CN114744939B - Online compensation method and equipment for dead zone voltage of current loop of permanent magnet synchronous motor - Google Patents
Online compensation method and equipment for dead zone voltage of current loop of permanent magnet synchronous motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H02P21/22—Current control, e.g. using a current control loop
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- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
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- H02P25/022—Synchronous motors
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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Abstract
The invention belongs to the technical field of dead zone voltage compensation, and discloses an online compensation method and equipment for dead zone voltage of a current loop of a permanent magnet synchronous motor, wherein the equipment comprises a q-axis current PI controller, a d-axis current PI controller, a q-axis voltage estimation module, a d-axis voltage estimation module, a q-axis error voltage fractional order PI controller and a d-axis voltage fractional order PI controller; the q-axis current PI controller is used for receiving the q-axis reference current value and the q-axis current and calculating a q-axis reference voltage; the d-axis current PI controller is used for receiving the d-axis reference current value and the d-axis current value and calculating d-axis reference voltage; the input of the q-axis voltage estimation module is q-axis current, and the output of the q-axis voltage estimation module is q-axis estimated voltage; the input of the q-axis error voltage fractional PI controller is the difference between the q-axis reference voltage and the q-axis estimated voltage, and the output is the q-axis compensation voltage. The invention greatly improves the response performance of the current loop of the permanent magnet synchronous motor in low current response.
Description
Technical Field
The invention belongs to the technical field of dead zone voltage compensation, and particularly relates to an online compensation method and equipment for dead zone voltage of a current loop of a permanent magnet synchronous motor.
Background
Permanent magnet synchronous motors have numerous advantages, which make their application range very wide. Because the upper bridge arm and the lower bridge arm of the inverter are required to avoid direct conduction, dead zone effect is generated, and the dead zone effect causes current distortion and torque fluctuation, and particularly under the low-speed condition, the influence is obvious and bad.
With the wide application of servo systems in industrial robots, intelligent robots and high-end numerical control machine tools, the servo systems are required to have very high low-speed performance, and the positioning precision and response performance of various high-end equipment are greatly influenced by the performance of the servo systems at low speed.
In order to obtain a phase current waveform with better sine degree, the influence of dead zone effect is generally eliminated by a dead zone compensation mode. Because the interference voltage caused by the dead zone is closely related to the polarity of the phase current, the current is more distorted due to the error compensation caused by the error judgment of the polarity of the phase current, so that the dead zone compensation is critical in that the detection of the zero crossing point of the phase current, such as patent 201010566483.3, 201010268341.9, judges the polarity of the phase current directly according to the detection value obtained by A/D conversion, is easily influenced by sampling noise, and has higher probability of error compensation. The traditional method judges the phase current polarity according to the position of the output voltage vector, avoids adverse effects caused by current sampling noise, and simultaneously provides a strategy that only one phase of output voltage needs to be compensated in a specific current area, however, the calculation method of the included angle between the voltage vector and the induced electromotive force is only suitable for a steady-state process, and is not suitable for a servo system with frequent fluctuation of working conditions such as rotating speed, current and the like.
Dead zone compensation algorithms are currently classified into three main categories: 1. dead zone voltage model-based compensation algorithm: the current polarity needs to be obtained directly or indirectly, which is easy to cause error compensation. 2. Dead time compensation based algorithm: the dead time reduces the action time of the upper bridge arm or the lower bridge arm, so that the action time of the bridge arm is directly recalculated, and the error compensation is caused by directly or indirectly acquiring the current polarity. 3. Observer-based compensation algorithm: the method is mainly based on model observation, and dead zone voltage is compensated by feedforward or feedback, such as a voltage closed-loop control compensation method used in patent 201110440513, but a sensor for detecting line voltage is needed, so that hardware cost is increased.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides the online compensation method and the online compensation equipment for the dead zone voltage of the current loop of the permanent magnet synchronous motor, which can monitor the error voltage of the d-axis inverter and the error voltage of the q-axis inverter in real time and compensate the error voltage into a current loop control system of the permanent magnet synchronous motor in real time through the fractional order PI controller.
