WO2018099187A1 - Control method and control device for motor drive system and variable-frequency air conditioner - Google Patents

Control method and control device for motor drive system and variable-frequency air conditioner Download PDF

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Publication number
WO2018099187A1
WO2018099187A1 PCT/CN2017/105300 CN2017105300W WO2018099187A1 WO 2018099187 A1 WO2018099187 A1 WO 2018099187A1 CN 2017105300 W CN2017105300 W CN 2017105300W WO 2018099187 A1 WO2018099187 A1 WO 2018099187A1
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Prior art keywords
value
axis
voltage
inverter
current
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PCT/CN2017/105300
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French (fr)
Chinese (zh)
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霍军亚
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广东美的制冷设备有限公司
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Publication of WO2018099187A1 publication Critical patent/WO2018099187A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/14—Arrangements for reducing ripples from dc input or output
    • H02M1/143—Arrangements for reducing ripples from dc input or output using compensating arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
    • H02P2201/15—Power factor Correction [PFC] circuit generating the DC link voltage for motor driving inverter

Definitions

  • the invention relates to the technical field of motor control, in particular to a control method, a control device and an inverter air conditioner of a motor drive system.
  • the conventional passive PFC (power factor correction) scheme variable frequency drive is widely used due to its advantages of low cost and high reliability.
  • Its passive PFC scheme uses the full bridge to rectify the AC voltage and then pass the large electrolysis.
  • the smoothing effect of the capacitor makes the DC bus voltage stable, but when the load of the driving motor is increased and the inverter part needs to output high power, the ripple on the DC bus voltage with the same phase as the input power AC voltage appears.
  • the ripple voltage affects the working life of the large electrolytic capacitor, which in turn affects the operational stability of the variable frequency drive.
  • variable frequency control stability In order to ensure that the large electrolytic capacitor meets the requirements of variable frequency control stability, it is mainly realized by the following two methods: (1) reducing the output power of the variable frequency controller; and (2) increasing the capacity of the large electrolytic capacitor.
  • (1) reducing the output power of the variable frequency controller By reducing the output power of the inverter controller, it is impossible to obtain a stable high-power output with an increased load; and increasing the capacity of the large electrolytic capacitor increases the cost accordingly.
  • the main object of the present invention is to provide a control method for a motor drive system, which aims to solve the problem that the motor drive system of the passive PFC scheme generates ripple due to an increase in output power, thereby causing the life of the electrolytic capacitor to be shortened to affect the operation of the motor drive system. Stable Sex.
  • the present invention provides a control method for a motor drive system including a rectifier, a passive PFC circuit, a DC smoothing circuit, an inverter, an arithmetic control unit, and a motor, the rectifier pairing
  • the input voltage is full-wave rectified, the passive PFC circuit having a reactor connected in series with the output of the rectifier, the AC input voltage outputting a DC bus voltage through the rectifier, a passive PFC circuit, a DC smoothing circuit
  • the inverter provides power, and the arithmetic control unit controls the inverter to drive the motor to operate, wherein the control method comprises the following steps:
  • a control signal is generated according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
  • control unit generates a control signal according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system, and specifically includes:
  • the PWM control signal is generated according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value to control the inverter.
  • the step of acquiring the initial value of the q-axis current comprises:
  • the difference is calculated and PI control is performed to obtain the initial value of the q-axis current.
  • the obtaining is based on a DC bus voltage value and an output voltage amplitude of the inverter
  • the d-axis given current value steps include:
  • the d-axis current initial value is subjected to a clipping process to obtain the d-axis given current value.
  • the step of calculating the q-axis current compensation amount by the voltage fluctuation amount comprises:
  • PI control is performed according to the amount of voltage fluctuation to obtain a q-axis current compensation amount.
  • the present invention also provides a control device for a motor drive system, the control device comprising:
  • a current detecting module for detecting a three-phase current value of the driving motor
  • a voltage detecting module configured to detect a DC bus voltage value of the motor driving system
  • An average voltage obtaining module configured to obtain an average voltage value according to the DC bus voltage value
  • a voltage fluctuation quantity acquisition module configured to acquire a voltage fluctuation amount according to the DC bus voltage value and the average voltage value
  • the control signal generating module generates a control signal according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
  • control signal generating module specifically includes:
  • a q-axis current compensation calculator configured to calculate a q-axis current compensation amount according to the voltage fluctuation amount
  • the q-axis current initial value obtaining unit is configured to perform a difference calculation according to the motor target speed value and the actual motor speed estimation value, and then perform PI control to obtain an initial value of the q-axis current;
  • a q-axis given current value operation unit configured to obtain a q-axis given current value according to the q-axis current compensation amount and the initial value of the q-axis current;
  • a d-axis given current value operation unit configured to calculate a d-axis given current value according to the DC bus voltage value and an output voltage amplitude of the inverter
  • the dq axis current operation unit is configured to perform coordinate transformation on the three-phase current to obtain an actual current value of the d-axis and an actual current value of the q-axis;
  • the dq axis voltage operation unit is configured to calculate the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given voltage. value;
  • the PWM operation unit is configured to generate a PWM control signal to control the inverter according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value.
  • the q-axis current compensation calculator is further configured to:
  • PI control is performed according to the amount of voltage fluctuation to obtain a q-axis current compensation amount.
  • the d-axis given current value operation unit specifically includes:
  • a voltage amplitude calculation subunit configured to calculate an output voltage amplitude of the inverter according to a previous d-axis given voltage value and a q-axis given voltage value
  • the maximum output voltage value calculation sub-unit is configured to calculate the maximum output voltage value of the inverter according to the DC bus voltage value
  • a field weakening control subunit configured to calculate an initial value of the d-axis current according to a maximum output voltage of the inverter and an output voltage amplitude of the inverter
  • the limiting subunit is configured to perform a limiting process on the initial value of the d-axis current to obtain the d-axis given current value.
  • the present invention also provides an inverter air conditioner comprising the control device of the motor drive system.
  • the control method of the motor drive system detects the DC bus voltage value and the three-phase current value of the drive motor, and obtains an average voltage value according to the DC bus voltage, and then obtains the voltage fluctuation amount according to the DC bus voltage value and the average voltage value. Finally, the inverter of the motor drive system is controlled according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value generating control signals to drive the motor to operate.
  • the control method provided by the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, thereby finally controlling the motor, thereby reducing the straightness
  • the fluctuation of the bus voltage makes it possible to realize high-power output without increasing the electrolytic capacitor, and solves the problem that the output power of the inverter is too large when the load is too large in the motor drive system of the passive PFC scheme.
  • the occurrence of the ripple voltage on the DC bus voltage causes the working life of the large electrolytic filter capacitor on the DC bus to decrease, which in turn affects the stability of the entire motor drive system.
  • FIG. 1 is a schematic structural diagram of a circuit of a motor drive system according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling a motor drive system according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a control device of a motor drive system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of signal generation of a voltage fluctuation amount acquisition module in a control device of a motor drive system according to an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a control signal generating module in a control device of a motor drive system according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a d-axis given current value operation unit in a control device for a motor drive system according to an embodiment of the present invention.
  • the motor drive system includes a rectifier 2, a passive PFC circuit 3, a DC smoothing circuit 4, an inverter 5, an arithmetic control unit 7, and a motor 6.
  • the passive PFC circuit 3 has a reactor L connected in series with the output terminal of the rectifier, and may further include a first capacitor C1 and a diode D5.
  • the DC smoothing circuit 4 is composed of a second capacitor C2, and the rectifier 2 is composed of diodes D1-D4. Full-bridge rectification, rectifying AC input voltage 1 and converting it to straight The pulsating voltage is connected in series to the reactor L on the rear side of the rectifier.
  • the first end of the reactor L is connected to the positive output terminal of the rectifier, the second end of the reactor L is connected to the anode of the diode D5, and the first capacitor C1 is connected in parallel to the reactor L.
  • the second capacitor C2 is connected in parallel with the cathode terminal of the diode and the cathode terminal of the rectifier, and the reactor L utilizes the characteristic of the current charge and discharge hysteresis voltage of the inductor to improve the power factor of the rectifier output current.
  • Capacitor C1 is a small-capacity filter capacitor that suppresses harmonics in the circuit.
