CN113872486B - Three-phase current reconstruction method, device, equipment and storage medium - Google Patents
Three-phase current reconstruction method, device, equipment and storage medium Download PDFInfo
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- CN113872486B CN113872486B CN202111136170.9A CN202111136170A CN113872486B CN 113872486 B CN113872486 B CN 113872486B CN 202111136170 A CN202111136170 A CN 202111136170A CN 113872486 B CN113872486 B CN 113872486B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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- Control Of Ac Motors In General (AREA)
Abstract
The application discloses a three-phase current reconstruction method, a three-phase current reconstruction device, three-phase current reconstruction equipment and a storage medium. The method comprises the following steps: in a first mode of pulse width modulation, calculating a current three-phase duty cycle based on three-phase current values of a previous PWM period; determining to enter a pulse width modulated unobservable region based on the three-phase duty cycle; switching the control mode from the first mode to a second mode controlled by a six-step square wave method; and determining the current three-phase current value based on the bus current values corresponding to the two adjacent sectors acquired in the six-step square wave method. The space vector can fall in an unobservable area, three-phase current reconstruction is realized, particularly in an overmodulation area, three-phase current reconstruction can be realized on the basis of meeting an effective voltage vector, and then the output torque of a motor can be increased under the condition that the bus voltage is unchanged, and the utilization rate of the power supply voltage is improved.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a three-phase current reconstruction method, apparatus, device, and storage medium.
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 three-phase current reconstruction based on the single current sensor is difficult to realize.
Disclosure of Invention
In view of this, the embodiments of the present application provide a three-phase current reconstruction method, apparatus, device, and storage medium, which aim to satisfy the three-phase current reconstruction in the overmodulation region.
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 three-phase current reconstruction method, including:
in a first mode of pulse width modulation (Pulse Width Modulation, PWM), calculating a present three-phase duty cycle based on three-phase current values of a previous PWM period;
determining to enter the pulse width modulated unobservable region based on the three-phase duty cycle;
switching a control mode from the first mode to a second mode controlled by a six-step square wave method;
determining a current three-phase current value based on bus current values corresponding to two adjacent sectors acquired in the six-step square wave method;
the six-step square wave method is used for switching control among six non-zero voltage vectors, each sector in the six-step square wave method is provided with a first sampling window for collecting bus current values after entering and a second sampling window for collecting bus current values before exiting, and bus current values corresponding to two adjacent sectors comprise the bus current value of the second sampling window of the previous sector and the bus current value of the first sampling window of the current sector.
In some embodiments, the method further comprises:
calculating a three-phase duty cycle based on the present three-phase current value;
Determining to enter an unobservable region of the pulse width modulation based on the three-phase duty cycle, continuing to operate the second mode;
and switching to the first mode operation if the three-phase duty ratio determines that the pulse width modulation invisible area is not entered.
In some implementations, the determining to enter the pulse width modulated unobservable region based on the three-phase duty cycle includes:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining an invisible area entering the pulse width modulation based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
In some embodiments, the determining to enter the pulse width modulated unobservable region based on a high level duration of each phase line, a duration of the PWM period, and a minimum sampling duration of bus current includes one of:
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and the high-level time length of the intermediate phase and the high-level time length of the minimum phase are both smaller than the minimum sampling time length;
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is larger than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
In some implementations, the determining, based on the three-phase duty cycle, that the pulse width modulated unobservable region is not entered includes:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining that the pulse width modulation invisible area is not entered based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
In some embodiments, the determining that the pulse width modulated unobservable region is not entered based on a high level duration of each phase line, a duration of the PWM period, and a minimum sampling duration of bus current includes:
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and at least one of the high-level time length of the intermediate phase and the high-level time length of the minimum phase is greater than or equal to the minimum sampling time length;
The maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
In a second aspect, an embodiment of the present application provides a three-phase current reconstruction apparatus, including:
the duty ratio calculation module is used for calculating the current three-phase duty ratio based on the three-phase current value of the last PWM period in the first mode of Pulse Width Modulation (PWM);
a determining module for determining entry into the pulse width modulated unobservable region based on the three-phase duty cycle;
the mode switching module is used for switching the control mode from the first mode to a second mode controlled by a six-step square wave method;
the current reconstruction module is used for determining a current three-phase current value based on bus current values corresponding to two adjacent sectors acquired in the six-step square wave method;
the six-step square wave method is used for switching control among six non-zero voltage vectors, each sector in the six-step square wave method is provided with a first sampling window for collecting bus current values after entering and a second sampling window for collecting bus current values before exiting, and bus current values corresponding to two adjacent sectors comprise the bus current value of the second sampling window of the previous sector and the bus current value of the first sampling window of the current sector.