In order to achieve the above object, according to one aspect of the present invention, there is provided an on-line compensation device for dead zone voltage of a current loop of a permanent magnet synchronous motor, the device including a current control device and a fractional dead zone voltage compensation device, the current control device including a q-axis current PI controller and a d-axis current PI controller; the dead zone voltage compensation device comprises a q-axis voltage estimation module, a d-axis voltage estimation module, a q-axis error voltage fractional order PI controller and a d-axis voltage fractional order PI controller;
the q-axis current PI controller is used for receiving the q-axis reference current value Iqref and the q-axis current Iq and calculating a q-axis reference voltage Vq_ref according to the received q-axis reference current value Iqref and the q-axis current Iq; the d-axis current PI controller is used for receiving the d-axis reference current value Idref and the d-axis current value Id and calculating d-axis reference voltage Vd_ref according to the received d-axis reference current value Idref and d-axis current value Id; the input of the q-axis voltage estimation module is q-axis current Iq, and the output of the q-axis voltage estimation module is q-axis estimated voltage Vq; the input of the q-axis error voltage fractional PI controller is the difference between the q-axis reference voltage vq_ref from the q-axis current PI controller and the q-axis estimated voltage Vq from the q-axis voltage estimation module, and the output is the q-axis compensation voltage Δvq; the q-axis compensation voltage delta Vq is added to the q-axis reference voltage vq_ref to obtain the q-axis actual command voltage Vq of the inverter, the d-axis compensation voltage delta Vd is added to the d-axis reference voltage to obtain the d-axis actual command voltage Vd of the inverter, the q-axis actual command voltage Vq and the d-axis actual command voltage Vd are converted by IPARK and then are applied to the inverter through an SVPWM algorithm, and the voltage is output to the permanent magnet synchronous motor through the inverter to eliminate the influence caused by dead zone voltage errors of the inverter.
Further, the q-axis current PI controller and the d-axis current PI controller are both normal PI controllers for generating a q-axis reference voltage vq_ref and a d-axis reference voltage vd_ref, and the specific formulas are as follows:
GPI＝kp+ki/s
err_q＝iqref-iq
Vq_ref＝err_q*GPI
err_d＝idref-id
Vd_ref＝err_d*GPI
Wherein G PI is a transfer function of the PI controller, kp is a proportional coefficient, ki is an integral coefficient, s is a laplace operator, iq ref is a q-axis reference current value, iq is a q-axis current value, id ref is a d-axis reference current value, id is a d-axis current value, vq_ref is a q-axis reference voltage, and vd_ref is a d-axis reference voltage.
Further, the q-axis voltage estimation module calculates q-axis voltage according to a permanent magnet synchronous motor q-axis voltage model, and the calculation formula is as follows:
Wherein: v q (k-1) represents the q-axis voltage of the kth-1 period, i q (k-1) represents the q-axis current of the kth-1 period, i q (k-2) represents the q-axis current of the kth-2 period, i d (k-1) represents the d-axis current of the kth-1 period, w e (k-1) represents the electrical angular velocity of the kth-1 period, R s is the motor resistance, L q is the q-axis inductance, L d is the d-axis inductance, lambda f is the back electromotive force coefficient, and T s is the discrete period.
Further, the calculation formula of the d-axis voltage estimation module is as follows:
Where V d (k-1) represents the d-axis voltage of the (k-1) th cycle, i d (k-1) represents the d-axis current of the (k-1) th cycle, i d (k-2) represents the d-axis current of the (k-2) th cycle, i q (k-1) represents the q-axis current of the (k-1) th cycle, w e (k-1) represents the electrical angular velocity of the (k-1) th cycle, R s is the motor resistance, L q is the q-axis inductance, L d is the d-axis inductance, and T s is the discrete cycle.
Further, the transfer functions of the q-axis error voltage fractional order PI controller and the d-axis error voltage fractional order PI controller are:
GFOPI＝kp+ki/sα
Where G FOPI is the transfer function of the FOPI controller, kp is the scaling factor, ki is the integration factor, s is the Laplacian, and α is the fractional order.
