CN114844409A - Decoupling-based vector control method and system for motor and related components - Google Patents
Decoupling-based vector control method and system for motor and related components 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- 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
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Abstract
The application discloses a decoupling-based vector control method, a decoupling-based vector control system and related components of a motor, relates to the field of motor control, is applied to a motor with an input end connected with an inverter through an LC filter, and comprises the following steps: determining a control rotating speed according to the current rotating speed and the reference rotating speed; performing PI regulation on the control rotating speed to generate a reference current; determining a control current according to the reference current, the filtering current and the filtering input current; performing PI regulation on the control current to generate a reference voltage; determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; and generating a modulation signal according to the control voltage to drive the inverter. The method realizes decoupling-based vector control of the motor with the LC filter through the double closed loops, has the advantages of few control parameters, improved system bandwidth, enhanced dynamic response capability and system robustness of the system, simple system debugging and more contribution to coding realization.
Description
Technical Field
The invention relates to the field of motor control, in particular to a decoupling-based vector control method and system for a motor and a related component.
Background
Because of the characteristics of small inductance, high frequency and the like, the high-speed permanent magnet synchronous motor has the advantages that the harmonic content of three-phase current is increased in the operation process, so that the current and torque pulsation of the motor are increased, the normal operation of the motor is seriously influenced, and an LC sine wave filter is required to be connected to the end of the high-speed motor to inhibit the harmonic content of the input motor so as to ensure the normal operation of the motor.
At present, the approved vector control of the high-speed permanent magnet synchronous motor with the LC sine wave filter at home and abroad is a four-closed-loop cascade control mode, and the four-closed-loop control structure has the following defects: more parameters need to be controlled, which is not beneficial to code programming and debugging; the system bandwidth is low, and the dynamic response performance and the robustness of the system are poor; under the condition of hardware of the universal frequency converter, an observer must be constructed to realize effective control, and the system bandwidth is further reduced.
Therefore, how to provide a solution to the above technical problems is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides a decoupling-based vector control method, system and related components for a double closed loop motor, which are simple to implement, efficient and stable. The specific scheme is as follows:
a decoupling-based vector control method of a motor is applied to the motor with an input end connected with an inverter through an LC filter, and comprises the following steps:
acquiring the current rotating speed of a motor, the filtering input current of the LC filter and the filtering output current of the LC filter;
determining a control rotating speed according to the current rotating speed and the reference rotating speed;
performing PI regulation on the control rotating speed to generate a reference current;
determining a control current according to the reference current, the filtering current and the filtering input current; the filtering current is specifically a difference value between the filtering input current and the filtering output current;
performing PI regulation on the control current to generate a reference voltage;
determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; wherein the first voltage is a product of the filtered output current and an inductance and an electrical angular velocity of the motor, the second voltage is a product of the filtered input current and a filtered inductance and an electrical angular velocity of the LC filter, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient;
and generating a modulation signal according to the control voltage so as to drive the inverter.
Preferably, the inductance of the motor comprises a d-axis motor inductance and a q-axis motor inductance;
the filtered input current comprises a d-axis filtered input current and a q-axis filtered input current;
the filtering output current comprises d-axis filtering output current and q-axis filtering output current;
the filtering current comprises a d-axis filtering current and a q-axis filtering current, the d-axis filtering current is the difference value of the d-axis filtering input current and the d-axis filtering output current, and the q-axis filtering current is the difference value of the q-axis filtering input current and the q-axis filtering output current;
the reference current comprises a d-axis reference current and a q-axis reference current;
the control current comprises a d-axis control current and a q-axis control current;
the reference voltages include a d-axis reference voltage and a q-axis reference voltage;
the first voltage comprises a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a product of the q-axis filter output current and the q-axis motor inductance and the electrical angular velocity, and the q-axis first voltage is a product of the d-axis filter output current and the d-axis motor inductance and the electrical angular velocity;
the second voltage comprises a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is the product of the q-axis filtered input current and the filter inductance and the electrical angular velocity, and the q-axis second voltage is the product of the d-axis filtered input current and the filter inductance and the electrical angular velocity;
the third voltage comprises a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a product of the d-axis filter current and the disturbance feedback gain coefficient, and the q-axis third voltage is a product of the q-axis filter current and the disturbance feedback gain coefficient;
the control voltages include a d-axis control voltage and a q-axis control voltage.
