CN118157530A - Method and device for compensating nonlinear error of driver of permanent magnet synchronous motor - Google Patents
Method and device for compensating nonlinear error of driver of permanent magnet synchronous motor Download PDFInfo
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Abstract
The application provides a method and a device for compensating nonlinear errors of a driver of a permanent magnet synchronous motor, wherein the method comprises the following steps: establishing a driver model with nonlinear load; based on the driver model with the nonlinear load, acquiring a three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition, wherein the preset working condition is that direct-axis current is injected, and torque components of the quadrature-axis current and the permanent magnet synchronous motor are guaranteed to be zero; establishing a first equivalent model of the driver model based on the three-phase line voltage relationship, and establishing a nonlinear error function based on the first equivalent model; solving the nonlinear error function to obtain an error voltmeter; and carrying out voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter so as to carry out nonlinear error compensation on a driver of the permanent magnet synchronous motor. The application solves the problem that the nonlinear error of the driver cannot be accurately measured and compensated at present.
Description
Technical Field
The application relates to the technical field of permanent magnet synchronous motors of new energy automobiles, in particular to a method and a device for compensating nonlinear errors of a driver of a permanent magnet synchronous motor.
Background
At present, with the wide application of the permanent magnet synchronous motor (PERMANENT MAGNET synchronous motor, PMSM), how to further optimize the PMSM system driven by power devices such as insulated gate bipolar transistors (Insulated gate bipolar transistor, IGBTs) and the like has very important practical significance. Because power devices such as IGBTs cannot realize ideal on-off, dead time is required to be inserted into driving signals of switching tubes in order to prevent the power devices on the same bridge arm of a driver from being simultaneously turned on. In addition, the power device itself has non-ideal characteristics such as: switching on/off delay of the switching tube, switching on voltage drop of the switching tube/diode, parasitic capacitance and the like. The existence of these nonlinear factors causes the output current of the driver to generate higher harmonic waves and the motor torque to generate pulsation, thereby affecting the control effect of the PMSM.
In the prior art, the nonlinear error of the driver is generally completely equivalent to the dead zone effect, and only the error voltage caused by the dead zone time is compensated. However, in practical engineering application, factors such as on/off delay of a switching tube, on voltage drop of the switching tube/diode, charge and discharge of parasitic capacitance and the like need to be considered. Since the nonlinear characteristics of the driver result in an error voltage that is not easily and accurately measured and compensated, how to accurately measure and compensate for the driver nonlinear error becomes critical in reducing current harmonics and torque ripple.
Disclosure of Invention
The embodiment of the application provides a method and a device for compensating nonlinear errors of a driver of a permanent magnet synchronous motor, which aim to solve the problem that the nonlinear errors of the driver cannot be accurately measured and compensated in the prior art.
In a first aspect, an embodiment of the present application provides a method for compensating a nonlinear error of a driver of a permanent magnet synchronous motor, which is applied to a host computer, where the host computer is communicatively connected to a space voltage vector pulse width modulation module connected to the driver of the permanent magnet synchronous motor, and the method includes:
establishing a driver model with nonlinear load;
Based on the driver model with the nonlinear load, acquiring a three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition, wherein the preset working condition is that direct-axis current is injected, and torque components of the quadrature-axis current and the permanent magnet synchronous motor are guaranteed to be zero;
Establishing a first equivalent model of the driver model with the nonlinear load based on the three-phase line voltage relation, and establishing a nonlinear error function based on the first equivalent model;
Solving the nonlinear error function to obtain an error voltmeter, wherein the error voltmeter is used for explaining the corresponding relation between the magnitude of phase current and error voltage;
And when the permanent magnet synchronous motor operates, performing voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter so as to perform nonlinear error compensation on a driver of the permanent magnet synchronous motor.