Further, the q-axis error voltage estimation value of the kth period is approximately equal to the q-axis error voltage of the kth-1 th period, and the q-axis compensation voltage Δvq can be calculated by the q-axis error voltage fractional order PI controller:
err_Vq(k)≈err_Vq(k-1)＝Vq_ref(k-1)-Vq(k-1)
ΔVq(k)＝err_Vq(k)*GFOPI
Wherein err_vq (k) is the q-axis error voltage of the kth period, err_vq (k-1) is the q-axis error voltage of the kth-1 period, and vq_ref (k-1) is the q-axis reference voltage of the kth-1 period; vq (k-1) is the q-axis voltage of the kth cycle, Δvq (k) is the q-axis compensation voltage of the kth cycle, and G FOPI is the transfer function of the FOPI controller.
Further, the d-axis error voltage estimated value of the kth period is approximately equal to the d-axis error voltage of the kth-1 period, and the d-axis compensation voltage delta Vd can be calculated through the d-axis error voltage fractional order PI controller:
err_Vd(k)≈err_Vd(k-1)＝Vd_ref(k-1)-Vd(k-1)
ΔVd(k)＝err_Vd(k)*GFOPI
Where err_Vd (k) is the d-axis error voltage of the kth period, err_Vd (k-1) is the d-axis error voltage of the kth-1 period, vd_ref (k-1) is the d-axis reference voltage of the kth-1 period, vd (k-1) is the d-axis voltage of the kth-1 period, ΔVd (k) is the d-axis compensation voltage of the kth period, and G FOPI is the transfer function of the FOPI controller.
Further, the q-axis actual command voltage is:
Vq*(k)＝Vq_ref(k)+ΔVq(k)；
the d-axis actual command voltage is:
Vd*(k)＝Vd_ref(k)+ΔVd(k)。
According to another aspect of the invention, an online compensation method for the dead zone voltage of the current loop of the permanent magnet synchronous motor is provided, and the online compensation device for the dead zone voltage of the current loop of the permanent magnet synchronous motor is adopted to carry out voltage compensation on the permanent magnet synchronous motor.
In general, compared with the prior art, the online compensation method and the online compensation equipment for the dead zone voltage of the current loop of the permanent magnet synchronous motor, which are designed by the invention, mainly have the following beneficial effects:
1. The fractional order PI controller has the characteristics of high response speed and good robustness, and can enable dead zone error voltage to be converged rapidly, so that the response performance of a current loop of the permanent magnet synchronous motor in low current response is improved greatly.
2. The online dead zone voltage compensation is adopted, the error voltage is calculated in real time, the compensation is accurate, the compensation speed is high, the polarity of the current does not need to be detected, and the error compensation caused by polarity detection is avoided.
3. The device utilizes the characteristics of high response speed and good robustness of the fractional order controller, and still has good compensation control performance under unsteady conditions such as a servo system with frequent fluctuation of working conditions such as rotating speed, current and the like.
4. Compared with dead zone compensation strategies using integer-order PI and not using PI, the q-axis current response of the invention has faster response speed and smaller torque ripple.
Drawings
FIG. 1 is a schematic diagram of an on-line compensation device for dead zone voltage of a current loop of a permanent magnet synchronous motor;
Fig. 2 is a schematic diagram of the overall structure of a common current loop PI control using a permanent magnet synchronous motor;
FIG. 3 is a schematic diagram of the structure of a q/d-axis error voltage fractional order PI controller employed in the present invention;
FIG. 4 is a graph comparing the q-axis current step response using the present invention and using normal current loop PI control;
FIG. 5 is a graph comparing d-axis current response using the present invention and using normal current loop PI control;
fig. 6 (a) and (b) are graphs showing the three-phase current response of the present invention and the control using the normal current loop PI, respectively.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Referring to fig. 1 and 3, the present invention provides an on-line compensation device for dead zone voltage of a current loop of a permanent magnet synchronous motor, the device includes a current control device and a fractional dead zone voltage compensation device, and the current control device includes a q-axis current PI controller and a d-axis current PI controller. The dead zone voltage compensation device comprises a q-axis voltage estimation module, a d-axis voltage estimation module, a q-axis error voltage fractional order PI controller and a d-axis voltage fractional order PI controller.