  • the second capacitor is a large-capacity electrolytic capacitor that smoothes the DC ripple voltage output from the rectifier.
  • Diode D5 uses its isolation to increase the charging voltage on the second capacitor. Further increase the power factor.
  • the AC input voltage outputs a DC bus voltage through the rectifier 2, the passive PFC circuit 3, and the DC smoothing circuit 4, and supplies DC power to the inverter 5, and the arithmetic control unit 7 controls the inverter switch S1-through the control command.
  • S6 performs switching control to drive the motor 6 to operate, and the motor 6 is a permanent magnet synchronous motor, including a compressor for the inverter air conditioner.
  • control method of the motor drive system includes the following steps:
  • the DC bus voltage V dc of the motor drive system can be detected by the circuit structure of the voltage dividing resistor, and the three-phase current Iu, v, w of the motor is detected by a single-resistor or three-resistor sampling circuit structure. Belongs to the prior art.
  • the average voltage value V dc — ave of the period of time can be obtained by detecting the instantaneous value of the DC bus voltage value V dc for a predetermined period of time and then averaging.
  • S40 Generate a control signal according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
  • controlling the inverter of the motor drive system according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value generating control signal specifically includes:
  • the PWM control signal is generated according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value to control the inverter.
  • ⁇ V dc voltage fluctuation amount calculated q-axis current compensation amount according to the time I q_com1 by performing PI control of the voltage fluctuation amount ⁇ V dc, calculated q-axis current compensation amount I q_com1.
  • the initial value I q0 of the q-axis current can be obtained by calculating the difference between the motor target speed value ⁇ m * and the actual motor speed value ⁇ m and then performing PI control.
  • the actual motor speed value ⁇ m can pass through a position sensor such as a Hall switch in the motor. Detected, or for the motor without position sensor, the actual motor speed value ⁇ m is the estimated value. At this time, the acquisition of ⁇ m is as follows:
  • the rotor angle estimation value ⁇ est of the motor and the actual motor speed value ⁇ m are obtained by the flux linkage observation method. Specifically, first, an estimated value of the effective magnetic flux of the compressor motor in the directions of the two-phase stationary coordinate system ⁇ and ⁇ axes can be calculated according to the voltages V ⁇ , V ⁇ and the currents I ⁇ and I ⁇ on the two-phase stationary coordinate system. Specifically calculated according to formula (1) as follows:
  • V ⁇ and V ⁇ are the voltages in the ⁇ and ⁇ axis directions, respectively
  • I ⁇ and I ⁇ are the currents in the ⁇ and ⁇ axis directions, respectively.
  • L q is the q-axis flux linkage of the motor.
  • K p_pll and K i_pll are proportional integration parameters
  • ⁇ err is the deviation angle estimation value
  • ⁇ f is the bandwidth of the speed low-pass filter.
  • the q-axis current compensation amount I q_com1 and the q-axis current initial value I q0 are added to obtain a q-axis given current value I qref .
  • the weak magnetic control is performed on the difference between the maximum output voltage V max of the inverter and the output voltage amplitude V 1 of the inverter to obtain the initial value I d0 of the d-axis given current value; the initial value of the given current value of the d-axis I D0 performs clipping processing to obtain a d-axis given current value I dref .
  • the initial value I d0 of the d-axis given current value can be calculated by the following formula (3):
  • V d and V q are the d-axis given voltage value and the q-axis given voltage value, respectively, and V dc is the DC bus voltage of the motor drive system.
  • the d-axis given current value I dref is calculated by the following formula (4):
  • I demag is the motor demagnetization current limit value.
  • the coordinate transformation of the three-phase current to obtain the actual current values of the d-axis and the q-axis specifically includes:
  • I d I ⁇ cos ⁇ e +I ⁇ sin ⁇ e
  • q axis given current value and d, q axis actual current value to obtain the d, q axis given voltage value can be calculated by the following formula (7):
  • Vq is the Q axis given voltage
  • Vd is the D axis given voltage
  • Iqref is the Q axis given current
  • Idref is the D axis given current
  • Iq is the Q axis actual current
  • Id is the D axis actual current
  • Kpd and Kid is the D-axis current control proportional gain and integral gain respectively
  • Kpq and Kiq are Q-axis current control proportional gain and integral gain
  • ⁇ is the motor speed
  • Ke is the motor back-EMF coefficient
  • Ld and Lq are D-axis and Q-axis respectively.
  • the PWM control signal is generated to control the inverter as follows:
  • V ⁇ and V ⁇ After obtaining the given voltage value Vq of the Q axis and the given voltage value Vd of the D axis, the inverse inverse transformation of Vq and Vd according to the rotor angle ⁇ of the motor can be performed, and the voltage command on the fixed coordinate system is calculated by the following formula (8).
  • V ⁇ and V ⁇ After obtaining the given voltage value Vq of the Q axis and the given voltage value Vd of the D axis, the inverse inverse transformation of Vq and Vd according to the rotor angle ⁇ of the motor can be performed, and the voltage command on the fixed coordinate system is calculated by the following formula (8).
  • ⁇ is the rotor angle of the motor, and the above-mentioned estimated rotor angle ⁇ e can be taken here .
  • the Clark inverse transform is performed on the voltages V ⁇ and V ⁇ on the two-phase stationary coordinate system to obtain three-phase voltage values V u , V v , V w , which are calculated by the following formula (9):
  • the duty ratio calculation can be performed according to the DC bus voltage V dc and the three-phase voltage values V u , V v , V w to obtain a PWM control signal, that is, the three-phase duty ratios D u , D v , D w , specifically Calculated by the following formula (10):
  • the switching tube of the inverter is controlled according to the three-phase duty ratios D u , D v , D w to realize the control of the motor.
  • the control method of the motor drive system detects the DC bus voltage value and the three-phase current value of the drive motor, and obtains an average voltage value according to the DC bus voltage, and then obtains the voltage fluctuation amount according to the DC bus voltage value and the average voltage value. Finally, the inverter of the motor drive system is controlled according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value generating control signals to drive the motor to operate.
  • the control method provided by the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, and finally control the motor, thereby reducing the fluctuation of the DC bus voltage, realizing the Realize high-power output when the electrolytic capacitor is increased, and solve the problem in the passive PFC scheme motor drive system when the load is too large
  • the output power of the transformer is too large, causing the ripple voltage on the DC bus voltage to cause the working life of the large electrolytic filter capacitor on the DC bus to decrease, which in turn affects the stability of the entire motor drive system.
  • the invention also provides a control device for a motor drive system.
  • control device of the motor drive system includes:
  • the current detecting module 10 is configured to detect a three-phase current value of the driving motor
  • the voltage detecting module 20 is configured to detect a DC bus voltage value of the motor driving system
  • the average voltage obtaining module 30 is configured to obtain an average voltage value according to the DC bus voltage value
  • the voltage fluctuation amount acquisition module 40 is configured to obtain a voltage fluctuation amount according to the DC bus voltage value and the average voltage value;
  • the control signal generating module 50 generates a control signal according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
  • the current detecting module 10 can detect the DC bus voltage V dc of the motor driving system through the circuit structure of the voltage dividing resistor, and detect the three-phase current Iu, v, w of the motor through a single-resistor or three-resistor sampling circuit structure. These circuit structures belong to the prior art.
  • the average voltage acquisition module 30 can obtain the instantaneous voltage value V dc — ave of the period of time by detecting the instantaneous value of the DC bus voltage value V dc for a predetermined period of time and then averaging.
  • the voltage fluctuation amount acquisition module 40 obtains the voltage fluctuation amount ⁇ V dc by calculating the difference from the DC bus voltage V dc after detecting the average value V dc — ave of the DC bus voltage.
  • control signal generating module 50 specifically includes:
  • a q-axis current compensation calculation unit 501 configured to calculate a q-axis current compensation amount according to the voltage fluctuation amount
  • the q-axis current initial value obtaining unit 502 is configured to perform a difference calculation according to the motor target speed value and the actual motor speed estimation value, and then perform PI control to obtain an initial value of the q-axis current;
  • a q-axis given current value operation unit 503 for using the q-axis current compensation amount and The initial values of the q-axis currents are added to obtain a given current value of the q-axis;
  • the d-axis given current value operation unit 504 is configured to calculate a d-axis given current value according to the DC bus voltage value and the output voltage amplitude of the inverter;
  • the dq axis current operation unit 505 is configured to perform coordinate transformation on the three-phase current to obtain the d-axis and q-axis actual current values;
  • the dq axis voltage operation unit 506 is configured to calculate the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given Voltage value;
  • the PWM operation unit 507 is configured to generate a PWM control signal to control the inverter according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value.
