fig. 11 shows only an exemplary structure of the design apparatus of the phase compensator, not all of which, a part of or all of the structure shown in fig. 11 may be implemented as needed.
As shown in fig. 11, a design apparatus 1100 of a phase compensator provided by an embodiment of the present application includes: at least one processor 1101, memory 1102, and a user interface 1103. The various components in the phase compensator design apparatus 1100 are coupled together by a bus system 1104. It is to be appreciated that the bus system 1104 is employed to facilitate connection communications among the components. The bus system 1104 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration, the various buses are labeled as bus system 1104 in fig. 11.
The user interface 1103 may include, among other things, a display, keyboard, mouse, trackball, click wheel, keys, buttons, touch pad, or touch screen, etc.
The memory 1102 in an embodiment of the present application is used to store various types of data to support the operation of the design apparatus of the phase compensator. Examples of such data include: any computer program for operating on a design device of a phase compensator.
The phase current acquisition disclosed in the embodiments of the present application may be applied to the processor 1101 or implemented by the processor 1101. The processor 1101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of phase current acquisition may be accomplished by integrated logic circuitry in hardware or instructions in software in the processor 1101. The processor 1101 may be a general purpose processor, a digital signal processor (DSP, digital Signal Processor), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 1101 may implement or perform the methods, steps and logic blocks disclosed in embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiment of the application can be directly embodied in the hardware of the decoding processor or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a memory 1102 and the processor 1101 reads information from the memory 1102 and in combination with its hardware performs the phase current acquisition steps provided by embodiments of the present application.
In an exemplary embodiment, the design apparatus of the phase compensator may be implemented by one or more application specific integrated circuits (ASIC, application Specific Integrated Circuit), DSPs, programmable logic devices (PLD, programmable Logic Device), complex programmable logic devices (CPLD, complex Programmable Logic Device), field programmable gate arrays (FPGA, field Programmable Gate Array), general purpose processors, controllers, microcontrollers (MCU, micro Controller Unit), microprocessors (Microprocessor), or other electronic components for performing the aforementioned methods.
It is to be appreciated that memory 1102 can be volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory described by embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.
The embodiment of the application also provides a phase current acquisition system of the motor, which comprises: the phase compensator comprises a current transformer, a transformer sampling conditioning circuit and a phase compensator designed by the method, wherein 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 current signals of the secondary side of the current transformer; the phase compensator is connected with the transformer sampling conditioning circuit and is used for performing phase shift compensation on the current signal output by the transformer sampling conditioning circuit to obtain the phase current of the phase line.
As shown in fig. 12, the number of the current transformers is two, and the current transformers are respectively arranged on phase lines of any two phases of the three-phase motor, and accordingly, the transformer sampling conditioning circuits and the phase compensators are arranged in one-to-one correspondence with the current transformers.
It can be understood that in the overmodulation region, the embodiment of the application can obtain two-phase current after phase-shift compensation processing based on the phase-line current signals acquired by the two current transformers, further obtain current three-phase current, and then realize vector closed-loop control of the motor.
Illustratively, as shown in fig. 6, the transformer sampling conditioning circuit includes: the sampling resistor Rs is connected in series with the secondary side of the current transformer, and the operational amplifier is connected to the two ends of the sampling resistor Rs and used for differential amplification.
In an exemplary embodiment, the present application also provides a storage medium, i.e. a computer storage medium, which may be a computer readable storage medium in particular, for example, including a memory 1102 storing a computer program executable by the processor 1101 of the phase current collecting device to perform the steps of the method of the embodiment of the present application. The computer readable storage medium may be ROM, PROM, EPROM, EEPROM, flash Memory, magnetic surface Memory, optical disk, or CD-ROM.
It should be noted that: "first," "second," etc. are used to distinguish similar objects and not necessarily to describe a particular order or sequence.
In addition, the embodiments of the present application may be arbitrarily combined without any collision.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (9)
1. A method of designing a phase compensator, comprising:
the method comprises the steps of 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 transfer function characterizing phase frequency characteristics of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer;
determining design parameters of the phase compensator based on the transfer function, the design parameters including: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit; wherein,
the determining design parameters of the phase compensator based on the transfer function includes:
determining a resonant frequency of the current transformer based on the transfer function;
determining a phase correction parameter of the lead compensation circuit and a phase correction parameter of the lag compensation circuit based on the resonant frequency, the phase correction parameter of the lead compensation circuit characterizing a turning frequency of the lead compensation circuit, the phase correction parameter of the lag compensation circuit characterizing the turning frequency of the lag compensation circuit;
and determining the amplitude correction parameters of the lead compensation circuit and the amplitude correction parameters of the lag compensation circuit based on the mutual inductance of the transfer function.
