CN115313966B - SVPWM module for servo motor - Google Patents

SVPWM module for servo motor Download PDF

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Publication number
CN115313966B
CN115313966B CN202211000458.8A CN202211000458A CN115313966B CN 115313966 B CN115313966 B CN 115313966B CN 202211000458 A CN202211000458 A CN 202211000458A CN 115313966 B CN115313966 B CN 115313966B
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voltage control
control vector
adopted
effective vectors
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CN115313966A (en
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周玉仙
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Tangshan Hangyu Electric Power & Electronic Equipment Co ltd
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Tangshan Hangyu Electric Power & Electronic Equipment Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0048—Circuits or arrangements for reducing losses
    • H02M1/0054—Transistor switching losses
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses an SVPWM module for a servo motor, which comprises: the voltage control vector calculation module calculates the amplitude U of the voltage control vector ref And angle theta ref The method comprises the steps of carrying out a first treatment on the surface of the The amplitude judgment module receives the amplitude U of the voltage control vector ref And threshold U th Comparing to generate an amplitude indication signal; a sector judgment module for judging the angle theta according to the amplitude indication signal ref Generating a sector indication signal; the effective vector generation module selects three effective vectors according to the sector indication signals and determines the acting time of the three effective vectors; the PWM modulation module receives the action time of the three effective vectors, determines the action sequence of the three effective vectors, and generates six paths of PWM signals for controlling the inverter to drive the servo motor. The SVPWM module adaptively selects two sector judging methods according to the amplitude of the voltage control vector, reduces switching loss and output harmonic waves, and can fully utilize switching performance to control the inverter to output a voltage vector with larger amplitude.

Description

SVPWM module for servo motor
Technical Field
The invention relates to the field of servo motors, in particular to an SVPWM module for a servo motor.
Background
The AC servo motor has the advantages of simple structure, reliable operation, wide speed regulation range and the like, and is the preferred motor of the main shaft driving device of most high-speed numerical control machine tools. Undeniably, ac servomotors and their drive systems are an integral part of the development of the manufacturing industry.
As a multivariable nonlinear controlled object, an ac servo motor is required to be controlled at high speed and high performance, and research on an effective current driving technology is an important link. At present, a SVPWM modulation method is mostly adopted for the servo motor. The traditional SVPWM modulation method needs to perform complex coordinate transformation, trigonometric function operation, sector judgment, effective vector acting time calculation and the like, is large in calculated amount, directly affects high-precision real-time control, and can cause the problems of overlarge output harmonic wave, overlarge switching loss and the like due to the fact that zero vector is adopted in each carrier period, and affects the driving performance of the alternating current servo motor.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide an SVPWM module for a servo motor, which adaptively selects two sector judgment methods according to the magnitude of a voltage control vector, reduces switching loss and output harmonics, and can fully utilize switching performance to control an inverter to output a voltage vector with a larger magnitude.
In one embodiment of the present invention, there is provided a SVPWM module for a servo motor, the SVPWM module comprising:
the voltage control vector calculation module receives the alpha-axis voltage control quantity u α * And beta-axis voltage control amount u β * Calculating the magnitude U of the voltage control vector ref And angle theta ref ；
The amplitude judgment module receives the amplitude U of the voltage control vector ref And threshold U th Comparing to generate an amplitude indication signal; when the amplitude U ref Less than or equal to threshold U th Outputting a first indication signal when the amplitude U ref Greater than threshold U th Outputting a second indication signal;
a sector judgment module for judging the angle theta according to the amplitude indication signal ref Generating a sector indication signal; when a first indication signal is received, the sector judging module adopts a first sector judging module; when receiving the second indication signal, the sector judging module adopts a second sector judging module;
the effective vector generation module selects three effective vectors according to the sector indication signals and determines the acting time of the three effective vectors;
the PWM modulation module receives the action time of the three effective vectors, determines the action sequence of the three effective vectors, and generates six paths of PWM signals for controlling the inverter to drive the servo motor.