Preferably, the process of determining a control current according to the reference current, the filtered current and the filtered input current includes:
subtracting the d-axis filter current from the d-axis reference current, and subtracting the d-axis filter input current to obtain the d-axis control current;
and adding the q-axis reference current to the q-axis filtering current, and subtracting the q-axis filtering input current to obtain the q-axis control current.
Preferably, the process of determining the control voltage according to the reference voltage and the first, second and third voltages includes:
subtracting the d-axis first voltage, the d-axis second voltage and the d-axis third voltage from the d-axis reference voltage in sequence to obtain a d-axis control voltage;
and summing the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage.
Preferably, the step of summing the q-axis reference voltage, the q-axis first voltage, and the q-axis second voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage includes:
summing the q-axis reference voltage, the q-axis first voltage, the q-axis second voltage and the q-axis fourth voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage;
the fourth voltage is specifically a product of a flux linkage of the motor and the electrical angular velocity.
Preferably, the disturbance feedback gain coefficient is determined according to a filter inductance, a filter capacitance, a parasitic resistance of the LC filter, an inductance of the motor, and a phase resistance.
Preferably, the disturbance feedback gain coefficient is specifically:
wherein k is the disturbance feedback gain coefficient, Lf, Cf and Rf are respectively the filter inductance, filter capacitance and parasitic resistance of the LC filter, and Ls is respectively the inductance and Rs phase resistance of the motor.
Correspondingly, this application still discloses a motor vector control system based on decoupling zero, is applied to the motor that the input passes through LC filter and is connected with the dc-to-ac converter, and this system includes:
the acquisition module is used for acquiring the current rotating speed of the motor, the filtering input current of the LC filter and the filtering output current of the LC filter;
the rotating speed module is used for determining a control rotating speed according to the current rotating speed and the reference rotating speed;
the first PI module is used for carrying out PI regulation on the control rotating speed to generate a reference current;
the current module is used for determining a control current according to the reference current, the filtering current and the filtering input current; the filtering current is specifically a difference value between the filtering input current and the filtering output current;
the second PI module is used for carrying out PI regulation on the control current to generate a reference voltage;
the voltage module is used for determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; wherein the first voltage is a product of the filtered output current and an inductance and an electrical angular velocity of the motor, the second voltage is a product of the filtered input current and a filtered inductance and an electrical angular velocity of the LC filter, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient;
and the modulation module is used for generating a modulation signal according to the control voltage so as to drive the inverter.
Correspondingly, this application still discloses a motor vector control device based on decoupling zero, includes:
a memory for storing a computer program;
a processor for implementing the steps of the decoupling-based vector control method of the electric machine according to any one of the above when executing the computer program.
Accordingly, the present application also discloses a readable storage medium having stored thereon a computer program which, when being executed by a processor, realizes the steps of the decoupling-based vector control method of an electric machine according to any one of the above.
The application discloses a decoupling-based vector control method for a motor, which is applied to the motor with an input end connected with an inverter through an LC filter, and comprises the following steps: acquiring the current rotating speed of a motor, the filtering input current of the LC filter and the filtering output current of the LC filter; determining a control rotating speed according to the current rotating speed and the reference rotating speed; performing PI regulation on the control rotating speed to generate a reference current; determining a control current according to the reference current, the filtering current and the filtering input current; the filtering current is specifically a difference value between the filtering input current and the filtering output current; performing PI regulation on the control current to generate a reference voltage; determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; wherein the first voltage is a product of the filtered output current and an inductance and an electrical angular velocity of the motor, the second voltage is a product of the filtered input current and a filtered inductance and an electrical angular velocity of the LC filter, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient; and generating a modulation signal according to the control voltage so as to drive the inverter. The method realizes decoupling-based vector control of the motor with the LC filter through the double closed loops, has the advantages of few control parameters, improved system bandwidth, enhanced dynamic response capability and system robustness of the system, simple system debugging and more contribution to coding realization.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart illustrating steps of a decoupling-based vector control method for a motor according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a decoupling-based vector control method for a motor according to an embodiment of the present invention;
FIG. 3 is a block diagram of an implementation of an active damping control strategy;
FIG. 4 is a bode diagram of a decoupling-based vector control method for a motor according to an embodiment of the present invention;
fig. 5 is a structural distribution diagram of a decoupling-based vector control system of a motor in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the approved vector control of the high-speed permanent magnet synchronous motor with the LC sine wave filter at home and abroad is a four-closed-loop cascade control mode, and the four-closed-loop control structure has the following defects: more parameters need to be controlled, which is not beneficial to code programming and debugging; the system bandwidth is low, and the dynamic response performance and the robustness of the system are poor; under the condition of hardware of the universal frequency converter, an observer must be constructed to realize effective control, and the system bandwidth is further reduced.
