CN207442724U - Electric machine control system, transducer air conditioning - Google Patents
Electric machine control system, transducer air conditioning Download PDFInfo
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- CN207442724U CN207442724U CN201721423366.5U CN201721423366U CN207442724U CN 207442724 U CN207442724 U CN 207442724U CN 201721423366 U CN201721423366 U CN 201721423366U CN 207442724 U CN207442724 U CN 207442724U
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Abstract
The utility model provides electric machine control system, transducer air conditioning, by including rectifier, filter circuit, inverter, voltage sample portion, current sample portion, calculation control unit and motor form, calculation control unit is once calculated by being spaced N number of triangle carrier signal cycle, six road pwm control signal of final output is to inverter, to pass through the normal operation of inverter AC motor, the utility model embodiment at interval of multiple pwm control signals by just once being calculated, reduce calculation control unit calculation amount at double, therefore the rate request to the MCU where calculation control unit is reduced, allow to realize the above-mentioned normal control to motor using the MCU of low velocity, reduce the cost of entire electric machine control system.
Description
Technical field
The utility model is related to Motor Control Field more particularly to electric machine control system, transducer air conditionings.
Background technology
In order to tackle household appliances power conservation requirement, more efficient permanent magnet synchronous motor has obtained more and more extensive answer
With and in household appliances, in air conditioner and refrigerator these home appliances, using the compressor or direct current of frequency conversion drive
The general permanent magnet synchronous motor using no sensor type of machine, frequency conversion drive main control MCU (Microcontroller Unit) are logical
Over-sampling current of electric realize rotor position estimate, and and then control permanent magnet synchronous motor operation, conventional control method is every
A PWM (Pulse Width Modulation) current of electric of periodic sampling, and calculated according to the electric current of sampling, with
Motor rotor position is obtained, and is further calculated according to updated rotor-position and exports new voltage vector, control motor connects
Reforwarding turns.Since the frequency of PWM is high and computationally intensive therefore very high to the rate request of above-mentioned MCU, cause the cost of MCU
Height is unfavorable for being realized with a low cost.
The above is only used for auxiliary and understands the technical solution of the utility model, does not represent and recognizes that the above is existing
Technology.
Utility model content
The main purpose of the utility model is that provide a kind of electric machine control system, transducer air conditioning, it is therefore intended that solve
Due to causing MCU requirement height to its cost to computationally intensive after MCU sample motor current signals in existing electric machine control system
The problem of high.
To achieve the above object, a kind of electric machine control system provided by the utility model, the electric machine control system include
Rectifier, filter circuit, inverter, voltage sample portion, current sample portion, calculation control unit and motor；
The rectifier is used to carry out AC-input voltage full-wave rectification, the two output terminals connection direct current of the rectifier
Busbar；
The filter circuit, inverter are in parallel with the dc bus successively, and the AC-input voltage passes through described whole
DC bus-bar voltage is converted to after stream device, filter circuit processing, to provide power supply for the inverter；
The output terminal of the inverter connects the motor；
The voltage sample portion is used to sample the d-c bus voltage value and is input to the calculation control unit；
The current sample portion is used to sample the phase current signal of the motor and is input to the calculation control unit；
The calculation control unit, be additionally operable to according to the d-c bus voltage value, the motor phase current signal and
The rotating speed of target value of the motor calculates generation pulse width signal, and the calculation control unit also generates triangle carrier signal, and
Pwm control signal is generated to the inverter according to the triangle carrier signal and the pulse width signal, with described in driving
Motor operation；
Wherein described calculation control unit at interval of N number of triangle carrier signal cycle calculate that generate the pulse wide
Spend signal, wherein N >=1.
Preferably, the wave crest moment of the triangle carrier signal is controlled with the PWM in the triangle carrier signal cycle
The intermediate time of the effective pulse width of signal processed is identical.
Preferably, it is described at interval of N number of triangle carrier signal cycle carry out calculate include：
The phase current signal of the motor is sampled at interval of N number of the triangular carrier cycle and is calculated.
Preferably, it is described to sample the phase current signal of the motor at interval of N number of the triangular carrier cycle and counted
Including：
The rising edge of effective pulsewidth of corresponding pwm control signal samples the electricity within the triangle carrier signal cycle
The phase current of machine, and calculated at the triangle carrier signal wave crest moment.
Preferably, it is described to sample the phase current signal of the motor at interval of N number of the triangular carrier cycle and counted
Including：
The trailing edge of effective pulsewidth of corresponding pwm control signal samples the electricity within the triangle carrier signal cycle
The phase current of machine, and calculated in the triangle carrier signal trough times.