In some embodiments, the duty cycle calculation module is further for calculating a three-phase duty cycle based on the present three-phase current value;
the determining module is further configured to determine whether to enter the pulse width modulated non-observable area or determine whether to not enter the pulse width modulated non-observable area based on the three-phase duty cycle;
correspondingly, the mode switching module is used for continuing to operate the second mode if the mode switching module determines to enter the pulse width modulation invisible area; or if the pulse width modulation invisible area is not entered, switching to the first mode operation.
In some embodiments, the determination module is specifically configured to:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining an invisible area entering the pulse width modulation based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
In some embodiments, the determining module determines to enter the pulse width modulated unobservable region based on a high level duration of each phase line, a duration of the PWM period, and a minimum sampling duration of bus current, including one of:
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and the high-level time length of the intermediate phase and the high-level time length of the minimum phase are both smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is larger than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
In some embodiments, the determination module is specifically configured to:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining that the pulse width modulation invisible area is not entered based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
In some embodiments, the determining module determines that the pulse width modulated unobservable region is not entered based on a high level duration of each phase line, a duration of the PWM period, and a minimum sampling duration of bus current, comprising:
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and at least one of the high-level time length of the intermediate phase and the high-level time length of the minimum phase is greater than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
In a third aspect, an embodiment of the present application provides a three-phase current reconstruction apparatus, including: a processor and a memory for storing a computer program capable of running on the processor, wherein,
the processor is configured to execute the steps of the method according to the embodiment of the present application when running the computer program.
In some embodiments, the three-phase current reconstruction device further comprises: and the bus current acquisition device is used for acquiring a sampling value of the bus current and sending the sampling value to the processor.
In a fourth 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 invisible area which enters the pulse width modulation is determined based on the three-phase duty ratio; switching the control mode from a first mode of pulse width modulation to a second mode of six-step square wave method control; determining a current three-phase current value based on bus current values corresponding to two adjacent sectors acquired in a six-step square wave method; the six-step square wave method is used for switching control among six non-zero voltage vectors, each sector in the six-step square wave method is provided with a first sampling window for collecting bus current values after entering and a second sampling window for collecting bus current values before exiting, and bus current values corresponding to two adjacent sectors comprise the bus current value of the second sampling window of the previous sector and the bus current value of the first sampling window of the current sector. The three-phase current reconstruction can be realized when the space vector falls in an unobservable area, particularly in an overmodulation area, the three-phase current reconstruction can be realized on the basis of meeting an effective voltage vector, and then the output torque of the motor can be increased under the condition that the bus voltage is unchanged, and the utilization rate of the power supply voltage is improved.
Drawings
FIG. 1 is a schematic diagram of a system for applying a three-phase current reconstruction method according to an embodiment of the present application;
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 schematic diagram of a six-step square wave method control in an embodiment of the present application;
FIG. 6 is a schematic flow chart of a three-phase current reconstruction method according to an embodiment of the present application;
FIG. 7 is a schematic diagram of current sampling controlled by a six-step square wave method according to an embodiment of the present application;
FIG. 8 is a flow chart of an exemplary three-phase current reconstruction method according to the present application;
FIG. 9 is a schematic diagram of a three-phase current reconstruction device according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a three-phase current reconstruction device according to an embodiment 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.
Before explaining the three-phase current reconstruction method according to the embodiment of the present application, a system to which the three-phase current reconstruction method is applied will be exemplarily described.