The method realizes decoupling-based vector control of the motor with the LC filter through the double closed loops, has the advantages of few control parameters, improved system bandwidth, enhanced dynamic response capability and system robustness of the system, simple system debugging and more contribution to coding realization.
The embodiment of the invention discloses a decoupling-based vector control method for a motor, which is applied to the motor with an input end connected with an inverter through an LC filter, and the method comprises the following steps of:
s1: acquiring the current rotating speed of the motor, the filtering input current of the LC filter and the filtering output current of the LC filter;
s2: determining a control rotating speed according to the current rotating speed and the reference rotating speed;
specifically, when the current rotation speed n of the motor is determined by deriving the potential angle θ of the motor and the control rotation speed is determined in step S2, the reference rotation speed n is set ref Subtracting the current rotating speed n to obtain a control rotating speed;
s3: performing PI regulation on the control rotating speed to generate a reference current;
it will be appreciated that the PI regulation herein is implemented using a speed regulator.
S4: determining a control current according to the reference current, the filtering current and the filtering input current; the filtering current is specifically the difference value of the filtering input current and the filtering output current;
s5: performing PI regulation on the control current to generate a reference voltage;
s6: determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; the first voltage is the product of the filter output current and the inductance and the electrical angular velocity of the motor, the second voltage is the product of the filter input current and the filter inductance and the electrical angular velocity of the LC filter, and the third voltage is the product of the filter current and the disturbance feedback gain coefficient;
s7: and generating a modulation signal according to the control voltage to drive the inverter.
It can be understood that in the present embodiment, the decoupling-based vector control method for the motor generally uses a dq coordinate axis as a reference, and a flow chart thereof is shown in fig. 2, and in the dq coordinate axis, the following parameters are set:
the inductance of the motor comprises a d-axis motor inductance L d And q-axis motor inductance L q ；
The filtered input current comprises a d-axis filtered input current i Ad And q-axis filtered input current i Aq ；
The filtered output current comprises a d-axis filtered output current i sd And q-axis filtered output current i sq ；
Specifically, the filtered input current is sampled at the input end of the LC filter to obtain the form of abc three-phase current, and the d-axis filtered input current i in the form of dq coordinate axis can be obtained by processing the current in the form of signal Ad And q-axis filtered input current i Aq The same applies to the filtering output current.