Preferably, it is described at interval of N number of triangle carrier signal cycle carry out calculate include：
In motor described in the previous triangle carrier signal periodic sampling at interval of N number of triangle carrier signal
Phase current signal, and sampling the phase current signal of the motor at interval of N number of the triangular carrier cycle and calculated.
Preferably, the triangle carrier signal number of cycles at the interval is 2-5.
Preferably, the calculation control unit includes：
Location/velocity estimation module, the rotor angle for being estimated to obtain motor for the rotor-position to motor are estimated
Evaluation and motor speed estimate；
Q axis gives current value computing module, for calculating Q axis according to motor rotating speed of target value, motor speed estimate and giving
Constant current value；
D axis gives current value computing module, for the maximum output voltage and the output voltage of inverter according to inverter
Amplitude calculates D axis and gives current value；
Current control module, for giving current value according to the Q axis, the D axis gives current value, the motor speed
It estimate, the d-c bus voltage value and the phase current values of motor sampling calculate generates the pulse width and believes
Number, and the pwm control signal is generated to the inverter according to the triangle carrier signal and the pulse width signal, with
Drive the motor operation.
Preferably, the electric machine control system further includes pfc circuit, and the pfc circuit is in parallel with the dc bus, institute
The input terminal for stating pfc circuit connects the rectifier, and output terminal connects the filter circuit, with to the rectifier output ripple
Direct current carries out Active PFC.
To achieve the above object, the utility model also provides a kind of transducer air conditioning, including the electric machine control system.
Compressor control system provided by the utility model, by including rectifier, filter circuit, inverter, voltage sample
Portion, current sample portion, calculation control unit and motor form, calculation control unit pass through at interval of N number of triangle carrier signal cycle, root
Generation pulse width signal is calculated according to the rotating speed of target value of d-c bus voltage value, the phase current signal of motor and motor, and
It is calculated with reference to triangle carrier signal, six road pwm control signal of final output is to inverter, to pass through inverter AC motor
Normal operation, the utility model embodiment at interval of multiple triangle carrier signal cycles by just once being calculated, at double
Reduce calculation control unit calculation amount, therefore reduce the rate request to the MCU where calculation control unit so that may be employed
The MCU of low velocity realizes the above-mentioned normal control to motor, reduces the cost of entire electric machine control system.
Description of the drawings
Fig. 1 is the electrical block diagram of the utility model electric machine control system first embodiment；
Fig. 2 is the sine wave modulation waveform diagram of the pwm signal of the utility model electric machine control system first embodiment；
Fig. 3 is the pwm signal of the utility model electric machine control system first embodiment and isosceles triangle carrier signal
Correspondence schematic diagram；
Fig. 4 is the pwm signal of the utility model electric machine control system first embodiment and isosceles triangle carrier signal
Another pair answers relation schematic diagram；
Fig. 5 is the calculation control unit high-level schematic functional block diagram of the utility model electric machine control system 3rd embodiment.
Specific embodiment
The embodiment of the utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is same or like element.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and it is not intended that the utility model
Limitation.
With reference to Fig. 1, Fig. 1 is the electric machine control system electrical block diagram that the utility model first embodiment provides, and is
Convenient for explanation, illustrate only with the utility model embodiment relevant part, details are as follows：
Electric machine control system includes rectifier 2, filter circuit 6, inverter 4, voltage sample portion 8, current sample portion 9, fortune
Calculate control unit 5 and motor 7；
Rectifier 2 carries out the AC-input voltage of AC power 1 full-wave rectification, and the two output terminals connection of rectifier 2 is straight
Busbar is flowed, rectifier 2 can be made of rectifier bridge stack here, internal to form full-bridge rectification for tetra- rectifier diodes of D1-D4
Circuit；
Filter circuit 6, inverter 4 are in parallel with dc bus successively, and AC-input voltage passes through rectifier 2, filter circuit 6
DC bus-bar voltage is converted to after processing, to provide power supply for inverter 4, filter circuit is mainly made of the first capacitance C3, right
The Rectified alternating current of rectifier output is filtered；
The output terminal connection motor 7 of inverter 4.
