CN116345975A - Double three-phase permanent magnet synchronous motor system and angle compensation method and device thereof - Google Patents

Double three-phase permanent magnet synchronous motor system and angle compensation method and device thereof Download PDF

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Publication number
CN116345975A
CN116345975A CN202310465124.6A CN202310465124A CN116345975A CN 116345975 A CN116345975 A CN 116345975A CN 202310465124 A CN202310465124 A CN 202310465124A CN 116345975 A CN116345975 A CN 116345975A
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phase
windings
rotor position
position angle
permanent magnet
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Inventor
陈一帆
高峰
吴文鹏
毛贻豪
张光耀
杨廷草
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Qingche Zhixing Suzhou Electronic Technology Co ltd
Suzhou Automotive Research Institute of Tsinghua University
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Qingche Zhixing Suzhou Electronic Technology Co ltd
Suzhou Automotive Research Institute of Tsinghua University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a double three-phase permanent magnet synchronous motor system and an angle compensation method and device thereof. The method comprises the following steps: respectively collecting phase currents of two sets of windings of the double three-phase permanent magnet synchronous motor and rotor position angles of a first set of windings; generating a rotor position angle after the first set of winding compensation through phase-locked loop closed-loop control of the rotor position angle; obtaining a rotor position angle after the second set of windings are compensated according to the rotor position angle relation of the first set of windings and the second set of windings; controlling the first set of three-phase subsystem by adopting three-phase motor coordinate transformation according to the phase current of the first set of windings and the compensated rotor position angle; and controlling the second set of three-phase subsystem by adopting three-phase motor coordinate transformation according to the phase current of the second set of windings and the compensated rotor position angle. According to the embodiment of the invention, the phase-locked loop is adopted to perform angle compensation on the output signal of the position sensor, so that the system loss can be reduced, the application range is wide, and the cost is low.

Description

Double three-phase permanent magnet synchronous motor system and angle compensation method and device thereof
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a double three-phase permanent magnet synchronous motor system and an angle compensation method and device thereof.
Background
In the traditional three-phase motor control process, due to the fact that the reading of the position sensor is delayed or the angle is generated due to interference, when the motor operates at a high speed, the motor current is larger, and the efficiency is reduced. The double three-phase system comprises two subsystems of three-phase motors, wherein the motor rotor angle of a first set of windings adopts the angle acquired by a sensor, the rotor angle of a second set of windings is based on the subtraction of pi/6 from the rotor angle of the first set of windings, when the rotor angle acquired by the sensor is inaccurate, the subsystems of the first set of windings cannot operate in an optimal efficiency state, the second set of windings can also be affected by the angle, so that the operation efficiency is reduced, the whole double three-phase driving system is in a non-efficient operation state, and the loss is doubled as that of the three-phase permanent magnet synchronous motor.
Disclosure of Invention
The invention provides a double three-phase permanent magnet synchronous motor system, an angle compensation method and an angle compensation device thereof, which are used for carrying out angle compensation on an output signal of a position sensor, reducing system loss and have wide application range.
According to an aspect of the present invention, there is provided a method for angle compensation of a double three-phase permanent magnet synchronous motor, including:
respectively collecting phases of two sets of windings of the double three-phase permanent magnet synchronous motorCurrent i A ,i B ,i C And i U ,i V ,i W And a rotor position angle θ of the first set of windings;
generating a rotor position angle after the first set of winding compensation by the rotor position angle theta through phase-locked loop closed-loop control
Figure BDA0004202146570000011
Obtaining the rotor position angle after the second set of windings are compensated according to the rotor position angle relation of the first set of windings and the second set of windings
Figure BDA0004202146570000021
According to the phase current i of the first set of windings A ,i B ,i C Compensated rotor position angle
Figure BDA0004202146570000022
The first set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation; and according to the phase current i of the second set of windings U ,i V ,i W Compensated rotor position angle ∈ ->
Figure BDA0004202146570000023
And the second set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation.