As shown in fig. 1, 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 single-resistor sampling circuit includes a resistor R1 connected between a negative electrode of the direct current power supply DC and the three-phase bridge inverter 101, the voltages at two ends of the resistor R1 are transferred to an AD conversion circuit through an operational amplifier, and the AD conversion circuit converts the voltages to generate bus currents, and the bus currents are used for subsequent three-phase current reconstruction, so that the reconstructed three-phase alternating current is used as feedback to realize closed loop control of the current.
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 low modulation region or non-zeroNear the voltage vector, there may be a non-zero voltage vector for a duration less than T for 1 PWM cycle 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 current cannot be collected in one PWM period occurs, and therefore, the related method for reconstructing three-phase current based on the phase shift processing cannot satisfy the reconstruction requirement of the three-phase current of the overmodulation area.
Based on the above, in various embodiments of the present application, a three-phase current reconstruction method capable of adapting to an overmodulation region is provided, so that three-phase current reconstruction can be implemented in the overmodulation region based on bus current.
In the embodiment of the present application, in the overmodulation region, the modulation control may be performed by switching to a six-step square wave (Six Step Square Wave) method, where the voltage vectors run at six vertices of the hexagon shown in fig. 3 and are alternately switched, that is, the switching control is performed between six non-zero voltage vectors, and a specific pulse waveform is shown in fig. 5.
As shown in fig. 6, the three-phase current reconstruction method according to the embodiment of the present application includes:
in step 601, in a first mode of pulse width modulation, a present three-phase duty cycle is calculated based on three-phase current values of a previous PWM period.
Here, the pulse width modulation may be an SVPWM, SPWM (sinusoidal pulse width modulation) or CFPWM (current tracking pulse width modulation) method.
Taking the SVPWM method as an example, the three-phase duty cycle is calculated as follows:
1) Acquiring three-phase current values ia, ib and ic of the previous PWM period, wherein ia is phase current corresponding to an a-phase line, ib is phase current corresponding to a b-phase line, and ic is phase current corresponding to a c-phase line;
2) Determining a magnetic field angle theta and a speed omega of the motor rotor through a speed position estimation module;
3) Obtaining id and iq through a clark transformation and a park transformation on three-phase current values ia, ib and ic, wherein the clark transformation is used for transforming an abc three-axis coordinate system into a static alpha beta coordinate system, the park transformation is used for transforming the static alpha beta coordinate system into a rotating dq coordinate system, the id is a current value of a d axis after transformation, and the iq is a current value of a q axis after transformation;
4) Converting a magnetic field angle theta and a speed omega of a motor rotor to obtain given current values of d-axis and q-axis, and obtaining Vd and Vq through PID (proportional integral derivative) operation based on the given current values and the id and iq obtained in the step 3), wherein Vd is a modulation voltage of the d-axis, and Vq is a modulation voltage of the q-axis;
5) Vd and Vq are subjected to inverse park transformation to obtain V alpha and V beta, wherein V alpha is the modulation voltage of the alpha axis, and V beta is the modulation voltage of the beta axis;
6) Calculating V alpha and V beta through SV vectors to obtain Va, vb and Vc, wherein Va is the modulation voltage of the a axis, vb is the modulation voltage of the a axis, and Vc is the modulation voltage of the a axis;
7) Calculating three-phase duty ratio by bus voltage and obtaining Va, vb and Vc a 、duty b 、duty c Wherein, duty a Duty for the a phase duty cycle b Duty for phase b c Is the duty cycle of phase c.
Step 602, determining to enter an unobservable region of pulse width modulation based on a three-phase duty cycle.
Step 603, switching the control mode from the first mode to a second mode controlled by the six-step square wave method.
Step 604, determining a current three-phase current value based on bus current values corresponding to two adjacent sectors acquired in the six-step square wave method.
Here, the six-step square wave method is used for performing switching control between six non-zero voltage vectors (as shown in fig. 5), in the six-step square wave method, each sector has a first sampling window for collecting bus current values after entering and a second sampling window for collecting bus current values before exiting, and bus current values corresponding to two adjacent sectors include the bus current value of the second sampling window of the previous sector and the bus current value of the first sampling window of the current sector.