Voltage sample portion 8 is used to sample d-c bus voltage value and be input to calculation control unit 5, here voltage sample portion 8
The simple voltage sampling circuit that can be formed based on divider resistance；
Current sample portion 9 is used for the phase current signal of sample motor 7 and is input to calculation control unit 5, the electricity shown in Fig. 1
Stream sampling unit 9 samples the instantaneous phase currents value of motor 7 based on the three resistance sampling circuits realization that R1, R2, R3 are formed；
Calculation control unit 5 is additionally operable to the target according to d-c bus voltage value, the phase current signal of motor 7 and motor 7
Tachometer value calculates generation pulse width signal, and calculation control unit 5 also generates triangle carrier signal, and according to triangle carrier signal and
Pulse width signal generates pwm control signal to inverter 4, is run with driving motor 7；
Wherein calculation control unit 5 at interval of N number of triangle carrier signal cycle, according to 7 phase current signal of motor of sampling into
Row calculates to obtain pulse width signal, wherein N >=1.
Here motor can be permanent magnet synchronous motor, such as transducer air conditioning, the compressor or direct current of frequency conversion refrigerator
Motor can be permanent magnet synchronous motor,
Specifically, phase current signal of the calculation control unit 5 according to the motor 7 of sampling, while by further obtaining rectification
The d-c bus voltage value and the rotating speed of target instruction of motor 7 that device 2 exports, by calculating, finally export six road PWM control letters
Number to inverter 4, pwm control signal is macroscopically being based on sine wave modulation principle, as shown in Fig. 2, being carried by isoceles triangle
Ripple S2 is modulated using sine voltage signal S3 finally obtains pwm control signal waveform wherein all the way as shown at s 1,
The cycle T of PWM is traditionally arranged to be 100us-250us, finally by 4 driving motor 7 of inverter, since the inductance of machine winding is special
Property, sinusoidal waveform is finally formed on three windings of motor 7 as shown in the dotted portion waveform S4 in Fig. 2.
Since the frequency of PWM is very high, in the actual progress pulsewidth calculating of calculation control unit 5 and pwm control signal is ultimately produced
When, space vector of voltage pulse-width adjustment principle (SVPWM) realization is actually based on, i.e., is believed by calculating the pulse width of generation
Number, and pass through the timer inside calculation control unit 5 and generate continuous triangle carrier signal, and by above-mentioned pulse width signal with
The mode final output pwm control signal that triangle carrier signal is compared, pwm control signal share six tunnels, control respectively
Six switching tube work of S1-S6 of inverter 4, last inverter 4 export three-phase driving signal and are realized to motor 7 to motor 7
Driving operation.
As shown in figure 3, the triangle carrier signal waveform diagram such as S6 institutes that the timer inside calculation control unit 5 generates
Show, for pulse width signal as shown in Du1, Du2, Du3 in figure, actual Software Create pwm control signal waveform is by this
Pulse width signal is sent into comparand register, and wherein all the way PWM controls can be generated by being based on triangular carrier S6 finally by timer
Signal processed is as shown in S5, and wherein each the triangular carrier cycle corresponds to one of pwm control signal cycle.Wherein S6 be three
Each triangle is isosceles triangle in the carrier signal of angle, and the wave crest of each of which isosceles triangle in this isosceles triangle with carrying
The intermediate time of the effective pulse width of pwm control signal in wave period is identical, such as the ripple of first isosceles triangle in figure
Peak corresponds to the midpoint b moment position at the a-c moment in effective pulse width, that is, figure of first pwm pulse waveform.Pass through difference
Pulse width signal ultimately generate the different pwm control signal of different effective pulse widths.This PWM of wherein six roads control letters
It number is added to six switching tubes of inverter 4 and the vector of three 120 ° of space phase mutual deviations is finally constituted when controlling motor 7, finally
The voltage vector signal changed over time is synthesized, and this voltage vector signal amplitude is constant, is revolved according to the identical frequency of sine wave
Turn so that motor 7 realizes operating under the control of this voltage vector signal.
Optionally, as shown in figure 4, triangle carrier signal ripple S6 that calculation control unit 5 is generated based on internal timer and
Pulse width signal can also generate pwm control signal all the way, and as shown in S7, S7 is based on pulse width signal unlike Fig. 3
Difference it is confirmed that in its pwm control signal in idler Pulse width, that is, S7 low level part width, it is each in S6 at this time
The centre of the wave crest of a isosceles triangle and the idler Pulse width of the pwm control signal in this isosceles triangle carrier cycle
Moment is identical, and the idler Pulse width as the wave crest of first isosceles triangle in figure corresponds to first pwm pulse waveform is schemed
In the a-c moment midpoint b moment position.And to also determine its corresponding in same isoceles triangle for the difference of idler Pulse width
The difference of effective pulse width in shape carrier cycle, therefore the six road pwm control signals generated with this are added to the six of inverter 4
A switching tube simultaneously finally also forms the vector for mutually looking into hexagonal angle in three spaces when controlling motor 7, and final synthesis changes over time
Voltage vector signal, with this again such that motor 7 this voltage vector signal control under realize operating.