Optionally, the rotor position angle θ is controlled by a phase-locked loop to generate a first set of winding compensated rotor position angles
Figure BDA0004202146570000024
The method specifically comprises the following steps:
the rotor position angle theta and the compensated rotor position angle
Figure BDA00042021465700000214
Inputting the signal into a phase detector to obtain an output signal epsilon (t) of the phase detector; =
Input the output signal ε (t) =to the PI controller and integrateA device for obtaining the compensated rotor position angle
Figure BDA0004202146570000025
Optionally, the compensating step of the phase detector includes:
establishing the rotor position angle theta and the compensated rotor position angle
Figure BDA0004202146570000026
And the relation of the output signal ε (t) =is +.>
Figure BDA0004202146570000027
Wherein (1)>
Figure BDA0004202146570000028
A is gain;
calculated to obtain
Figure BDA0004202146570000029
Let sin theta be approximately equal to theta, calculate and obtain
Figure BDA00042021465700000210
Order the
Figure BDA00042021465700000211
Alternatively, the phase-locked loop is a typical second-order system with a transfer function of
Figure BDA00042021465700000212
Wherein K is p Is the ratio coefficient, K of the phase-locked loop i Is the integral coefficient of the phase-locked loop; according to the optimal damping coefficient xi and natural oscillation angular frequency omega n Determining K p And K i 。
Optionally, ζ=0.707, ω n Taking 523rad/s;
Kp＝2ξω n 、
Figure BDA00042021465700000213
optionally, the method for controlling each subsystem by adopting three-phase motor coordinate transformation specifically comprises the following steps:
phase current i A ,i B ,i C And i U ,i V ,i W Generating a stationary coordinate current i of a first set of windings through two stationary coordinate transformation clark respectively α1 ,i β1 And a stationary coordinate current i of the second set of windings α2 ，i β2 ；
The static coordinate current i of the first set of windings α1 ,i β1 Generating AC-DC axis current i after synchronous rotation transformation park d1 ,i q1 Stationary coordinate current i of the second set of windings α2 ，i β2 Generating AC-DC axis current i after synchronous rotation transformation park d2 ,i q2 ；
The two sets of windings adopt moment control, and the direct axis current instruction i of the two sets of windings dref1 ＝i dref2 =0, quadrature current instruction i for two sets of windings qref1 ＝i qref2 ＝i qref ；
The AC-DC axis current i of the first set of windings d1 ,i q1 Ac-dc axis current command i dref1 ,i qref1 The difference is made, and the AC-DC voltage v is output through the PI regulation of the first set d1 ,v q1 The AC-DC axis current i of the second set of windings d2 ,i q2 AC-DC axis current command i dref2 ,＝i qref2 The difference is made, and the AC-DC axis voltage v is output through PI regulation of the second set d2 ,v q2 ；
The AC-DC voltage v of the first set of windings d1 ,v q1 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α1 ,v β1 Ac-dc axis voltage v of the second set of windings d2 ,v q2 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α2 ,v β2 ；
The static coordinate system of the two sets of windings is electrically connectedPressure v α1 ,v β1 ,v α2 And v β2 After SVPWM modulation, six-way switch S is output A ,S B ,S C ,S U ,S V And S is W The inverter is supplied with power for the double three-phase permanent magnet synchronous motor, and the motor rotates to output corresponding torque and rotating speed;
wherein the compensated rotor position angle is used in the steps of performing the synchronous rotation transformation park and the anti-synchronous rotation transformation park
Figure BDA0004202146570000031
Figure BDA0004202146570000032
According to another aspect of the present invention, there is provided an angle compensation device for a double three-phase permanent magnet synchronous motor, characterized by comprising:
the acquisition module is used for respectively acquiring phase currents i of two sets of windings of the double three-phase permanent magnet synchronous motor A ,i B ,i C And i U ,i V ,i W And a rotor position angle θ of the first set of windings;
the angle compensation module is used for generating a rotor position angle after the first set of winding compensation by the rotor position angle theta through the phase-locked loop closed-loop control
Figure BDA0004202146570000041
And obtaining the rotor position angle after the second set of windings are compensated according to the rotor position angle relation of the first set of windings and the second set of windings>
Figure BDA0004202146570000042
A motor control module for controlling the phase current i of the first set of windings A ,i B ,i C Compensated rotor position angle
Figure BDA0004202146570000043
The three-phase motor coordinate transformation is adopted for the first set of three-phase subsystemRow control; and according to the phase current i of the second set of windings U ,i V ,i W Compensated rotor position angle ∈ ->
Figure BDA0004202146570000044
And the second set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation.
Optionally, the angle compensation module includes:
the phase discriminator is used for generating an output signal of the phase discriminator according to the rotor position angle and the compensated rotor position angle;
the PI controller is used for generating a compensated rotating speed signal according to the output signal of the phase discriminator;
and the integrator is used for generating a compensated rotor position angle according to the compensated rotating speed signal.
Optionally, the motor control module includes:
a first and a second clark unit for respectively comparing the phase currents i A ,i B ,i C And i U ,i V ,i W Generating a stationary coordinate current i of a first set of windings through two stationary coordinate transformation clark respectively α1 ,i β1 And a stationary coordinate current i of the second set of windings α2 ，i β2 ；
A first and a second park unit for respectively supplying the stationary coordinate currents i of the first set of windings α1 ,i β1 Generating AC-DC axis current i after synchronous rotation transformation park d1 ,i q1 Stationary coordinate current i of the second set of windings α2 ，i β2 Generating AC-DC axis current i after synchronous rotation transformation park d2 ,i q2 ；
The current instruction unit is used for controlling the two sets of windings by adopting moment, and the direct-axis current instruction i of the two sets of windings dref1 ＝i dref2 =0, quadrature current instruction i for two sets of windings qref1 ＝i qref2 ＝i qref ；
A first set of PI units and a second set of PI units for respectively winding the first set of windingsIs the AC-DC axis current i d1 ,i q1 Ac-dc axis current command i dref1 ,i qref1 The difference is made, and the AC-DC voltage v is output through the PI regulation of the first set d1 ,v q1 The AC-DC axis current i of the second set of windings d2 ,i q2 AC-DC axis current command i dref2 ,i qref2 The difference is made, and the AC-DC axis voltage v is output through PI regulation of the second set d2 ,v q2 ；
A first reverse-park unit and a second reverse-park unit for respectively applying the AC-DC voltage v of the first set of windings d1 ,v q1 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α1 ,v β1 Ac-dc axis voltage v of the second set of windings d2 ,v q2 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α2 ,v β2 ；
SVPWM unit for applying voltage v of stationary coordinate system of two sets of windings α1 ,v β1 ,v α2 And v β2 After SVPWM modulation, six-way switch S is output A ,S B ,S C ,S U ,S V And S is W And supplying power to the inverter, wherein the inverter supplies power to the double three-phase permanent magnet synchronous motor, and the motor rotates to output corresponding torque and rotation speed.
