CN115765546A - 一种基于电流谐波注入的电机24阶噪声抑制方法 - Google Patents

一种基于电流谐波注入的电机24阶噪声抑制方法 Download PDF

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CN115765546A
CN115765546A CN202111024658.2A CN202111024658A CN115765546A CN 115765546 A CN115765546 A CN 115765546A CN 202111024658 A CN202111024658 A CN 202111024658A CN 115765546 A CN115765546 A CN 115765546A
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喻志刚
李硕
刁国亮
翟羽
赵宇
孙瑞
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Bosch Huayu Steering Systems Co Ltd
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Abstract

本发明涉及电机噪声抑制技术领域，具体地说是一种基于电流谐波注入的电机24阶噪声抑制方法，包括转化成id反馈电流、iq反馈电流；注入6阶电频率谐波电流iqcomp；标定补偿的iq反馈电流6次谐波幅值igain和补偿的iq反馈电流6次谐波初始相位角θoffset的数值，抵消iq反馈电流中的6阶谐波分量；PI控制器调节出ud*控制电压、uq*控制电压；逆Clark变换和逆Park变换，转换成uα*电压、uβ*电压，uα*电压、uβ*电压控制电机，达到抑制电机24阶噪声的目的。本发明同现有技术相比，通过在iq电流内注入6阶电频率谐波，并标定igain和θoffset值，抵消iq电流中的6阶谐波分量，实现24阶噪声的抑制，降低EPS电机噪声，提升驾驶员的驾乘舒适性。

Description

一种基于电流谐波注入的电机24阶噪声抑制方法
技术领域
本发明涉及电机噪声抑制技术领域，具体地说是一种基于电流谐波注入的电机24阶噪声抑制方法。
背景技术
随着汽车工业的发展，人们对汽车舒适度的要求逐渐提升。电动助力转向系统EPS，尤其是管柱式电动转向系统EPSC，因其电子助力驱动单元安装在驾驶舱，驾驶人员更容易接收到电机24阶噪声，容易造成客户抱怨。
24阶噪声的主要来源包括电机反电动势谐波、开关管死区效应、SVPWM控制方式引起的三相电流5、7次谐波。
因此，需要设计一种基于电流谐波注入的电机24阶噪声抑制方法，有效抑制电机24阶噪声，降低EPS电机24阶噪音。
发明内容
本发明的目的是克服现有技术的不足，提供了一种基于电流谐波注入的电机24阶噪声抑制方法，有效抑制电机24阶噪声，降低EPS电机24阶噪音。
为了达到上述目的，本发明提供一种基于电流谐波注入的电机24阶噪声抑制方法，包括如下步骤：步骤1，将三相电流采样模块采集到的电机三相电流，经过Clark变换和Park变换，转化成id反馈电流、iq反馈电流；步骤2，在iq反馈电流中注入6阶电频率谐波电流iqcomp；步骤3，对于注入6阶电频率谐波电流后的iq反馈电流，标定补偿的iq反馈电流6次谐波幅值igain和补偿的iq反馈电流6次谐波初始相位角θoffset的数值，以抵消iq反馈电流中的6阶谐波分量；步骤4，id指令电流与id反馈电流，iq指令电流与iq反馈电流分别经过PI控制器，调节出ud*控制电压、uq*控制电压；步骤5，ud*控制电压、uq*控制电压经过逆Clark变换和逆Park变换，转换成uα*电压、uβ*电压，uα*电压、uβ*电压控制电机，达到抑制电机24阶噪声的目的。
所述的6阶电频率谐波电流iqcomp的补偿公式为iqcomp = igain × sin(6wet +θoffset)，igain为补偿的iq电流6次谐波幅值，θoffset为补偿的iq电流6次谐波初始相位角，we为电角速度频率，t为时间。
所述的标定补偿的iq电流6次谐波幅值igain和补偿的iq电流6次谐波初始相位角θoffset的数值是通过对电机24阶扭矩的FFT分析数据观测补偿效果而确定的。
所述的id指令电流、iq指令电流由电流指令生产模块生成。
本发明同现有技术相比，通过在iq电流内注入6阶电频率谐波，并标定igain和θoffset值，抵消iq电流中的6阶谐波分量，实现24阶噪声的抑制，降低EPS电机噪声，提升驾驶员的驾乘舒适性。
附图说明
图1为本发明的iq电流谐波注入框图。
图2为电流谐波注入前，电机扭矩24阶谐波示意图。
图3为电流谐波注入后，电机扭矩24阶谐波示意图。
具体实施方式
现结合附图对本发明做进一步描述。
电机24阶噪音来源进行分析：对电机扭矩进行FFT分析，电机扭矩中24阶谐波含量明显高于其它阶次，由此可知，电机24阶噪音来自电机扭矩24阶谐波。
电机24阶噪音来源推导：
带5、7次电流谐波的三相电流公式如下：ia = i1×cos(wet +θ1) + i5×cos(-5wet+θ5) + i7×cos(7wet +θ7) ①，ib = i1×cos(wet +θ1 - 2/3×pi) + i5×cos(-5wet +θ5-2/3×pi) + i7×cos(7wet +θ7- 2/3×pi) ②，ic = i1×cos(wet +θ1 +2/3×pi) + i5×cos(-5wet +θ5+ 2/3×pi) + i7×cos(7wet +θ7+ 2/3×pi) ③。其中，i1为相电流基波幅值，i5为5次谐波幅值，i7为7次谐波幅值，θ1为基波初始相位角，θ5为5次谐波初始相位角，θ7为7次谐波初始相位角，we为电角速度频率。
Park变换和Clark变换公式如下：C3s-2s=
Figure DEST_PATH_IMAGE001
×
Figure 459088DEST_PATH_IMAGE002
④，C2s-2r=
Figure DEST_PATH_IMAGE003
⑤。
联立公式①②③④⑤求解： id = i1×cos(θ1)+ i5×cos(-6wet -θ5) + i7×cos(6wet +θ7) ⑥， iq = i1×sin(θ1)+ i5×sin(-6wet -θ5) + i7×sin(6wet +θ7) ⑦。
机械角速度频率和电角速度频率关系：we = wm ×np ⑧。其中，wm为机械角速度频率，np为电机极对数。
电机扭矩方程：Te = 1.5 × np ×iq ×[ id×(Ld-Lq) + ψf] ⑨。
将公式⑥⑦⑧带入⑨中可知：Te = 1.5 × np × ψf × [i1×sin(θ1)+ i5×sin(-6wet -θ5) + i7×sin(6wet +θ7)] ⑩，其中，ψf为电机转子永磁体磁链。
由公式⑧⑩可知：Te = 1.5 × np × ψf × [i1×sin(θ1)+ i5×sin(-24wmt -θ5)+ i7×sin(24wmt +θ7)] ⑪。
由以上推导可知，电机三相电流中的5、7次谐波导致了电机扭矩中含有24阶谐波，从而引起了人耳能够听到的电机24阶噪声。
参见图1，一种基于电流谐波注入的电机24阶噪声抑制方法，包括如下步骤：步骤1，将三相电流采样模块采集到的电机三相电流，经过Clark变换和Park变换，转化成id反馈电流、iq反馈电流。
步骤2，在iq反馈电流中注入6阶电频率谐波电流iqcomp，6阶电频率谐波电流iqcomp的补偿公式为iqcomp = igain × sin(6wet +θoffset)，igain为补偿的iq电流6次谐波幅值，θoffset为补偿的iq电流6次谐波初始相位角，we为电角速度频率，t为时间。
步骤3，对于注入6阶电频率谐波电流后的iq反馈电流，标定补偿的iq反馈电流6次谐波幅值igain和补偿的iq反馈电流6次谐波初始相位角θoffset的数值，以抵消iq反馈电流中的6阶谐波分量。其中，标定补偿的iq电流6次谐波幅值igain和补偿的iq电流6次谐波初始相位角θoffset的数值是通过对电机24阶扭矩的FFT分析数据观测补偿效果而确定的。
步骤4，id指令电流、iq指令电流由电流指令生产模块生成。id指令电流与id反馈电流，iq指令电流与iq反馈电流分别经过PI控制器，调节出ud*控制电压、uq*控制电压。
步骤5，ud*控制电压、uq*控制电压经过逆Clark变换和逆Park变换，转换成uα*电压、uβ*电压，uα*电压、uβ*电压控制电机，达到抑制电机24阶噪声的目的。
参见图2、图3，使用高精度扭矩传感器分别采集未做补偿和补偿后的电机扭矩数据，对电机扭矩进行FFT分析，观测电流谐波注入前后电机扭矩24阶谐波变化。对比电流谐波注入前后数据，注入6阶iq电流谐波后，电机扭矩24阶谐波幅值明显得到抑制，本发明方式实测有效。
本发明通过在iq电流内注入6阶电频率谐波，并标定igain和θoffset值，抵消iq电流中的6阶谐波分量，实现24阶噪声的抑制，降低EPS电机噪声，提升驾驶员的驾乘舒适性。