The filter current comprises a d-axis filter current i cd And q-axis filter current i cq The d-axis filter current is the difference between the d-axis filter input current and the d-axis filter output current, and the q-axis filter current is the difference between the q-axis filter input current and the q-axis filter output current, i.e. i cd ＝i Ad -i sd ，i cq ＝i Aq -i sq 。
The reference current comprises a d-axis reference current and a q-axis reference current;
the control current comprises a d-axis control current and a q-axis control current;
the reference voltages include a d-axis reference voltage and a q-axis reference voltage;
the first voltage comprises a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a q-axis filtering output current i sq And q-axis motor inductance L q The product of the electrical angular velocity omega e and the q-axis first voltage is the d-axis filtering output current i sd And d-axis motor inductance L d Product of electrical angular velocity ω e;
the second voltage comprises a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is a q-axis filtered input current i Aq And a filter inductor L f Electrical angular velocityThe product of the degrees ω e, the q-axis second voltage being the d-axis filtered input current i Ad And a filter inductor L f Product of electrical angular velocity ω e;
the third voltage comprises a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a d-axis filter current i cd The q-axis third voltage is q-axis filter current i multiplied by disturbance feedback gain coefficient k cq The product of the disturbance feedback gain coefficient k;
the control voltage comprises a d-axis control voltage u Ad_ref And q-axis control voltage u Aq_ref 。
Further, on the basis of the dq coordinate axis, step S4 determines a process of controlling current according to the reference current, the filter current, and the filter input current, including:
subtracting d-axis filter current i from d-axis reference current cd Then subtract the d-axis filtered input current i Ad Obtaining d-axis control current;
adding a q-axis reference current to a q-axis filter current i cq Then subtracting the q-axis filtered input current i Aq And obtaining the q-axis control current.
The operation of adding and subtracting the filter current on the basis of the reference current realizes the capacitance current compensation of the speed ring in the decoupling-based vector control of the motor.
And different from the prior art that the current of the motor is controlled by using the filtering output current as closed-loop feedback, the embodiment uses the filtering input current as closed-loop feedback to indirectly control the current of the motor under the condition of ensuring the high-power-factor output of the permanent magnet synchronous motor, so that the bandwidth of a current loop when an observer observes is conveniently improved.
After that, when the control current is PI-regulated in step S5, the control current is regulated by two PI regulators: the quadrature-axis current regulator regulates the q-axis control current, and the direct-axis current regulator regulates the d-axis control current.
Further, on the basis of the dq coordinate axis, the step S6 is a process of determining a control voltage according to the reference voltage and the first voltage, the second voltage, and the third voltage, and includes:
subtracting the d-axis first voltage, the d-axis second voltage and the d-axis third voltage from the d-axis reference voltage in sequence to obtain a d-axis control voltage;
and summing the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage, and subtracting the q-axis third voltage to obtain a q-axis control voltage.
Further, the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage are summed, and then the q-axis third voltage is subtracted to obtain the q-axis control voltage, which includes:
summing the q-axis reference voltage, the q-axis first voltage, the q-axis second voltage and the q-axis fourth voltage, and subtracting the q-axis third voltage to obtain a q-axis control voltage;
the fourth voltage being in particular the flux linkage of the motor
The product of the electrical angular velocity ω e.
The operation of the first voltage and the fourth voltage actually calculates the alternating-direct axis voltage component of the motor through the filtering output current of the LC filter, so that the decoupling of a motor mathematical model of a current loop in the vector control of the motor, namely the terminal voltage decoupling is realized;
similarly, the second voltage is actually calculated by filtering the input current of the LC filter to calculate the voltage drop across the filter inductor, so as to decouple the filter inductor of the current loop in the motor vector control;
similarly, the operation of the third voltage actually calculates the disturbance of the filter capacitor of the LC filter to the motor by multiplying the filter current of the LC filter by a coefficient, thereby realizing the disturbance compensation decoupling of the current loop in the motor vector control.
The application discloses a decoupling-based vector control method for a motor, which is applied to the motor with an input end connected with an inverter through an LC filter, and comprises the following steps: acquiring the current rotating speed of a motor, the filtering input current of the LC filter and the filtering output current of the LC filter; determining a control rotating speed according to the current rotating speed and the reference rotating speed; performing PI regulation on the control rotating speed to generate a reference current; determining a control current according to the reference current, the filtering current and the filtering input current; performing PI regulation on the control current to generate a reference voltage; and determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage. Compared with the original four-closed-loop control method, the decoupling-based vector control of the motor with the LC filter is realized through the double closed loops, the control parameters are few, the system bandwidth is improved, the dynamic response capability and the system robustness of the system are enhanced, the control effect similar to the vector control of the permanent magnet motor without the LC filter is achieved, the system is simple to debug, and the encoding is more favorably realized.
The embodiment of the invention discloses a specific vector control method based on decoupling for a motor, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme.