Further, the voltage controlAmplitude U of system vector ref And angle theta ref The method comprises the following steps:
further, the threshold value U th The method comprises the following steps:
；
wherein u is bus Is the dc supply voltage of the inverter.
Further, the first sector judgment module includes:
when (when)When the voltage control vector is in the I sector;
when (when)When the voltage control vector is in the II sector;
when (when)When the voltage control vector is in the III sector;
when (when)When the voltage control vector is in the IV sector;
when (when)When the voltage control vector is in the V sector;
when (when)When the voltage control vector is in sector VI.
Further, the effective vector determination submodule specifically includes:
when the voltage control vector is in the I sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the II sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the III sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the IV sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the V-th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the VI-th sector, effective vectors U2, U4 and U6 are adopted;
wherein the effective vectors U1, U2, U3, U4, U5, U6 are (100), (110), (010), (011), (001), (101), respectively.
Further, the second sector judgment module includes:
when (when)When the voltage control vector is in the VII th sector;
when (when)When the voltage control vector is in the VIII sector;
when (when)When the voltage control vector is in the IX sector;
when (when)When the voltage control vector is in the X sector;
when (when)When the voltage control vector is in the XI fanA zone;
when (when)When the voltage control vector is in the XII sector;
when (when)When the voltage control vector is in the XIII sector;
when (when)When the voltage control vector is in the XIV sector;
when (when)When the voltage control vector is in the XV sector;
when (when)When the voltage control vector is in sector XVI;
when (when)When the voltage control vector is in the XVII sector;
when (when)When the voltage control vector is in the XVIII sector;
wherein, the self-adapting angleAccording to the amplitude U of the voltage control vector ref And (5) determining.
Further, the adaptive angleThe method comprises the following steps:
further, the effective vector determination submodule specifically includes:
when the voltage control vector is in the VII th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the VIII sector, effective vectors U1, U2 and U3 are adopted;
when the voltage control vector is in the IX sector, the effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the X-th sector, effective vectors U2, U3 and U4 are adopted;
when the voltage control vector is in the XI-th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the XII sector, effective vectors U3, U4 and U5 are adopted;
when the voltage control vector is in the XIII sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the XIV sector, effective vectors U4, U5 and U6 are adopted;
when the voltage control vector is in the XV sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the XVI th sector, the effective vectors U5, U6 and U1 are adopted;
when the voltage control vector is in the XVII sector, the effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the XVIII sector, the effective vectors U6, U1, U2 are employed.
The beneficial technical effects of the invention are as follows:
the invention discloses an SVPWM module, which adaptively selects two sector judging methods according to the amplitude of a voltage control vector, reduces switching loss and output harmonic waves, and can fully utilize switching performance to control an inverter to output a voltage vector with larger amplitude.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a control block diagram of a drive system for a servo motor;
FIG. 2 is a schematic flow diagram of the SVPWM module;
FIG. 3 is an equivalent functional block diagram of the control signal generation module;
fig. 4 is a sampling schematic diagram of an a/D converter.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The invention provides an SVPWM module for a servo motor, which adaptively selects two sector judging methods according to the amplitude of a voltage control vector, reduces switching loss and output harmonic waves, and can fully utilize the switching performance to control an inverter to output a voltage vector with larger amplitude.
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
Fig. 1 is a control block diagram of a driving system of a servo motor according to an embodiment of the present invention. As shown in fig. 1, the driving system includes: the control module, the dc-to-ac converter and servo motor. The control module comprises an A/D converter, a current estimator, a coordinate transformation module, a speed adjusting ring, a control signal generation module, a coordinate inverse transformation module and an SVPWM module. Control module generationThree-way PWM signal PWMa, PWMb, PWMc and three-way reverse PWM signal, to control the three-phase switch in the inverter to generate three-phase output voltage u a 、u b 、u c And three-phase output current i a 、i b 、i c For driving the servo motor.