  • ⁇ V dc voltage fluctuation amount calculated q-axis current compensation amount according to the time I q_com1 by performing PI control of the voltage fluctuation amount ⁇ V dc, calculated q-axis current compensation amount I q_com1.
  • the initial q-axis current value acquiring unit 502 acquires the initial value of the q-axis current I q0, it is possible, and the difference between the motor actual speed ⁇ m then calculated by the target motor speed value ⁇ m * PI control is obtained, wherein the actual value of the motor speed ⁇ m It can be detected by a position sensor in the motor, such as a Hall switch, or for a motor without a position sensor, the actual motor speed value ⁇ m is an estimated value. At this time, the acquisition of ⁇ m is as follows:
  • the rotor angle estimation value ⁇ est of the motor and the actual motor speed value ⁇ m are obtained by the flux linkage observation method. Specifically, first, an estimated value of the effective magnetic flux of the compressor motor in the directions of the two-phase stationary coordinate system ⁇ and ⁇ axes can be calculated according to the voltages V ⁇ , V ⁇ and the currents I ⁇ and I ⁇ on the two-phase stationary coordinate system.
  • the specific calculation formula is as follows:
  • V ⁇ and V ⁇ are the voltages in the ⁇ and ⁇ axis directions, respectively
  • I ⁇ and I ⁇ are the currents in the ⁇ and ⁇ axis directions, respectively.
  • R is the stator resistance
  • L q is the q-axis flux linkage of the compressor motor.
  • K p_pll and K i_pll are proportional integration parameters
  • ⁇ err is the deviation angle estimation value
  • ⁇ f is the bandwidth of the speed low-pass filter.
  • the q-axis given current value operation unit 503 adds the q-axis current compensation amount I q_com1 and the q-axis current initial value I q0 to obtain the q-axis given current value I qref .
  • the d-axis given current value operation unit 504 is further shown in FIG. 6.
  • the d-axis given current value operation unit 504 further includes a voltage amplitude calculation sub-unit 5041, a maximum output voltage value calculation sub-unit 5042, and a field weakening control sub-unit 5043.
  • the limiting subunit 5044, the d-axis given current value operation unit 504 calculates the d-axis given current value of the compressor motor according to the maximum output voltage of the inverter and the output voltage amplitude of the inverter, specifically including :
  • the field weakening control sub-unit 5043 performs field weakening control on the difference between the maximum output voltage V max of the inverter and the output voltage amplitude V 1 of the inverter to obtain an initial value I d0 of the d-axis given current value; the limiting subunit 5044 performs a limiting process on the initial value I d0 of the d-axis given current value to obtain a d-axis given current value I dref .
  • the weak magnetic control sub-unit 5043 can calculate the initial value I d0 of the d-axis given current value by the following formula (3):
  • K i is an integral control coefficient
  • the voltage amplitude calculation subunit 5041 passes the formula Calculating the output voltage amplitude V 1 of the inverter
  • the maximum output voltage value calculation subunit 5042 passes the formula
  • the maximum output voltage V max , V d and V q of the inverter are calculated as the d-axis given voltage value and the q-axis given voltage value, respectively, and V dc is the DC bus voltage of the motor drive system.
  • the limiting sub-unit 5044 performs limiting processing according to the initial value I d0 of the d-axis given current value, and calculates the d-axis given current value I dref by the following formula (4):
  • I demag is the motor demagnetization current limit value.
  • the dq axis current operation unit 505 performs coordinate transformation on the three-phase current to obtain the actual current values of the d-axis and the q-axis, and specifically includes:
  • the dq axis voltage operation unit 506 obtains the d and q axis given voltage values according to the d, q axis given current value and the d and q axis actual current values, which can be calculated by the following formula (7):
  • Vq is the Q axis given voltage
  • Vd is the D axis given voltage
  • Iqref is the Q axis given current
  • Idref is the D axis given current
  • Iq is the Q axis actual current
  • Id is the D axis actual current
  • Kpd and Kid is the D-axis current control proportional gain and integral gain respectively
  • Kpq and Kiq are Q-axis current control proportional gain and integral gain
  • ⁇ is the motor speed
  • Ke is the motor back-EMF coefficient
  • Ld and Lq are D-axis and Q-axis respectively.
  • the PWM operation unit 507 generates a PWM control signal according to the d, q axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value as follows:
  • the Park inverse transform can be performed on Vq and Vd according to the motor rotor angle ⁇ , and the voltage commands V ⁇ and V ⁇ on the fixed coordinate system are calculated by the following formula (8):
  • ⁇ is the rotor angle of the motor, and the above-mentioned estimated rotor angle ⁇ e can be taken here .
  • the Clark inverse transform is performed on the voltages V ⁇ and V ⁇ on the two-phase stationary coordinate system to obtain three-phase voltage commands V u , V v , V w , which are calculated by the following formula (9):
  • the duty ratio calculation can be performed according to the DC bus voltage V dc and the three-phase voltage commands V u , V v , V w to obtain a PWM control signal, that is, the three-phase duty ratios D u , D v , D w , specifically Calculated by the following formula (10):
  • the switching tube of the inverter is controlled according to the three-phase duty ratios D u , D v , D w to realize the control of the motor.
  • the DC bus voltage value and the three-phase current value of the drive motor are detected, and the average voltage value is obtained according to the DC bus voltage, and then the voltage fluctuation is obtained according to the DC bus voltage value and the average voltage value.
  • the inverter of the motor drive system is controlled according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value to generate a control signal to drive the motor to operate.
  • the control method provided by the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, and finally control the motor, thereby reducing the fluctuation of the DC bus voltage, realizing the
  • the high-power output is realized when the electrolytic capacitor is increased, and the passive PFC scheme is applied to the motor drive system.
  • the load is too large, the output power of the inverter is too large, causing a ripple voltage on the DC bus voltage to cause DC.
  • the working life of the large electrolytic filter capacitor on the busbar is reduced, which in turn affects the stability of the entire motor drive system.
  • the present invention also provides an inverter air conditioner, including the above-mentioned control device of the motor drive system, and the motor of the inverter air conditioner may be a DC fan or a compressor.
  • the motor of the inverter air conditioner may be a DC fan or a compressor.
  • the inverter air conditioner provided by the embodiment of the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, thereby reducing the fluctuation of the DC bus voltage, thereby achieving no increase
  • large electrolytic capacitors high-power output is realized, and the passive PFC scheme is solved in the motor drive system.
  • the load is too large, the output power of the inverter is too large, causing a waveform voltage on the DC bus voltage to cause a DC bus.
  • the working life of the large electrolytic filter capacitor is reduced, which in turn affects the stability of the entire motor drive system.

Abstract

A control method and control device for a motor drive system, and a variable-frequency air conditioner. By means of detecting a DC bus voltage value and a three-phase current value for driving a motor (S10), and according to a DC bus voltage value, an average voltage value is acquired (S20); then according to the DC bus voltage value and the average voltage value, a voltage fluctuation amount is acquired (S30); and finally, a control signal is generated according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value so as to control an inverter of the motor drive system, thus driving the motor to operate (S40). The control method may detect the fluctuation of a DC bus voltage in real time, and adjust an Iq current value in the motor drive system in real time by detecting said fluctuation, thereby reducing the amount of fluctuation of the DC bus voltage.

Description

一种电机驱动系统的控制方法、控制装置和变频空调器Control method, control device and inverter air conditioner of motor drive system 技术领域Technical field
本发明涉及电机控制技术领域，尤其涉及一种电机驱动系统的控制方法、控制装置和变频空调器。The invention relates to the technical field of motor control, in particular to a control method, a control device and an inverter air conditioner of a motor drive system.
