TW202345493A - Motor control system with adjustable voltage harmonics and method for calibrating the motor control system - Google Patents

Abstract

A motor control system with adjustable voltage harmonics and method for calibrating the motor control system, wherein the motor control system drives and controls a motor based on an input modulation command. The motor control system includes a harmonic voltage weight selection unit is used to select the harmonic weight value corresponding to the modulation command, a modulation message selection unit is used to select the output pulse duty ratio modulation message corresponding to the modulation command, and a pulse modulation part is based on the harmonic weight value. The output pulse duty ratio modulation information and the pulse modulation carrier frequency message generate a control signal. Based on the control signal, the inverter circuit adds harmonic voltage to the motor driving voltage to drive the motor, thereby improving the noise of the motor.

Description

Motor control system with adjustable voltage harmonics and method for correcting the motor control system

The present invention relates to a motor control system; in particular, it refers to a motor control system with adjustable voltage harmonics and a method for correcting the motor control system.

Torque ripple refers to the phenomenon of periodic changes in output torque when a motor is running. For electric motors, torque ripple usually causes noise and vibration. Controlling the motor operation with an appropriate voltage waveform can Improved torque ripple.

Conventionally using pulse width modulation technology, the phase voltage waveform output by the motor can be a sinusoidal wave. Figure 1A and Figure 1B show computer simulation of the conventional technology using seven-segment space vector pulse width modulation (Space Vector Pulse-Width Modulation). Modulation, referred to as SVPWM), the waveform curve of pulse width modulation, where Va, Vb and Vc are the modulated terminal voltage waveforms respectively, Vas, Vbs and Vcs are the phase voltage waveforms input to the motor respectively. Figure 2 shows the computer When the duty cycle indicated by the analog modulation instruction is 75%, the waveform curve of the pulse width modulation performed by the conventional technology, in which Kea, Keb and Kec are respectively the back electromotive force constants, is not a standard sinusoidal wave distribution. This is It is a common phenomenon in small motors. Ia, Ib and Ic are phase currents respectively, and Te is the torque variation curve of motor operation. It is a conventional technology based on the principle of generating sinusoidal phase voltage drive waveform. For the torque ripple phenomenon improvement is still insufficient.

The main purpose of the present invention is to provide a motor control system with adjustable voltage harmonics and a method for calibrating the motor control system.

Based on the aforementioned objectives, the technical features of the present invention to solve the problem mainly lie in that the motor control system with adjustable voltage harmonics drives and controls a motor based on the input modulation command. The motor control system includes:

A harmonic voltage weight selection unit includes a first storage part and a first selection part. The first storage part is connected to the first selection part. The first storage part is used to store multiple harmonics of the harmonic voltage. The weight value, the first selection part selects the harmonic weight value corresponding to the harmonic voltage to be generated according to the duty cycle indicated by the modulation instruction;

A modulation message selection unit, the modulation message selection unit includes a second storage part and a second selection part, the second storage part and the second selection part are connected, the second storage part is used to store a plurality of outputs Pulse wave duty cycle modulation message, the second selection part selects the corresponding output pulse wave duty cycle modulation message according to the duty cycle indicated by the modulation instruction;

A pulse wave modulation part, connected to the first selection part and the second selection part, is used to receive the harmonic weight value and the output pulse duty cycle modulation message, based on the harmonic weight value, the output pulse The wave duty cycle modulation information and the externally input pulse wave modulation carrier frequency information are used to generate multiple control signals; and

An inverter circuit is connected to the pulse wave modulation part and the motor. The inverter circuit includes a plurality of power electronic switches for receiving the control signal. The power electronic switch operates based on the control signal to cause harmonic voltage. Add the motor drive voltage to drive the motor;

The harmonic weight value is defined as the ratio of the voltage harmonic peak value to the voltage main frequency peak value.

The method for calibrating a motor control system is used to adapt the motor control system to a motor; the method includes the following steps:

Establish a calibration structure: The motor is equipped with a first detector. The first detector is used to detect the vibration or noise of the motor operation and generate a first operation message. The first detector is connected to a calibration device. The motor control system includes a harmonic voltage weight selection unit, a modulation information selection unit, a pulse modulation part and an inverter circuit, wherein the modulation information selection unit and the harmonic voltage weight selection unit are coupled respectively. Connected to an instruction generation device, the instruction generation device is used to generate a modulation instruction, the harmonic voltage weight selection unit is connected to the correction device, the correction device is used to adjust the harmonic weight value selection corresponding to the modulation instruction, the harmonic The voltage weight selection unit and the modulation information selection unit are respectively connected to the pulse wave modulation part, the pulse wave modulation part is connected to the inverter circuit, the inverter circuit is connected to the motor, and the harmonic voltage weight selection unit stores Multiple harmonic weight values of the harmonic voltage, the harmonic voltage weight selection unit includes a first selection part, the first selection part is used to select the corresponding harmonic weight value according to the modulation instruction, the modulation message selection The unit is used to select corresponding output pulse wave duty cycle modulation information according to the duty cycle indicated by the modulation instruction. The pulse wave modulation unit is based on the harmonic weight value, the output pulse wave duty cycle modulation information and The externally input pulse wave modulation carrier frequency information generates multiple control signals, and the inverter circuit drives the motor to operate based on the control signals;