It can be understood that, based on the switching of the control modes, the embodiment of the method can realize the reconstruction of the three-phase current when the space vector falls in the unobservable area, especially in the overmodulation area, and can realize the reconstruction of the three-phase current on the basis of meeting the effective voltage vector, thereby increasing the output torque of the motor and improving the utilization rate of the power supply voltage under the condition that the bus voltage is unchanged.
As shown in fig. 7, each sector in the six-step square wave method has a first sampling window and a second sampling window, where the sampling start time of the first sampling window corresponds to t2 in fig. 7, and the sampling start time of the second sampling window corresponds to t1 in fig. 7. The first sampling window and the second sampling window are each at least greater than or equal to a minimum sampling duration. In this way, the current three-phase current value can be restored based on the bus current value corresponding to the t1 sample of the previous sector and the bus current value corresponding to the t2 sample of the current sector.
Illustratively, the method further comprises:
calculating a three-phase duty ratio based on the present three-phase current value;
determining to enter an unobservable region of pulse width modulation based on the three-phase duty cycle, and continuing to operate the second mode;
And determining that the non-observable region of the pulse width modulation is not entered based on the three-phase duty cycle, and switching to the first mode operation.
It is to be understood that the process of calculating the three-phase duty ratio based on the present three-phase current value may refer to the specific description of step 601, and will not be described herein. In this way, whether the lower period is switched to SVPWM or the control is performed by the six-step square wave method can be determined based on the calculated three-phase duty ratio.
Illustratively, determining to enter the pulse width modulated unobservable region based on the three-phase duty cycle includes:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
the invisible area for entering the pulse width modulation is determined based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
Illustratively, assuming Tp is the duration of the PWM period, the high-level duration ta=tp_duty of the a-phase a High-level duration tb=tp of b phase b High-level duration tc=tp of c-phase c 。
In some embodiments, determining to enter the pulse width modulated unobservable region based on the high level duration of the phase lines, the duration of the PWM period, and the minimum sampling duration of the bus current includes one of:
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and the high-level time length of the intermediate phase and the high-level time length of the minimum phase are both smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is larger than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the middle phase is the phase with the duty ratio in the three-phase line in the middle.
It can be understood that when the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM period and the high-level time length of the intermediate phase is smaller than the minimum sampling time length, there is a case where the duty ratios of the two phases are both larger in the three-phase duty ratios; when the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and the high-level time length of the intermediate phase and the high-level time length of the minimum phase are both smaller than the minimum sampling time length, the situation that the duty ratio of two phases is smaller exists in the three-phase duty ratio, and at the moment, the acquisition of the two-phase current cannot be realized through phase shifting processing. Based on the method provided by the embodiment of the application, under the control of the six-step square wave method, the current three-phase current value can be reconstructed, so that the vector control of the motor is realized.
It can be understood that when the difference between the high level time length of the maximum phase and the high level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM period and the high level time length of the intermediate phase is greater than or equal to the minimum sampling time length, the phase shift processing may be performed on the basis of the intermediate phase, so that the two-phase current is sampled in the PWM period, and the three-phase current is reconstructed, or the three-phase current is reconstructed according to the method of the embodiment of the present application, which is not limited.
Illustratively, determining that the pulse width modulated unobservable region is not entered based on the three-phase duty cycle includes:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
the unobservable region which does not enter the pulse width modulation is determined based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
In some embodiments, determining that the pulse width modulated unobservable region is not entered based on the high level duration of the phase lines, the duration of the PWM period, and the minimum sampling duration of the bus current includes:
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length and at least one of the high-level time length of the intermediate phase and the high-level time length of the minimum phase is greater than or equal to the minimum sampling time length;
The maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the middle phase is the phase with the duty ratio in the three-phase line in the middle.
It can be understood that when the space vector is in the observable area, the control can be switched to the pulse width modulation control of the FOC (field-oriented control), and two-phase current can be directly sampled in the PWM period, and the three-phase current value of the current PWM period is reconstructed based on the collected two-phase current.
The three-phase current reconstruction method according to the embodiment of the present application is illustrated below with reference to an application example.
As shown in fig. 8, the three-phase current reconstruction method may include:
step 801, calculating the current three-phase duty cycle and the size of the sampling window.