According to another aspect of the present invention, there is provided a double three-phase permanent magnet synchronous motor system, characterized by comprising: the system comprises a double three-phase permanent magnet synchronous motor, a position sensor, a current sensor, an inverter and a controller;
the position sensor is used for collecting the rotor position angle of the first set of windings, and the current sensor is used for collecting the phase currents of the two sets of windings of the double three-phase permanent magnet synchronous motor;
the position sensor and the current sensor are connected with the controller, a phase-locked loop is arranged in the controller, and the controller can execute the angle compensation method of the double three-phase permanent magnet synchronous motor according to any embodiment of the invention.
According to the embodiment of the invention, the open-loop control of the rotor position angle acquired by the position sensor can be changed into the closed-loop control by performing the phase-locked loop control on the rotor position angle acquired by the position sensor, and the reading delay of the position sensor is compensated. Particularly, when the motor operates at a high speed, the embodiment of the invention can obviously improve the angle precision in the vector control of the double three-phase permanent magnet synchronous motor, and reduce the angle phase difference, thereby reducing the current which is increased due to the angle error and improving the efficiency of the controller. In addition, the closed-loop control method of the phase-locked loop can be realized in the controller through a software program without adding new hardware in the motor system, so that hardware model selection according to the factors of application scenes, time delay and the like is avoided, and the method has the advantages of wide application range and low cost.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of angle compensation control of a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for compensating angles of a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 3 is a control block diagram of a phase-locked loop according to an embodiment of the present invention;
fig. 4 is a control block diagram of another phase-locked loop according to an embodiment of the present invention;
fig. 5 is a simulation comparison diagram of an actual angle of a rotor of a double three-phase permanent magnet synchronous motor and an output angle of a phase-locked loop according to an embodiment of the present invention;
fig. 6 is a structural diagram of an angle compensation device for a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 7 is a block diagram of another angle compensation device for a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 8 is a block diagram of another angle compensation device for a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a dual three-phase permanent magnet synchronous motor system according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides a method for compensating the angle of a double three-phase permanent magnet synchronous motor, which can be executed by a device for compensating the angle of the double three-phase permanent magnet synchronous motor, and the device can be realized by software and/or hardware.
In order to better explain the technical scheme of the embodiment of the invention, firstly, the angle compensation control block diagram of the double three-phase permanent magnet synchronous motor provided by the embodiment of the invention is explained. Fig. 1 is a block diagram of angle compensation control of a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention.
Referring to fig. 1, the double three-phase permanent magnet synchronous motor is composed of two sets of stator windings, namely a winding ABC and a winding UVW, wherein the two sets of windings are respectively in a star connection mode and are spatially separated by 30 degrees in electrical angle. The rotor is a permanent magnet, and the neutral points of the two sets of windings are isolated from each other.
The control of the angle compensation of the double three-phase permanent magnet synchronous motor adopts double d-q coordinate transformation, the double three-phase permanent magnet synchronous motor is regarded as the combination of two three-phase subsystems, each subsystem is controlled by adopting three-phase motor coordinates, and the system specifically comprises 4 current loop PI regulators and 1 position sensor.
Alternatively, the position sensor employs a magnetoresistive sensor. The magnetoresistive sensor communicates the sensed rotor position angle θ to a controller (e.g., a single-chip microcomputer) having an angle compensation module, such as a phase-locked loop (Phase Locked Loop, PLL), built into the controller. The controller transmits the rotor position angle theta read in each sampling period to the angle compensation module for calculation, and the rotor speed after adjustment and output compensation is carried out
Figure BDA0004202146570000081
And the compensated rotor position angle +.>
Figure BDA0004202146570000082
Compensated rotor position angle
Figure BDA0004202146570000083
The park and inverse park transforms for the currents of the two sets of windings.
