CN114244228A - Motor controller bus current estimation optimization method, system, storage medium and computer - Google Patents
Motor controller bus current estimation optimization method, system, storage medium and computer Download PDFInfo
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- CN114244228A CN114244228A CN202111524681.8A CN202111524681A CN114244228A CN 114244228 A CN114244228 A CN 114244228A CN 202111524681 A CN202111524681 A CN 202111524681A CN 114244228 A CN114244228 A CN 114244228A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005457 optimization Methods 0.000 title claims description 20
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005070 sampling Methods 0.000 abstract description 3
- 238000004422 calculation algorithm Methods 0.000 abstract description 2
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the technical field of motor control, in particular to a method, a system, a storage medium and a computer for estimating and optimizing bus current based on a motor controllerdAnd Iq(ii) a Calculating the compensated wave voltage Ud、Uq(ii) a Calculating the control output electromagnetic power P of the motor; calibrating bus voltage UdcAnd calculating the bus current Idc(ii) a The invention compensates and calibrates the key signal needed by calculating the bus current by adopting a software compensation method, thereby obtaining an accurate bus current signal, facilitating the system to carry out bus overcurrent protection and power monitoring, and particularly having a certain protection effect on a battery system under the whole vehicle feed working condition. Without increasing any hardware costThe method has the advantages that the algorithm is simple and practical, and the bus current precision is improved, so that the overcurrent protection of the motor control, the power monitoring requirement of the system background and the current sampling requirement of the battery system are met.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method, a system, a storage medium and a computer for estimating and optimizing bus current based on a motor controller.
Background
In order to reduce the system cost of the whole electric automobile factory, a bus current sensor is not adopted by a motor controller generally, but the safety protection requirement of a motor control system and the background space data monitoring requirement of the whole automobile factory are considered, bus current signals need to be collected, in order to solve the problems of the whole automobile factory, a method for estimating the bus current by software is adopted by a motor controller part supplier.
The permanent magnet synchronous motor obtains more application occasions with high power density, in an electric automobile, the bus current of a controller is estimated by adopting a software algorithm, and the d-axis current, the q-axis current and the U-axis current are converted according to the three-phase current Park at the current momentdAnd UqAnd voltage, calculating the output electromagnetic power of the motor controller, and then calculating the bus current reversely according to the output power and the bus voltage. The calculation formula is as follows:
Idc＝1.5(UdId+UqIq)/Udc
the current technical scheme adopts the current three-phase current and the current wave-generating voltage UdAnd UqCalculating the output electromagnetic power of the controller, delaying the three-phase current phase because the three-phase current has filtering in hardware, and controlling the delay by using digital controld、UqAnd I obtained by samplingd、IqThere is an asynchronism, typically 1.5Ts, where Ts is the control periodAnd (4) period. To sum up, participate in calculating Ud、Uq、Id、IqAnd the asynchronous phenomenon exists, so that the bus current is not accurately estimated.
In addition, the power module of the motor controller has certain power loss, and if the power loss of the controller is not compensated, the estimation precision of the bus current is further reduced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the bus current estimation optimization method, the system, the storage medium and the computer based on the motor controller are provided, wherein the bus current estimation optimization method, the system, the storage medium and the computer are used for increasing current phase delay compensation, wave phase compensation, power loss compensation and bus voltage calibration on the basis of the existing scheme, so that the bus current estimation accuracy is effectively improved.
In order to solve the above technical problems, a first technical solution adopted by the present invention is:
a bus current estimation optimization method based on a motor controller comprises
Calculating post-addition phase delay compensation IdAnd Iq；
Calculating the compensated wave voltage Ud、Uq；
Calculating the control output electromagnetic power P of the motor;
calibrating bus voltage UdcAnd calculating the bus current Idc。
Preferably, the calculating adds post-phase delay compensation IdAnd IqIncluded
Inputting a rotating speed and a rotating acquisition position angle;
acquiring hardware current filtering delay time;
calculating a current compensation angle delta theta according to the rotating speed and the time;
calculating a phase angle of the compensated three-phase current;
performing Clarke and Park conversion on the three-phase current;
output IdAnd Iq。
Preferably, the calculation of the compensated wave-generating voltage Ud、UqIncluded
Obtaining the current time U according to the FOC current loop controld、Uq；
Setting a voltage and current phase compensation time coefficient;
calculating a phase compensation angle delta according to the rotating speed, the time and the compensation coefficient;
calculating actual U'dAnd U'q；
Outputting the actual UdAnd Uq。
Preferably, wherein U 'is calculated'dAnd U'qThe formula of (1) is:
preferably, the compensation voltage amount ratio Δ U is calculatedd％、△UqThe equation of% is:
wherein U isq>0 and Ud<0，|Ud|>|UqAnd the maximum rotating angle range in one PWM period at the highest rotating speed does not exceed 45 degrees.
Preferably, the pre-and post-compensation U's are compared at the same set of voltagesdAnd UqIf compensated for U'dLess than uncompensated UdCompensated U'qGreater than uncompensated UqThe requirements are met.