Issue modulation instructions: the instruction generating device issues the modulation instructions to the motor control system;

Detection: the first detector detects the vibration or noise of the motor operation and generates the first operation message;

Check the operating status of the motor: Based on the first operating information, the calibration device determines whether the vibration or noise performance of the motor meets the expectations of the modulation command;

Adjust the harmonic weight value selection: Based on the vibration or noise performance of the motor meeting the expectations of the modulation instruction, the correction device retains the harmonic voltage weight selection unit based on the harmonic weight value selection corresponding to the modulation instruction, based on the If the vibration or noise performance of the motor does not meet the expectations of the modulation instruction, the correction device removes the harmonic voltage weight selection unit based on the harmonic weight value selection corresponding to the modulation instruction;

Repeatedly executing the steps of issuing the modulation command, the detection step, the step of checking the motor operating status and the step of adjusting the harmonic weight value selection, so that the motor control system adapts to the motor;

The step of adjusting the harmonic weight value selection is performed, and the harmonic weight value selected by the harmonic voltage weight selection unit based on the modulation instruction is retained. When the step of issuing the modulation instruction is executed again, different contents are issued to the motor control system. modulation instructions;

The step of adjusting the harmonic weight value selection is executed to remove the harmonic weight value selected by the harmonic voltage weight selection unit based on the modulation instruction. When the step of issuing the modulation instruction is executed again, the same content is issued to the motor control system. The modulation instruction is used to adjust the harmonic weight value stored in the harmonic voltage weight selection unit to adapt to the modulation instruction.

The main effect and advantage of the present invention is that it can improve the noise and vibration of the motor by adjusting the voltage waveform.

3 to 18 are used to illustrate embodiments of a motor control system with adjustable voltage harmonics and a method for correcting the motor control system according to the present invention.

As shown in Figures 3 to 5, the motor control system 01 with adjustable voltage harmonics in the first embodiment drives and controls a motor 02 based on the input modulation command. The motor control system 01 includes a harmonic voltage The weight selection unit 10, a modulation information selection unit 20, a pulse wave modulation part 30 and an inverter circuit 40, wherein the harmonic voltage weight selection unit 10 is mainly composed of electronic circuits, the harmonic voltage weight selection unit 10 includes a first storage part 12 and a first selection part 14. The first storage part 12 and the first selection part 14 are connected. The first storage part 12 is used to store a plurality of harmonic weight values of the harmonic voltage. , the harmonic weight value is defined as the ratio of the voltage harmonic peak value and the voltage main frequency peak value. The first selection unit 14 selects the harmonic weight value corresponding to the harmonic voltage to be generated according to the duty cycle indicated by the modulation command.

The modulation information selection unit 20 is mainly composed of electronic circuits. The modulation information selection unit 20 includes a second storage part 22 and a second selection part 24. The second storage part 22 and the second selection part 24 are connected. The second storage part 22 is used to store a plurality of output pulse wave duty cycle modulation messages, and the second selection part 24 selects the corresponding output pulse wave duty cycle modulation message according to the duty cycle indicated by the modulation instruction.

A logic circuit is a specific example of the first selection part 14 and the second selection part 24, and the first selection part 14 and the second selection part 24 are not limited to only logic circuits.

The pulse wave modulation part 30 is mainly composed of an electronic circuit. The pulse wave modulation part 30 is connected to the first selection part 14 and the second selection part 24. The pulse wave modulation part 30 is used to receive the harmonic weight value. And the output pulse duty cycle modulation information generates a plurality of control signals based on the harmonic weight value, the output pulse duty cycle modulation information and the externally input pulse wave modulation carrier frequency information.

The inverter circuit 40 is connected to the pulse wave modulation part 30 and the motor 02. The inverter circuit 40 includes a plurality of power electronic switches 42. The inverter circuit 40 is used to receive the control signal. The power electronic switches 42 operates based on the control signal to add the harmonic voltage to the motor driving voltage, thereby driving the motor 02 to operate.