In a second aspect, an embodiment of the present application provides a device for compensating a nonlinear error of a driver of a permanent magnet synchronous motor, which is applied to a host computer, where the host computer is connected with a space voltage vector pulse width modulation module connected with the driver of the permanent magnet synchronous motor in a communication manner, and the device for compensating the nonlinear error of the driver of the permanent magnet synchronous motor includes:
a model building unit for building a driver model with a nonlinear load;
the three-phase line voltage relation determining unit is used for obtaining the three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition based on the driver model with the nonlinear load, wherein the preset working condition is that direct-axis current is injected and torque components of the quadrature-axis current and the permanent magnet synchronous motor are guaranteed to be zero;
The nonlinear error function building unit is used for building a first equivalent model of the driver model with the nonlinear load based on the three-phase line voltage relation and building a nonlinear error function based on the first equivalent model;
the error voltmeter establishing unit is used for solving the nonlinear error function to obtain an error voltmeter, wherein the error voltmeter is used for explaining the corresponding relation between the magnitude of the phase current and the error voltage;
And the compensation unit is used for carrying out voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter when the permanent magnet synchronous motor is in operation so as to carry out nonlinear error compensation on a driver of the permanent magnet synchronous motor.
In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the method for compensating a nonlinear error of a driver of a permanent magnet synchronous motor according to the first aspect when the processor executes the computer program.
In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, where the computer program when executed by a processor causes the processor to perform the method for compensating for a nonlinear error of a driver of a permanent magnet synchronous motor according to the first aspect.
The embodiment of the application provides a method and a device for compensating nonlinear errors of a driver of a permanent magnet synchronous motor, wherein a driver model with nonlinear load is firstly established; then, based on the driver model with the nonlinear load, acquiring a three-phase line voltage relationship of the permanent magnet synchronous motor under a preset working condition; then, based on the three-phase line voltage relation, a first equivalent model of the driver model with the nonlinear load is established, and a nonlinear error function is established based on the first equivalent model; then solving the nonlinear error function to obtain an error voltmeter; and finally, when the permanent magnet synchronous motor operates, performing voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter so as to perform nonlinear error compensation on a driver of the permanent magnet synchronous motor. And the nonlinear error function can be established, the nonlinear error voltage of the driver can be accurately calculated, and voltage compensation can be carried out through the nonlinear error voltage, so that current harmonic waves and torque pulsation generated by current output by the driver can be reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a method for compensating a nonlinear error of a driver of a permanent magnet synchronous motor according to an embodiment of the present application;
Fig. 2 is a schematic flow chart of a method for compensating nonlinear error of a permanent magnet synchronous motor driver according to an embodiment of the present application;
Fig. 3 is a schematic diagram of a driver model with a nonlinear load in the method for compensating a nonlinear error of a driver of a permanent magnet synchronous motor according to an embodiment of the present application;
Fig. 4 is a schematic flow chart of a non-linear error compensation method of a permanent magnet synchronous motor according to an embodiment of the present application;
Fig. 5 is a schematic diagram of the second equivalent model in the method for compensating nonlinear error of the driver of the permanent magnet synchronous motor according to the embodiment of the present application;
Fig. 6 is a schematic diagram of the first equivalent model in the method for compensating the nonlinear error of the driver of the permanent magnet synchronous motor according to the embodiment of the present application;
fig. 7 is another schematic sub-flowchart of a method for compensating a nonlinear error of a permanent magnet synchronous motor according to an embodiment of the present application;
Fig. 8 is a schematic diagram of another sub-flow of a method for compensating a nonlinear error of a permanent magnet synchronous motor according to an embodiment of the present application;
Fig. 9 is a nonlinear error compensation block diagram of a driving system in a nonlinear error compensation method of a permanent magnet synchronous motor according to an embodiment of the present application;
FIG. 10 is a schematic block diagram of a device for compensating nonlinear error of a permanent magnet synchronous motor driver according to an embodiment of the present application;
Fig. 11 is a schematic block diagram of a computer device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of an application scenario of a method for compensating a nonlinear error of a driver of a permanent magnet synchronous motor according to an embodiment of the present application; fig. 2 is a flow chart of a method for compensating a nonlinear error of a driver of a permanent magnet synchronous motor according to an embodiment of the present application, where the method for compensating a nonlinear error of a driver of a permanent magnet synchronous motor is applied to a server (which may also be understood as an upper computer) and the server is communicatively connected to a space voltage vector pulse width modulation module connected to the driver of the permanent magnet synchronous motor.
As shown in FIG. 2, the method includes steps S110 to S150.
S110, establishing a driver model with nonlinear load.