背景技术Background technique
电机驱动系统中，常规无源PFC(功率因素校正)方案变频驱动器由于具备低成本高可靠性的优点得到广泛的应用，其无源PFC方案是利用全桥将交流电压整流后，再通过大电解电容的平滑作用使直流母线电压处于稳定状态，但是当驱动电机的负载加大使得逆变器部分需要输出大功率时，直流母线电压上出现与输入电源交流电压相位相同的纹波即出现电压波动，而纹波电压会影响大电解电容的工作寿命，进而影响变频驱动器的工作稳定性。In the motor drive system, the conventional passive PFC (power factor correction) scheme variable frequency drive is widely used due to its advantages of low cost and high reliability. Its passive PFC scheme uses the full bridge to rectify the AC voltage and then pass the large electrolysis. The smoothing effect of the capacitor makes the DC bus voltage stable, but when the load of the driving motor is increased and the inverter part needs to output high power, the ripple on the DC bus voltage with the same phase as the input power AC voltage appears. The ripple voltage affects the working life of the large electrolytic capacitor, which in turn affects the operational stability of the variable frequency drive.
为了保证大电解电容满足变频控制稳定性的需求，目前主要通过以下两种方法实现：(1)降低变频控制器的输出功率；(2)增加大电解电容的容量。但是通过降低变频控制器的输出功率，无法在负载加大的情况下获得稳定的大功率输出；而增加大电解电容的容量又相应的增加了成本。In order to ensure that the large electrolytic capacitor meets the requirements of variable frequency control stability, it is mainly realized by the following two methods: (1) reducing the output power of the variable frequency controller; and (2) increasing the capacity of the large electrolytic capacitor. However, by reducing the output power of the inverter controller, it is impossible to obtain a stable high-power output with an increased load; and increasing the capacity of the large electrolytic capacitor increases the cost accordingly.
上述内容仅用于辅助理解本发明的技术方案，并不代表承认上述内容是现有技术。The above content is only used to assist in understanding the technical solutions of the present invention, and does not constitute an admission that the above is prior art.
发明内容Summary of the invention
本发明的主要目的在于提供一种电机驱动系统的控制方法，目的在于解决无源PFC方案的电机驱动系统中，由于输出功率的增加产生纹波，从而导致电解电容寿命缩短影响电机驱动系统的工作稳定 性。The main object of the present invention is to provide a control method for a motor drive system, which aims to solve the problem that the motor drive system of the passive PFC scheme generates ripple due to an increase in output power, thereby causing the life of the electrolytic capacitor to be shortened to affect the operation of the motor drive system. Stable Sex.
为实现上述目的，本发明提供的一种电机驱动系统的控制方法，所述电机驱动系统包括整流器、无源PFC电路、直流平滑电路、逆变器、运算控制部及电机，所述整流器对交流输入电压进行全波整流，所述无源PFC电路具有与所述整流器输出端串联的电抗器，所述交流输入电压通过所述整流器、无源PFC电路、直流平滑电路输出直流母线电压为所述逆变器提供电源，所述运算控制部对逆变器进行控制以驱动电机运行，其特征在于，所述控制方法包括以下步骤：To achieve the above object, the present invention provides a control method for a motor drive system including a rectifier, a passive PFC circuit, a DC smoothing circuit, an inverter, an arithmetic control unit, and a motor, the rectifier pairing The input voltage is full-wave rectified, the passive PFC circuit having a reactor connected in series with the output of the rectifier, the AC input voltage outputting a DC bus voltage through the rectifier, a passive PFC circuit, a DC smoothing circuit, The inverter provides power, and the arithmetic control unit controls the inverter to drive the motor to operate, wherein the control method comprises the following steps:
检测所述直流母线电压值以及驱动电机的三相电流值；Detecting the DC bus voltage value and a three-phase current value of the driving motor;
根据所述直流母线电压值获取平均电压值；Obtaining an average voltage value according to the DC bus voltage value;
根据所述直流母线电压值和平均电压值获取电压波动量；Obtaining a voltage fluctuation amount according to the DC bus voltage value and the average voltage value;
根据所述电压波动量、直流母线电压值和三相电流值生成控制信号，以对所述电机驱动系统的逆变器进行控制，以驱动电机运行。A control signal is generated according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
优选的，根据所述电压波动量、直流母线电压值和三相电流值生成控制信号对所述电机驱动系统的逆变器进行控制，具体包括：Preferably, the control unit generates a control signal according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system, and specifically includes:
获取q轴电流初始值；Obtain the initial value of the q-axis current;
根据所述电压波动量计算q轴电流补偿量，并根据所述q轴电流补偿量和q轴电流初始值相加，获得q轴给定电流值；Calculating a q-axis current compensation amount according to the voltage fluctuation amount, and adding a q-axis given current value according to the q-axis current compensation amount and the q-axis current initial value;
根据所述直流母线电压值和逆变器的输出电压幅值获得d轴给定电流值；Obtaining a d-axis given current value according to the DC bus voltage value and an output voltage amplitude of the inverter;
对所述三相电流进行坐标变换获得d轴实际电流值和q轴实际电流值；Performing coordinate transformation on the three-phase current to obtain a d-axis actual current value and a q-axis actual current value;
分别对d轴给定电流值和d轴实际电流值以及q轴给定电流值和q轴实际电流值进行计算得到d轴给定电压值和q轴给定电压值；Calculate the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given voltage value;
根据d轴给定电压值、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号，以对逆变器进行控制。The PWM control signal is generated according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value to control the inverter.
优选的，所述获取q轴电流初始值步骤包括：Preferably, the step of acquiring the initial value of the q-axis current comprises:
根据电机目标转速值和电机实际机械转速进行差值计算再进行PI控制得到q轴电流初始值。According to the motor target speed value and the actual mechanical speed of the motor, the difference is calculated and PI control is performed to obtain the initial value of the q-axis current.
优选的，所述根据直流母线电压值和逆变器的输出电压幅值获得 d轴给定电流值步骤包括：Preferably, the obtaining is based on a DC bus voltage value and an output voltage amplitude of the inverter The d-axis given current value steps include:
根据前一次的d轴给定电压值和q轴给定电压值计算得到所述逆变器的输出电压幅值；Calculating the output voltage amplitude of the inverter according to the previous d-axis given voltage value and the q-axis given voltage value;
根据直流母线电压值计算得到逆变器的最大输出电压值；Calculating the maximum output voltage value of the inverter according to the DC bus voltage value;
根据逆变器的最大输出电压值和所述逆变器的输出电压幅值计算得到所述d轴电流初始值；Calculating an initial value of the d-axis current according to a maximum output voltage value of the inverter and an output voltage amplitude of the inverter;
对所述d轴电流初始值进行限幅处理获得所述d轴给定电流值。The d-axis current initial value is subjected to a clipping process to obtain the d-axis given current value.
优选的，所述电压波动量计算q轴电流补偿量步骤包括：Preferably, the step of calculating the q-axis current compensation amount by the voltage fluctuation amount comprises:
根据电压波动量进行PI控制以获得q轴电流补偿量。PI control is performed according to the amount of voltage fluctuation to obtain a q-axis current compensation amount.