Specifically, the disturbance feedback gain coefficient is determined according to the filter inductance, the filter capacitance, the parasitic resistance of the LC filter, the inductance of the motor, and the phase resistance.
Specifically, the disturbance feedback gain coefficient can be obtained by the following formula:
wherein k is a disturbance feedback gain coefficient, Lf, Cf and Rf are respectively a filter inductance, a filter capacitance and a parasitic resistance of the LC filter, Ls and Rs are respectively an inductance phase resistance of the motor.
It can be understood that the current loop decoupling includes filter inductance decoupling, motor terminal voltage decoupling, and disturbance decoupling of the LC sine wave filter. Because the filter input current, namely the inverter output current, is used for making a closed loop, the differential expression of the inverter output current is shown as the formula (1).
In the formula:
u d_inv is the d-axis voltage (V) output by the inverter under the motor rotation dq coordinate system;
u q_inv q-axis voltage (V) output by the inverter under a motor rotation dq coordinate system;
i d_inv d-axis current (A) output by an inverter under a motor rotation dq coordinate system;
i q_inv q-axis current (A) output by an inverter under a motor rotation dq coordinate system;
L d a d-axis inductor (H) of the permanent magnet synchronous motor;
L q a q-axis inductor (H) of the permanent magnet synchronous motor;
L s l in a non-salient-pole machine for quadrature-direct-axis inductance q And L d Same, can directly use L s Replacing; in salient-pole machines L d And L q In contrast, take L q As L s ；
L f A filter inductor (H) of the LC sine wave filter;
R f is the parasitic resistance (omega) on the filter inductance;
R s is the phase resistance (omega) of the permanent magnet synchronous motor;
u d_coupl is the d-axis partial voltage (V);
u q_coupl is the q-axis partial voltage (V).
u d_coupl And u d_coupl Is represented by the formula (2).
According to the formula (2), the coupling terms of the current inner loop include cross coupling of filter inductors of an LC sine wave filter, cross coupling of quadrature-direct axis inductors at a motor end and disturbance coupling of filter capacitors.
The current decoupling compensation obviously improves the dynamic control performance of a PMSM (Permanent Magnet Synchronous Motor) system, and is analyzed from a current decoupling compensation structure. However, when the system is in a transient state, the motion electromotive force is changed, the current PI control may not be able to compensate for the influence of the motion electromotive force in time, and the transient response of the current may be affected.
It can be seen that equations (1) and (2) together make up the decoupled control mathematical model of fig. 2.
After the LC sine wave filter is provided with the permanent magnet synchronous motor, a forward resonance point exists, and if the resonance point cannot be well suppressed, the system becomes unstable. The most used passive damping control strategy at present is to connect damping resistors in series at the filter capacitor. However, since damping is connected in series with the filter capacitor, the filter characteristic of the filter is deteriorated, and the active loss of the motor is increased, the active damping control strategy embodies its superiority, the active damping mainly simulates a control mode of passive damping, the control mode of passive damping is realized by a control mode of software, and an implementation block diagram of the active damping control strategy is shown in fig. 3.
After adding the feedback of the state of the capacitance current, the transfer function between the input current ia _ inv and the input voltage ua _ inv of the permanent magnet synchronous motor with the LC filter is as follows:
and k is a disturbance feedback gain coefficient.
After adding the feedback of the state of the capacitance current, the transfer function between the input voltage of the permanent magnet synchronous motor with the LC filter and the current at the motor end is as follows:
according to the formula, after the feedback of the state of the capacitance current is increased, the damping of second-order oscillation in the whole system can be changed, and finally resonance can be inhibited. Through analysis, the system can be equivalent to a system consisting of an integral link and a second-order oscillation link at high frequency, the resonance of the system is caused by a second-order system, and the k value in the two equations can be calculated by taking the damping of the second-order system as 0.707:
according to the above control strategy, a bode diagram of the control block diagram can be obtained, as shown in fig. 4. As can be seen from fig. 4, the positive resonance peak of the system can be suppressed after the feedback of the capacitance current is added.