For convenience of description, illustrate below only by taking pwm control signal shown in Fig. 3 as an example.
In the utility model embodiment, calculation control unit 5 is carried out at interval of N number of above-mentioned triangle carrier signal cycle
When calculating ultimately produces above-mentioned pulse width signal, specifically a motor 7 can be just being sampled at interval of N number of the triangular carrier cycle
Phase current signal, and the cycle of the pwm control signal where phase current signal is sampled once calculated, i.e., sampling mutually electricity
Flow signal and calculate all in same the triangular carrier cycle namely with same PWM corresponding with above-mentioned the triangular carrier cycle
In the control signal cycle.Such as can be to sample a phase current signal at interval of two the triangular carrier cycles and once counted
It calculates, as the phase current signal that sample motor 7 is carried out in the h-l moment in Fig. 3 in the 3rd the triangular carrier cycle, that is, figure is gone forward side by side
Row calculates.
Further, can be three when sampling phase current signal and calculating all in same the triangular carrier cycle
The phase current of effective pulsewidth rising edge sample motor of corresponding pwm control signal in the angle carrier signal cycle, and carried in triangle
The ripple signal wave crest moment is calculated, during due to the centre of each triangle carrier signal wave crest and the effective pulsewidth of pwm control signal
The intermediate time for carving identical namely the corresponding pwm control signal within the triangle carrier signal cycle effective pulsewidth calculates, such as
During being calculated at interval of phase current signal of three pwm control signal periodic samplings and once, such as in Fig. 3
In lumbar triangle ripple and corresponding pwm control signal waveform, in the 3rd pwm control signal cycle, in its effective pulse width
Rising edge, that is, figure in the i moment phase current signal of motor 7 is sampled, and be the 3rd triangle carrier signal wave crest moment
Pwm control signal effective pulse width is the intermediate time of t4, i.e. the j moment in Fig. 3 is once calculated, to finally obtain arteries and veins
Width signal is rushed, next pwm control signal of 5 last output motor 7 of calculation control unit is caused according to this pulse width signal
To inverter 4, the wherein j moment corresponds to the 3rd isoceles triangle wave period medium wave peak moment.
Can be in angle carrier wave alternatively, when sampling phase current signal and calculating all in same the triangular carrier cycle
The phase current of effective pulsewidth trailing edge sample motor of corresponding pwm control signal in signal period, and in triangle carrier signal
Trough times are calculated, as being directed in the isosceles triangle wave and corresponding pwm control signal waveform in Fig. 3, in second PWM
In the control signal cycle, the g moment in trailing edge, that is, figure of its effective pulsewidth samples the phase current signal of motor 7, and
Corresponding second triangle carrier signal trough times are once calculated, here the g moment correspond to second pwm control signal week
The finish time of latter half of partial invalidity pulsewidth in phase.To finally obtain pulse width signal, made according to this pulse width signal
5 last output motor 7 of calculation control unit next pwm control signal to inverter 4.Due to the pwm control signal cycle very
Height such as when the pwm control signal cycle is 100us, there is 10,000 pwm control signals, therefore wherein adjacent two in 1 second
Or the effective pwm value difference very little of pwm control signal that interval is several, only just have by the time interval of at least 1 second or more
Some pulsewidths of the PWM of significant difference, it is different to be finally embodied in the rotating speed of control motor 7, therefore since two neighboring PWM is controlled
Signal period processed differs very little on the microcosmic time, then its triangle carrier signal waves paddy moment can be approximate corresponding wherein two neighboring
The intermediate time of the invalid pulsewidth of pwm control signal, as the trough times h of the second triangle carrier signal in figure can approximation and second
The interphase of the combination of the first half of the latter half of invalid pulsewidth of a pwm control signal and the 3rd pwm control signal is same.
Further, above-mentioned every when once being calculated at interval of N number of triangle carrier signal cycle, preferably at interval of
2-5 triangle carrier signal cycle is once calculated namely can be inverse to being output at interval of 2-5 pwm control signal cycle
The pwm control signal for becoming device 4 is once refreshed, to realize to being accurately controlled to the operation of motor 7.