为实现上述目的，本发明还提供一种电机驱动系统的控制装置，所述控制装置包括：To achieve the above object, the present invention also provides a control device for a motor drive system, the control device comprising:
电流检测模块，用于检测驱动电机的三相电流值；a current detecting module for detecting a three-phase current value of the driving motor;
电压检测模块，用于检测所述电机驱动系统的直流母线电压值；a voltage detecting module, configured to detect a DC bus voltage value of the motor driving system;
平均电压获取模块，用于根据所述直流母线电压值获取平均电压值；An average voltage obtaining module, configured to obtain an average voltage value according to the DC bus voltage value;
电压波动量获取模块，用于根据所述直流母线电压值和平均电压值获取电压波动量；a voltage fluctuation quantity acquisition module, configured to acquire a voltage fluctuation amount according to the DC bus voltage value and the average voltage value;
控制信号生成模块，根据所述电压波动量、直流母线电压值和三相电流值生成控制信号以对所述电机驱动系统的逆变器进行控制，以驱动电机运行。The control signal generating module generates a control signal according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
优选的，所述控制信号生成模块具体包括：Preferably, the control signal generating module specifically includes:
q轴电流补偿计算器，用于根据所述电压波动量计算q轴电流补偿量；a q-axis current compensation calculator, configured to calculate a q-axis current compensation amount according to the voltage fluctuation amount;
q轴电流初始值获取单元，用于根据电机目标转速值和电机实际转速估算值进行差值计算再进行PI控制获得q轴电流初始值；The q-axis current initial value obtaining unit is configured to perform a difference calculation according to the motor target speed value and the actual motor speed estimation value, and then perform PI control to obtain an initial value of the q-axis current;
q轴给定电流值运算单元，用于根据所述q轴电流补偿量和q轴电流初始值相加，获得q轴给定电流值；a q-axis given current value operation unit, configured to obtain a q-axis given current value according to the q-axis current compensation amount and the initial value of the q-axis current;
d轴给定电流值运算单元，用于根据所述直流母线电压值和逆变器的输出电压幅值计算得到d轴给定电流值； a d-axis given current value operation unit, configured to calculate a d-axis given current value according to the DC bus voltage value and an output voltage amplitude of the inverter;
dq轴电流运算单元，用于对所述三相电流进行坐标变换获得d轴实际电流值和q轴实际电流值；The dq axis current operation unit is configured to perform coordinate transformation on the three-phase current to obtain an actual current value of the d-axis and an actual current value of the q-axis;
dq轴电压运算单元，用于分别对d轴给定电流值和d轴实际电流值以及q轴给定电流值和q轴实际电流值进行计算获得d轴给定电压值和q轴给定电压值；The dq axis voltage operation unit is configured to calculate the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given voltage. value;
PWM运算单元，用于根据d轴给定电压值、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号对逆变器进行控制。The PWM operation unit is configured to generate a PWM control signal to control the inverter according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value.
优选的，所述q轴电流补偿计算器还用于：Preferably, the q-axis current compensation calculator is further configured to:
根据电压波动量进行PI控制以获得q轴电流补偿量。PI control is performed according to the amount of voltage fluctuation to obtain a q-axis current compensation amount.
优选的，所述d轴给定电流值运算单元具体包括：Preferably, the d-axis given current value operation unit specifically includes:
电压幅值计算子单元，用于根据前一次的d轴给定电压值和q轴给定电压值计算得到所述逆变器的输出电压幅值；a voltage amplitude calculation subunit, configured to calculate an output voltage amplitude of the inverter according to a previous d-axis given voltage value and a q-axis given voltage value;
最大输出电压值计算子单元，用于根据直流母线电压值计算得到逆变器的最大输出电压值；The maximum output voltage value calculation sub-unit is configured to calculate the maximum output voltage value of the inverter according to the DC bus voltage value;
弱磁控制子单元，用于根据所述逆变器的最大输出电压和逆变器的输出电压幅值计算得到d轴电流初始值；a field weakening control subunit, configured to calculate an initial value of the d-axis current according to a maximum output voltage of the inverter and an output voltage amplitude of the inverter;
限幅子单元，用于对所述d轴电流初始值进行限幅处理获得所述d轴给定电流值。The limiting subunit is configured to perform a limiting process on the initial value of the d-axis current to obtain the d-axis given current value.
为实现上述目的，本发明还提供一种变频空调器，包括所述的电机驱动系统的控制装置。In order to achieve the above object, the present invention also provides an inverter air conditioner comprising the control device of the motor drive system.
本发明提供的电机驱动系统的控制方法，通过检测直流母线电压值以及驱动电机的三相电流值，并根据直流母线电压获取平均电压值，进而根据直流母线电压值和平均电压值获取电压波动量，最后根据电压波动量、直流母线电压值和三相电流值生成控制信号对所述电机驱动系统的逆变器进行控制，以驱动电机运行。本发明提供的控制方法能够实时检测直流母线电压的波动，并通过检测波动来实时调节电机驱动系统中的Iq电流值进而最终对电机进行控制，从而减小直 流母线电压的波动，实现了在不增大电解电容的情况下实现大功率的输出，解决了无源PFC方案电机驱动系统中，当出现负载过大时逆变器的输出功率过大，引起直流母线电压上出现文波电压导致直流母线上的大电解滤波电容工作寿命降低，进而影响整个电机驱动系统工作稳定性问题。The control method of the motor drive system provided by the present invention detects the DC bus voltage value and the three-phase current value of the drive motor, and obtains an average voltage value according to the DC bus voltage, and then obtains the voltage fluctuation amount according to the DC bus voltage value and the average voltage value. Finally, the inverter of the motor drive system is controlled according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value generating control signals to drive the motor to operate. The control method provided by the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, thereby finally controlling the motor, thereby reducing the straightness The fluctuation of the bus voltage makes it possible to realize high-power output without increasing the electrolytic capacitor, and solves the problem that the output power of the inverter is too large when the load is too large in the motor drive system of the passive PFC scheme. The occurrence of the ripple voltage on the DC bus voltage causes the working life of the large electrolytic filter capacitor on the DC bus to decrease, which in turn affects the stability of the entire motor drive system.
附图说明DRAWINGS
图1为本发明实施例提供的电机驱动系统电路结构示意图；1 is a schematic structural diagram of a circuit of a motor drive system according to an embodiment of the present invention;
图2为本发明实施例提供的电机驱动系统的控制方法的流程示意图；2 is a schematic flow chart of a method for controlling a motor drive system according to an embodiment of the present invention;
图3为本发明实施例提供的电机驱动系统的控制装置的结构示意图；3 is a schematic structural diagram of a control device of a motor drive system according to an embodiment of the present invention;
图4为本发明实施例提供的电机驱动系统的控制装置中电压波动量获取模块的信号生成示意图；4 is a schematic diagram of signal generation of a voltage fluctuation amount acquisition module in a control device of a motor drive system according to an embodiment of the present invention;
图5为本发明实施例提供的电机驱动系统的控制装置中控制信号生成模块的结构示意图；5 is a schematic structural diagram of a control signal generating module in a control device of a motor drive system according to an embodiment of the present invention;
图6为本发明实施例提供的电机驱动系统的控制装置中d轴给定电流值运算单元的结构示意图。FIG. 6 is a schematic structural diagram of a d-axis given current value operation unit in a control device for a motor drive system according to an embodiment of the present invention.
具体实施方式detailed description
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.
首先对描述本发明实施例提供的基于无源PFC的电机驱动系统。如图1所示，电机驱动系统包括：整流器2、无源PFC电路3、直流平滑电路4、逆变器5、运算控制部7及电机6。无源PFC电路3具有与整流器输2出端串联的电抗器L，还可以包括第一电容C1、二极管D5，直流平滑电路4由包括第二电容C2组成，整流器2由二极管D1-D4组成的全桥整流，对交流输入电压1进行整流，转换成直 流脉动电压，串联于整流器后侧的电抗器L，电抗器L的第一端连接整流器的正极输出端，电抗器L第二端连接二极管D5阳极，第一电容C1并联于电抗器L第一端和二极管阴极端，第二电容C2并联于二极管的阴极端和所述整流器的负极输出端，电抗器L利用其电感的对电流充放电滞后电压的特性改善整流器输出电流的功率因素，第一电容C1为小容量滤波电容，对电路中的谐波进行抑制，第二电容为大容量电解电容，平滑整流器输出的直流脉动电压，二极管D5利用其隔离作用能提高第二电容上的充电电压从而进一步提高功率因素。交流输入电压通过上述整流器2、无源PFC电路3和直流平滑电路4电路输出直流母线电压，给逆变器工作5提供直流电源，运算控制部7通过控制指令对逆变器的开关管S1-S6进行开关控制，以驱动电机6运行，电机6为永磁同步电机，包括用于变频空调的压缩机。First, a passive PFC-based motor drive system provided by an embodiment of the present invention will be described. As shown in FIG. 1, the motor drive system includes a rectifier 2, a passive PFC circuit 3, a DC smoothing circuit 4, an inverter 5, an arithmetic control unit 7, and a motor 6. The passive PFC circuit 3 has a reactor L connected in series with the output terminal of the rectifier, and may further include a first capacitor C1 and a diode D5. The DC smoothing circuit 4 is composed of a second capacitor C2, and the rectifier 2 is composed of diodes D1-D4. Full-bridge rectification, rectifying AC input voltage 1 and converting it to straight The pulsating voltage is connected in series to the reactor L on the rear side of the rectifier. The first end of the reactor L is connected to the positive output terminal of the rectifier, the second end of the reactor L is connected to the anode of the diode D5, and the first capacitor C1 is connected in parallel to the reactor L. The second capacitor C2 is connected in parallel with the cathode terminal of the diode and the cathode terminal of the rectifier, and the reactor L utilizes the characteristic of the current charge and discharge hysteresis voltage of the inductor to improve the power factor of the rectifier output current. Capacitor C1 is a small-capacity filter capacitor that suppresses harmonics in the circuit. The second capacitor is a large-capacity electrolytic capacitor that smoothes the DC ripple voltage output from the rectifier. Diode D5 uses its isolation to increase the charging voltage on the second capacitor. Further increase the power factor. The AC input voltage outputs a DC bus voltage through the rectifier 2, the passive PFC circuit 3, and the DC smoothing circuit 4, and supplies DC power to the inverter 5, and the arithmetic control unit 7 controls the inverter switch S1-through the control command. S6 performs switching control to drive the motor 6 to operate, and the motor 6 is a permanent magnet synchronous motor, including a compressor for the inverter air conditioner.