Correspondingly, the present application also discloses a decoupling-based vector control system for a motor, which is applied to a motor whose input end is connected with an inverter through an LC filter, and as shown in fig. 5, the system includes:
the acquisition module 1 is used for acquiring the current rotating speed of the motor, the filtering input current of the LC filter and the filtering output current of the LC filter;
the rotating speed module 2 is used for determining a control rotating speed according to the current rotating speed and the reference rotating speed;
the first PI module 3 is used for carrying out PI regulation on the control rotating speed to generate a reference current;
the current module 4 is used for determining a control current according to the reference current, the filtering current and the filtering input current; the filtering current is specifically a difference value between the filtering input current and the filtering output current;
the second PI module 5 is used for carrying out PI regulation on the control current to generate a reference voltage;
the voltage module 6 is used for determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; wherein the first voltage is a product of the filtered output current and an inductance and an electrical angular velocity of the motor, the second voltage is a product of the filtered input current and a filtered inductance and an electrical angular velocity of the LC filter, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient;
and the modulation module 7 is used for generating a modulation signal according to the control voltage so as to drive the inverter.
In the embodiment, decoupling-based vector control of the motor with the LC filter is realized through the double closed loops, the control parameters are few, the system bandwidth is improved, the dynamic response capability and the system robustness of the system are enhanced, the control effect similar to that of the permanent magnet motor without the LC filter is achieved, the system is simple to debug, and the encoding implementation is facilitated.
In some specific embodiments, the inductance of the motor comprises a d-axis motor inductance and a q-axis motor inductance;
the filtered input current comprises a d-axis filtered input current and a q-axis filtered input current;
the filtering output current comprises d-axis filtering output current and q-axis filtering output current;
the filtering current comprises a d-axis filtering current and a q-axis filtering current, the d-axis filtering current is the difference value of the d-axis filtering input current and the d-axis filtering output current, and the q-axis filtering current is the difference value of the q-axis filtering input current and the q-axis filtering output current;
the reference current comprises a d-axis reference current and a q-axis reference current;
the control current comprises a d-axis control current and a q-axis control current;
the reference voltages include a d-axis reference voltage and a q-axis reference voltage;
the first voltage comprises a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a product of the q-axis filter output current and the q-axis motor inductance and the electrical angular velocity, and the q-axis first voltage is a product of the d-axis filter output current and the d-axis motor inductance and the electrical angular velocity;
the second voltage comprises a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is the product of the q-axis filtered input current and the filter inductance and the electrical angular velocity, and the q-axis second voltage is the product of the d-axis filtered input current and the filter inductance and the electrical angular velocity;
the third voltage comprises a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a product of the d-axis filter current and the disturbance feedback gain coefficient, and the q-axis third voltage is a product of the q-axis filter current and the disturbance feedback gain coefficient;
the control voltage includes a d-axis control voltage and a q-axis control voltage.
In some specific embodiments, the current module 4 is specifically configured to:
subtracting the d-axis filter current from the d-axis reference current, and subtracting the d-axis filter input current to obtain the d-axis control current;
and adding the q-axis reference current to the q-axis filtering current, and subtracting the q-axis filtering input current to obtain the q-axis control current.
In some specific embodiments, the voltage module 6 is specifically configured to:
subtracting the d-axis first voltage, the d-axis second voltage and the d-axis third voltage from the d-axis reference voltage in sequence to obtain a d-axis control voltage;
and summing the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage.
In some specific embodiments, the process of the voltage module 6 summing the q-axis reference voltage, the q-axis first voltage, and the q-axis second voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage includes:
summing the q-axis reference voltage, the q-axis first voltage, the q-axis second voltage and the q-axis fourth voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage;
the fourth voltage is specifically a product of a flux linkage of the motor and the electrical angular velocity.
In some specific embodiments, the disturbance feedback gain coefficient is determined according to a filter inductance, a filter capacitance, a parasitic resistance of the LC filter, an inductance of the motor, and a phase resistance.
In some specific embodiments, the disturbance feedback gain factor is specifically:
wherein k is the disturbance feedback gain coefficient, Lf, Cf and Rf are respectively the filter inductance, filter capacitance and parasitic resistance of the LC filter, and Ls is respectively the inductance and Rs phase resistance of the motor.