2. The method of claim 1, wherein the equivalent electrical parameters comprise: equivalent resistance, equivalent inductance, equivalent capacitance and load resistance, the equivalent model of the current transformer is as follows:
wherein e (t) is electromotive force generated by secondary side induction of the current transformer, phi is induction magnetic flux, M is mutual inductance coefficient, i is primary side winding current, t is time, mu 0 Is magnetic permeability, N 1 N is the number of turns on the primary side 2 Is the number of turns on the secondary side, h is the coercivity coefficient, R out R is the primary side equivalent resistance in Is the secondary side equivalent resistance;
and determining a transfer function representing the phase frequency characteristic of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer, wherein the transfer function adopts the following formula:
wherein H(s) is a transfer function, s is a complex variable of the transfer function, M is a mutual inductance coefficient, R 0 Sampling and conditioning equivalent resistance L of circuit for the mutual inductor 0 Sampling and conditioning the equivalent inductance of the circuit for the mutual inductor, C 0 Sampling and conditioning equivalent capacitance of circuit for the mutual inductor, R l Sampling the mutual inductorThe load resistance of the conditioning circuit.
3. A design apparatus for a phase compensator, comprising:
the acquisition module is used for acquiring equivalent electrical parameters of the 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 transfer function representing the phase frequency characteristic of the current transformer based on the equivalent electrical parameters and an equivalent model of the current transformer;
a parameter design module for determining design parameters of the phase compensator based on the transfer function, the design parameters comprising: correction parameters of the lead compensation circuit and correction parameters of the lag compensation circuit; wherein,
the parameter design module is specifically used for determining the resonant frequency of the current transformer based on the transfer function; determining a phase correction parameter of the lead compensation circuit and a phase correction parameter of the lag compensation circuit based on the resonant frequency; the resonance frequency is between two turning frequencies of the lead compensation circuit and is larger than the turning frequency of the lag compensation circuit; and determining the amplitude correction parameters of the lead compensation circuit and the amplitude correction parameters of the lag compensation circuit based on the mutual inductance of the transfer function.
4. A phase compensator design apparatus according to claim 3, wherein the equivalent electrical parameters include: equivalent resistance, equivalent inductance, equivalent capacitance and load resistance, the equivalent model of the current transformer is as follows:
wherein e (t) is electromotive force generated by secondary side induction of the current transformer, phi is induction magnetic flux, M is mutual inductance coefficient, i is primary side winding current, t is time, mu 0 Is magnetic permeability, N 1 N is the number of turns on the primary side 2 Is the number of turns on the secondary side, h is the coercivity coefficient, R out R is the primary side equivalent resistance in Is the secondary side equivalent resistance;
the operation module adopts the following formula:
wherein H(s) is a transfer function, s is a complex variable of the transfer function, M is a mutual inductance coefficient, R 0 Sampling and conditioning equivalent resistance L of circuit for the mutual inductor 0 Sampling and conditioning the equivalent inductance of the circuit for the mutual inductor, C 0 Sampling and conditioning equivalent capacitance of circuit for the mutual inductor, R l And sampling the load resistance of the conditioning circuit for the mutual inductor.
5. A design apparatus of a phase compensator, comprising: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor being adapted to perform the steps of the method of any of claims 1 to 2 when the computer program is run.
6. 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 current signals of the secondary side of the current transformer;
the phase compensator designed by the method according to any one of claims 1 to 2 is connected with the transformer sampling conditioning circuit and is used for performing phase shift compensation on a current signal output by the transformer sampling conditioning circuit to obtain a phase current of the phase line.
7. The phase current collection system according to claim 6, wherein,
the number of the current transformers is two, the current transformers are respectively arranged on phase lines of any two phases of the three-phase motor, and correspondingly, the transformer sampling conditioning circuit, the phase compensator and the current transformers are arranged in one-to-one correspondence.
8. The phase current collection system according to claim 6, wherein,
the mutual inductor sampling conditioning circuit comprises: and the sampling resistor is connected in series with the secondary side of the current transformer, and the operational amplifier is connected with two ends of the sampling resistor and used for differential amplification.