In the present embodiment, the first input terminal of the A/D converter receives the a-phase output current i a A second input terminal for receiving b-phase output current i b Output current i for phase a and phase b a 、i b Sampling, and generating a-phase and b-phase discrete current signals i at a first output end and a second output end respectively after analog-to-digital conversion ac 、i bc 。
A first input terminal of the current estimator receives an a-phase discrete current signal i ac A second input terminal for receiving a b-phase discrete current signal i ac After current reconstruction, a phase-a reconstruction current signal i is respectively generated at three output ends ae B-phase reconstruction current signal i be C-phase reconstruction current signal i ce 。
Four input ends of the coordinate transformation module respectively receive a-phase reconstruction current signals i ae B-phase reconstruction current signal i be C-phase reconstruction current signal i ce And rotor position angle theta, after abc/alpha beta and alpha beta/dq conversion, respectively produce d-axis current signal i on two output ends d Q-axis current signal i q 。
The first input end of the speed regulating ring receives the rotor angular speed omega, the second input end is connected with the command value omega of the rotor angular speed, PI regulation is carried out on the difference between the rotor angular speed omega and the command value omega of the rotor angular speed, and the command value i of the q-axis current signal is generated on the output end of the speed regulating ring q *。
A first input end of the control signal generating module is connected with the command value i of the q-axis current signal q * The second input end is connected with the instruction value i of the d-axis current signal d * The third input end is connected with the angular velocity omega of the rotor, and the fourth input end is connected with the d-axis current signal i d The fifth input terminal is connected with the q-axis current signal i q After adjustment, an independent d-axis voltage control quantity u is generated d * Q-axis voltage control amount u q * 。
Two input ends of the Park inverse transformation module receive the d-axis voltage control quantity u d * Q-axis voltage control amount u q * After dq/alpha beta conversion, alpha-axis voltage control quantity u is generated at the output end α * Beta-axis voltage control amount u β * 。
The first input end and the second input end of the SVPWM module respectively receive the alpha-axis voltage control quantity u α * Beta-axis voltage control amount u β * Three PWM signals PWMa, PWMb, PWMc and three inverted PWM signals are generated.
The inverter receives three paths of PWM signals PWMa, PWMb, PWMc and three paths of reversed phase PWM signals, performs inversion control on the three-phase switch, and outputs a direct-current power supply voltage u bus Converted into three-phase output voltage u a 、u b 、u c And three-phase output current i a 、i b 、i c For driving the servo motor.
As another alternative embodiment, this embodiment provides an SVPWM module, as shown in fig. 2, including:
the voltage control vector calculation module receives the alpha-axis voltage control quantity u at a first input end α * The second input end receives the beta-axis voltage control quantity u β * Calculating the magnitude U of the voltage control vector ref And angle theta ref ；
The amplitude judging module receives the amplitude U of the voltage control vector at a first input end ref And threshold U th Comparing to generate an amplitude indication signal; when the amplitude U ref Less than or equal to threshold U th Outputting a first indication signal when the amplitude U ref Greater than threshold U th Outputting a second indication signal;
the input end of the sector judging module receives the amplitude indicating signal, judges the sector where the voltage control vector is located and generates a sector indicating signal;
the input end of the effective vector generation module receives sector indication signals, selects three effective vectors according to the sector indication signals, and adopts a volt-second balance principle to determine the acting time of the three effective vectors for synthesizing voltage control vectors;
the PWM modulation module receives the acting time of the three effective vectors, determines the acting sequence of the three effective vectors, generates three paths of PWM signals PWMa, PWMb, PWMc, and generates three paths of reversed phase PWM signals after reversing the three paths of PWM signals.