In the controller, the d-axis current set values of two sets of windings are set to be equal, the q-axis current set values are set to be equal, and six paths of current sampling values i are obtained through three-resistor sampling A ,i B ,i C And i U ,i V ,i W The collected current is fed back to the current loop P after the clark conversion and the park conversionI regulator for outputting AC-DC voltage v d1 ,v q1 ,v d2 ,v q2 The output voltage of each PI regulator is transformed by reverse park to output the voltage v of a static coordinate system α1 ,v β1 ,v α2 ,v β2 The static coordinate system voltage is output to the SVPWM module, and after being modulated by the SVPWM module, the SVPWM module outputs a switch signal S through the singlechip A ,S B ,S C ,S U ,S V ,S W And outputting two paths of three-phase voltages to the double three-phase permanent magnet synchronous motor by the two sets of windings of inverters.
In the next sampling period, current sampling and rotor position sampling are repeatedly executed again, voltage vector control of the two subsystems is calculated through the controller, voltage switching signals of the two subsystems are output to the inverter, and the inverter outputs voltage to the double three-phase permanent magnet synchronous motor to output torque and rotating speed.
Fig. 2 is a flowchart of a method for compensating angles of a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention. In an embodiment of the present invention, with reference to fig. 1 and 2, optionally, the angle compensation method for a double three-phase permanent magnet synchronous motor includes the following steps:
s110, respectively acquiring phase currents i of two sets of windings of the double three-phase permanent magnet synchronous motor A ,i B ,i C And i U ,i V ,i W And a rotor position angle θ of the first set of windings.
The acquisition mode of the phase currents of the two sets of windings can be three-resistance sampling. The acquisition of the rotor position angle may be performed using a position sensor, which may be a magneto-resistive sensor, for example.
S120, generating a rotor position angle theta after the first set of winding compensation through phase-locked loop closed-loop control
Figure BDA0004202146570000084
The phase-locked loop is added after the rotor position angle is acquired by the position sensor, so that open-loop control of the angle detected by the angle position sensor can be changed into closed-loop control, on one hand, the angle due to reading lag can be compensated, on the other hand, harmonic waves and disturbance on the estimated rotating speed can be filtered, the rotor angle precision is improved, the current used on torque output is reduced, and the motor controller efficiency is improved.
S130, obtaining the rotor position angle after the second set of windings are compensated according to the rotor position angle relation of the first set of windings and the second set of windings
Figure BDA0004202146570000091
Wherein, because the phase difference between two sets of windings of the double three-phase permanent magnet synchronous motor is 30 degrees, the rotation coordinate transformation of the first set of windings adopts the compensated rotor position angle
Figure BDA0004202146570000092
The rotational coordinate transformation of the second set of windings uses the compensated rotor position angle +.>
Figure BDA0004202146570000093
S140, according to the phase current i of the first set of windings A ,i B ,i C Compensated rotor position angle
Figure BDA0004202146570000094
The first set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation; and according to the phase current i of the second set of windings U ,i V ,i W Compensated rotor position angle ∈ ->
Figure BDA0004202146570000095
And the second set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation.
Wherein the compensated rotor position angle
Figure BDA0004202146570000096
The park and inverse park transformation of the current for the first set of windings, compensated rotor position angle +.>
Figure BDA0004202146570000097
The park and inverse park transforms for the current of the second set of windings. Specifically, in FIG. 1, at e -jθ A park transformation representing the current of the first set of windings, e jθ Inverse park transformation of the current representing the first set of windings, e -j(θ-π/6) A park transformation representing the current of the second set of windings, denoted e j(θ-π/6) Representing the inverse park transformation of the current of the second set of windings.
According to the embodiment of the invention, the open-loop control of the rotor position angle acquired by the position sensor can be changed into the closed-loop control by performing the phase-locked loop control on the rotor position angle acquired by the position sensor, and the reading delay of the position sensor is compensated. Particularly, when the motor operates at a high speed, the embodiment of the invention can obviously improve the angle precision in the vector control of the double three-phase permanent magnet synchronous motor, and reduce the angle phase difference, thereby reducing the current which is increased due to the angle error and improving the efficiency of the controller. In addition, the closed-loop control method of the phase-locked loop can be realized in the controller through a software program without adding new hardware in the motor system, so that hardware model selection according to the factors of application scenes, time delay and the like is avoided, and the method has the advantages of wide application range and low cost.