The electric machine control system of the utility model embodiment is adopted by including rectifier 2, filter circuit 6, inverter 4, voltage
Sample portion 8, current sample portion 9, calculation control unit 5 and motor 7 form, and calculation control unit 5 passes through at interval of N number of triangle carrier signal
Cycle, it is wide to calculate generation pulse according to the rotating speed of target value of d-c bus voltage value, the phase current signal of motor 7 and motor 7
Signal is spent, and is calculated with reference to triangle carrier signal, six road pwm control signal of final output is to inverter 4, to pass through inversion
The normal operation of 4 driving motor 7 of device, the utility model embodiment at interval of multiple triangle carrier signal cycles by just carrying out one
Secondary calculating reduces 5 calculation amount of calculation control unit at double, therefore reduces and the speed of the MCU where calculation control unit 5 is wanted
It asks so that the MCU that low velocity may be employed realizes the above-mentioned normal control to motor 7, reduces entire electric machine control system
Cost.
Further, as the second embodiment of electric machine control system provided by the utility model, based on the utility model
Electric machine control system first embodiment, calculation control unit 5 calculated at interval of N number of above-mentioned triangle carrier signal cycle
When ultimately producing above-mentioned pulse width signal, sampling phase current signal and calculating can not be within the same triangle carrier signal cycles
It carries out, specifically, the phase current signal of the previous triangle carrier signal periodic sampling motor calculated is being performed, and according to sampling
The phase current signal of motor once calculated.
It, can be in first triangle carrier signal in pwm control signal as shown in Figure 3 and isosceles triangle carrier wave schematic diagram
To the phase current sampling of motor 7 in cycle, carried out within second triangle carrier signal cycle according to the phase current of above-mentioned sampling
It calculates last output pwm control signal and starts to be updated pwm control signal the 3rd cycle.It specifically, can be
The a point moment in one pwm control signal cycle in the rising edge corresponding diagram 3 of effective pulsewidth carries out the phase current of sample motor 7
Signal, in the intermediate time of wave crest moment i.e. second pwm control signal cycle effective pulsewidth of second triangle carrier signal
The f moment in such as figure is calculated, and finally exports pwm control signal and it is updated the 3rd pwm control signal cycle；
Or can also be in first pwm control signal cycle in the trailing edge corresponding diagram 3 of effective pulsewidth the c point moment sampled
The phase current signal of motor 7, the h moment in second triangle carrier signal trough times such as figure are calculated, are finally exported
Pwm control signal is updated it the 3rd pwm control signal cycle.Optionally, it is above-mentioned in first pwm control signal
It, can also be when a point moment in cycle in the rising edge corresponding diagram 3 of effective pulsewidth carries out the phase current signal of sample motor 7
The intermediate time of the trough times of second triangle carrier signal i.e. second pwm control signal cycle effective pulsewidth is as in figure
The h moment is calculated, at this moment with respect to the f moment in the wave crest moment computer graphic of second triangle carrier signal with respect to a points
Time to grow, therefore at this time from phase current signal is sampled to calculating the time of generation pwm control signal not as good as front is from a points
It is timely to the time between f points, the accuracy of its pwm control signal generation can be influenced slightly with this.Similarly, it is above-mentioned at first
The c point moment in the pwm control signal cycle in the trailing edge corresponding diagram 3 of effective pulsewidth carries out the phase current signal of sample motor 7,
It can also be calculated at the f moment in second triangle carrier signal wave crest moment such as figure, at this time the point meter from c point samplings to f
The time that c point samplings are calculated to h points in the interval time of calculation relatively above-mentioned figure is short, therefore from phase current signal is sampled to calculating
The time for generating pwm control signal is accurate much sooner.