Further, the magnitude U of the voltage control vector ref And angle theta ref The method comprises the following steps:
further, threshold U th Preferably, it is:
further, the sector judgment module includes a first sector judgment module and a second sector judgment module, when the amplitude U ref Less than or equal to threshold U th When the amplitude judging module outputs a first indication signal, the sector judging module adopts a first sector judging module; when the amplitude U ref Greater than threshold U th And when the amplitude judging module outputs a second indicating signal, the sector judging module adopts a second sector judging module.
Further, the first sector judgment module includes:
when (when)When the voltage control vector is in the I sector;
when (when)When the voltage control vector is in the II sector;
when (when)When the voltage control vector is in the III sector;
when (when)When the voltage control vector is in the IV sector;
when (when)When the voltage control vector is in the V sector;
when (when)When the voltage control vector is in sector VI.
The second sector judgment module includes:
when (when)When the voltage control vector is in the VII th sector;
when (when)When the voltage control vector is in the VIII sector;
when (when)When the voltage control vector is in the IX sector;
when (when)When the voltage control vector is in the X sector;
when (when)When the voltage control vector is in the XI sector;
when (when)When the voltage control vector is in the XII sector;
when (when)When the voltage control vector is in the XIII sector;
when (when)When the voltage control vector is in the XIV sector;
when (when)When the voltage control vector is in the XV sector;
when (when)When the voltage control vector is in sector XVI;
when (when)When the voltage control vector is in the XVII sector;
when (when)When the voltage control vector is in the XVIII sector;
wherein, the self-adapting angleAccording to the amplitude U of the voltage control vector ref And (5) determining.
Preferably, the method comprises the steps of,
further, the active vector generation module comprises an active vector determination sub-module and an active time determination sub-module. The effective vector determination submodule selects three effective vectors according to the sector indication signal and is used for synthesizing a voltage control vector. The action time determination submodule determines the action time of three effective vectors according to the volt-second balance principle.
The effective vector determination submodule specifically comprises:
when the voltage control vector is in the I sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the II sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the III sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the IV sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the V-th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the VI-th sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the VII th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the VIII sector, effective vectors U1, U2 and U3 are adopted;
when the voltage control vector is in the IX sector, the effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the X-th sector, effective vectors U2, U3 and U4 are adopted;
when the voltage control vector is in the XI-th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the XII sector, effective vectors U3, U4 and U5 are adopted;
when the voltage control vector is in the XIII sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the XIV sector, effective vectors U4, U5 and U6 are adopted;
when the voltage control vector is in the XV sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the XVI th sector, the effective vectors U5, U6 and U1 are adopted;
when the voltage control vector is in the XVII sector, the effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the XVIII sector, the effective vectors U6, U1 and U2 are adopted;
the effective vectors U1, U2, U3, U4, U5, and U6 are (100), (110), (010), (011), (001), and (101), respectively.
Specifically, at present, an SVPWM modulation method is mainly adopted in the servo motor control process, and the SVPWM modulation method comprises two zero vectors and six effective vectors. The traditional SVPWM modulation method needs to perform complex coordinate transformation, trigonometric function operation, sector judgment, effective vector acting time calculation and the like, is large in calculated amount, directly affects high-precision real-time control, and can cause overlarge output harmonic wave and overlarge switching loss due to the fact that zero vector is adopted in each carrier period. Therefore, zero vectors can be omitted, the switching frequency is reduced, and the switching performance is correspondingly not fully utilized, so that obvious influence is not brought when the amplitude of the output voltage vector is smaller, but the method is obviously inapplicable when the amplitude of the output voltage vector is larger.
Therefore, the present embodiment sets the magnitude U of the voltage control vector ref And threshold U th Comparing when the amplitude U ref Less than or equal to threshold U th When the method is used, a first sector judgment module is adopted to judge the sector and set the effective vector, so that a zero vector is omitted, and the switching loss and output harmonic waves are reduced; when the amplitude U ref Greater than threshold U th And when the second sector judgment module is adopted for sector judgment and effective vector setting, the adaptive angle is introduced for sector division, the number of sectors is increased, the output harmonic wave is improved, the switching performance is fully utilized, and the output voltage vector with larger amplitude is output.