In this embodiment, the PMSM control system is first simplified, and a driver model with a nonlinear load is built, specifically, as shown in fig. 3, the driver model with a nonlinear load is obtained by equating a nonlinear error of the driver to a nonlinear load, so that the nonlinear error can be equated to an error voltage, and further, the nonlinear error of the driver of the permanent magnet synchronous motor can be conveniently compensated.
S120, based on the driver model with the nonlinear load, acquiring a three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition, wherein the preset working condition is injection of direct-axis current and zero torque components of the quadrature-axis current and the permanent magnet synchronous motor are guaranteed.
In this embodiment, after the driver model with the nonlinear load is obtained, the driver model may be analyzed to obtain the three-phase line voltage relationship of the permanent magnet synchronous motor under a preset working condition, where the preset working condition is a working condition that the motor is in a static state and the actual position of the rotor is a zero position, at this time, the magnitude of one phase of current may be conveniently obtained through coordinate conversion, and then the three-phase line voltage relationship may be obtained through kirchhoff current law.
Optionally, referring to fig. 4, the step S120 specifically includes:
S121, establishing a second equivalent model based on the driver model with the nonlinear load, wherein the second equivalent model is a model for equivalent of a power supply side of the driver model with the nonlinear load as a three-phase alternating current voltage source;
S122, based on the second equivalent model, acquiring a three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition.
In this embodiment, since the driver can output stable three-phase ac, when the higher-order switching harmonics are not considered, the power source side of the driver model can be equivalent to three-phase ac voltage sources, wherein each three-phase voltage source generates a nonlinear error voltage, as shown in fig. 5, which is a schematic diagram of a second equivalent model, in which(Wherein x=a, B, C) is the nonlinear error voltage of each phase (specifically, D (i as) represents the nonlinear error voltage of the a phase, D (i bs) represents the nonlinear error voltage of the B phase, and D (i cs) represents the nonlinear error voltage of the C phase), respectively), so that by analyzing the circuit principle of the second equivalent model, the three-phase line voltage relationship under the preset working condition can be obtained.
Optionally, the step S122 specifically includes:
Based on the second equivalent model, acquiring a three-phase current relationship of the permanent magnet synchronous motor under a preset working condition;
and acquiring the three-phase line voltage relation based on the three-phase current relation.
In the present embodiment, when only the direct-axis excitation current is givenAnd ensure the quadrature excitation current/>Given zero, the torque component is zero, the motor is in a stationary state, and the rotor actual position/>Therefore, by coordinate transformation, it is possible to obtain/>，/>Where i as denotes a line current of the a phase, i q denotes a quadrature current, and i d denotes a direct current.
Further, when the three-phase winding of the permanent magnet synchronous motor is in a star connection mode, the three-phase winding can be obtained according to kirchhoff current law:
，
，
Similarly, the relationship from which the voltage command can be derived is:
，
Thus, the line voltage between the A phase and the B phase can be obtained as ，
Likewise, the line voltage between the A phase and the C phase can be obtained as，
With reference to fig. 5,i as、ibs、ics, three phase line currents (specifically, i as represents a line current of a phase, i bs represents a line current of a B phase, and i cs represents a line current of a C phase) are represented respectively, v as、vbs、vcs represents three phase line voltages (specifically, v as represents a line voltage of a phase, v bs represents a line voltage of B phase, and v cs represents a line voltage of C phase),Represents the direct-axis excitation voltage and,Represents the excitation voltage of phase A,/>Represents the excitation voltage of phase B,/>Representing the excitation voltage of the C phase.
S130, based on the three-phase line voltage relation, a first equivalent model of the driver model with the nonlinear load is established, and a nonlinear error function is established based on the first equivalent model.
In this embodiment, when injecting a direct-axis excitation currentAt this current command, the voltage drop across the inductive reactance in the motor is 0. At this time, the motor winding may be equivalently a pure resistive load, so a first equivalent model of the motor in a stationary state may be further obtained based on a three-phase line voltage relationship, specifically, as shown in fig. 6, the first equivalent model is a driver model of the motor in a stationary state, and a nonlinear error function may be established by analyzing a circuit principle of the first equivalent model, where the a-phase error voltage is/>The B phase error voltage and the C phase error voltage are both/>。
Specifically, referring to fig. 7, the step S130 specifically includes:
s131, establishing a first equivalent model of the driver model with the nonlinear load based on the three-phase line voltage relation;
S132, based on the first equivalent model, establishing a relation between three-phase nonlinear error voltage and three-phase current;
s133, converting the relation between the three-phase nonlinear error voltage and the three-phase current to establish a nonlinear error function.