Further, as the 3rd embodiment of electric machine control system provided by the utility model, based on the utility model
Electric machine control system first embodiment, as shown in figure 5, the calculation control unit 5 of the electric machine control system of the present embodiment is also wrapped
It includes：
Location/velocity estimation module 51 is estimated to obtain the rotor angle of motor 7 for the rotor-position to motor
Estimated values theta est and motor speed estimate ω est；
Q axis gives current value Iqref computing modules 52, for according to motor rotating speed of target value ω ref, motor speed estimation
Value ω est calculate Q axis and give current value Iqref；
D axis gives current value Idref computing modules 53, for the maximum output voltage Vmax and inverter according to inverter
Output voltage amplitude V1 calculate D axis give current value Idref；
Current control module 54 gives current value Idref, motor speed for giving current value Iqref, D axis according to Q axis
Estimate ω est, d-c bus voltage value Vdc and phase current values Iu, Iv, Iw for being sampled to motor 7 carry out that arteries and veins is calculated
Width signal is rushed, and pwm control signal is generated to inverter 4 according to above-mentioned triangle carrier signal and pulse width signal, to drive
The motor 7 is moved to run
Specifically, the motor 7 in the utility model embodiment can be the motor of position-sensor-free, location/velocity estimation
It, can be real by flux observation method when module 51 determines the rotor angle estimated values theta est of motor 7 and motor speed estimate ω est
Existing above-mentioned function, specifically, first can be according to the voltage V in two-phase rest frameα、VβWith electric current Iα、IβCalculate compressor
The estimate of motor useful flux on two-phase rest frame α and β direction of principal axis calculates as follows with specific reference to the following formula (1)：
Wherein,WithThe respectively estimate of motor useful flux on α and β direction of principal axis, VαAnd VβRespectively α and β
Voltage on direction of principal axis, IαAnd IβElectric current respectively on α and β direction of principal axis, R are stator resistance, LqFor the q axis magnetic linkages of motor.
Then, the rotor angle estimated values theta est of compressor electric motor and motor actual speed are calculated according to following formula (2)
Value value ω est：
Wherein, Kp_pllAnd Ki_pllRespectively proportional integration parameter, θerrFor misalignment angle estimate, ωfFor speed low pass filtered
The bandwidth of ripple device.
Specifically, Q axis, which gives current value computing module 52, includes superpositing unit and pi regulator.Wherein, superpositing unit is used
It is calculated in the difference of motor rotating speed of target value ω ref and motor speed estimate ω est, pi regulator is used for according to above-mentioned folded
Add motor rotating speed of target value ω ref that unit exports and motor speed estimate ω est difference carry out PI adjust to export Q axis to
Constant current value Iqref.
Specifically, D axis, which gives current value computing module 53, includes weak magnetic controller and clipping unit, wherein, weak magnetic control
Device is used to that the maximum output voltage Vmax of inverter and the output voltage amplitude V1 of inverter to be calculated to obtain D axis to give
Current value initial value Id0, clipping unit are given for giving current value initial value Id0 progress amplitude limiting processing to D axis with obtaining D axis
Current value Idref.
In the embodiment of the utility model, weak magnetic controller can be according at the beginning of the following formula (3) calculating D axis gives current value
Initial value Id0：
Wherein, Id0Current value initial value, K are given for D axisiFor integral control coefficient, V1
For the output voltage amplitude of inverter, vdFor D shaft voltages, vqFor Q shaft voltages, VmaxFor the maximum output voltage of inverter 4, Vdc
The DC bus-bar voltage exported for rectifier 2.
In the embodiment of the utility model, clipping unit obtains D axis according to the following formula (4) and gives current value：
Wherein, Idref gives current value, I for D axisdemagFor motor demagnetization current limits value.
Specifically, the specific calculating of current control module 54 is as follows：
U, V, W three-phase electricity flow valuve Iu, Iv, Iw are obtained according to being sampled to motor 7, and passes through the static seat of three phase static-two-phase
It marks converting unit and carries out Clark conversion, based on following formula (5), obtain motor on two-phase rest frame α and β direction of principal axis
Electric current IαAnd Iβ
Iα=Iu
Further according to rotor angle estimated values thetaestPass through static-two cordic phase rotators converting unit of two-phase to carry out
Park is converted, and actual current value Iq, Id of d axis and q axis under two-phase rotating coordinate system is calculated by following formula (6).
Id=Iαcosθest+Iβsinθest
Iq=-Iαsinθest+Iβcosθest (6)
Further, current control module 54 can calculate Q axis given voltage values according to the following formula (7) and D axis gives electricity
Pressure value：
Vd=Vd0- ω LqIq
Vq=Vq0+ωLdId+ωKe (7)
Wherein, Vq is Q axis given voltage values, and Vd is D axis given voltage values, and Iqref is that Q axis gives current value, Idref is
D axis gives current value, and Iq is Q axis actual currents, and Id is D axis actual currents, and Kpd and Kid are respectively that D shaft currents control ratio increases
Benefit and storage gain, Kpq and Kiq are respectively the control proportional gain of Q shaft currents and storage gain, and ω is motor speed, and Ke is electricity
Machine back emf coefficient, Ld and Lq are respectively D axis and Q axle inductances,Represent the integrations of x (τ) in time.