As another alternative embodiment, this embodiment provides a control signal generating module, as shown in fig. 3, including:
a first d-axis subtracter with a first input end connected with the instruction value i of the d-axis current signal d * The second input end is connected with the d-axis current signal i d After subtraction operation, d-axis electricity is generated at the output endStream error signal e d ；
The first input end of the d-axis PI regulator is connected with the d-axis current error signal e d After PI regulation, a first d-axis error signal regulating quantity e is generated at the output end dc1 ；
A first input end of the second d-axis subtracter is connected with a first d-axis error signal regulating quantity e dc1 The second input end is connected with a second d-axis error signal regulating quantity e dc2 After subtraction, a d-axis error signal adjustment value e is generated at the output end dc The method comprises the steps of carrying out a first treatment on the surface of the Wherein e dc2 =k p ωe q /s；
The first input end of the first d-axis adder is connected with the d-axis error signal adjustment quantity e dc The second input end is connected with the d-axis current regulating quantity K d i d After addition operation, the d-axis control quantity u is generated at the output end d * The method comprises the steps of carrying out a first treatment on the surface of the Wherein K is d The d-axis current adjustment coefficient.
A first q-axis subtracter with a first input connected to the command value i of the q-axis current signal d * The second input terminal is connected with the q-axis current signal i q After subtraction operation, a q-axis current error signal e is generated at the output end q ；
The first input end of the q-axis PI regulator is connected with the q-axis current error signal e q After PI regulation, a first q-axis error signal regulating quantity e is generated at the output end qc1 ；
A first input end of the first q-axis adder is connected with a first q-axis error signal adjustment quantity e qc1 The second input end is connected with a second q-axis error signal adjustment quantity e dc2 After addition, the q-axis error signal adjustment quantity e is generated at the output end qc The method comprises the steps of carrying out a first treatment on the surface of the Wherein e qc2 =k p ωe d /s；
The first input end of the second q-axis adder is connected with the q-axis error signal adjustment quantity e qc The second input end is connected with the q-axis current regulating quantity K q i q After addition operation, q-axis control quantity u is generated at the output end q * The method comprises the steps of carrying out a first treatment on the surface of the Wherein K is q The coefficient is adjusted for q-axis current.
Further, the method comprises the steps of,
wherein K is p 、K i The proportional coefficient and the integral coefficient of the d-axis PI regulator and the q-axis PI regulator are respectively R s Is a stator winding, L d 、L q The d and q axes equivalent inductances are respectively.
Specifically, according to the mathematical model of the servo motor, it is possible to obtain:
wherein u is d 、u q 、i d 、i q The d and q axes equivalent output voltage and equivalent output current are respectively, ω is the motor angular velocity, and s is the differential operator.
Converting the formula (2) to obtain:
wherein,
by the formula (3), the corresponding transfer function can be obtained as:
in servo motor control, a current PI regulator is usually required to be additionally arranged, the output current of the servo motor is regulated in real time, and then the formula (4) can be converted into:
because of the mutual influence between the d-axis current and the q-axis current, the subsequent control error is generated to influence the control performance, and therefore, the integration link of the PI regulator needs to be additionally providedFor eliminating the interaction between d-axis and q-axis currents. Thus, equation (5) is converted into:
as can be derived from equation (6), in order to completely eliminate the interaction between the d-axis and q-axis currents, K must be made p =L d ω，K i = R s Omega, i.e. omega. However, when +.>In this embodiment, d-axis current adjustment amount and q-axis current adjustment amount are added to completely eliminate the mutual influence between d-axis current and q-axis current, and the schematic block diagram is shown in fig. 3, and the mathematical model is constructed as follows:
wherein G1, G2 are the transfer functions of the d, q-axis PI regulator, respectively.