Preferably, the formula for calculating the real-time output electromagnetic power P is:
P＝1.5(UdId+UqIq)
calibrating efficiency value eta and output electromagnetic power P under different working conditions according to MAP, and back-calculating input powerPintThe calculation formula is as follows:
estimation of bus current I from input powerdcThe calculation formula is as follows:
and carrying out low-pass filtering processing on the estimated bus current.
In order to solve the above technical problem, the second technical solution adopted by the present invention is:
a bus current estimation optimization system based on a motor controller comprises a processing unit, and the processing unit executes the bus current estimation optimization method based on the motor controller.
In order to solve the above technical problems, the third technical solution adopted by the present invention is:
a storage medium storing a computer program which, when executed by a processor, implements the above-described method for optimization based on estimation of bus current by a motor controller.
In order to solve the above technical problem, a fourth technical solution adopted by the present invention is:
a computer comprising at least a memory having a computer program stored thereon, and a processor implementing the above-described optimization method based on motor controller bus current estimation when executing the computer program on the memory.
The invention has the beneficial effects that: by adopting a software compensation method, key signals required by calculating the bus current are compensated and calibrated, so that accurate bus current signals are obtained, the system is convenient to carry out bus overcurrent protection and power monitoring, and especially for the whole vehicle feed working condition, the system has a certain protection effect on a battery system. The method has the advantages that any hardware cost is not required to be increased, the algorithm is simple and practical, and meanwhile, the bus current precision is improved, so that the overcurrent protection requirement of motor control, the background power monitoring requirement of a system and the current sampling requirement of a battery system are met.
Drawings
FIG. 1 is a block diagram illustrating the steps of a method for optimizing a bus current estimation based on a motor controller according to an embodiment of the present invention;
FIG. 2 is a calculation I of a bus current estimation optimization method based on a motor controller according to an embodiment of the present inventiondAnd IqA flow chart;
FIG. 3 is a calculation U based on a bus current estimation optimization method of a motor controller according to an embodiment of the present inventiondAnd UqAnd (4) a flow chart.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Example one
Referring to fig. 1 to 3, a bus current estimation optimization method based on a motor controller comprises
Measuring three-phase currents Ia, Ib and Ic according to a current sensor, reading a current time position signal theta through a rotary transformer, calculating a filtering delay time parameter, a current rotating speed and a delay calibration coefficient according to filtering of a hardware circuit, calculating a three-phase current delay phase angle delta theta at the real-time rotating speed, calculating an accurate phase angle of the three-phase current at the current time, and obtaining accurate alternating-direct axis current I through Clarke and Park conversion of the three-phase currentd、Iq；
According to FOC current closed-loop control, calculating motor control output AC-DC axis current Ud、UqThen controlled according to the digital controller PWM, Ud、UqSpecific current Id、IqIf the delay is 1.5Ts, considering the comprehensive factors and the system test result, the delay time needs to be calibrated and determined, wherein Ts is a control period; to ensure voltage and current synchronization, the current I is calculatedd、IqSynchronized U'dAnd U'qFrom the speed signal and the digital delay time, and the delay factorCalculating the voltage and current delay angle, and then calculating U 'according to formula (1)'dAnd U'q。
Calculating compensation voltage quantity ratio delta U by using rhizosphere formula (2)d％、△UqThe equation of% is:
wherein U isq>0 and Ud<0，|Ud|>|UqAnd the maximum rotating angle range in one PWM period at the highest rotating speed does not exceed 45 degrees.
Comparing U before and after compensation at the same group of voltagedAnd UqCompensated post U'dSpecific uncompensated UdIs to be small, U'qSpecific uncompensated UqIs large. As the rotational speed increases, the amount of compensation correspondingly increases.
And (3) calculating the real-time output electromagnetic power P of the motor controller according to a formula (3), then finding out the current efficiency eta of the motor controller according to an input rotating speed and a torque instruction according to a calibration efficiency MAP table, and inversely calculating the input power of the bus according to the efficiency and the output electromagnetic power.
And finally, calibrating the acquired bus voltage signal according to the actual rack bus voltage, estimating the bus current of the motor controller according to a formula (4), and then performing low-pass filtering processing.
Wherein the content of the first and second substances,
FOC is field oriented Control, magnetic field orientation Control
Clarke, Park transform to prior art.