For example, under the control of pulse width modulation, the three-phase duty ratio of the current PWM period may be calculated based on the three-phase current value of the previous PWM period, and specific reference may be made to the foregoing description, which is not repeated herein.
Here, the size of the sampling window, i.e. the minimum sampling duration T for which the non-zero voltage vector has to last 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.
Step 802, judging whether to enter the invisible area, if not, executing step 803, and returning to step 801, if yes, executing step 804, and returning to step 801.
Illustratively, the high-level duration of each phase line may be determined based on the three-phase duty cycle and the duration of the PWM period; and judging whether to enter an invisible area or not based on the high-level time length of each phase line, the time length of the PWM period and the minimum sampling time length of the bus current.
Step 803, conventional SVPWM control.
It will be appreciated that under conventional SVPWM control, the present three-phase current values may be reconstructed at the observables based on the collected bus current values of the two non-zero voltage vectors, and returned to step 801.
Step 804, switching to a six-step square wave method, and determining a current three-phase current value based on the bus current value in the six-step square wave method.
Here, the present three-phase current value is determined based on the six-step square wave method, and step 801 is returned.
It can be understood that in the application example, when the voltage vector is in the overmodulation region, the method can be switched to a six-step method for control in the invisible region, and the current three-phase current value is determined based on the collected bus current values of two adjacent sectors, so that the requirement of realizing three-phase current reconstruction based on the bus current in the overmodulation region can be met, and the output torque of the motor can be increased and the utilization rate of the power supply voltage can be improved under the condition that the bus voltage is unchanged.
In order to implement the method according to the embodiment of the present application, the embodiment of the present application further provides a three-phase current reconstruction device, where the three-phase current reconstruction device corresponds to the three-phase current reconstruction method, and each step in the embodiment of the three-phase current reconstruction method is also fully applicable to the embodiment of the three-phase current reconstruction device.
As shown in fig. 9, the three-phase current reconstruction device includes: a duty cycle calculation module 901, a determination module 902, a mode switching module 903, and a current reconstruction module 904.
The duty ratio calculation module 901 is configured to calculate a current three-phase duty ratio based on three-phase current values of a previous PWM period in a first mode of pulse width modulation;
the determining module 902 is configured to switch the control mode from the first mode to a second mode controlled by a six-step square wave method;
the current reconstruction module 904 is configured to determine a current three-phase current value based on bus current values corresponding to two adjacent sectors acquired in the six-step square wave method;
the six-step square wave method is used for switching control among six non-zero voltage vectors, each sector in the six-step square wave method is provided with a first sampling window for collecting bus current values after entering and a second sampling window for collecting bus current values before exiting, and bus current values corresponding to two adjacent sectors comprise the bus current value of the second sampling window of the previous sector and the bus current value of the first sampling window of the current sector.
In some embodiments, the duty cycle calculation module 901 is further configured to calculate a three-phase duty cycle based on the present three-phase current value; the determining module 902 is further configured to determine whether to enter the pulse width modulated non-observable area or determine whether to not enter the pulse width modulated non-observable area based on the three-phase duty cycle; accordingly, the mode switching module 903 is configured to continue to operate the second mode if it is determined to enter the pulse width modulated unobservable region; or if the pulse width modulation invisible area is not entered, switching to the first mode operation.
In some embodiments, the determining module 902 is specifically configured to:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
the invisible area for entering the pulse width modulation is determined based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
In some embodiments, the determining module 902 determines to enter the unobservable region of pulse width modulation based on the high level duration of the phase lines, the duration of the PWM period, and the minimum sampling duration of the bus current, including one of:
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is smaller than the minimum sampling time length;
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and the high-level time length of the intermediate phase and the high-level time length of the minimum phase are both smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is larger than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the middle phase is the phase with the duty ratio in the three-phase line in the middle.
In some embodiments, the determining module 902 is specifically configured to:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
the unobservable region which does not enter the pulse width modulation is determined based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
In some embodiments, the determining module 902 determines that the pulse width modulated unobservable region is not entered based on the high level duration of the phase lines, the duration of the PWM period, and the minimum sampling duration of the bus current, comprising:
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length and at least one of the high-level time length of the intermediate phase and the high-level time length of the minimum phase is greater than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the middle phase is the phase with the duty ratio in the three-phase line in the middle.