As mentioned in the first embodiment, the motor control system 01 can be used to control the motor 02. A three-phase permanent magnet motor is a preferred specific example of the motor 02. The motor control system 01 can also be used to control other types of motors. When the motor control system 01 is used to control the motor 02, the motor control system 01 is connected to an instruction generation device 03. The instruction generation device 03 is mainly composed of electronic circuits. The instruction generation device 03 is used to generate the modulation instruction. The harmonic voltage weight selection unit 10 and the modulation information selection unit 20 are respectively coupled to the command generation device 03. Based on the modulation command generated by the command generation device 03, the motor control system 01 controls the rotation speed of the motor 02 or torque.

The harmonic voltage is a third-order harmonic voltage or a fifth-order harmonic voltage or a seventh-order harmonic voltage or a combination thereof. The harmonic weight value is a positive value, a negative value or zero, and the harmonic weight value comes from the motor. 02 In the offline (OFF-LINE) operating state without a load connected, perform a calibration test to reduce noise or vibration.

The plurality of harmonic weight values stored in the first storage unit 12 respectively correspond to different duty cycles, and the plurality of output pulse wave duty cycle modulation messages stored in the second storage unit 22 respectively correspond to different duty cycles. , the pulse wave modulation part 30 is based on the harmonic weight value corresponding to the modulation command and the output pulse wave duty cycle modulation information, and cooperates with the pulse wave modulation carrier frequency information to generate a plurality of control signals, each of which The control signal controls each of the power electronic switches 42 respectively to adjust the current waveform that drives the motor 02 to operate. The current waveform is not limited to sine waves. Previous technology believes that three-phase current without harmonics is the best choice to drive the motor. Previously, The technical means to control the operation of the motor is to eliminate harmonics in the three-phase current; as shown in Figure 6A, Figure 6B, Figure 7A, Figure 7B, Figure 8 and Figure 9, the preferred embodiment is based on the duty cycle of the modulation command , appropriately add 3rd, 5th, and 7th order harmonics to the phase current to control the torque change of the motor 02, improve the torque ripple phenomenon of the motor 02, and thereby improve the noise and vibration caused by the torque ripple phenomenon. And due to the change in phase voltage, the operating noise and vibration of the motor 02 caused by the axial magnetic disturbance phenomenon and the stator-rotor eccentricity phenomenon are improved. Embodiment 1 uses the adjustment of the output pulse duty cycle modulation information and modulation instructions. The duty cycle relationship satisfies the linear requirements of the two physical quantities shown in Figure 10.

As shown in Figures 11 to 13, when the motor 02 is running at high speed, the modulation voltage begins to become saturated, causing the voltage waveform to gradually transform from an M-wave to a ladder wave, thereby increasing the voltage utilization rate and the maximum speed of the motor 02.

As shown in Figures 14 and 15, the method of calibrating the motor control system 01 is mainly used to calibrate the harmonic voltage weight selection unit 10, so that the multiple harmonic weight values stored in the harmonic voltage weight selection unit 10 can be Correspondingly adapt to various operating requirements of the motor 02, so that the motor control system 01 adapts to the motor 02, and can be used to correct the modulation information selection unit 20 as needed, so that the modulation information selection unit 20 stores multiple Each of the output pulse duty cycle modulation messages can be adapted to various operating requirements of the motor 02 , thereby enabling the motor control system 01 to adapt to the motor 02 .

The method of calibrating the motor control system 01 includes the following steps:

Establish a correction structure: The motor 02 is provided with a first detector 62. The first detector 62 is used to detect the vibration or noise of the operation of the motor 02 and generate a first operation message. The first operation message is Vibration information or noise information, the first detector 62 is connected to a correction device 64. The correction device 64 is mainly composed of an electronic circuit including a microprocessor with executable programs. The motor control system 01 includes the harmonic voltage weight. The selection unit 10, the modulation information selection unit 20, the pulse wave modulation part 30 and the inverter circuit 40, wherein the harmonic voltage weight selection unit 10 and the modulation information selection unit 20 are respectively coupled to the command generation Device 03, the harmonic voltage weight selection unit 10 is connected to the correction device 64, the correction device 64 is used to modify the plurality of harmonic weight values stored in the harmonic voltage weight selection unit 10 and the different modulation instructions. Corresponding to the selection relationship, the inverter circuit 40 is connected to the motor 02 .

Issue the modulation command: the command generation device 03 issues the modulation command to the motor control system 01 .

Detection: The first detector 62 detects the operating status of the motor 02 and generates the first operating message.

Check the motor operating status: Based on the vibration or noise displayed in the first operation message, the calibration device 64 determines whether the vibration or noise performance generated by the operation of the motor 02 meets the expectations of the modulation command.

Adjust the harmonic weight value selection: Based on the vibration or noise performance of the motor 02 meeting the expectations of the modulation instruction, the correction device 64 retains the harmonic weight value selection corresponding to the modulation instruction by the harmonic voltage weight selection unit 10 , based on the vibration or noise performance of the motor 02 not meeting the expectations of the modulation instruction, the correction device 64 removes the harmonic voltage weight value selected by the harmonic voltage weight selection unit 10 based on the modulation instruction.