Correspondingly, the embodiment of the application also discloses a vector control device based on decoupling for the motor, which comprises:
a memory for storing a computer program;
a processor for implementing the steps of the decoupling-based vector control method of the electric machine according to any one of the above when executing the computer program.
Correspondingly, the embodiment of the application also discloses a readable storage medium, wherein a computer program is stored on the readable storage medium, and when being executed by a processor, the computer program realizes the steps of the decoupling-based vector control method for the motor according to any one of the above items.
In this embodiment, for specific details of the decoupling-based vector control method for the motor, reference may be made to the related description of the above embodiments, and details are not repeated here.
The decoupling-based vector control device for the motor and the readable storage medium in this embodiment have the same technical effects as those of the decoupling-based vector control method for the motor in the above embodiments, and are not described herein again.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The decoupling-based vector control method, the decoupling-based vector control system and the related components of the motor are described in detail above, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A decoupling-based vector control method for a motor is characterized by being applied to the motor of which the input end is connected with an inverter through an LC filter, and the method comprises the following steps:
acquiring the current rotating speed of a motor, the filtering input current of the LC filter and the filtering output current of the LC filter;
determining a control rotating speed according to the current rotating speed and the reference rotating speed;
performing PI regulation on the control rotating speed to generate a reference current;
determining a control current according to the reference current, the filtering current and the filtering input current; the filtering current is specifically a difference value between the filtering input current and the filtering output current;
performing PI regulation on the control current to generate a reference voltage;
determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; wherein the first voltage is a product of the filtered output current and an inductance and an electrical angular velocity of the motor, the second voltage is a product of the filtered input current and a filtered inductance and an electrical angular velocity of the LC filter, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient;
and generating a modulation signal according to the control voltage so as to drive the inverter.
2. The motor decoupling-based vector control method of claim 1,
the inductance of the motor comprises a d-axis motor inductance and a q-axis motor inductance;
the filtered input current comprises a d-axis filtered input current and a q-axis filtered input current;
the filtering output current comprises d-axis filtering output current and q-axis filtering output current;
the filtering current comprises a d-axis filtering current and a q-axis filtering current, the d-axis filtering current is the difference value of the d-axis filtering input current and the d-axis filtering output current, and the q-axis filtering current is the difference value of the q-axis filtering input current and the q-axis filtering output current;
the reference current comprises a d-axis reference current and a q-axis reference current;
the control current comprises a d-axis control current and a q-axis control current;
the reference voltages include a d-axis reference voltage and a q-axis reference voltage;
the first voltage comprises a d-axis first voltage and a q-axis first voltage, wherein the d-axis first voltage is a product of the q-axis filter output current and the q-axis motor inductance and the electrical angular velocity, and the q-axis first voltage is a product of the d-axis filter output current and the d-axis motor inductance and the electrical angular velocity;
the second voltage comprises a d-axis second voltage and a q-axis second voltage, wherein the d-axis second voltage is the product of the q-axis filtered input current and the filter inductance and the electrical angular velocity, and the q-axis second voltage is the product of the d-axis filtered input current and the filter inductance and the electrical angular velocity;
the third voltage comprises a d-axis third voltage and a q-axis third voltage, wherein the d-axis third voltage is a product of the d-axis filter current and the disturbance feedback gain coefficient, and the q-axis third voltage is a product of the q-axis filter current and the disturbance feedback gain coefficient;
the control voltage includes a d-axis control voltage and a q-axis control voltage.
3. The decoupling-based vector control method of claim 2, wherein the determining a control current from the reference current and a filtered current, the filtered input current, comprises:
subtracting the d-axis filter current from the d-axis reference current, and subtracting the d-axis filter input current to obtain the d-axis control current;
and adding the q-axis reference current to the q-axis filtering current, and subtracting the q-axis filtering input current to obtain the q-axis control current.
4. The decoupling-based vector control method of the motor according to claim 2, wherein the determining the control voltage according to the reference voltage and the first, second and third voltages comprises:
subtracting the d-axis first voltage, the d-axis second voltage and the d-axis third voltage from the d-axis reference voltage in sequence to obtain a d-axis control voltage;
and summing the q-axis reference voltage, the q-axis first voltage and the q-axis second voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage.