The current control device is mainly used for generating d-axis reference voltage and q-axis reference voltage and controlling d-axis and q-axis currents. The q-axis current PI controller is configured to receive the q-axis reference current value Iqref and the q-axis current Iq and calculate a q-axis reference voltage vq_ref from the received q-axis reference current value Iqref and q-axis current Iq. The d-axis current PI controller is configured to receive the d-axis reference current value Idref and the d-axis current value Id, and calculate a d-axis reference voltage vd_ref according to the received d-axis reference current value Idref and d-axis current value Id.
The fractional order dead zone voltage compensation device is mainly used for calculating d-axis error voltage and q-axis error voltage brought by an inverter, and dead zone error voltage compensation is carried out by means of quick response and robustness of a fractional order PI controller. The input of the q-axis voltage estimation module is q-axis current Iq, and the output of the q-axis voltage estimation module is q-axis estimated voltage Vq. The q-axis error voltage fractional PI controller has an input of a q-axis reference voltage vq_ref from the q-axis current PI controller and a q-axis estimated voltage Vq from the q-axis voltage estimation module, and an output of the q-axis reference voltage Vq is a q-axis compensation voltage Δvq.
The q-axis compensation voltage delta Vq is added to the q-axis reference voltage vq_ref to obtain the q-axis actual command voltage Vq of the inverter, the d-axis compensation voltage delta Vd is added to the d-axis reference voltage to obtain the d-axis actual command voltage Vd of the inverter, the q-axis actual command voltage Vq and the d-axis actual command voltage Vd are converted by IPARK and then are applied to the inverter through an SVPWM algorithm, and the voltage is output to the permanent magnet synchronous motor through the inverter, so that adverse effects such as current distortion, torque pulsation, slow response speed and the like caused by dead zone voltage errors of the inverter can be effectively eliminated.
The q-axis current PI controller and the d-axis current PI controller are both common PI controllers and are used for generating a q-axis reference voltage Vq_ref and a d-axis reference voltage Vd_ref, and a specific transfer function formula is as follows:
GPI＝kp+ki/s
err_q＝iqref-iq
Vq_ref＝err_q*GPI
err_d＝idref-id
Vd_ref＝err_d*GPI
Wherein G PI is a transfer function of the PI controller, kp is a proportional coefficient, ki is an integral coefficient, s is a laplace operator, iq ref is a q-axis reference current value, iq is a q-axis current value, id ref is a d-axis reference current value, id is a d-axis current value, vq_ref is a q-axis reference voltage, and vd_ref is a d-axis reference voltage.
The q-axis voltage estimation module calculates q-axis voltage according to a permanent magnet synchronous motor q-axis voltage model, and the calculation formula is as follows:
Wherein: v q (k-1) represents the q-axis voltage of the kth-1 period, i q (k-1) represents the q-axis current of the kth-1 period, i q (k-2) represents the q-axis current of the kth-2 period, i d (k-1) represents the d-axis current of the kth-1 period, w e (k-1) represents the electrical angular velocity of the kth-1 period, R s is the motor resistance, L q is the q-axis inductance, L d is the d-axis inductance, lambda f is the back electromotive force coefficient, and T s is the discrete period.
The calculation formula of the d-axis voltage estimation module is as follows:
Where V d (k-1) represents the d-axis voltage of the (k-1) th cycle, i d (k-1) represents the d-axis current of the (k-1) th cycle, i d (k-2) represents the d-axis current of the (k-2) th cycle, i q (k-1) represents the q-axis current of the (k-1) th cycle, w e (k-1) represents the electrical angular velocity of the (k-1) th cycle, R s is the motor resistance, L q is the q-axis inductance, L d is the d-axis inductance, and T s is the discrete cycle.
The transfer functions of the q-axis error voltage fractional order PI controller and the d-axis error voltage fractional order PI controller are:
GFOPI＝kp+ki/sα
Where G FOPI is the transfer function of the FOPI controller, kp is the scaling factor, ki is the integration factor, s is the Laplacian, and α is the fractional order.
The q-axis error voltage estimated value of the kth period is approximately equal to the q-axis error voltage of the kth-1 period, and the q-axis compensation voltage delta Vq can be calculated through the q-axis error voltage fractional order PI controller:
err_Vq(k)≈err_Vq(k-1)＝Vq_ref(k-1)-Vq(k-1)
ΔVq(k)＝err_Vq(k)*GFOPI
Wherein err_vq (k) is the q-axis error voltage of the kth period, err_vq (k-1) is the q-axis error voltage of the kth-1 period, and vq_ref (k-1) is the q-axis reference voltage of the kth-1 period; vq (k-1) is the q-axis voltage of the kth cycle, Δvq (k) is the q-axis compensation voltage of the kth cycle, and G FOPI is the transfer function of the FOPI controller.