After the conversion of formula (7), we get:
wherein:
since the parameters of the d and q axis PI regulators are the same, C dq 、C qd Can be simplified as:
in order to completely eliminate the mutual influence between the d-axis current and the q-axis current, the C must be made to be dq 、C qd Equal to 0, and can then be obtained:
as another alternative embodiment, the embodiment adopts an A/D converter to output current i to a phase and b phase according to the sampling theorem a 、i b Sampling, wherein in one alternating current period, 2N sampling periods are setI.e. 2N sampling points are set, where N is greater than 2. The operation of the a/D converter is further described below with reference to fig. 4. As shown in fig. 4, two sampling points are exemplarily shown, and the current i is output to the a phase at the k time and the k+1 time respectively a Sampling, the sampled value and a phase output current i a There is an error Δa. Similarly, each current sample value has an error value with the a-phase output current during an ac cycle. I.e. the discrete current signal output by the A/D converter and the a-phase output current i a There are error values, so the discrete current signals output by the a/D converter cannot accurately reflect the a-phase output current and the b-phase output current, and the three-phase output current needs to be reconstructed for accurately indicating the three-phase output current of the servo motor.
As shown in fig. 4, the output current of each phase of the servo motor is a sine wave. Let the amplitude of each phase output current be A p Further, 0 can be obtained- Area of range i The method comprises the following steps:
wherein,for the sampling period, it is further pushed to obtain the average value of the current in the positive half cycle:
thus, the present embodiment employs a current estimator for 0-The current sampling values in the range are summed up and divided by the number of samples to obtain the current average value which is multiplied by +.>2 to obtain 0->The current amplitude in the range, and then the output current of each phase is reconstructed to accurately indicate the three-phase output current of the servo motor.
As another alternative embodiment, the current estimator comprises two accumulation summing modules, two dividing modules, two multiplying modules, an a-phase current reconstruction module, a b-phase current reconstruction module, and a c-phase current reconstruction module.
Specifically, the first accumulation and summation module receives an a-phase discrete current signal i ac For N consecutiveA-phase discrete current signal i of (2) ac The absolute values of (a) are accumulated and summed to generate a-phase discrete current sum;
the second accumulation and summation module receives the b-phase discrete current signal i bc For N consecutive b-phase discrete current signals i bc The absolute values of (a) are accumulated and summed to generate a b-phase discrete current sum;
a first division module for receiving the a-phase discrete current sum and dividing by N to generate an a-phase current average;
a second division module for receiving the b-phase discrete current sums and dividing by N to produce a b-phase current average;
a first multiplication module for receiving the average value of the a-phase current and multiplying2 to generate a-phase current magnitude;
a second multiplying module for receiving the average value of b-phase current and multiplying2 to generate a b-phase current magnitude;
the a-phase current reconstruction module is used for receiving a-phase current amplitude and reconstructing a-phase current signal to obtain an a-phase reconstructed current signal i ae ；
The b-phase current reconstruction module is used for receiving the b-phase current amplitude value, reconstructing the b-phase current signal and obtaining a b-phase reconstructed current signal i be ；
c-phase current reconstruction module for reconstructing current signal i according to a-phase ae B-phase reconstruction current signal i be Calculating to obtain a c-phase reconstruction current signal i ce ；
Further, the a-phase current reconstruction module calculates and obtains an a-phase reconstruction current signal i according to the a-phase current amplitude and the angular speed of the servo motor ae ；
The b-phase current reconstruction module calculates and obtains a b-phase reconstruction current signal i according to the b-phase current amplitude and the angular speed of the servo motor be ；
calculated by a c-phase current reconstruction modulec-phase reconstruction current signal i ce The method comprises the following steps:
it should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.