It, can be according to angle of rotor of motor estimate after Q axis given voltage value Vq and D axis given voltage values Vd is got
θest- two-phase static coordinate converting unit progress Park inverse transformations are rotated by two-phase to Vq and Vd, are fixed on coordinate system
Voltage value V α and V β, specific transformation for mula (8) are as follows：
Wherein, θ is angle of rotor of motor, can use above-mentioned rotor angle estimated values theta est herein.
Further, can according to voltage value V α and the V β that fixed coordinates are fastened by two-phase it is static-three phase static coordinate turns
It changes unit and carries out Clark inverse transformations, obtain three-phase voltage Vu, Vv and Vw, specific transformation for mula (9) is as follows：
Vu=Vα
Then duty cycle computing unit can carry out duty cycle according to DC bus-bar voltage Vdc and three-phase voltage Vu, Vv and Vw
It calculates, obtains duty cycle control signal, i.e. three-phase duty cycle Du, Dv and Dw, specific formula for calculation (10) is as follows：
Du=(Vu+0.5Vdc)/Vdc
Dv=(Vv+0.5Vdc)/Vdc
Dw=(Vw+0.5Vdc)/Vdc (10)
Wherein, Vdc is DC bus-bar voltage.
Here three-phase duty cycle signals contain three road pulse width signals, such as a wherein phase duty cycle Du in Fig. 3
In corresponding Du1, Du2, Du3 duty cycle signals at different moments, finally generated again by the timer inside calculation control unit
Triangle carrier signal generates corresponding three road pwm control signal to the upper bridge arm three-way switch pipe of inverter, and the three of lower bridge arm
Three road pwm control signals of road control signal and corresponding complementary therewith, therefore three-phase duty cycle signals here are actual contains
Six road pwm control signals, finally according to the corresponding six roads pwm control signal of three-phase duty cycle Du, Dv, Dw to the six of inverter 4
Way switch pipe is controlled, to realize that the driving to motor 7 is run.
The calculation control unit 5 of the electric machine control system of the present embodiment is given by above-mentioned location/velocity estimation module 51, Q axis
Constant current value Iqref computing modules 52, D axis give current value Idref computing modules 53 and current control module 54 and realize
To the calculating after phase current signal Iu, Iv, Iw sampling of motor 7, finally export based on three-phase duty cycle signals Du, Dv, Dw
Six road pwm signals realize the driving normal operation to motor 7 to inverter 4.
Further, as the fourth embodiment of electric machine control system provided by the utility model, based on the utility model
Electric machine control system 3rd embodiment, further include pfc circuit 3, with rectifier 2 export dc bus it is in parallel, input terminal
Connect rectifier 2, output terminal connection filter circuit 6, to carry out Active PFC to 2 output ripple direct current of rectifier.Such as
Described in Fig. 1, pfc circuit 3 includes the reactor L to connect with defeated 2 outlet of rectifier, can also include the second capacitance C1, diode
The cathode output end of the first end connection rectifier of D5 and switching tube S7, reactor L, reactor L second ends connection diode D5
Anode, the second capacitance C1 are parallel to reactor L first ends and diode cathode end, the collector connection diode D5 of switching tube S7
Anode, the emitter of switching tube S7 connects dc bus ground terminal, and the control unit 5 of switching tube S7 connects, the output control of control unit 5
The on off state of Signal-controlled switch pipe S7 pfc circuit 3 to be controlled to work, is realized and 2 output ripple direct current of rectifier is carried out
Active PFC.
The utility model also provides a kind of transducer air conditioning, and transducer air conditioning includes indoor unit part and outdoor machine part,
Wherein outdoor controller and/or indoor machine controller may include the motor control system described in the utility model first embodiment
System, for indoor machine controller, the motor 7 of electric machine control system is indoor DC fan, for being outdoor controller, motor
The motor 7 of control system is outdoor DC fan or motor 7 is frequency-changeable compressor, the electricity based on the utility model embodiment
Machine control system realizes the operation of the control to the above-mentioned motor load of transducer air conditioning, and can effectively reduce electric machine control system
The MCU of low cost may be employed so as to reduce the cost of entire electric machine control system with this in middle MCU rate requests.
In the description of this specification, the description meaning of reference term " first embodiment ", " second embodiment ", " example " etc.