In practical application, the duty ratio calculation module 901, the determination module 902, the mode switching module 903 and the current reconstruction module 904 may be implemented by a processor of the three-phase current reconstruction device. Of course, the processor needs to run a computer program in memory to implement its functions.
It should be noted that: in the three-phase current reconstruction device provided in the above embodiment, only the division of each program module is used for illustration, and in practical application, the process allocation may be performed by different program modules according to needs, that is, the internal structure of the device is divided into different program modules, so as to complete all or part of the processes described above. In addition, the three-phase current reconstruction device and the three-phase current reconstruction method provided in the foregoing embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments, which are not repeated herein.
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 three-phase current reconstruction device. Fig. 10 shows only an exemplary structure of the three-phase current reconstruction apparatus, not all of which, part or all of the structure shown in fig. 10 may be implemented as needed.
As shown in fig. 10, a three-phase current reconstruction apparatus 1000 provided in an embodiment of the present application includes: at least one processor 1001, memory 1002, and a user interface 1003. The various components in the three-phase current reconstruction device 1000 are coupled together by a bus system 1004. It is to be appreciated that the bus system 1004 serves to facilitate connective communication between these components. The bus system 1004 includes a power bus, a control bus, and a status signal bus in addition to the data bus. The various buses are labeled in fig. 10 as bus system 1004 for clarity of illustration.
Illustratively, the three-phase current reconstruction apparatus 1000 further includes: and the bus current acquisition device is used for acquiring a sampling value of the bus current and sending the sampling value to the processor 1001. For example, the bus current collection device may be a single resistance sampling circuit as shown in fig. 1.
The user interface 1003 may include, among other things, a display, keyboard, mouse, trackball, click wheel, keys, buttons, touch pad, or touch screen, etc.
The memory 1002 in embodiments of the present application is used to store various types of data to support the operation of a three-phase current reconstruction device. Examples of such data include: any computer program for operation on a three-phase current reconstruction device.
The three-phase current reconstruction method disclosed by the embodiment of the application can be applied to the processor 1001 or realized by the processor 1001. The processor 1001 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the three-phase current reconstruction method may be performed by integrated logic circuitry of hardware in the processor 1001 or instructions in the form of software. The processor 1001 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 1001 may implement or execute the methods, steps and logic blocks disclosed in the 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 storage medium located in the memory 1002, and the processor 1001 reads the information in the memory 1002, and in combination with the hardware thereof, performs the steps of the three-phase current reconstruction method provided by the embodiment of the present application.
In an exemplary embodiment, the three-phase current reconstruction device 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 1002 can be either 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.
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 in particular, for example, including a memory 1002 storing a computer program executable by the processor 1001 of the three-phase current reconstruction 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 (15)
1. A method of three-phase current reconstruction, comprising:
in a first mode of Pulse Width Modulation (PWM), calculating a current three-phase duty ratio based on three-phase current values of a previous PWM period;
determining to enter the pulse width modulated unobservable region based on the three-phase duty cycle;
switching a control mode from the first mode to a second mode controlled by a six-step square wave method;
determining a current three-phase current value based on bus current values corresponding to two adjacent sectors acquired in the six-step square wave method;
the six-step square wave method is used for switching control among six non-zero voltage vectors, each sector in the six-step square wave method is provided with a first sampling window for collecting bus current values after entering and a second sampling window for collecting bus current values before exiting, and bus current values corresponding to two adjacent sectors comprise the bus current value of the second sampling window of the previous sector and the bus current value of the first sampling window of the current sector.
2. The method according to claim 1, wherein the method further comprises:
calculating a three-phase duty cycle based on the present three-phase current value;
determining to enter an unobservable region of the pulse width modulation based on the three-phase duty cycle, continuing to operate the second mode;
And switching to the first mode operation if the three-phase duty ratio determines that the pulse width modulation invisible area is not entered.