5. The decoupling-based vector control method of claim 4, wherein the step of summing the q-axis reference voltage, the q-axis first voltage, and the q-axis second voltage and subtracting the q-axis third voltage to obtain the q-axis control voltage comprises:
summing the q-axis reference voltage, the q-axis first voltage, the q-axis second voltage and the q-axis fourth voltage, and subtracting the q-axis third voltage to obtain the q-axis control voltage;
the fourth voltage is specifically a product of a flux linkage of the motor and the electrical angular velocity.
6. The decoupling-based vector control method of an electric machine according to any one of claims 1 to 5, wherein the disturbance feedback gain coefficient is determined according to a filter inductance, a filter capacitance, a parasitic resistance of the LC filter, an inductance of the electric machine, and a phase resistance.
7. The motor decoupling-based vector control method according to claim 6, wherein the disturbance feedback gain coefficient is specifically:
wherein k is the disturbance feedback gain coefficient, L f 、C f And R f Respectively a filter inductance, a filter capacitance, a parasitic resistance, L of the LC filter s Respectively, inductance and R of the motor s The phase resistance.
8. A decoupling-based vector control system for an electric machine, the system being applied to an electric machine having an input connected to an inverter via an LC filter, the system comprising:
the acquisition module is used for acquiring the current rotating speed of the motor, the filtering input current of the LC filter and the filtering output current of the LC filter;
the rotating speed module is used for determining a control rotating speed according to the current rotating speed and the reference rotating speed;
the first PI module is used for carrying out PI regulation on the control rotating speed to generate a reference current;
the current module is used for determining a control current according to the reference current, the filtering current and the filtering input current; the filtering current is specifically a difference value between the filtering input current and the filtering output current;
the second PI module is used for carrying out PI regulation on the control current to generate a reference voltage;
the voltage module is used for determining a control voltage according to the reference voltage and the first voltage, the second voltage and the third voltage; wherein the first voltage is a product of the filtered output current and an inductance and an electrical angular velocity of the motor, the second voltage is a product of the filtered input current and a filtered inductance and an electrical angular velocity of the LC filter, and the third voltage is a product of the filtered current and a disturbance feedback gain coefficient;
and the modulation module is used for generating a modulation signal according to the control voltage so as to drive the inverter.
9. A decoupling-based vector control apparatus for an electric machine, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the decoupling-based vector control method of the electrical machine of any one of claims 1 to 7 when executing the computer program.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the decoupling-based vector control method of an electric machine according to any one of claims 1 to 7.
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| CN202210574782.4A CN114844409A (en) | 2022-05-25 | 2022-05-25 | Decoupling-based vector control method and system for motor and related components |
| PCT/CN2022/117765 WO2023226238A1 (en) | 2022-05-25 | 2022-09-08 | Decoupling-based vector control method and system for electric motor, and related component |
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| WO2023226238A1 (en) * | 2022-05-25 | 2023-11-30 | 中车株洲电机有限公司 | Decoupling-based vector control method and system for electric motor, and related component |
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| JP3315874B2 (en) * | 1996-09-10 | 2002-08-19 | 三菱電機株式会社 | Power converter |
| DE602004003816T2 (en) * | 2004-09-09 | 2007-10-11 | Abb Oy | Control without speed sensor of an induction machine using a PBM inverter with LC output filter |
| US10158314B2 (en) * | 2013-01-16 | 2018-12-18 | Rockwell Automation Technologies, Inc. | Feedforward control of motor drives with output sinewave filter |
| CN106026830B (en) * | 2016-05-18 | 2018-08-28 | 南京航空航天大学 | A kind of stator coreless permanent magnet Synchromous machine drive system and its control method |
| CN114421827B (en) * | 2021-12-31 | 2024-03-22 | 北京工业大学 | Multi-state variable feedback active damping control method for permanent magnet synchronous motor |
| CN114844409A (en) * | 2022-05-25 | 2022-08-02 | 中车株洲电机有限公司 | Decoupling-based vector control method and system for motor and related components |
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