The step of issuing the modulation command, the step of detecting, the step of checking the motor operating status, and the step of adjusting the harmonic weight value selection are repeatedly executed, so that the motor control system 01 adapts to the motor 02 .

When the step of adjusting the harmonic weight value selection is executed and the harmonic weight value selected by the harmonic voltage weight selection unit 10 based on the modulation command is retained, and when the step of issuing the modulation command is executed again, a command is issued to the motor control system 01 Modulation instructions with different contents; perform the step of adjusting the harmonic weight value selection, remove the harmonic weight value selected by the harmonic voltage weight selection unit 10 based on the modulation instruction, and perform the step of issuing the modulation instruction again, for The motor control system 01 issues the modulation command with the same content, and accordingly adjusts the harmonic weight value stored in the harmonic voltage weight selection unit 10 to adapt to the modulation command.

In the step of controlling the motor operation, the inverter circuit 40 can choose to drive the motor 02 to operate in an offline state. The inverter circuit 40 can also choose to drive the motor 02 to operate in a connected load state. The load depends on The purpose of the motor 02 is determined, and the blades of the fan are a specific example of the load.

When the method of calibrating the motor control system 01 further calibrates the modulation information selection unit 20, in the step of establishing the calibration framework, the motor 02 is further provided with a second detector 66, and the second detector 66 is used to detect The motor 02 operates at a rotation speed or torque, and generates a second operation message. The second operation message is a rotation speed message or a torque message. The second selection part 24 is connected to the second detector 66. The detection step In the step of checking the motor operating status, the second detector 66 detects the operating status of the motor 02 and generates the second operating information. In the step of checking the motor operating status, based on the second operating information, the second selection part 24 determines the Whether the speed and torque of motor 02 meet the expectations of the modulation command.

After the step of checking the motor operating status is completed, a step of adjusting the output pulse duty cycle modulation information selection step is performed. The step of adjusting the output pulse duty cycle modulation information selection step is based on the rotation speed and torque of the motor 02 meeting the requirements. According to the expectation of the modulation command, the second selection part 24 retains the selection of the output pulse duty cycle modulation message corresponding to the modulation command. Based on the rotation speed and torque of the motor 02 not meeting the expectation of the modulation command, The second selection part 24 removes the selection of the output pulse wave duty cycle modulation information corresponding to the modulation command.

The step of issuing the modulation command, the step of detecting, the step of checking the motor operating status, and the step of adjusting the output pulse duty cycle modulation information selection step are repeatedly executed, so that the motor control system 01 adapts to the motor 02 .

Execute the step of adjusting the output pulse duty cycle modulation message selection, retain the selection of the output pulse duty cycle modulation message corresponding to the modulation command, and execute the step of issuing the modulation command again, the motor control system 01 Issue modulation instructions with different contents; execute the step of adjusting the output pulse duty cycle modulation message selection, remove the selection of the output pulse duty cycle modulation message corresponding to the modulation instruction, and execute the issued modulation again In the instruction step, the modulation instruction with the same content is issued to the motor control system 01, and accordingly the adjustment output pulse duty cycle modulation information stored in the modulation information selection unit 20 is adjusted to adapt to the modulation instruction.

The method of calibrating the motor control system 01 may optionally execute only the step of adjusting the harmonic weight value selection or the step of adjusting the output pulse duty cycle modulation message, thereby forming different implementation options.

For the motor 02 with the same specifications produced by the same manufacturer, the internal components of the motor 02 may come from different suppliers. Even if the same components come from the same supplier, slight differences often occur in components from different production batches. Differences result in differences in the operating status of the motor 02 in different production batches. Through the aforementioned correction method, the motor control system 01 can adapt to the motor 02 in a specific production batch, eliminating the possibility that the motor control system 01 cannot adapt. Problem with this motor 02 from different production batches.

As shown in FIGS. 16 to 18 , the second embodiment is mainly different from the first embodiment in that the motor control system 01 further includes a control command selection unit 70 and a feedback device 80 , and the modulation message selection unit 20 replaces is a modulation message control unit 50, wherein the control command selection unit 70 is connected to the harmonic voltage weight selection unit 10 and the modulation message control unit 50, and the harmonic voltage weight selection unit 10 and the modulation message control unit 50 The pulse wave modulation part 30 is connected respectively, and the feedback device 80 is connected to the modulation information control unit 50 and the motor 02. The feedback device 80 is used to detect the operating status of the motor 02 and send the signal to the modulation information control unit. 50 transmits the third operation message, which includes the rotation speed and torque of the motor 02 .