Based on the above embodiments, optionally, with continued reference to fig. 1, a method for controlling each subsystem by using three-phase motor coordinate transformation specifically includes:
phase current i A ,i B ,i C And i U ,i V ,i W Generating a stationary coordinate current i of a first set of windings through two stationary coordinate transformation clark respectively α1 ,i β1 And a stationary coordinate current i of the second set of windings α2 ，i β2 ；
The static coordinate current i of the first set of windings α1 ,i β1 Generating AC-DC axis current i after synchronous rotation transformation park d1 ,i q1 Stationary coordinate current i of the second set of windings α2 ，i β2 Generating AC-DC axis current i after synchronous rotation transformation park d2 ,i q2 ；
The two sets of windings adopt moment control, and the direct axis current instruction i of the two sets of windings dref1 ＝i dref2 =0, quadrature current instruction i for two sets of windings qref1 ＝i qref2 ＝i qref ；
The AC-DC axis current i of the first set of windings d1 ,i q1 Ac-dc axis current command i dref1 ,i qref1 The difference is made, and the AC-DC voltage v is output through the PI regulation of the first set d1 ,v q1 The AC-DC axis current i of the second set of windings d2 ,i q2 AC-DC axis current command i dref2 ,i qref2 The difference is made, and the AC-DC axis voltage v is output through PI regulation of the second set d2 ,v q2 ；
The AC-DC voltage v of the first set of windings d1 ,v q1 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α1 ,v β1 Ac-dc axis voltage v of the second set of windings d2 ,v q2 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α2 ,v β2 ；
Voltage v of static coordinate system of two sets of windings α1 ,v β1 ,v α2 And v β2 After SVPWM modulation, six-way switch S is output A ,S B ,S C ,S U ,S V And S is W The inverter is supplied with power for the double three-phase permanent magnet synchronous motor, and the motor rotates to output corresponding torque and rotating speed;
wherein the compensated rotor position angle is used in the steps of performing the synchronous rotation transformation park and the anti-synchronous rotation transformation park
Figure BDA0004202146570000101
Figure BDA0004202146570000102
Through the steps, the method for compensating the angle by using the phase-locked loop in the process of controlling by adopting the three-phase motor coordinate transformation is realized, and particularly when the motor operates at a high speed, the embodiment of the invention can obviously improve the angle precision in the vector control of the double three-phase permanent magnet synchronous motor, reduce the angle phase difference, thereby reducing the current which is increased due to the angle error and improving the efficiency of the controller.
In the above embodiments, the implementation manner of the closed loop control of the phase-locked loop is various, and several of them are described below, but the present invention is not limited thereto.
Fig. 3 is a control block diagram of a phase-locked loop according to an embodiment of the present invention. Referring to fig. 3, in one embodiment of the invention, optionally, the rotor position angle θ is compensated by a phase locked loop to generate a first set of windings
Figure BDA0004202146570000111
The method specifically comprises the following steps:
the rotor position angle theta and the compensated rotor position angle
Figure BDA0004202146570000112
Is input to the phase detector to obtain an output signal epsilon (t) of the phase detector. =
Optionally, the compensating step of the phase detector includes:
inputting the rotor position angle theta to a phase discriminator, and calculating the rotor position angle theta to obtain a formula (1):
Figure BDA0004202146570000113
wherein A is the gain.
To compensate the rotor position angle
Figure BDA0004202146570000114
Input to phase detector, compensating rotor position angle +.>
Figure BDA0004202146570000115
Performing calculation to obtain formula (2)>
Figure BDA0004202146570000116
Wherein A is the gain.
Output signal of phase detectorIs of formula (3):
Figure BDA0004202146570000117
the method establishes rotor position angle theta and compensated rotor position angle +>
Figure BDA0004202146570000118
And output signal ε (t) =relationship.
Bringing formula (1) and formula (2) into formula (3) gives formula (4):
Figure BDA0004202146570000119
because the rotor position angle θ is small, sin θ is approximately equal to θ, equation (4) can be written as
Figure BDA00042021465700001110
Since the purpose of the phase-locked loop is to eliminate errors in the estimation of the measured angle, i.e. to achieve the rotor position angle θ and the compensated rotor position angle
Figure BDA00042021465700001111
Equal. Thus (S)>
Figure BDA00042021465700001112
Then the output signal epsilon (t) =is input to the PI controller and the integrator to obtain the compensated rotor position angle
Figure BDA00042021465700001113
Wherein the PI controller output is rotor speed +.>
Figure BDA00042021465700001114
Compensated rotor position angle ∈ ->
Figure BDA00042021465700001115
Is the integrated output of the speed.
It can be seen that the embodiment of the invention realizes the closed-loop control of the rotor position angle by adopting the phase discriminator, the PI controller and the integrator.
Fig. 4 is a control block diagram of another phase-locked loop according to an embodiment of the present invention. Referring to FIG. 4, in one embodiment of the invention, the phase locked loop is optionally a typical second order system with a transfer function of
Figure BDA0004202146570000121
Wherein K is p Is the ratio coefficient, K of the phase-locked loop i Is the integral coefficient of the phase-locked loop; according to the optimal damping coefficient xi and natural oscillation angular frequency omega n Determining K p And K i 。
Alternatively, engineering, for a second order system, one can rely on the optimal damping coefficient ζ=0.707, ω n Taking 523rad/s, then kp=2ζω n 、
Figure BDA0004202146570000122
The embodiment of the invention also carries out simulation verification. Fig. 5 is a simulation comparison diagram of an actual angle of a rotor of a double three-phase permanent magnet synchronous motor and an output angle of a phase-locked loop according to an embodiment of the present invention. Referring to fig. 5, line 1 represents the actual rotor angle of the double three-phase permanent magnet synchronous motor, line 2 represents the rotor position angle compensated by the phase-locked loop, and line 3 represents the error between the actual rotor angle of the double three-phase permanent magnet synchronous motor and the compensated rotor position angle. As can be seen from fig. 5, after the angle closed loop dynamic adjustment, the calculated output angle (i.e. the compensated rotor position angle) of the phase-locked loop can accurately track the actual angle of the rotor.