The d-axis error voltage estimated value of the kth period is approximately equal to the d-axis error voltage of the kth-1 period, and the d-axis compensation voltage delta Vd can be calculated through the d-axis error voltage fractional order PI controller:
err_Vd(k)≈err_Vd(k-1)＝Vd_ref(k-1)-Vd(k-1)
ΔVd(k)＝err_Vd(k)*GFOPI
Where err_Vd (k) is the d-axis error voltage of the kth period, err_Vd (k-1) is the d-axis error voltage of the kth-1 period, vd_ref (k-1) is the d-axis reference voltage of the kth-1 period, vd (k-1) is the d-axis voltage of the kth-1 period, ΔVd (k) is the d-axis compensation voltage of the kth period, and G FOPI is the transfer function of the FOPI controller.
The q-axis actual command voltage is:
Vq*(k)＝Vq_ref(k)+ΔVq(k)
the d-axis actual command voltage is:
Vd*(k)＝Vd_ref(k)+ΔVd(k)。
The invention is illustrated in further detail by the following examples: firstly, establishing a simulation model of dead zone compensation of a permanent magnet synchronous motor servo system in matlab/simulink, wherein parameters of the motor model are R= 0.3872 ohms, L=4.37 mH, J=0.02727kg.m≡2, B=5.027N.m.s and p=5, and the dead zone time is 2.2us; performing Iq current step response experiment of a current closed loop by adopting an SVPWM driving mode of Idref=0, and giving Iqref=1.536A, wherein parameters Kp and Ki of a q-axis current PI controller and a d-axis current PI controller are set by canceling electromagnetic links of a permanent magnet synchronous motor and given crossing frequency, the given crossing frequency is 5000Hz, kp=1.5008 is obtained by setting, and Ki= 221.3782; parameters kp, ki and alpha of the q-axis error voltage fractional order PI controller and the d-axis error voltage fractional order PI controller are set by adopting a particle swarm optimization algorithm, and a set fitness index adopts the q-axis current response ITAE standard as follows:
parameters of the q-axis error voltage fractional order PI controller obtained by setting by using the particle swarm algorithm are kp= 1.6938, ki= 503.6825 and alpha= -0.7226. Meanwhile, parameters of the d-axis error voltage fractional order PI controller obtained through particle swarm optimization setting are kp= 2.1861, ki= 503.68 and alpha= -0.6514.
To compare the dead zone compensation effect of the present embodiment, a comparison study was performed using the q-axis current step response of the normal current loop PI control shown in fig. 2, and the normal current loop PI control shown in fig. 2 also uses the iqref=1.536a, idref=0a, svpwm driving method.
As shown in fig. 4, the q-axis current response of the fractional order PI on-line compensation and the uncompensated common current loop PI control of the present invention are compared, and it can be seen that the response speed of the fractional order PI on-line compensation of the present invention is much faster than that of the uncompensated common current loop PI control, and from the current pulsation condition, the q-axis current pulsation of the uncompensated common current loop PI control is very intense, and the fractional order PI on-line compensation method plays a good role in suppressing torque pulsation, and basically has only slight pulsation.
As shown in fig. 5, the d-axis current response of the fractional order PI online compensation and the uncompensated common current loop PI control of the present invention is compared, and it can be seen that, from the d-axis current fluctuation situation, the d-axis current fluctuation of the uncompensated common current loop PI control is very intense, and the ability of the fractional order PI online compensation method in controlling id=0 is much stronger than that of the uncompensated common current loop PI control, which proves that the fractional order PI online compensation method has a good effect on suppressing the d-axis current fluctuation.