Claims (4)

1.一种基于电流谐波注入的电机24阶噪声抑制方法，其特征在于：包括如下步骤：步骤1，将三相电流采样模块采集到的电机三相电流，经过Clark变换和Park变换，转化成id反馈电流、iq反馈电流；步骤2，在iq反馈电流中注入6阶电频率谐波电流iqcomp；步骤3，对于注入6阶电频率谐波电流后的iq反馈电流，标定补偿的iq反馈电流6次谐波幅值igain和补偿的iq反馈电流6次谐波初始相位角θoffset的数值，以抵消iq反馈电流中的6阶谐波分量；步骤4，id指令电流与id反馈电流，iq指令电流与iq反馈电流分别经过PI控制器，调节出ud*控制电压、uq*控制电压；步骤5，ud*控制电压、uq*控制电压经过逆Clark变换和逆Park变换，转换成uα*电压、uβ*电压，uα*电压、uβ*电压控制电机，达到抑制电机24阶噪声的目的。
2.根据权利要求1所述的一种基于电流谐波注入的电机24阶噪声抑制方法，其特征在于：所述的6阶电频率谐波电流iqcomp的补偿公式为iqcomp = igain × sin(6wet +θoffset)，igain为补偿的iq电流6次谐波幅值，θoffset为补偿的iq电流6次谐波初始相位角，we为电角速度频率，t为时间。
3.根据权利要求1所述的一种基于电流谐波注入的电机24阶噪声抑制方法，其特征在于：所述的标定补偿的iq电流6次谐波幅值igain和补偿的iq电流6次谐波初始相位角θoffset的数值是通过对电机24阶扭矩的FFT分析数据观测补偿效果而确定的。
4.根据权利要求1所述的一种基于电流谐波注入的电机24阶噪声抑制方法，其特征在于：所述的id指令电流、iq指令电流由电流指令生产模块生成。
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