The control command selection unit 70 is mainly composed of electronic circuits. The control command selection unit 70 is used to convert the duty cycle indicated by the modulation command into a control command, and select the modulation information control unit 50 and the harmonic voltage weight. The unit 10 transmits the control command respectively, which is a speed command or a torque command.

The control command selection unit 70 is connected to the command generation device 03 . Based on the modulation command instructed by the command generation device 03 , the motor control system 01 converts the control command into the control command through the control command selection unit 70 to control the motor 02 The speed or torque of operation.

The modulation message control unit 50 is mainly composed of electronic circuits. The modulation message control unit 50 generates an output pulse wave duty cycle modulation message according to the control command and the third operation message. Accordingly, the modulation message control unit 50 cooperates with the feedback device 80 to self-correct the output pulse duty cycle modulation information.

The first selection part 14 of the harmonic voltage weight selection unit 10 is connected to the control command selection unit 70 and the pulse wave modulation part 30. The first selection part 14 selects the corresponding harmonic voltage to be generated according to the control command. Harmonic weight value.

The method of calibrating the motor control system 01 illustrated in the second embodiment includes the steps of establishing a calibration structure, issuing a modulation command, detecting, checking the motor operating status, and adjusting the harmonic weight value selection step. The second embodiment is mainly different. In the first embodiment, the second embodiment does not need to perform the step of adjusting the output pulse duty cycle modulation information selection, and in the step of establishing the correction architecture, the motor control system 01 includes the harmonic voltage weight selection unit 10, the The pulse wave modulation part 30, the inverter circuit 40, the modulation information control unit 50, the control command selection unit 70 and the feedback device 80, wherein the control command selection unit 70 is connected to the command generation device 03, and the harmonic The wave voltage weight selection unit 10 is connected to the correction device 64. The correction device 64 is used to modify the corresponding selection relationship between the plurality of harmonic weight values stored in the harmonic voltage weight selection unit 10 and the different control commands. The reverse The phaser circuit 40 is connected to the motor 02, and the control command selection unit 70 converts it into a control command according to the duty cycle indicated by the modulation command. The control command is a speed command or a torque command, and the feedback device 80 is used to detect the The operating status of the motor 02, and transmits the third operating message to the modulation message control unit 50. The third operating message includes the rotation speed and torque of the motor 02. The modulation message control unit 50 is used to act according to the control command. And the third operation information generates output pulse wave duty cycle modulation information.

In the step of issuing the modulation command, the command generation device 03 issues the modulation command to the motor control system 01 , and the control command selection unit 70 accordingly controls the harmonic voltage weight selection unit 10 and the modulation information control unit 50 The control commands are transmitted separately.

In the step of checking the motor operating status, based on the first operation information, the correction device 64 determines whether the vibration or noise performance of the motor 02 meets the expectations of the control command; in the step of adjusting the harmonic weight value selection, based on the motor 02 If the vibration or noise performance of the motor 02 meets the expectations of the control command, the correction device 64 retains the harmonic voltage weight selection unit 10 based on the harmonic weight value selection corresponding to the control command. Based on the vibration or noise performance of the motor 02 not meeting the expectations. In anticipation of the control command, the correction device 64 removes the harmonic voltage weight selection unit 10 based on the harmonic weight value selection corresponding to the control command.

During the step of adjusting the harmonic weight value selection, the harmonic weight value selected by the harmonic voltage weight selection unit 10 based on the control command is retained. When the step of issuing the modulation command is executed again, a different value is issued to the motor control system 01 content of the control command; in executing the step of adjusting the harmonic weight value selection, the harmonic weight value selected by the harmonic voltage weight selection unit 10 based on the control command is removed, and when the step of issuing the modulation command is executed again, the The motor control system 01 issues the control command with the same content, and accordingly adjusts the harmonic weight value stored in the harmonic voltage weight selection unit 10 to adapt to the control command.

Embodiment 2 can also improve the noise and vibration of the motor 02 by adjusting the voltage waveform, and the modulation information control unit 50 cooperates with the feedback device 80 to self-correct the output pulse duty cycle modulation information, so the embodiment Second, there is no need to perform the step of adjusting the output pulse duty cycle modulation information selection step in the method of calibrating the motor control system 01 as in the first embodiment.