In this embodiment, a first equivalent model is first established, and by analyzing the circuit principle of the first equivalent model, based on kirchhoff's voltage law, a relational expression of the three-phase nonlinear error voltage and the three-phase current can be obtained:
。
Assuming a nonlinear function Is an odd function and satisfies/>，
Thus, a function of the nonlinear error with respect to the current can be derived, i.e. the nonlinear error function is:，
In the method, in the process of the invention, Obtainable from the current loop output; /(I)Obtained from current feedback; r is three-phase equivalent resistance, which can be obtained through the parameter identification of the motor body. From the above analysis, it is possible to obtain/>And/>The sum is then solved for the nonlinear error function to obtain the accurate/>。
And S140, solving the nonlinear error function to obtain an error voltmeter, wherein the error voltmeter is used for explaining the corresponding relation between the phase current and the error voltage.
In the present embodiment, the nonlinear error function can only be obtained in step S130And/>The sum is not accurate/>Cannot obtain accurate/>Therefore, the nonlinear error function needs to be further solved, specifically, an iterative interpolation calculation method can be adopted to accurately solve/>。
In some embodiments, referring to fig. 8, the step S140 specifically includes:
S141, executing a step-rising current instruction, wherein the step-rising current instruction is an instruction for injecting a direct-axis current and keeping a quadrature-axis current to be zero when the initial angle of the permanent magnet synchronous motor is zero, and the direct-axis current rises by a preset amplitude value after each current keeping period;
S142, solving a nonlinear error function of each current holding period based on a preset iterative interpolation formula to obtain error voltages corresponding to different three-phase currents;
S143, an error voltmeter is established based on the error voltages corresponding to the different three-phase currents.
In this embodiment, a stepped-up current command is injected on the d-axis (i.e., the straight axis), and each time the current rises ibase =0.01a, the current holding period is about 30 current loop periods to ensure that the system reaches a steady state; the q-axis current is given as 0 (q-axis is the intersecting axis), and the initial angle of the motorAnd then calculating error voltages corresponding to the three-phase currents of each current holding period through a preset iterative interpolation formula, finally establishing an error voltage table, and obtaining compensation voltages in a mode of searching the error voltage table later so as to achieve an ideal compensation effect.
In some embodiments, the solving the nonlinear error function of each current holding period based on the preset iterative interpolation formula to obtain the error voltages corresponding to different three-phase currents includes:
Acquiring motor parameters of each current holding period, wherein the motor parameters at least comprise direct-axis voltage, three-phase current and three-phase equivalent resistance;
calculating a nonlinear error function of each current holding period based on the motor parameters to obtain an error voltage calculation function;
and calculating the error voltage corresponding to the three-phase current of each current holding period based on the preset iterative interpolation formula and the error voltage calculation function of each current holding period.
In this embodiment, since the unknown parameters on the right side of the nonlinear error function can be obtained by monitoring, the direct-axis voltage is obtained by the output of the current loop, the three-phase current is obtained by the current feedback, the three-phase equivalent resistance is obtained by clicking the body parameter identification, and the obtained parameters are substituted into the nonlinear error function, thereby obtaining the indicationAnd then obtaining the error voltage corresponding to the three-phase current of each current holding period through a preset iterative interpolation formula.
In some embodiments, the calculating the error voltage corresponding to the three-phase current of each current holding period based on the preset iterative interpolation formula and the error voltage calculating function of each current holding period includes:
establishing a calculation formula of each unknown parameter of an error voltage calculation function of each current holding period based on the preset iterative interpolation formula;
and calculating error voltages corresponding to the three-phase currents in each current holding period based on the calculation formula of the unknown parameters.
In the present embodiment, two auxiliary variables x and y are introduced in the iterative interpolation calculation, wherein，（/>To take the remainder symbol).