Refer at least one implementation that the utility model is contained in reference to specific method, device or the feature that the embodiment or example describe
In example or example.In the present specification, schematic expression of the above terms is necessarily directed to identical embodiment or shows
Example.Moreover, specific features, method, apparatus or the feature of description can close in any one or more of the embodiments or examples
Suitable mode combines.In addition, without conflicting with each other, those skilled in the art can will be described in this specification
Different embodiments or example and different embodiments or exemplary feature are combined and combine.
It these are only the preferred embodiment of the utility model, it does not limit the scope of the patent of the present invention, every
Equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, is directly or indirectly used in
Other related technical areas are equally included in the patent within the scope of the utility model.
Claims (5)
1. a kind of electric machine control system, which is characterized in that the electric machine control system include rectifier, filter circuit, inverter,
Voltage sample portion, current sample portion, calculation control unit and motor；
The rectifier is used to carry out AC-input voltage full-wave rectification, and the two output terminals connection direct current of the rectifier is female
Line；
The filter circuit, inverter are in parallel with the dc bus successively, the AC-input voltage by the rectifier,
DC bus-bar voltage is converted to after filter circuit processing, to provide power supply for the inverter；
The output terminal of the inverter connects the motor；
The voltage sample portion is used to sample the d-c bus voltage value and is input to the calculation control unit；
The current sample portion is used to sample the phase current signal of the motor and is input to the calculation control unit；
The calculation control unit is additionally operable to according to the d-c bus voltage value, the phase current signal of the motor and described
The rotating speed of target value of motor calculates generation pulse width signal, and the calculation control unit also generates triangle carrier signal, and according to
The triangle carrier signal and the pulse width signal generate pwm control signal to the inverter, to drive the motor
Operation；
Wherein described calculation control unit, which at interval of N number of triangle carrier signal cycle calculate, generates the pulse width letter
Number, wherein N >=1.
2. electric machine control system as described in claim 1, which is characterized in that the triangle carrier signal number of cycles at the interval
For 2-5.
3. electric machine control system as described in claim 1, which is characterized in that the calculation control unit includes：
Location/velocity estimation module is estimated to obtain the rotor angle estimate of motor for the rotor-position to motor
With motor speed estimate；
Q axis gives current value computing module, and electricity is given for calculating Q axis according to motor rotating speed of target value, motor speed estimate
Flow valuve；
D axis gives current value computing module, for the maximum output voltage and the output voltage amplitude of inverter according to inverter
It calculates D axis and gives current value；
Current control module, for giving current value according to the Q axis, the D axis gives current value, motor speed estimation
It value, the d-c bus voltage value and the phase current values of motor sampling calculate generates the pulse width signal, and
The pwm control signal is generated to the inverter according to the triangle carrier signal and the pulse width signal, with driving
The motor operation.
4. electric machine control system as claimed in claim 3, which is characterized in that the electric machine control system further includes pfc circuit,
The pfc circuit is in parallel with the dc bus, and the input terminal of the pfc circuit connects the rectifier, output terminal connection institute
Filter circuit is stated, to carry out Active PFC to the rectifier output ripple direct current.
5. a kind of transducer air conditioning, which is characterized in that including such as Claims 1-4 any one of them electric machine control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721423366.5U CN207442724U (en) | 2017-10-30 | 2017-10-30 | Electric machine control system, transducer air conditioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721423366.5U CN207442724U (en) | 2017-10-30 | 2017-10-30 | Electric machine control system, transducer air conditioning |
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| Publication Number | Publication Date |
|---|---|
| CN207442724U true CN207442724U (en) | 2018-06-01 |
Family
ID=62291528
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721423366.5U Active CN207442724U (en) | 2017-10-30 | 2017-10-30 | Electric machine control system, transducer air conditioning |
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| Country | Link |
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| CN (1) | CN207442724U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107681939A (en) * | 2017-10-30 | 2018-02-09 | 广东美的制冷设备有限公司 | Electric machine control system, transducer air conditioning |
| CN112636650A (en) * | 2020-11-27 | 2021-04-09 | 上海汽车集团股份有限公司 | New forms of energy electric truck motor controller speed governing system |
-
2017
- 2017-10-30 CN CN201721423366.5U patent/CN207442724U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107681939A (en) * | 2017-10-30 | 2018-02-09 | 广东美的制冷设备有限公司 | Electric machine control system, transducer air conditioning |
| CN112636650A (en) * | 2020-11-27 | 2021-04-09 | 上海汽车集团股份有限公司 | New forms of energy electric truck motor controller speed governing system |
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