图2为根据本发明实施例的电机驱动系统的控制方法的流程图，如图2所示，该电机驱动系统的控制方法包括以下步骤：2 is a flow chart of a control method of a motor drive system according to an embodiment of the present invention. As shown in FIG. 2, the control method of the motor drive system includes the following steps:
S10，检测直流母线电压值以及驱动电机的三相电流值。S10, detecting the DC bus voltage value and the three-phase current value of the driving motor.
具体地，可通过分压电阻的电路结构来检测电机驱动系统的直流母线电压Vdc，通过单电阻或者三电阻采样方式的电路结构来检测电机的三相电流Iu,v,w，这些电路结构属于现有技术。Specifically, the DC bus voltage V dc of the motor drive system can be detected by the circuit structure of the voltage dividing resistor, and the three-phase current Iu, v, w of the motor is detected by a single-resistor or three-resistor sampling circuit structure. Belongs to the prior art.
S20，根据直流母线电压获取平均电压值。S20, obtaining an average voltage value according to the DC bus voltage.
具体地，可以通过在一段预设时间内检测直流母线电压值Vdc的瞬时值，然后求平均值得到此段时间的平均电压值Vdc_ave。Specifically, the average voltage value V dc — ave of the period of time can be obtained by detecting the instantaneous value of the DC bus voltage value V dc for a predetermined period of time and then averaging.
S30，根据直流母线电压值和平均电压值获取电压波动量。S30. Acquire a voltage fluctuation amount according to the DC bus voltage value and the average voltage value.
具体地，检测到直流母线电压的平均值Vdc_ave后，通过计算与直流母线电压Vdc的差值可获取电压波动量ΔVdc。Specifically, after detecting that the average DC link voltage V dc_ave by calculating the difference between the DC voltage V dc bus voltage fluctuation amount of available ΔV dc.
S40，根据电压波动量、直流母线电压值和三相电流值生成控制信号对所述电机驱动系统的逆变器进行控制，以驱动电机运行。S40: Generate a control signal according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
根据本发明的一个实施例，根据电压波动量、直流母线电压值和三相电流值生成控制信号对电机驱动系统的逆变器进行控制具体包括： According to an embodiment of the present invention, controlling the inverter of the motor drive system according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value generating control signal specifically includes:
获取q轴电流初始值；Obtain the initial value of the q-axis current;
根据电压波动量计算q轴电流补偿量，并根据q轴电流补偿量和q轴电流初始值相加获得q轴给定电流值；Calculating the q-axis current compensation amount according to the voltage fluctuation amount, and adding the q-axis given current value according to the q-axis current compensation amount and the q-axis current initial value;
根据直流母线电压值和逆变器的输出电压幅值获得d轴给定电流值；Obtaining a d-axis given current value according to the DC bus voltage value and the output voltage amplitude of the inverter;
对三相电流进行坐标变换获得d轴实际电流值和q轴实际电流值；Coordinate transformation of the three-phase current to obtain the actual current value of the d-axis and the actual current value of the q-axis;
分别对d轴给定电流值和d轴实际电流值以及q轴给定电流值和q轴实际电流值进行计算得到d轴给定电压值和q轴给定电压值；Calculate the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given voltage value;
根据d轴给定电压值、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号，以对逆变器进行控制。The PWM control signal is generated according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value to control the inverter.
具体的，根据电压波动量ΔVdc计算得到q轴电流补偿量Iq_com1时，通过对电压波动量ΔVdc进行PI控制，计算得到q轴电流补偿量Iq_com1。Specifically, ΔV dc voltage fluctuation amount calculated q-axis current compensation amount according to the time I q_com1 by performing PI control of the voltage fluctuation amount ΔV dc, calculated q-axis current compensation amount I q_com1.
q轴电流初始值Iq0可以通过电机目标转速值ωm *和电机实际转速值ωm差值计算再进行PI控制获得，其中电机实际转速值ωm可以通过电机中的位置传感器如霍尔开关检测得到，或者对无位置传感器的电机，其电机实际转速值ωm为估算值，此时ωm的获取具体如下：The initial value I q0 of the q-axis current can be obtained by calculating the difference between the motor target speed value ω m * and the actual motor speed value ω m and then performing PI control. The actual motor speed value ω m can pass through a position sensor such as a Hall switch in the motor. Detected, or for the motor without position sensor, the actual motor speed value ω m is the estimated value. At this time, the acquisition of ω m is as follows:
通过磁链观测法获得电机的转子角度估计值θest和电机实际转速值值ωm。具体而言，首先可根据两相静止坐标系上的电压Vα、Vβ和电流Iα、Iβ计算压缩机电机在两相静止坐标系α和β轴方向上有效磁通的估计值，具体根据公式(1)计算如下：The rotor angle estimation value θ est of the motor and the actual motor speed value ω m are obtained by the flux linkage observation method. Specifically, first, an estimated value of the effective magnetic flux of the compressor motor in the directions of the two-phase stationary coordinate system α and β axes can be calculated according to the voltages V α , V β and the currents I α and I β on the two-phase stationary coordinate system. Specifically calculated according to formula (1) as follows:
Figure PCTCN2017105300-appb-000001
Figure PCTCN2017105300-appb-000001
其中，
Figure PCTCN2017105300-appb-000002
和
Figure PCTCN2017105300-appb-000003
分别为电机在α和β轴方向上有效磁通的估计值，Vα和Vβ分别为α和β轴方向上的电压，Iα和Iβ分别为α和β轴方向上的电流，R为定子电阻，Lq为电机的q轴磁链。 among them,
Figure PCTCN2017105300-appb-000002
with
Figure PCTCN2017105300-appb-000003
They are the estimated values of the effective magnetic flux of the motor in the α and β axes, respectively, V α and V β are the voltages in the α and β axis directions, respectively, I α and I β are the currents in the α and β axis directions, respectively. For the stator resistance, L q is the q-axis flux linkage of the motor.
然后，根据下述公式(2)计算压缩机电机的转子角度估计值θe和电机实际转速值值ωm：Then, the rotor angle estimated value θ e of the compressor motor and the actual motor speed value ω m are calculated according to the following formula (2):
Figure PCTCN2017105300-appb-000004
Figure PCTCN2017105300-appb-000004
其中，Kp_pll和Ki_pll分别为比例积分参数，θerr为偏差角度估计值，ωf为速度低通滤波器的带宽。Among them, K p_pll and K i_pll are proportional integration parameters, θ err is the deviation angle estimation value, and ω f is the bandwidth of the speed low-pass filter.
对q轴电流补偿量Iq_com1和q轴电流初始值Iq0进行相加即得到q轴给定电流值Iqref。The q-axis current compensation amount I q_com1 and the q-axis current initial value I q0 are added to obtain a q-axis given current value I qref .