The specific interpolation calculation formula is as follows:
。
for a permanent magnet synchronous motor control drive system, three phases can be considered symmetrical, i.e 。
From the above analysis, it is possible to derive the differencesCorresponding/>The accurate error voltage can be obtained by looking up a table in real time when the motor operates, so that an ideal compensation effect is achieved.
And S150, performing voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter when the permanent magnet synchronous motor operates so as to perform nonlinear error compensation on a driver of the permanent magnet synchronous motor.
In this embodiment, after the error voltmeter is obtained, the error voltage may be found according to the error voltmeter, specifically referring to fig. 9, the input of the system is the desired torque, the speed regulator adjusts the quadrature current component according to the difference between the desired torque and the feedback torque, then the quadrature current component is input into the MTPA module (the motor maximum torque current ratio control module), the direct current component conforming to the MTPA current track is obtained through calculation, then the quadrature voltage and the direct current voltage are output after calculation through the current loop, meanwhile, the three-phase current value is obtained after coordinate conversion is performed on the quadrature current component and the direct current component, then coordinate conversion is performed on the error voltage of each phase after the error voltage of each phase is obtained through finding the error voltmeter, and then the quadrature compensation voltage and the direct axis compensation voltage are obtained, and then after compensation is performed on the quadrature voltage and the direct axis voltage respectively, the SVPWM module (the space voltage vector pulse width modulation module) generates the high-low level signal for controlling the on-off of the driver power device according to the compensated direct axis voltage, the compensated quadrature voltage and the position signal of the motor, and the permanent magnet motor is further the desired torque is output, and the driver is enabled to drive the direct current device and the desired torque is further driven to be in a non-linear state.
Therefore, the embodiment of the method realizes the accurate calculation and compensation of the nonlinear error of the driver based on the permanent magnet synchronous motor in the upper computer, reduces the current harmonic wave and the torque pulsation of the output current of the driver, and ensures the control effect of the permanent magnet synchronous motor.
The embodiment of the application also provides a device for compensating the nonlinear error of the driver of the permanent magnet synchronous motor, which is used for executing any embodiment of the method for compensating the nonlinear error of the driver of the permanent magnet synchronous motor, and the device for compensating the nonlinear error of the driver of the permanent magnet synchronous motor is applied to an upper computer, and the upper computer is in communication connection with a space voltage vector pulse width modulation module connected with the driver of the permanent magnet synchronous motor. Specifically, referring to fig. 10, fig. 10 is a schematic block diagram of a device 100 for compensating a nonlinear error of a permanent magnet synchronous motor according to an embodiment of the present application.
As shown in fig. 10, the device 100 for compensating the nonlinear error of the driver of the permanent magnet synchronous motor comprises a model building unit 110, a three-phase line voltage relation determining unit 120, a nonlinear error function building unit 130, an error voltmeter building unit 140 and a compensating unit 150.
The model building unit 110 is used for building a driver model with a nonlinear load.
The three-phase line voltage relation determining unit 120 is configured to obtain a three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition based on the driver model with the nonlinear load, where the preset working condition is that direct axis current is injected and torque components of the quadrature axis current and the permanent magnet synchronous motor are guaranteed to be zero.
The nonlinear error function building unit 130 is configured to build a first equivalent model of the driver model with nonlinear load based on the three-phase line voltage relationship, and build a nonlinear error function based on the first equivalent model.
The error voltmeter establishing unit 140 is configured to solve the nonlinear error function to obtain an error voltmeter, where the error voltmeter is used to illustrate a correspondence between a phase current magnitude and an error voltage.
The compensation unit 150 is configured to perform voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter when the permanent magnet synchronous motor is running, so as to perform nonlinear error compensation on the driver of the permanent magnet synchronous motor.
In this embodiment, a driver model with nonlinear loading is first built; then, based on the driver model with the nonlinear load, acquiring a three-phase line voltage relationship of the permanent magnet synchronous motor under a preset working condition; then, based on the three-phase line voltage relation, a first equivalent model of the driver model with the nonlinear load is established, and a nonlinear error function is established based on the first equivalent model; then solving the nonlinear error function to obtain an error voltmeter; and finally, when the permanent magnet synchronous motor operates, performing voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter so as to perform nonlinear error compensation on a driver of the permanent magnet synchronous motor. And the nonlinear error function can be established, the nonlinear error voltage of the driver can be accurately calculated, and voltage compensation can be carried out through the nonlinear error voltage, so that current harmonic waves and torque pulsation generated by current output by the driver can be reduced.