3. The method of claim 1, wherein the determining to enter the pulse width modulated unobservable region based on the three-phase duty cycle comprises:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining an invisible area entering the pulse width modulation based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
4. A method according to claim 3, wherein said determining to enter the pulse width modulated unobservable region based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of bus current comprises one of:
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and the high-level time length of the intermediate phase and the high-level time length of the minimum phase are both smaller than the minimum sampling time length;
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is larger than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
5. The method of claim 2, wherein the determining that the pulse width modulated unobservable region is not entered based on the three-phase duty cycle comprises:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining that the pulse width modulation invisible area is not entered based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
6. The method of claim 5, wherein the determining that the pulse width modulated unobservable region is not entered based on a high level duration of each phase line, a duration of the PWM period, and a minimum sampling duration of bus current comprises:
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and at least one of the high-level time length of the intermediate phase and the high-level time length of the minimum phase is greater than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
7. A three-phase current reconstruction device, comprising:
the duty ratio calculation module is used for calculating the current three-phase duty ratio based on the three-phase current value of the last PWM period in the first mode of Pulse Width Modulation (PWM);
a determining module for determining entry into the pulse width modulated unobservable region based on the three-phase duty cycle;
the mode switching module is used for switching the control mode from the first mode to a second mode controlled by a six-step square wave method;
the current reconstruction module is used for determining a current three-phase current value based on bus current values corresponding to two adjacent sectors acquired in the six-step square wave method;
the six-step square wave method is used for switching control among six non-zero voltage vectors, each sector in the six-step square wave method is provided with a first sampling window for collecting bus current values after entering and a second sampling window for collecting bus current values before exiting, and bus current values corresponding to two adjacent sectors comprise the bus current value of the second sampling window of the previous sector and the bus current value of the first sampling window of the current sector.
8. The three-phase current reconstruction apparatus according to claim 7, wherein,
the duty ratio calculation module is further used for calculating a three-phase duty ratio based on the current three-phase current value;
the determining module is further configured to determine whether to enter the pulse width modulated non-observable area or determine whether to not enter the pulse width modulated non-observable area based on the three-phase duty cycle;
correspondingly, the mode switching module is used for continuing to operate the second mode if the mode switching module determines to enter the pulse width modulation invisible area; or if the pulse width modulation invisible area is not entered, switching to the first mode operation.
9. The three-phase current reconstruction device according to claim 7, wherein the determining module is specifically configured to:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining an invisible area entering the pulse width modulation based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
10. The three-phase current reconstruction apparatus according to claim 9, wherein the determining module determines to enter the pulse width modulated unobservable region based on a high level duration of each phase line, a duration of the PWM period, and a minimum sampling duration of a bus current, comprising one of:
Determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and the high-level time length of the intermediate phase and the high-level time length of the minimum phase are both smaller than the minimum sampling time length;
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is smaller than the minimum sampling time length and the difference between the time length of the PWM cycle and the high-level time length of the intermediate phase is larger than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
11. The three-phase current reconstruction device according to claim 8, wherein the determining module is specifically configured to:
determining the high-level duration of each phase line based on the three-phase duty cycle and the duration of the PWM period;
and determining that the pulse width modulation invisible area is not entered based on the high level duration of each phase line, the duration of the PWM period and the minimum sampling duration of the bus current.
12. The three-phase current reconstruction apparatus according to claim 11, wherein the determining module determines that the pulse width modulated unobservable region is not entered based on a high level duration of each phase line, a duration of the PWM period, and a minimum sampling duration of a bus current, comprising:
determining that the difference between the high-level time length of the maximum phase and the high-level time length of the intermediate phase is greater than or equal to the minimum sampling time length, and at least one of the high-level time length of the intermediate phase and the high-level time length of the minimum phase is greater than or equal to the minimum sampling time length;
the maximum phase is the phase with the maximum duty ratio in the three-phase line, the minimum phase is the phase with the minimum duty ratio in the three-phase line, and the intermediate phase is the phase with the duty ratio in the three-phase line.
13. A three-phase current reconstruction apparatus, 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 6 when the computer program is run.
14. The three-phase current reconstruction apparatus according to claim 13, further comprising:
And the bus current acquisition device is used for acquiring a sampling value of the bus current and sending the sampling value to the processor.
15. 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 6.
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