Claims (1)

1. An SVPWM module for a servo motor, the SVPWM module comprising:
the voltage control vector calculation module receives the alpha-axis voltage control quantity u α * And beta-axis voltage control amount u β * Calculating the magnitude U of the voltage control vector ref And angle theta ref ；
The amplitude judgment module receives the amplitude U of the voltage control vector ref And threshold U th Comparing to generate an amplitude indication signal; when the amplitude U ref Less than or equal to threshold U th Outputting a first indication signal when the amplitude U ref Greater than threshold U th Outputting a second indication signal;
a sector judgment module for judging the angle theta according to the amplitude indication signal ref Generating a sector indication signal; when a first indication signal is received, the sector judging module adopts a first sector judging module; when receiving the second indication signal, the sector judging module adopts a second sector judging module;
the effective vector generation module selects three effective vectors according to the sector indication signals and determines the acting time of the three effective vectors;
the PWM modulation module is used for receiving the action time of the three effective vectors, determining the action sequence of the three effective vectors and generating six paths of PWM signals for controlling the inverter to drive the servo motor;
the amplitude U of the voltage control vector ref And angle theta ref The method comprises the following steps:
；
the threshold value U th The method comprises the following steps:
；
wherein u is bus Is the dc supply voltage of the inverter;
the first sector judgment module includes:
when (when)When the voltage control vector is in the I sector;
when (when)When the voltage control vector is in the II sector;
when (when)When the voltage control vector is in the III sector;
when (when)When the voltage control vector is in the IV sector;
when (when)When the voltage control vector is in the V sector;
when (when)When the voltage control vector is in the VI sector;
the effective vector generation module specifically comprises:
when the voltage control vector is in the I sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the II sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the III sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the IV sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the V-th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the VI-th sector, effective vectors U2, U4 and U6 are adopted;
wherein the effective vectors U1, U2, U3, U4, U5, U6 are (100), (110), (010), (011), (001), (101), respectively;
the second sector judgment module includes:
when (when)When the voltage control vector is in the VII th sector;
when (when)When the voltage control vector is in the VIII sector;
when (when)When the voltage control vector is in the IX sector;
when (when)When the voltage control vector is in the X sector;
when (when)When the voltage control vector is in the XI sector;
when (when)When the voltage control vector is in the XII sector;
when (when)When the voltage control vector is in the XIII sector;
when (when)When the voltage control vector is in the XIV sector;
when (when)When the voltage control vector is in the XV sector;
when (when)When the voltage control vector is in sector XVI;
when (when)When the voltage control vector is in the XVII sector;
when (when)Voltage control at the timeThe vector is in sector XVIII;
wherein, the self-adapting angleAccording to the amplitude U of the voltage control vector ref Determining;
the adaptive angleThe method comprises the following steps:
；
wherein u is bus Is the dc supply voltage of the inverter;
the effective vector generation module specifically comprises:
when the voltage control vector is in the VII th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the VIII sector, effective vectors U1, U2 and U3 are adopted;
when the voltage control vector is in the IX sector, the effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the X-th sector, effective vectors U2, U3 and U4 are adopted;
when the voltage control vector is in the XI-th sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the XII sector, effective vectors U3, U4 and U5 are adopted;
when the voltage control vector is in the XIII sector, effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the XIV sector, effective vectors U4, U5 and U6 are adopted;
when the voltage control vector is in the XV sector, effective vectors U1, U3 and U5 are adopted;
when the voltage control vector is in the XVI th sector, the effective vectors U5, U6 and U1 are adopted;
when the voltage control vector is in the XVII sector, the effective vectors U2, U4 and U6 are adopted;
when the voltage control vector is in the XVIII sector, the effective vectors U6, U1 and U2 are adopted;
the effective vectors U1, U2, U3, U4, U5, and U6 are (100), (110), (010), (011), (001), and (101), respectively.
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CN109525152A (en) * 2018-11-23 2019-03-26 广东希塔变频技术有限公司 Motor drive control method, device and circuit
KR20200086154A (en) * 2019-01-08 2020-07-16 현대모비스 주식회사 System and method for six-step voltage synthesize of inverter
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