In summary, the accurate current I is obtained by accurately calculating the d-axis current and the q-axis current of the motor and by a three-phase current phase delay compensation methoddAnd Iq(ii) a Ensuring current Id、IqAnd Ud、UqSynchronization, namely calculating the synchronized voltage U by adopting a rotating speed and digital delay time methoddAnd Uq(ii) a And accurately calculating the input power of the controller according to the power compensation, and calibrating the bus voltage.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A bus current estimation optimization method based on a motor controller is characterized by comprising the following steps
Calculating post-addition phase delay compensation IdAnd Iq；
Calculating the compensated wave voltage Ud、Uq；
Calculating the control output electromagnetic power P of the motor;
calibrating bus voltage UdcAnd calculating the bus current Idc。
2. The method of claim 1, wherein the calculating adds post-phase delay compensation IdAnd IqIncluded
Inputting a rotating speed and a rotating acquisition position angle;
acquiring hardware current filtering delay time;
calculating a current compensation angle delta theta according to the rotating speed and the time;
calculating a phase angle of the compensated three-phase current;
performing Clarke and Park conversion on the three-phase current;
output IdAnd Iq。
3. The method of claim 1, wherein the calculating the compensated ripple voltage U is based on a bus current estimation optimization of a motor controllerd、UqIncluded
Obtaining the current time U according to the FOC current loop controld、Uq；
Setting a voltage and current phase compensation time coefficient;
calculating a phase compensation angle delta according to the rotating speed, the time and the compensation coefficient;
calculating actual U'dAnd U'q；
Outputting the actual UdAnd Uq。
4. The motor controller bus current estimation optimization method of claim 3, wherein U 'is calculated'dAnd U'qThe formula of (1) is:
5. the method of claim 4, wherein calculating the compensation voltage amount ratio Δ Ud％、△UqThe equation of% is:
wherein U isq>0 and Ud<0，|Ud|>|UqAnd at the mostThe maximum rotating angle range in one PWM period of high rotating speed does not exceed 45 degrees.
6. The method of claim 5 wherein the pre-compensation and post-compensation U's are compared for the same set of voltagesdAnd UqIf compensated for U'dLess than uncompensated UdCompensated U'qGreater than uncompensated UqThe requirements are met.
7. The motor controller bus current estimation optimization method according to claim 3, wherein the formula for calculating the real-time output electromagnetic power P is as follows:
P＝1.5(UdId+UqIq)
calibrating efficiency value eta and output electromagnetic power P under different working conditions according to MAP, and back-calculating input power PintThe calculation formula is as follows:
estimation of bus current I from input powerdcThe calculation formula is as follows:
and carrying out low-pass filtering processing on the estimated bus current.
8. A motor controller bus current estimation optimization system, comprising a processing unit that performs the motor controller bus current estimation optimization method of any one of claims 1-7.
9. A storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-7 for optimization of motor controller based bus current estimation.
10. A computer comprising at least a memory having a computer program stored thereon, a processor, wherein the processor when executing the computer program on the memory implements the method of optimization based on motor controller bus current estimation of any of claims 1-7.
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| CN202111524681.8A CN114244228A (en) | 2021-12-14 | 2021-12-14 | Motor controller bus current estimation optimization method, system, storage medium and computer |
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| CN202111524681.8A CN114244228A (en) | 2021-12-14 | 2021-12-14 | Motor controller bus current estimation optimization method, system, storage medium and computer |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH09224399A (en) * | 1996-02-15 | 1997-08-26 | Nippon Soken Inc | Control device of induction motor |
| US20040245950A1 (en) * | 2003-06-06 | 2004-12-09 | Ang June Christian | Electrical phase compensation in BEMF spindle motor control |
| JP2011234452A (en) * | 2010-04-26 | 2011-11-17 | Mitsubishi Electric Corp | Controller of synchronous motor |
| CN102437807A (en) * | 2010-10-26 | 2012-05-02 | 国家电网公司 | Variable frequency transformer control system |
| WO2013061808A1 (en) * | 2011-10-27 | 2013-05-02 | 日立オートモティブシステムズ株式会社 | Vehicle-driving induction motor controller |
| CN103326659A (en) * | 2013-07-05 | 2013-09-25 | 合肥工业大学 | Control method for directionally correcting rotor field of asynchronous motor |
| CN108712126A (en) * | 2018-06-28 | 2018-10-26 | 上海英恒电子有限公司 | Applied to the bus current method of estimation in electric machine controller |
-
2021
- 2021-12-14 CN CN202111524681.8A patent/CN114244228A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09224399A (en) * | 1996-02-15 | 1997-08-26 | Nippon Soken Inc | Control device of induction motor |
| US20040245950A1 (en) * | 2003-06-06 | 2004-12-09 | Ang June Christian | Electrical phase compensation in BEMF spindle motor control |
| JP2011234452A (en) * | 2010-04-26 | 2011-11-17 | Mitsubishi Electric Corp | Controller of synchronous motor |
| CN102437807A (en) * | 2010-10-26 | 2012-05-02 | 国家电网公司 | Variable frequency transformer control system |
| WO2013061808A1 (en) * | 2011-10-27 | 2013-05-02 | 日立オートモティブシステムズ株式会社 | Vehicle-driving induction motor controller |
| JP2013094031A (en) * | 2011-10-27 | 2013-05-16 | Hitachi Automotive Systems Ltd | Control device of induction motor for driving vehicle |
| CN103326659A (en) * | 2013-07-05 | 2013-09-25 | 合肥工业大学 | Control method for directionally correcting rotor field of asynchronous motor |
| CN108712126A (en) * | 2018-06-28 | 2018-10-26 | 上海英恒电子有限公司 | Applied to the bus current method of estimation in electric machine controller |
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