根据直流母线电压值和逆变器的输出电压幅值计算压缩机电机的d轴给定电流值具体如下：Calculate the d-axis given current value of the compressor motor according to the DC bus voltage value and the output voltage amplitude of the inverter as follows:
对逆变器的最大输出电压Vmax与逆变器的输出电压幅值V1之差进行弱磁控制以获得d轴给定电流值初值Id0；对d轴给定电流值初值Id0进行限幅处理以获得d轴给定电流值Idref。The weak magnetic control is performed on the difference between the maximum output voltage V max of the inverter and the output voltage amplitude V 1 of the inverter to obtain the initial value I d0 of the d-axis given current value; the initial value of the given current value of the d-axis I D0 performs clipping processing to obtain a d-axis given current value I dref .
其中，可通过下述公式(3)计算d轴给定电流值初值Id0：Wherein, the initial value I d0 of the d-axis given current value can be calculated by the following formula (3):
Figure PCTCN2017105300-appb-000005
Figure PCTCN2017105300-appb-000005
其中，Ki为积分控制系数，
Figure PCTCN2017105300-appb-000006
Vd和Vq分别为电机的d轴给定电压值和q轴给定电压值，Vdc为电机驱动系统的直流母线电压。Where K i is the integral control coefficient,
Figure PCTCN2017105300-appb-000006
V d and V q are the d-axis given voltage value and the q-axis given voltage value, respectively, and V dc is the DC bus voltage of the motor drive system.
然后，根据d轴给定电流值初值Id0进行限幅处理，通过下述公式(4)计算d轴给定电流值Idref：Then, according to the d-axis given current value initial value I d0 for limiting processing, the d-axis given current value I dref is calculated by the following formula (4):
Figure PCTCN2017105300-appb-000007
Figure PCTCN2017105300-appb-000007
其中，Idemag为电机退磁电流限制值。Among them, I demag is the motor demagnetization current limit value.
对三相电流进行坐标变换获得d轴和q轴实际电流值具体包括：The coordinate transformation of the three-phase current to obtain the actual current values of the d-axis and the q-axis specifically includes:
根据检测获得的永磁同步电机U、V、W三相电流值Iu、Iv、Iw，并通过下述公式(5)计算电机在两相静止坐标系α和β轴方向上的电流Iα和Iβ According to the detection of the permanent magnet synchronous motor U, V, W three-phase current values I u , I v , I w , and calculate the current of the motor in the direction of the two-phase stationary coordinate system α and β axes by the following formula (5) I α and I β
Figure PCTCN2017105300-appb-000008
Figure PCTCN2017105300-appb-000008
再根据电机电角度θe进行坐标转换通过下述公式(6)计算得到两相旋转坐标系下的d轴和q轴的实际电流值Iq、Id。Then the motor electrical angle θ e in accordance with the coordinate conversion performed by the following equation (6) calculated actual current value of the d-axis and q-axis in a two-phase rotating coordinate system I q, I d.
Id＝Iαcosθe+Iβsinθe I d =I α cosθ e +I β sin θ e
Iq＝-Iαsinθe+Iβcosθe            (6)I q =-I α sin θ e +I β cosθ e (6)
根据d、q轴给定电流值和d、q轴实际电流值获得d、q轴给定电压值具体可以通过下述公式(7)计算：According to the d, q axis given current value and d, q axis actual current value to obtain the d, q axis given voltage value can be calculated by the following formula (7):
Figure PCTCN2017105300-appb-000009
Figure PCTCN2017105300-appb-000009
其中，Vq为Q轴给定电压，Vd为D轴给定电压，Iqref为Q轴给定电流、Idref为D轴给定电流，Iq为Q轴实际电流，Id为D轴实际电流，Kpd和Kid分别为D轴电流控制比例增益与积分增益，Kpq和Kiq分别为Q轴电流控制比例增益与积分增益，ω为电机转速，Ke为电机反电势系数，Ld和Lq分别为D轴和Q轴电感，
Figure PCTCN2017105300-appb-000010
表示x(τ)在时间上的积分。Where Vq is the Q axis given voltage, Vd is the D axis given voltage, Iqref is the Q axis given current, Idref is the D axis given current, Iq is the Q axis actual current, Id is the D axis actual current, Kpd and Kid is the D-axis current control proportional gain and integral gain respectively, Kpq and Kiq are Q-axis current control proportional gain and integral gain, ω is the motor speed, Ke is the motor back-EMF coefficient, Ld and Lq are D-axis and Q-axis respectively. inductance,
Figure PCTCN2017105300-appb-000010
Represents the integral of x(τ) over time.
根据d、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号对逆变器进行控制具体如下：According to the d, q axis given voltage value, DC bus voltage value and motor rotor angle estimation value, the PWM control signal is generated to control the inverter as follows:
获取到Q轴给定电压值Vq和D轴给定电压值Vd后，可根据电机转子角度θ对Vq和Vd进行Park逆变换，通过下述公式(8)计 算得到固定坐标系上的电压指令Vα和Vβ：After obtaining the given voltage value Vq of the Q axis and the given voltage value Vd of the D axis, the inverse inverse transformation of Vq and Vd according to the rotor angle θ of the motor can be performed, and the voltage command on the fixed coordinate system is calculated by the following formula (8). V α and V β :
Figure PCTCN2017105300-appb-000011
Figure PCTCN2017105300-appb-000011
其中，θ为电机转子角度，在此可取上述的转子角度估计值θe。Where θ is the rotor angle of the motor, and the above-mentioned estimated rotor angle θ e can be taken here .
对两相静止坐标系上的电压Vα、Vβ进行Clark逆变换，得到三相电压值Vu、Vv、Vw，具体通过下述公式(9)计算得到：The Clark inverse transform is performed on the voltages V α and V β on the two-phase stationary coordinate system to obtain three-phase voltage values V u , V v , V w , which are calculated by the following formula (9):
Figure PCTCN2017105300-appb-000012
Figure PCTCN2017105300-appb-000012
然后，可根据直流母线电压Vdc和三相电压值Vu、Vv、Vw进行占空比计算，得到PWM控制信号，即三相占空比Du、Dv、Dw，具体通过下述公式(10)计算得到：Then, the duty ratio calculation can be performed according to the DC bus voltage V dc and the three-phase voltage values V u , V v , V w to obtain a PWM control signal, that is, the three-phase duty ratios D u , D v , D w , specifically Calculated by the following formula (10):
Figure PCTCN2017105300-appb-000013
Figure PCTCN2017105300-appb-000013
最后，根据三相占空比Du、Dv、Dw对逆变器的开关管进行控制，以实现对电机的控制。Finally, the switching tube of the inverter is controlled according to the three-phase duty ratios D u , D v , D w to realize the control of the motor.
本发明提供的电机驱动系统的控制方法，通过检测直流母线电压值以及驱动电机的三相电流值，并根据直流母线电压获取平均电压值，进而根据直流母线电压值和平均电压值获取电压波动量，最后根据电压波动量、直流母线电压值和三相电流值生成控制信号对所述电机驱动系统的逆变器进行控制，以驱动电机运行。本发明提供的控制方法能够实时检测直流母线电压的波动，并通过检测波动来实时调节电机驱动系统中的Iq电流值进而最终对电机进行控制，从而减小直流母线电压的波动，实现了在不增大电解电容的情况下实现大功率的输出，解决了无源PFC方案电机驱动系统中，当出现负载过大时逆 变器的输出功率过大，引起直流母线电压上出现文波电压导致直流母线上的大电解滤波电容工作寿命降低，进而影响整个电机驱动系统工作稳定性问题。The control method of the motor drive system provided by the present invention detects the DC bus voltage value and the three-phase current value of the drive motor, and obtains an average voltage value according to the DC bus voltage, and then obtains the voltage fluctuation amount according to the DC bus voltage value and the average voltage value. Finally, the inverter of the motor drive system is controlled according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value generating control signals to drive the motor to operate. The control method provided by the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, and finally control the motor, thereby reducing the fluctuation of the DC bus voltage, realizing the Realize high-power output when the electrolytic capacitor is increased, and solve the problem in the passive PFC scheme motor drive system when the load is too large The output power of the transformer is too large, causing the ripple voltage on the DC bus voltage to cause the working life of the large electrolytic filter capacitor on the DC bus to decrease, which in turn affects the stability of the entire motor drive system.
本发明还提供一种电机驱动系统的控制装置。The invention also provides a control device for a motor drive system.