01: Motor control system 10: Harmonic voltage weight selection unit 12:First storage department 14:First choice department 20: Modulation message selection unit 22:Second storage department 24:Second Choice Department 30:Pulse wave modulation department 40:Inverter circuit 42:Power electronic switch 50: Modulation message control unit 62:First detector 64:Calibration device 66: Second detector 70: Control command selection unit 80:Feedback device 02: Motor 03:Instruction generating device

1A and 1B show the waveform curves of the terminal voltage and the phase voltage of pulse width modulation using conventional technology. Figure 2 shows the torque curve of motor operation under pulse width modulation using conventional technology. FIG. 3 is a schematic diagram of the circuit architecture of the motor control system according to Embodiment 1 of the present invention. FIG. 4 is a circuit diagram of an inverter circuit of a motor control system according to Embodiment 1 of the present invention. FIG. 5 is a schematic diagram of the operation of the pulse wave modulation unit of the motor control system according to Embodiment 1 of the present invention. 6A and 6B are waveform curves of the terminal voltage and the phase voltage of the pulse width when the third-order harmonic voltage is introduced and the harmonic weight value is 0.1 in Embodiment 1 of the present invention. 7A and 7B are waveform curves of terminal voltage and phase voltage for pulse width modulation in Embodiment 1 of the present invention when a third-order harmonic voltage is introduced and the harmonic weight value is -0.1. Figure 8 is a torque curve of a motor operating with pulse width modulation by introducing a third-order harmonic voltage and a harmonic weight value of 0.1 in Embodiment 1 of the present invention. Figure 9 is a torque curve of a motor operating with pulse width modulation by introducing a third-order harmonic voltage and a harmonic weight value of -0.1 in Embodiment 1 of the present invention. Figure 10 is a relationship diagram between the duty cycle of the input modulation command and the speed target of the output pulse duty cycle modulation information according to Embodiment 1 of the present invention. The horizontal axis is the duty cycle of the modulation command, and the vertical axis is the motor speed. . Figure 11 is the waveform curve of the terminal voltage and phase voltage with a modulation coefficient of 1 when the voltage saturation limit is formed by introducing a third-order harmonic voltage and a harmonic weight value of 0.1 for pulse width modulation in Embodiment 1 of the present invention. Figure 12 shows the waveform curves of the terminal voltage and phase voltage with a modulation coefficient of 1 when the voltage saturation limit is formed when the third-order harmonic voltage is introduced and the harmonic weight value is 0.5 for pulse width modulation in Embodiment 1 of the present invention. Figure 13 shows the waveforms of the terminal voltage and the phase voltage of over-modulation with a modulation coefficient of 1.5 when the voltage saturation limit is formed by introducing a third-order harmonic voltage and the harmonic weight value is 0.5 for pulse width modulation in Embodiment 1 of the present invention. curve. FIG. 14 is a flow chart of a method for calibrating a motor control system according to Embodiment 1 of the present invention. FIG. 15 is a schematic diagram of the calibration architecture of a method for calibrating a motor control system according to Embodiment 1 of the present invention. Figure 16 is a schematic diagram of the circuit structure of the motor control system according to the second embodiment of the present invention. Figure 17 is a flow chart of a method for calibrating a motor control system according to Embodiment 2 of the present invention. FIG. 18 is a schematic diagram of the calibration architecture of a method for calibrating a motor control system according to Embodiment 2 of the present invention.

01: Motor control system

10: Harmonic voltage weight selection unit

12:First storage department

14:First choice department

20: Modulation message selection unit

22:Second storage department

24:Second Choice Department

30:Pulse wave modulation department

40:Inverter circuit

02: Motor

03:Instruction generating device

Claims (9)