The embodiment of the invention also provides an angle compensation device of the double three-phase permanent magnet synchronous motor, which can be realized by software and/or hardware. Fig. 6 is a structural diagram of an angle compensation device for a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention. Referring to fig. 6, the angle compensation device of the double three-phase permanent magnet synchronous motor includes:
the acquisition module 210 is used for respectively acquiring the double three-phase permanent magnet synchronous motorsPhase current i of two sets of windings A ,i B ,i C And i U ,i V ,i W And a rotor position angle θ of the first set of windings;
an angle compensation module 220 for generating a first set of winding compensated rotor position angle by the rotor position angle θ through phase-locked loop closed-loop control
Figure BDA0004202146570000123
And obtaining the rotor position angle after the second set of windings are compensated according to the rotor position angle relation of the first set of windings and the second set of windings>
Figure BDA0004202146570000124
A motor control module 230 for controlling the phase current i according to the first set of windings A ,i B ,i C Compensated rotor position angle
Figure BDA0004202146570000125
The first set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation; and according to the phase current i of the second set of windings U ,i V ,i W Compensated rotor position angle ∈ ->
Figure BDA0004202146570000131
And the second set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation.
Fig. 7 is a block diagram of another angle compensation device for a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention. Referring to fig. 7, optionally, the angle compensation module 220 includes:
a phase detector 221 for generating an output signal of the phase detector according to the rotor position angle and the compensated rotor position angle;
a PI controller 222 for generating a compensated rotation speed signal according to an output signal of the phase detector;
an integrator 223 for generating a compensated rotor position angle from the compensated rotational speed signal.
Fig. 8 is a block diagram of another angle compensation device for a double three-phase permanent magnet synchronous motor according to an embodiment of the present invention. Referring to fig. 8, optionally, the motor control module 230 includes:
a first and a second clark unit 231, 232 for respectively comparing the phase currents i A ,i B ,i C And i U ,i V ,i W Generating a stationary coordinate current i of a first set of windings through two stationary coordinate transformation clark respectively α1 ,i β1 And a stationary coordinate current i of the second set of windings α2 ，i β2 ；
A first park unit 233 and a second park unit 234 for respectively supplying the stationary coordinate currents i of the first set of windings α1 ,i β1 Generating AC-DC axis current i after synchronous rotation transformation park d1 ,i q1 Stationary coordinate current i of the second set of windings α2 ，i β2 Generating AC-DC axis current i after synchronous rotation transformation park d2 ,i q2 ；
A current command unit 235 for controlling the moment of the two windings, and commanding the direct axis current of the two windings dref1 ＝i dref2 =0, quadrature current instruction i for two sets of windings qref1 ＝i qref2 ＝i qref ；
A first set of PI units 236 and a second set of PI units 237 for respectively coupling the ac-dc axis currents i of the first set of windings d1 ,i q1 Ac-dc axis current command i dref1 ,i qref1 The difference is made, and the AC-DC voltage v is output through the PI regulation of the first set d1 ,v q1 The AC-DC axis current i of the second set of windings d2 ,i q2 AC-DC axis current command i dref2 ,i qref2 The difference is made, and the AC-DC axis voltage v is output through PI regulation of the second set d2 ,v q2 ；
A first reverse park unit 238 and a second reverse park unit 239 for respectively applying the ac-dc axis voltages v of the first set of windings d1 ,v q1 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α1 ,v β1 A second set of windingsAc-dc axis voltage v of group d2 ,v q2 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α2 ,v β2 ；
An SVPWM unit 240 for applying the stationary coordinate system voltage v of the two sets of windings α1 ,v β1 ,v α2 And v β2 After SVPWM modulation, six-way switch S is output A ,S B ,S C ,S U ,S V And S is W And supplying power to the inverter, wherein the inverter supplies power to the double three-phase permanent magnet synchronous motor, and the motor rotates to output corresponding torque and rotation speed.
Alternatively, the acquisition module 210 may include a position sensor, a current sensor, or other hardware sensor.