As shown in fig. 6, the result obtained by comparing the fractional order PI online compensation method of the present invention with the three-phase current response of the uncompensated common current loop PI control is that the dead zone effect mainly causes current distortion and zero current clamping, and it is easy to observe that the zero current clamping time of the fractional order PI online compensation method is far less than the zero current clamping time of the uncompensated common current loop PI control; it can be seen that the uncompensated common current loop PI control has undergone great distortion relative to an ideal three-phase sine wave in a steady state, while the fractional order PI online compensation method has undergone only small distortion relative to an ideal three-phase sine wave in a steady state, which proves that the fractional order PI online compensation method has a good effect of eliminating zero current clamping time and current distortion.
The invention also provides an online compensation method for the dead zone voltage of the current loop of the permanent magnet synchronous motor, which adopts the online compensation equipment for the dead zone voltage of the current loop of the permanent magnet synchronous motor to carry out voltage compensation on the permanent magnet synchronous motor.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. An on-line compensation device for dead zone voltage of a current loop of a permanent magnet synchronous motor is characterized in that:
The device comprises a current control device and a fractional order dead zone voltage compensation device, wherein the current control device comprises a q-axis current PI controller and a d-axis current PI controller; the dead zone voltage compensation device comprises a q-axis voltage estimation module, a d-axis voltage estimation module, a q-axis error voltage fractional order PI controller and a d-axis voltage fractional order PI controller;
the q-axis current PI controller is used for receiving the q-axis reference current value Iqref and the q-axis current Iq and calculating a q-axis reference voltage Vq_ref according to the received q-axis reference current value Iqref and the q-axis current Iq; the d-axis current PI controller is used for receiving the d-axis reference current value Idref and the d-axis current value Id and calculating d-axis reference voltage Vd_ref according to the received d-axis reference current value Idref and d-axis current value Id; the input of the q-axis voltage estimation module is q-axis current Iq, and the output of the q-axis voltage estimation module is q-axis estimated voltage Vq; the input of the q-axis error voltage fractional PI controller is the difference between the q-axis reference voltage vq_ref from the q-axis current PI controller and the q-axis estimated voltage Vq from the q-axis voltage estimation module, and the output is the q-axis compensation voltage Δvq; the q-axis compensation voltage delta Vq is added to the q-axis reference voltage vq_ref to obtain the q-axis actual command voltage Vq of the inverter, the d-axis compensation voltage delta Vd is added to the d-axis reference voltage to obtain the d-axis actual command voltage Vd of the inverter, the q-axis actual command voltage Vq and the d-axis actual command voltage Vd are converted by IPARK and then are applied to the inverter through an SVPWM algorithm, and the voltage is output to the permanent magnet synchronous motor through the inverter to eliminate the influence caused by dead zone voltage errors of the inverter.
2. The on-line compensation device for dead zone voltage of current loop of permanent magnet synchronous motor as claimed in claim 1, wherein: the q-axis current PI controller and the d-axis current PI controller are common PI controllers and are used for generating a q-axis reference voltage Vq_ref and a d-axis reference voltage Vd_ref, and the calculation formulas are as follows:
GPI＝kp+ki/s
err_q＝iqref-iq
Vq_ref＝err_q*GPI
err_d＝idref-id
Vd_ref＝err_d*GPI
Wherein G PI is a transfer function of the PI controller, kp is a proportional coefficient, ki is an integral coefficient, s is a laplace operator, iq ref is a q-axis reference current value, iq is a q-axis current value, id ref is a d-axis reference current value, id is a d-axis current value, vq_ref is a q-axis reference voltage, and vd_ref is a d-axis reference voltage.
3. The on-line compensation device for dead zone voltage of current loop of permanent magnet synchronous motor as claimed in claim 1, wherein: the q-axis voltage estimation module calculates q-axis voltage according to a permanent magnet synchronous motor q-axis voltage model, and the calculation formula is as follows:
Wherein: v q (k-1) represents the q-axis voltage of the kth-1 period, i q (k-1) represents the q-axis current of the kth-1 period, i q (k-2) represents the q-axis current of the kth-2 period, i d (k-1) represents the d-axis current of the kth-1 period, w e (k-1) represents the electrical angular velocity of the kth-1 period, R s is the motor resistance, L q is the q-axis inductance, L d is the d-axis inductance, lambda f is the back electromotive force coefficient, and T s is the discrete period.