A motor control system with adjustable voltage harmonics drives and controls a motor based on input modulation instructions. The motor control system includes: A harmonic voltage weight selection unit includes a first storage part and a first selection part. The first storage part is connected to the first selection part. The first storage part is used to store multiple harmonics of the harmonic voltage. The weight value, the first selection part selects the harmonic weight value corresponding to the harmonic voltage to be generated according to the duty cycle indicated by the modulation command; A modulation message selection unit, the modulation message selection unit includes a second storage part and a second selection part, the second storage part and the second selection part are connected, the second storage part is used to store a plurality of outputs Pulse wave duty cycle modulation message, the second selection part selects the corresponding output pulse wave duty cycle modulation message according to the duty cycle indicated by the modulation instruction; A pulse wave modulation part, connected to the first selection part and the second selection part, is used to receive the harmonic weight value and the output pulse duty cycle modulation message, based on the harmonic weight value, the output pulse The wave duty cycle modulation information and the externally input pulse wave modulation carrier frequency information are used to generate multiple control signals; and An inverter circuit is connected to the pulse wave modulation part and the motor. The inverter circuit includes a plurality of power electronic switches for receiving the control signal. The power electronic switch operates based on the control signal to cause harmonic voltage. Add the motor drive voltage to drive the motor; The harmonic weight value is defined as the ratio of the voltage harmonic peak value to the voltage main frequency peak value. The motor control system with adjustable voltage harmonics as described in claim 1 further includes a control command selection unit and a feedback device, and the modulation message selection unit is replaced by a modulation message control unit, wherein the control command The selection unit is connected to the harmonic voltage weight selection unit and the modulation message control unit. The harmonic voltage weight selection unit and the modulation message control unit are respectively connected to the pulse wave modulation part. The feedback device is connected to the modulation message control unit. unit and the motor, the feedback device is used to detect the operating status of the motor, and transmit a third operating message to the modulation information control unit, the third operating message includes the rotational speed and torque of the motor; The control command selection unit is used to convert the duty cycle indicated by the modulation command into a control command, and transmit the control command to the modulation information control unit and the harmonic voltage weight selection unit respectively. The control command is a speed command or Torque command; The modulation message control unit is used to generate an output pulse wave duty cycle modulation message according to the control command and the third operation message; The first selection part is connected to the control command selection unit and the pulse wave modulation part, and the first selection part selects the harmonic weight value corresponding to the harmonic voltage to be generated according to the control command. The motor control system with adjustable voltage harmonics as described in claim 1 or 2, wherein the harmonic voltage is a third-order harmonic voltage, a fifth-order harmonic voltage, a seventh-order harmonic voltage, and combinations thereof. The motor control system with adjustable voltage harmonics as described in claim 1 or 2, wherein the harmonic weight value is a positive value, a negative value or zero. A method for calibrating the motor control system described in claim 1, for adapting the motor control system to a motor; the method includes the following steps: Establish a calibration structure: The motor is equipped with a first detector. The first detector is used to detect the vibration or noise of the motor operation and generate a first operation message. The first detector is connected to a calibration device. The motor control system includes a harmonic voltage weight selection unit, a modulation information selection unit, a pulse modulation part and an inverter circuit, wherein the modulation information selection unit and the harmonic voltage weight selection unit are coupled respectively. Connected to an instruction generation device, the instruction generation device is used to generate a modulation instruction, the harmonic voltage weight selection unit is connected to the correction device, the correction device is used to adjust the harmonic weight value selection corresponding to the modulation instruction, the harmonic The voltage weight selection unit and the modulation information selection unit are respectively connected to the pulse wave modulation part, the pulse wave modulation part is connected to the inverter circuit, the inverter circuit is connected to the motor, and the harmonic voltage weight selection unit stores Multiple harmonic weight values of the harmonic voltage, the harmonic voltage weight selection unit includes a first selection part, the first selection part is used to select the corresponding harmonic weight value according to the modulation instruction, the modulation message selection The unit is used to select corresponding output pulse wave duty cycle modulation information according to the duty cycle indicated by the modulation instruction. The pulse wave modulation unit is based on the harmonic weight value, the output pulse wave duty cycle modulation information and The externally input pulse wave modulation carrier frequency information generates multiple control signals, and the inverter circuit drives the motor to operate based on the control signals; Issue modulation instructions: the instruction generating device issues the modulation instructions to the motor control system; Detection: the first detector detects the vibration or noise of the motor operation and generates the first operation message; Check the operating status of the motor: Based on the first operating information, the calibration device determines whether the vibration or noise performance of the motor meets the expectations of the modulation command; Adjust the harmonic weight value selection: Based on the vibration or noise performance of the motor meeting the expectations of the modulation instruction, the correction device retains the harmonic voltage weight selection unit based on the harmonic weight value selection corresponding to the modulation instruction, based on the If the vibration or noise performance of the motor does not meet the expectations of the modulation instruction, the correction device removes the harmonic voltage weight selection unit based on the harmonic weight value selection corresponding to the modulation instruction; Repeatedly executing the steps of issuing the modulation command, the detection step, the step of checking the motor operating status and the step of adjusting the harmonic weight value selection, so that the motor control system adapts to the motor; The step of adjusting the harmonic weight value selection is performed, and the harmonic weight value selected by the harmonic voltage weight selection unit based on the modulation instruction is retained. When the step of issuing the modulation instruction is executed again, different contents are issued to the motor control system. modulation instructions; The step of adjusting the harmonic weight value selection is executed to remove the harmonic weight value selected by the harmonic voltage weight selection unit based on the modulation instruction. When the step of issuing the modulation instruction is executed again, the same content is issued to the motor