It should be noted that, the units referred to in the present application refer to a series of computer program instruction segments capable of completing specific functions, and are more suitable for describing the execution process of the nonlinear error compensation of the driver of the permanent magnet synchronous motor than the program, and the specific implementation manner of each unit is referred to the above corresponding method embodiments and will not be repeated herein.
In some embodiments, the three-phase line voltage relation determining unit 120 is specifically configured to:
Establishing a second equivalent model based on the driver model with the nonlinear load, wherein the second equivalent model is a model for equivalent of a power supply side of the driver model with the nonlinear load as a three-phase alternating current voltage source;
And acquiring a three-phase line voltage relationship of the permanent magnet synchronous motor under a preset working condition based on the second equivalent model.
In some embodiments, the obtaining, based on the second equivalent model, a three-phase line voltage relationship of the permanent magnet synchronous motor under a preset working condition includes:
Based on the second equivalent model, acquiring a three-phase current relationship of the permanent magnet synchronous motor under a preset working condition;
and acquiring the three-phase line voltage relation based on the three-phase current relation.
In some embodiments, the nonlinear error function building unit 130 is specifically configured to:
establishing a first equivalent model of the driver model with nonlinear load based on the three-phase line voltage relationship;
based on the first equivalent model, establishing a relation between three-phase nonlinear error voltage and three-phase current;
and converting the relation between the three-phase nonlinear error voltage and the three-phase current to establish a nonlinear error function.
In some embodiments, the error voltmeter creation unit 140 is specifically configured to:
Executing a step-rising current instruction, wherein the step-rising current instruction is an instruction for injecting a direct-axis current and keeping a quadrature-axis current to be zero when the initial angle of the permanent magnet synchronous motor is zero, and the direct-axis current rises by a preset amplitude value after passing through one current keeping period;
solving a nonlinear error function of each current holding period based on a preset iterative interpolation formula to obtain error voltages corresponding to different three-phase currents;
and establishing an error voltmeter based on the error voltages corresponding to the different three-phase currents.
In some embodiments, the solving the nonlinear error function of each current holding period based on the preset iterative interpolation formula to obtain the error voltages corresponding to different three-phase currents includes:
Acquiring motor parameters of each current holding period, wherein the motor parameters at least comprise direct-axis voltage, three-phase current and three-phase equivalent resistance;
calculating a nonlinear error function of each current holding period based on the motor parameters to obtain an error voltage calculation function;
and calculating the error voltage corresponding to the three-phase current of each current holding period based on the preset iterative interpolation formula and the error voltage calculation function of each current holding period.
In some embodiments, the calculating the error voltage corresponding to the three-phase current of each current holding period based on the preset iterative interpolation formula and the error voltage calculating function of each current holding period includes:
establishing a calculation formula of each unknown parameter of an error voltage calculation function of each current holding period based on the preset iterative interpolation formula;
and calculating error voltages corresponding to the three-phase currents in each current holding period based on the calculation formula of the unknown parameters.
Therefore, the embodiment of the device realizes the accurate calculation and compensation of the nonlinear error of the driver based on the permanent magnet synchronous motor in the upper computer, reduces the current harmonic wave and the torque pulsation of the output current of the driver, and ensures the control effect of the permanent magnet synchronous motor.
The above-described drive non-linear error compensation means of the permanent magnet synchronous motor may be implemented in the form of a computer program which can be run on a computer device as shown in fig. 11.
Referring to fig. 11, fig. 11 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 is a host computer or a server.
With reference to fig. 11, the computer device 500 includes a processor 502, a memory, and a network interface 505, which are connected by a device bus 501, where the memory may include a storage medium 503 and an internal memory 504.
The storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032, when executed, causes the processor 502 to perform a method of compensating for a drive non-linearity error of a permanent magnet synchronous motor.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the execution of a computer program 5032 in the storage medium 503, which computer program 5032, when executed by the processor 502, causes the processor 502 to perform a method for compensating for non-linear errors in a drive of a permanent magnet synchronous motor.