The angle compensation device for the double three-phase permanent magnet synchronous motor provided by the embodiment of the invention can execute the angle compensation method for the double three-phase permanent magnet synchronous motor provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
The embodiment of the invention also provides a double three-phase permanent magnet synchronous motor system. Fig. 9 is a schematic diagram of a dual three-phase permanent magnet synchronous motor system according to an embodiment of the present invention. Referring to fig. 9, the double three-phase permanent magnet synchronous motor system includes: the device comprises a double three-phase permanent magnet synchronous motor, a position sensor, a current sensor, an inverter and a controller. The position sensor is used for collecting the rotor position angle of the first set of windings, and the current sensor is used for collecting the phase currents of the two sets of windings of the double three-phase permanent magnet synchronous motor; the position sensor and the current sensor are both connected with the controller, the angle compensation module is configured in the controller, the controller can execute the angle compensation method of the double three-phase permanent magnet synchronous motor provided by any embodiment of the invention, and the method has corresponding beneficial effects and is not repeated.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. The angle compensation method for the double three-phase permanent magnet synchronous motor is characterized by comprising the following steps of:
respectively collecting phase currents i of two sets of windings of the double three-phase permanent magnet synchronous motor A ,i B ,i C And i U ,i V ,i W And a rotor position angle θ of the first set of windings;
generating a rotor position angle after the first set of winding compensation by the rotor position angle theta through phase-locked loop closed-loop control
Figure FDA0004202146560000011
Obtaining the rotor position angle after the second set of windings are compensated according to the rotor position angle relation of the first set of windings and the second set of windings
Figure FDA0004202146560000012
According to the phase current i of the first set of windings A ,i B ,i C Compensated rotor position angle
Figure FDA00042021465600000113
The first set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation; and according to the phase current i of the second set of windings U ,i V ,i W Compensated rotor position angle ∈ ->
Figure FDA0004202146560000013
And the second set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation.
2. The method of claim 1, wherein the rotor position angle θ is controlled by a phase-locked loop to produce a first set of winding compensated rotor position angles
Figure FDA0004202146560000014
The method specifically comprises the following steps:
the rotor position angle theta and the compensated rotor position angle
Figure FDA00042021465600000112
Inputting the signal into a phase detector to obtain an output signal epsilon (t) of the phase detector;
inputting the output signal epsilon (t) to a PI controller and an integrator to obtain a compensated rotor position angle
Figure FDA0004202146560000015
3. The method of angle compensation for a double three-phase permanent magnet synchronous motor according to claim 2, wherein the step of compensating for the phase detector comprises:
establishing the rotor position angle theta and the compensated rotor position angle
Figure FDA0004202146560000016
The relation between the output signal epsilon (t) is
Figure FDA0004202146560000017
Wherein (1)>
Figure FDA0004202146560000018
A is gain;
calculated to obtain
Figure FDA0004202146560000019
Let sin theta be approximately equal to theta, calculate and obtain
Figure FDA00042021465600000110
Order the
Figure FDA00042021465600000111
4. The method for angle compensation of a double three-phase permanent magnet synchronous motor according to claim 1, wherein the phase-locked loop is a typical second-order system with a transfer function of
Figure FDA0004202146560000021
Wherein K is p Is the ratio coefficient, K of the phase-locked loop i Is the integral coefficient of the phase-locked loop; according to the optimal damping coefficient xi and natural oscillation angular frequency omega n Determining K p And K i 。
5. The method of angle compensation for a double three-phase permanent magnet synchronous motor according to claim 4, wherein ζ = 0.707, ω n Taking 523rad/s;
Kp＝2ξω n 、
Figure FDA0004202146560000022
6. the method for angle compensation of double three-phase permanent magnet synchronous motor according to claim 1, wherein the method for controlling each subsystem by three-phase motor coordinate transformation comprises the following steps:
phase current i A ,i B ,i C And i U ,i V ,i W Generating a stationary coordinate current i of a first set of windings through two stationary coordinate transformation clark respectively α1 ,i β1 And a stationary coordinate current i of the second set of windings α2 ，i β2 ；
Winding the first sleeve aroundStationary coordinate current i of group α1 ,i β1 Generating AC-DC axis current i after synchronous rotation transformation park d1 ,i q1 Stationary coordinate current i of the second set of windings α2 ，i β2 Generating AC-DC axis current i after synchronous rotation transformation park d2 ,i q2 ；
The two sets of windings adopt moment control, and the direct axis current instruction i of the two sets of windings dref1 ＝i dref2 =0, quadrature current instruction i for two sets of windings qref1 ＝i qref2 ＝i qref ；
The AC-DC axis current i of the first set of windings d1 ,i q1 Ac-dc axis current command i dref1 ,i qref1 The difference is made, and the AC-DC voltage v is output through the PI regulation of the first set d1 ,v q1 The AC-DC axis current i of the second set of windings d2 ,i q2 AC-DC axis current command i dref2 ,i qref2 The difference is made, and the AC-DC axis voltage v is output through PI regulation of the second set d2 ,v q2 ；
The AC-DC voltage v of the first set of windings d1 ,v q1 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α1 ,v β1 Ac-dc axis voltage v of the second set of windings d2 ,v q2 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α2 ,v β2 ；
Voltage v of static coordinate system of two sets of windings α1 ,v β1 ,v α2 And v β2 After SVPWM modulation, six-way switch S is output A ,S B ,S C ,S U ,S V And S is W The inverter is supplied with power for the double three-phase permanent magnet synchronous motor, and the motor rotates to output corresponding torque and rotating speed;
wherein the compensated rotor position angle is used in the steps of performing the synchronous rotation transformation park and the anti-synchronous rotation transformation park
Figure FDA0004202146560000031
7. An angle compensation device for a double three-phase permanent magnet synchronous motor, comprising:
the acquisition module is used for respectively acquiring phase currents i of two sets of windings of the double three-phase permanent magnet synchronous motor A ,i B ,i C And i U ,i V ,i W And a rotor position angle θ of the first set of windings;
the angle compensation module is used for generating a rotor position angle after the first set of winding compensation by the rotor position angle theta through the phase-locked loop closed-loop control
Figure FDA0004202146560000032
And obtaining the rotor position angle after the second set of windings are compensated according to the rotor position angle relation of the first set of windings and the second set of windings>
Figure FDA0004202146560000033
A motor control module for controlling the phase current i of the first set of windings A ,i B ,i C Compensated rotor position angle
Figure FDA0004202146560000034
The first set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation; and according to the phase current i of the second set of windings U ,i V ,i W Compensated rotor position angle ∈ ->
Figure FDA0004202146560000035
And the second set of three-phase subsystem is controlled by adopting three-phase motor coordinate transformation.