control system. The modulation instruction is used to adjust the harmonic weight value stored in the harmonic voltage weight selection unit to adapt to the modulation instruction. The method for calibrating a motor control system as described in claim 5, wherein in the step of establishing a calibration framework, the motor is further provided with a second detector, and the second detector is used to detect the rotational speed or torque of the motor. , and generate a second operation message, the second selection part is connected to the second detector, in the detection step, the second detector detects the operation status of the motor, and generates the second operation message, In the step of checking the motor operating status, based on the second operating information, the second selection part determines whether the rotational speed or torque of the motor meets the expectations of the modulation command; After the step of checking the motor operating status is completed, a step of adjusting the output pulse duty cycle modulation information is performed. The step of adjusting the output pulse duty cycle modulation information is based on the motor's speed or torque meeting the adjustment. The second selection part retains the modulation information selection based on the output pulse duty cycle corresponding to the modulation command. Based on the speed or torque of the motor not meeting the expectations of the modulation command, the second selection part The selection part removes selection based on the output pulse duty cycle modulation information corresponding to the modulation command; Repeatedly executing the step of issuing a modulation command, the step of detecting, the step of checking the operating status of the motor, and the step of adjusting the output pulse duty cycle modulation message selection, so that the motor control system adapts to the motor; Execute the step of adjusting the output pulse duty cycle modulation message selection, retain the selection of the output pulse duty cycle modulation message corresponding to the modulation command, and execute the step of issuing the modulation command again, the motor control system Issue modulation instructions with different contents; execute the step of adjusting the output pulse duty cycle modulation message selection, remove the selection of the output pulse duty cycle modulation message corresponding to the modulation instruction, and execute the modulation instruction again In the step, the modulation instruction with the same content is issued to the motor control system, and the adjustment output pulse duty cycle modulation information stored in the modulation information selection unit is adjusted accordingly to adapt to the modulation instruction. The method for calibrating a motor control system as described in claim 5 or 6, wherein in the step of controlling the operation of the motor, the inverter circuit drives the motor to operate in an offline state. A method for calibrating the motor control system described in claim 2, for adapting the motor control system to a motor; the method includes the following steps: Establish a calibration structure: The motor is equipped with a first detector. The first detector is used to detect the vibration or noise of the motor operation and generate a first operation message. The first detector is connected to a calibration device. The motor control system includes a control command selection unit, a modulation message control unit, a harmonic voltage weight selection unit, a pulse modulation part, an inverter circuit and a feedback device, wherein the control command selection unit is connected An instruction generation device, the instruction generation device is used to generate a modulation instruction, the control command selection unit converts it into a control command according to the duty cycle indicated by the modulation instruction, the control command is a speed command or a torque command, the harmonic The voltage weight selection unit is connected to the correction device. The correction device is used to adjust the harmonic weight value selection corresponding to the control command. The control command selection unit is connected to the modulation message control unit and the harmonic voltage weight selection unit. The modulation The message control unit and the harmonic voltage weight selection unit are respectively connected to the pulse wave modulation part, the pulse wave modulation part is connected to the inverter circuit, the inverter circuit is connected to the motor, and the feedback device is connected to the motor and the Modulation information control unit, the feedback device is used to detect the operating status of the motor, and transmit a third operation message to the modulation information control unit. The third operation message includes the rotation speed and torque of the motor. The modulation information The control unit is used to generate output pulse duty cycle modulation information according to the control command and the third operation message. The harmonic voltage weight selection unit stores multiple harmonic weight values of the harmonic voltage. The harmonic voltage weight selection unit The unit includes a first selection part, the first selection part is used to select the corresponding harmonic weight value according to the control command, and the pulse wave modulation part is based on the output pulse duty cycle modulation message, the harmonic weight value and externally input pulse wave modulation carrier frequency information to generate multiple control signals, and the inverter circuit drives the motor to operate based on the control signals; Issue modulation instructions: the instruction generating device issues the modulation instructions to the motor control system; Detection: the first detector detects the vibration or noise of the motor operation and generates the first operation message; Check the operating status of the motor: Based on the first operating information, the calibration device determines whether the vibration or noise performance of the motor meets the expectations of the control command; Adjust the harmonic weight value selection: Based on the vibration or noise performance of the motor meeting the expectations of the control command, the correction device retains the harmonic voltage weight selection unit based on the harmonic weight value selection corresponding to the control command, based on the motor's If the vibration or noise performance does not meet the expectations of the control command, the correction device removes the harmonic voltage weight selection unit based on the harmonic weight value selection corresponding to the control command; Repeatedly executing the steps of issuing the modulation command, the detection step, the step of checking the motor operating status and the step of adjusting the harmonic weight value selection, so that the motor control system adapts to the motor; The step of adjusting the harmonic weight value selection is executed, and the harmonic weight value selected by the harmonic voltage weight selection unit based on the control command is retained. When the step of issuing the modulation command is executed again, different content is issued to the motor control system. the control order; The step of adjusting the harmonic weight value selection is executed to remove the harmonic weight value selected by the harmonic voltage weight selection unit based on the control command. When the step of issuing the modulation command is executed again, the step of issuing the modulation command with the same content is issued to the motor control system. A control command is used to adjust the harmonic weight value stored in the harmonic voltage weight selection unit to adapt to the control command. The method for calibrating a motor control system as described in claim 8, wherein in the step of controlling the operation of the motor, the inverter circuit drives the motor to operate in an offline state.

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