The network interface 505 is used for network communication, such as providing for transmission of data information, etc. It will be appreciated by those skilled in the art that the structure shown in FIG. 11 is merely a block diagram of some of the structures associated with the present inventive arrangements and does not constitute a limitation of the computer device 500 to which the present inventive arrangements may be applied, and that a particular computer device 500 may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The processor 502 is configured to execute a computer program 5032 stored in a memory, so as to implement the method for compensating the nonlinear error of the driver of the permanent magnet synchronous motor disclosed in the embodiment of the application.
Those skilled in the art will appreciate that the embodiment of the computer device shown in fig. 11 is not limiting of the specific construction of the computer device, and in other embodiments, the computer device may include more or less components than those shown, or certain components may be combined, or a different arrangement of components. For example, in some embodiments, the computer device may include only a memory and a processor, and in such embodiments, the structure and function of the memory and the processor are consistent with the embodiment shown in fig. 11, and will not be described again.
It should be appreciated that in embodiments of the present application, the Processor 502 may be a central processing unit (Central Processing Unit, CPU), the Processor 502 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In another embodiment of the application, a computer-readable storage medium is provided. The computer readable storage medium may be a nonvolatile computer readable storage medium or a volatile computer readable storage medium. The computer readable storage medium stores a computer program, wherein the computer program when executed by a processor implements the method for compensating the nonlinear error of the driver of the permanent magnet synchronous motor disclosed by the embodiment of the application.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus, device and unit described above may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein. Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of the units is merely a logical function division, there may be another division manner in actual implementation, or units having the same function may be integrated into one unit, for example, multiple units or components may be combined or may be integrated into another apparatus, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units may be stored in a storage medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on this understanding, the technical solution of the present application may be essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a background server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. The nonlinear error compensation method of the driver of the permanent magnet synchronous motor is applied to an upper computer, and is characterized in that the upper computer is in communication connection with a space voltage vector pulse width modulation module connected with the driver of the permanent magnet synchronous motor, and the method comprises the following steps:
establishing a driver model with nonlinear load;
Based on the driver model with the nonlinear load, acquiring a three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition, wherein the preset working condition is that direct-axis current is injected, and torque components of the quadrature-axis current and the permanent magnet synchronous motor are guaranteed to be zero;
Establishing a first equivalent model of the driver model with the nonlinear load based on the three-phase line voltage relation, and establishing a nonlinear error function based on the first equivalent model;
Solving the nonlinear error function to obtain an error voltmeter, wherein the error voltmeter is used for explaining the corresponding relation between the magnitude of phase current and error voltage;
And when the permanent magnet synchronous motor operates, performing voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter so as to perform nonlinear error compensation on a driver of the permanent magnet synchronous motor.
2. The method of claim 1, wherein the obtaining the three-phase line voltage relationship of the permanent magnet synchronous motor under the preset working condition based on the driver model with the nonlinear load comprises:
Establishing a second equivalent model based on the driver model with the nonlinear load, wherein the second equivalent model is a model for equivalent of a power supply side of the driver model with the nonlinear load as a three-phase alternating current voltage source;
And acquiring a three-phase line voltage relationship of the permanent magnet synchronous motor under a preset working condition based on the second equivalent model.
3. The method according to claim 2, wherein the obtaining, based on the second equivalent model, a three-phase line voltage relationship of the permanent magnet synchronous motor under a preset working condition includes:
Based on the second equivalent model, acquiring a three-phase current relationship of the permanent magnet synchronous motor under a preset working condition;
and acquiring the three-phase line voltage relation based on the three-phase current relation.
4. The method of claim 1, wherein the establishing a first equivalent model of the driver model with nonlinear load based on the three-phase line voltage relationship, establishing a nonlinear error function based on the first equivalent model, comprises:
establishing a first equivalent model of the driver model with nonlinear load based on the three-phase line voltage relationship;
based on the first equivalent model, establishing a relation between three-phase nonlinear error voltage and three-phase current;
and converting the relation between the three-phase nonlinear error voltage and the three-phase current to establish a nonlinear error function.