8. The angle compensation device of claim 7, wherein the angle compensation module comprises:
the phase discriminator is used for generating an output signal of the phase discriminator according to the rotor position angle and the compensated rotor position angle;
the PI controller is used for generating a compensated rotating speed signal according to the output signal of the phase discriminator;
and the integrator is used for generating a compensated rotor position angle according to the compensated rotating speed signal.
9. The double three-phase permanent magnet synchronous motor angle compensation device according to claim 7, wherein the motor control module comprises:
a first and a second clark unit for respectively comparing the phase currents i A ,i B ,i C And i U ,i V ,i W Generating a stationary coordinate current i of a first set of windings through two stationary coordinate transformation clark respectively α1 ,i β1 And a stationary coordinate current i of the second set of windings α2 ，i β2 ；
A first and a second park unit for respectively supplying the stationary coordinate currents i of the first set of windings α1 ,i β1 Generating AC-DC axis current i after synchronous rotation transformation park d1 ,i q1 Stationary coordinate current i of the second set of windings α2 ，i β2 Generating AC-DC axis current i after synchronous rotation transformation park d2 ,i q2 ；
The current instruction unit is used for controlling the two sets of windings by adopting moment, and the direct-axis current instruction i of the two sets of windings dref1 ＝i dref2 =0, quadrature current instruction i for two sets of windings qref1 ＝i qref2 ＝i qref ；
A first set of PI units and a second set of PI units are used for respectively converting the alternating-direct axis current i of the first set of windings d1 ,i q1 Ac-dc axis current command i dref1 ,i qref1 The difference is made, and the AC-DC voltage v is output through the PI regulation of the first set d1 ,v q1 The AC-DC axis current i of the second set of windings d2 ,i q2 AC-DC axis current command i dref2 ,＝i qref2 The difference is made, and the AC-DC axis voltage v is output through PI regulation of the second set d2 ,v q2 ；
First and second inverse park unitsElement for respectively applying the AC-DC voltage v of the first set of windings d1 ,v q1 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α1 ,v β1 Ac-dc axis voltage v of the second set of windings d2 ,v q2 Generating a static coordinate voltage v through anti-synchronous rotation transformation park α2 ,v β2 ；
SVPWM unit for applying voltage v of stationary coordinate system of two sets of windings α1 ,v β1 ,v α2 And v β2 After SVPWM modulation, six-way switch S is output A ,S B ,S C ,S U ,S V And S is W And supplying power to the inverter, wherein the inverter supplies power to the double three-phase permanent magnet synchronous motor, and the motor rotates to output corresponding torque and rotation speed.
10. A double three-phase permanent magnet synchronous motor system, comprising: the system comprises a double three-phase permanent magnet synchronous motor, a position sensor, a current sensor, an inverter and a controller;
the position sensor is used for collecting the rotor position angle of the first set of windings, and the current sensor is used for collecting the phase currents of the two sets of windings of the double three-phase permanent magnet synchronous motor;
the position sensor and the current sensor are both connected with the controller, a phase-locked loop is configured in the controller, and the controller can execute the angle compensation method of the double three-phase permanent magnet synchronous motor according to any one of claims 1 to 6.
CN202310465124.6A 2023-04-26 2023-04-26 Double three-phase permanent magnet synchronous motor system and angle compensation method and device thereof Pending CN116345975A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277877A (en) * 2023-11-22 2023-12-22 深圳北醒科技有限公司 Motor driving method, electronic equipment and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277877A (en) * 2023-11-22 2023-12-22 深圳北醒科技有限公司 Motor driving method, electronic equipment and storage medium
CN117277877B (en) * 2023-11-22 2024-02-27 深圳北醒科技有限公司 Motor driving method, electronic equipment and storage medium

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