9. A storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method according to any of claims 1 to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111137852.1A CN113872480B (en) | 2021-09-27 | 2021-09-27 | Design method and device of phase compensator, storage medium and acquisition system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111137852.1A CN113872480B (en) | 2021-09-27 | 2021-09-27 | Design method and device of phase compensator, storage medium and acquisition system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113872480A CN113872480A (en) | 2021-12-31 |
| CN113872480B true CN113872480B (en) | 2023-11-10 |
Family
ID=78991407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111137852.1A Active CN113872480B (en) | 2021-09-27 | 2021-09-27 | Design method and device of phase compensator, storage medium and acquisition system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113872480B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4745991A (en) * | 1986-04-03 | 1988-05-24 | Mitsubishi Denki Kabushiki Kaisha | Speed control apparatus for A.C. elevator |
| CN102005729A (en) * | 2010-12-10 | 2011-04-06 | 丹东华通测控有限公司 | Method for self-adaptation to alternating-current input signals of intelligent motor protection controller |
| CN104113260A (en) * | 2014-05-27 | 2014-10-22 | 邯郸美的制冷设备有限公司 | Air conditioner, AC asynchronous motor control circuit and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10263553B2 (en) * | 2015-12-14 | 2019-04-16 | Rolls-Royce North American Technologies Inc. | Synchronous electrical power distribution system |
-
2021
- 2021-09-27 CN CN202111137852.1A patent/CN113872480B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4745991A (en) * | 1986-04-03 | 1988-05-24 | Mitsubishi Denki Kabushiki Kaisha | Speed control apparatus for A.C. elevator |
| CN102005729A (en) * | 2010-12-10 | 2011-04-06 | 丹东华通测控有限公司 | Method for self-adaptation to alternating-current input signals of intelligent motor protection controller |
| CN104113260A (en) * | 2014-05-27 | 2014-10-22 | 邯郸美的制冷设备有限公司 | Air conditioner, AC asynchronous motor control circuit and method |
Non-Patent Citations (2)
| Title |
|---|
| Rogowski线圈电流互感器相差分析与补偿研究;王奕等;《机电工程技术》;第42卷(第3期);第17-21页 * |
| 空心线圈电流互感器传变特性及对继电保护的适应性分析;何瑞文等;《电网技术》;第37卷(第5期);第1471-1476页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113872480A (en) | 2021-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113740601B (en) | Phase current acquisition method, apparatus, device, system and storage medium | |
| Qin et al. | Generalized average modeling of dual active bridge DC–DC converter | |
| Cho et al. | A three-phase current reconstruction strategy with online current offset compensation using a single current sensor | |
| JP3342662B2 (en) | Pulse width modulation (PWM) system | |
| US7898236B2 (en) | Varying operation of a voltage regulator, and components thereof, based upon load conditions | |
| TW201212499A (en) | Grid-tie inverter | |
| US9960708B2 (en) | Apparatus and method for an active-switched inverter using multiple frequencies | |
| CN104682690A (en) | Estimation method and device of effective value of alternating-current voltage of power supply device | |
| US20220397155A1 (en) | Magnetic suspension bearing, magnetic suspension bearing control system and control method | |
| CN106685210A (en) | Power factor correction circuit, control method and controller | |
| CN113872484B (en) | Three-phase current reconstruction method, device, equipment and storage medium | |
| CN113872480B (en) | Design method and device of phase compensator, storage medium and acquisition system | |
| CN113872485A (en) | Motor control method, device, equipment, system and storage medium | |
| CN113067475A (en) | Current superposition type DC-DC converter inductive current detection circuit and method | |
| CN201285409Y (en) | Phase voltage detection circuit | |
| Yoon et al. | Current balancing of interleaved boost PFC converter with auxiliary winding coupled inductor | |
| Lemmen et al. | Advances in high-precision amplifiers—The extra L opposed current converter | |
| Wu et al. | A Frequency-Adaptive Delay Signal Cancelation Based Filter to Reduce Position Estimation Error for Sensorless IPMSM Drives | |
| CN110261660A (en) | Inductive current detection circuit | |
| CN108241129A (en) | Switching power supply output filter capacitor monitoring device and method | |
| CN111579859B (en) | Magnetic balance sensor based on digital compensation technology | |
| Chen et al. | Control scheme and characteristics analysis of three-phase series resonant converter suitable for contactless slipring system | |
| CN113162421A (en) | Power supply circuit and power supply equipment | |
| CN207559560U (en) | Based on the single-phase shunt active power filter for improving Repetitive controller | |
| Zhou et al. | Hardware design of the PMSM control system based on DSP and CPLD |
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 |