5. The method of claim 1, wherein solving the nonlinear error function to obtain an error voltmeter comprises:
Executing a step-rising current instruction, wherein the step-rising current instruction is an instruction for injecting a direct-axis current and keeping a quadrature-axis current to be zero when the initial angle of the permanent magnet synchronous motor is zero, and the direct-axis current rises by a preset amplitude value after passing through one current keeping period;
solving a nonlinear error function of each current holding period based on a preset iterative interpolation formula to obtain error voltages corresponding to different three-phase currents;
and establishing an error voltmeter based on the error voltages corresponding to the different three-phase currents.
6. The method of claim 5, wherein solving the nonlinear error function of each current holding period based on a preset iterative interpolation formula to obtain the error voltages corresponding to different three-phase currents comprises:
Acquiring motor parameters of each current holding period, wherein the motor parameters at least comprise direct-axis voltage, three-phase current and three-phase equivalent resistance;
calculating a nonlinear error function of each current holding period based on the motor parameters to obtain an error voltage calculation function;
and calculating the error voltage corresponding to the three-phase current of each current holding period based on the preset iterative interpolation formula and the error voltage calculation function of each current holding period.
7. The method according to claim 6, wherein the calculating the error voltage corresponding to the three-phase current of each current holding period based on the preset iterative interpolation formula and the error voltage calculation function of each current holding period includes:
establishing a calculation formula of each unknown parameter of an error voltage calculation function of each current holding period based on the preset iterative interpolation formula;
and calculating error voltages corresponding to the three-phase currents in each current holding period based on the calculation formula of the unknown parameters.
8. The utility model provides a permanent magnet synchronous motor's driver nonlinear error compensation arrangement, is applied to the host computer, its characterized in that, the host computer is connected with the space voltage vector pulse width modulation module communication of the driver of connecting permanent magnet synchronous motor, permanent magnet synchronous motor's driver nonlinear error compensation arrangement includes:
a model building unit for building a driver model with a nonlinear load;
the three-phase line voltage relation determining unit is used for obtaining the three-phase line voltage relation of the permanent magnet synchronous motor under a preset working condition based on the driver model with the nonlinear load, wherein the preset working condition is that direct-axis current is injected and torque components of the quadrature-axis current and the permanent magnet synchronous motor are guaranteed to be zero;
The nonlinear error function building unit is used for building a first equivalent model of the driver model with the nonlinear load based on the three-phase line voltage relation and building a nonlinear error function based on the first equivalent model;
the error voltmeter establishing unit is used for solving the nonlinear error function to obtain an error voltmeter, wherein the error voltmeter is used for explaining the corresponding relation between the magnitude of the phase current and the error voltage;
And the compensation unit is used for carrying out voltage compensation on the control signal modulated by the space voltage vector pulse width modulation module based on the error voltmeter when the permanent magnet synchronous motor is in operation so as to carry out nonlinear error compensation on a driver of the permanent magnet synchronous motor.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of compensating for a driver non-linearity error of a permanent magnet synchronous motor according to any of claims 1-7 when executing the computer program.
10. A computer readable medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to perform the method of compensating for a driver non-linearity error of a permanent magnet synchronous motor according to any of claims 1-7.
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| CN113507241A (en) * | 2021-07-16 | 2021-10-15 | 哈尔滨工业大学 | Inverter nonlinear compensation method for permanent magnet synchronous motor driving system |
| CN114665773A (en) * | 2022-03-22 | 2022-06-24 | 华中科技大学 | Asynchronous motor parameter offline identification method |
| US20220416708A1 (en) * | 2017-10-18 | 2022-12-29 | Liebherr-Components Biberach Gmbh | Method for determining the error voltage of a current converter and three-phase machine having error voltage compensation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220416708A1 (en) * | 2017-10-18 | 2022-12-29 | Liebherr-Components Biberach Gmbh | Method for determining the error voltage of a current converter and three-phase machine having error voltage compensation |
| CN113507241A (en) * | 2021-07-16 | 2021-10-15 | 哈尔滨工业大学 | Inverter nonlinear compensation method for permanent magnet synchronous motor driving system |
| CN114665773A (en) * | 2022-03-22 | 2022-06-24 | 华中科技大学 | Asynchronous motor parameter offline identification method |
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