4. The on-line compensation device for dead zone voltage of current loop of permanent magnet synchronous motor as claimed in claim 1, wherein: the calculation formula of the d-axis voltage estimation module is as follows:
Where V d (k-1) represents the d-axis voltage of the (k-1) th cycle, i d (k-1) represents the d-axis current of the (k-1) th cycle, i d (k-2) represents the d-axis current of the (k-2) th cycle, i q (k-1) represents the q-axis current of the (k-1) th cycle, w e (k-1) represents the electrical angular velocity of the (k-1) th cycle, R s is the motor resistance, L q is the q-axis inductance, L d is the d-axis inductance, and T s is the discrete cycle.
5. An on-line compensation device for dead zone voltage of current loop of permanent magnet synchronous motor as claimed in any one of claims 1 to 4, wherein: the transfer functions of the q-axis error voltage fractional order PI controller and the d-axis error voltage fractional order PI controller are:
GFOPI＝kp+ki/sα
Where G FOPI is the transfer function of the FOPI controller, kp is the scaling factor, ki is the integration factor, s is the Laplacian, and α is the fractional order.
6. The on-line compensation device for dead zone voltage of current loop of permanent magnet synchronous motor according to claim 5, wherein: the q-axis error voltage estimated value of the kth period is approximately equal to the q-axis error voltage of the kth-1 period, and the q-axis compensation voltage delta Vq can be calculated through the q-axis error voltage fractional order PI controller:
err_Vq(k)≈err_Vq(k-1)＝Vq_ref(k-1)-Vq(k-1)
ΔVq(k)＝err_Vq(k)*GFOPI
Wherein err_vq (k) is the q-axis error voltage of the kth period, err_vq (k-1) is the q-axis error voltage of the kth-1 period, and vq_ref (k-1) is the q-axis reference voltage of the kth-1 period; vq (k-1) is the q-axis voltage of the kth cycle, Δvq (k) is the q-axis compensation voltage of the kth cycle, and G FOPI is the transfer function of the FOPI controller.
7. The on-line compensation device for dead zone voltage of current loop of permanent magnet synchronous motor according to claim 6, wherein: the d-axis error voltage estimated value of the kth period is approximately equal to the d-axis error voltage of the kth-1 period, and the d-axis compensation voltage delta Vd can be calculated through the d-axis error voltage fractional order PI controller:
err_Vd(k)≈err_Vd(k-1)＝Vd_ref(k-1)-Vd(k-1)
ΔVd(k)＝err_Vd(k)*GFOPI
Where err_Vd (k) is the d-axis error voltage of the kth period, err_Vd (k-1) is the d-axis error voltage of the kth-1 period, vd_ref (k-1) is the d-axis reference voltage of the kth-1 period, vd (k-1) is the d-axis voltage of the kth-1 period, ΔVd (k) is the d-axis compensation voltage of the kth period, and G FOPI is the transfer function of the FOPI controller.
8. The on-line compensation device for dead zone voltage of current loop of permanent magnet synchronous motor according to claim 7, wherein: the q-axis actual command voltage is:
Vq*(k)＝Vq_ref(k)+ΔVq(k)；
the d-axis actual command voltage is:
Vd*(k)＝Vd_ref(k)+ΔVd(k)。
9. an online compensation method for dead zone voltage of a current loop of a permanent magnet synchronous motor is characterized by comprising the following steps of: the method adopts the online compensation equipment of the dead zone voltage of the current loop of the permanent magnet synchronous motor as claimed in any one of claims 1 to 8 to carry out voltage compensation on the permanent magnet synchronous motor.
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| CN103684179A (en) * | 2013-12-17 | 2014-03-26 | 清华大学 | Compensation device and compensation method of current filtering and dead zone of permanent magnet synchronous motor |
| CN111092583A (en) * | 2019-12-24 | 2020-05-01 | 南京航空航天大学 | Current loop delay compensation method for three-phase permanent magnet synchronous motor driving system |
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| CN103684179A (en) * | 2013-12-17 | 2014-03-26 | 清华大学 | Compensation device and compensation method of current filtering and dead zone of permanent magnet synchronous motor |
| CN111092583A (en) * | 2019-12-24 | 2020-05-01 | 南京航空航天大学 | Current loop delay compensation method for three-phase permanent magnet synchronous motor driving system |
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