图3为本发明实施例的电机驱动系统的控制装置结构示意图，如图3所示，该电机驱动系统的控制装置包括：3 is a schematic structural diagram of a control device of a motor drive system according to an embodiment of the present invention. As shown in FIG. 3, the control device of the motor drive system includes:
电流检测模块10，用于检测驱动电机的三相电流值；The current detecting module 10 is configured to detect a three-phase current value of the driving motor;
电压检测模块20，用于检测电机驱动系统的直流母线电压值；The voltage detecting module 20 is configured to detect a DC bus voltage value of the motor driving system;
平均电压获取模块30，用于根据直流母线电压值获取平均电压值；The average voltage obtaining module 30 is configured to obtain an average voltage value according to the DC bus voltage value;
电压波动量获取模块40，用于根据直流母线电压值和平均电压值获取电压波动量；The voltage fluctuation amount acquisition module 40 is configured to obtain a voltage fluctuation amount according to the DC bus voltage value and the average voltage value;
控制信号生成模块50，根据电压波动量、直流母线电压值和三相电流值生成控制信号以对所述电机驱动系统的逆变器进行控制，以驱动电机运行。The control signal generating module 50 generates a control signal according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
具体的，电流检测模块10可通过分压电阻的电路结构来检测电机驱动系统的直流母线电压Vdc，通过单电阻或者三电阻采样方式的电路结构来检测电机的三相电流Iu,v,w，这些电路结构属于现有技术。平均电压获取模块30可以通过在一段预设时间内检测直流母线电压值Vdc的瞬时值，然后求平均值得到此段时间的平均电压值Vdc_ave。Specifically, the current detecting module 10 can detect the DC bus voltage V dc of the motor driving system through the circuit structure of the voltage dividing resistor, and detect the three-phase current Iu, v, w of the motor through a single-resistor or three-resistor sampling circuit structure. These circuit structures belong to the prior art. The average voltage acquisition module 30 can obtain the instantaneous voltage value V dc — ave of the period of time by detecting the instantaneous value of the DC bus voltage value V dc for a predetermined period of time and then averaging.
电压波动量获取模块40如图4所示，检测到直流母线电压的平均值Vdc_ave后，通过计算与直流母线电压Vdc的差值可获取电压波动量ΔVdc。As shown in FIG. 4, the voltage fluctuation amount acquisition module 40 obtains the voltage fluctuation amount ΔV dc by calculating the difference from the DC bus voltage V dc after detecting the average value V dc — ave of the DC bus voltage.
控制信号生成模块50如图5所示，具体包括：As shown in FIG. 5, the control signal generating module 50 specifically includes:
q轴电流补偿计算单元501，用于根据电压波动量计算q轴电流补偿量；a q-axis current compensation calculation unit 501, configured to calculate a q-axis current compensation amount according to the voltage fluctuation amount;
q轴电流初始值获取单元502，用于根据电机目标转速值和电机实际转速估算值进行差值计算再进行PI控制获得q轴电流初始值；The q-axis current initial value obtaining unit 502 is configured to perform a difference calculation according to the motor target speed value and the actual motor speed estimation value, and then perform PI control to obtain an initial value of the q-axis current;
q轴给定电流值运算单元503，用于根据所述q轴电流补偿量和 q轴电流初始值相加，获得q轴给定电流值；a q-axis given current value operation unit 503 for using the q-axis current compensation amount and The initial values of the q-axis currents are added to obtain a given current value of the q-axis;
d轴给定电流值运算单元504，用于根据直流母线电压值和逆变器的输出电压幅值计算得到d轴给定电流值；The d-axis given current value operation unit 504 is configured to calculate a d-axis given current value according to the DC bus voltage value and the output voltage amplitude of the inverter;
dq轴电流运算单元505，用于对三相电流进行坐标变换获得d轴和q轴实际电流值；The dq axis current operation unit 505 is configured to perform coordinate transformation on the three-phase current to obtain the d-axis and q-axis actual current values;
dq轴电压运算单元506，用于分别对d轴给定电流值和d轴实际电流值以及q轴给定电流值和q轴实际电流值进行计算获得d轴给定电压值和q轴给定电压值；The dq axis voltage operation unit 506 is configured to calculate the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given Voltage value;
PWM运算单元507，用于根据d轴给定电压值、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号对逆变器进行控制。The PWM operation unit 507 is configured to generate a PWM control signal to control the inverter according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value.
具体的，根据电压波动量ΔVdc计算得到q轴电流补偿量Iq_com1时，通过对电压波动量ΔVdc进行PI控制，计算得到q轴电流补偿量Iq_com1。Specifically, ΔV dc voltage fluctuation amount calculated q-axis current compensation amount according to the time I q_com1 by performing PI control of the voltage fluctuation amount ΔV dc, calculated q-axis current compensation amount I q_com1.
q轴电流初始值获取单元502获取q轴电流初始值Iq0时，可以通过电机目标转速值ωm *和电机实际转速值ωm差值计算再进行PI控制获得，其中电机实际转速值ωm可以通过电机中的位置传感器如霍尔开关检测得到，或者对无位置传感器的电机，其电机实际转速值ωm为估算值，此时ωm的获取具体如下：the initial q-axis current value acquiring unit 502 acquires the initial value of the q-axis current I q0, it is possible, and the difference between the motor actual speed ω m then calculated by the target motor speed value ω m * PI control is obtained, wherein the actual value of the motor speed ω m It can be detected by a position sensor in the motor, such as a Hall switch, or for a motor without a position sensor, the actual motor speed value ω m is an estimated value. At this time, the acquisition of ω m is as follows:
通过磁链观测法获得电机的转子角度估计值θest和电机实际转速值值ωm。具体而言，首先可根据两相静止坐标系上的电压Vα、Vβ和电流Iα、Iβ计算压缩机电机在两相静止坐标系α和β轴方向上有效磁通的估计值，具体计算公式如下：The rotor angle estimation value θ est of the motor and the actual motor speed value ω m are obtained by the flux linkage observation method. Specifically, first, an estimated value of the effective magnetic flux of the compressor motor in the directions of the two-phase stationary coordinate system α and β axes can be calculated according to the voltages V α , V β and the currents I α and I β on the two-phase stationary coordinate system. The specific calculation formula is as follows:
Figure PCTCN2017105300-appb-000014
Figure PCTCN2017105300-appb-000014
其中，
Figure PCTCN2017105300-appb-000015
和
Figure PCTCN2017105300-appb-000016
分别为压缩机电机在α和β轴方向上有效磁通的估计值，Vα和Vβ分别为α和β轴方向上的电压，Iα和Iβ分别为α和β轴方向上的电流，R为定子电阻，Lq为压缩机电机的q轴磁链。 among them,
Figure PCTCN2017105300-appb-000015
with
Figure PCTCN2017105300-appb-000016
They are the estimated values of the effective magnetic flux in the α and β axis directions of the compressor motor, respectively, V α and V β are the voltages in the α and β axis directions, respectively, and I α and I β are the currents in the α and β axis directions, respectively. , R is the stator resistance, and L q is the q-axis flux linkage of the compressor motor.
然后，根据下述公式(2)计算压缩机电机的转子角度估计值θe和电机实际转速值值ωm：Then, the rotor angle estimated value θ e of the compressor motor and the actual motor speed value ω m are calculated according to the following formula (2):
Figure PCTCN2017105300-appb-000017
Figure PCTCN2017105300-appb-000017
其中，Kp_pll和Ki_pll分别为比例积分参数，θerr为偏差角度估计值，ωf为速度低通滤波器的带宽。Among them, K p_pll and K i_pll are proportional integration parameters, θ err is the deviation angle estimation value, and ω f is the bandwidth of the speed low-pass filter.
q轴给定电流值运算单元503对q轴电流补偿量Iq_com1和q轴电流初始值Iq0进行相加即得到q轴给定电流值Iqref。The q-axis given current value operation unit 503 adds the q-axis current compensation amount I q_com1 and the q-axis current initial value I q0 to obtain the q-axis given current value I qref .
d轴给定电流值运算单元504进一步如图6所示，d轴给定电流值运算单元504进一步包括电压幅值计算子单元5041、最大输出电压值计算子单元5042、弱磁控制子单元5043和限幅子单元5044，d轴给定电流值运算单元504根据逆变器的最大输出电压和所述逆变器的输出电压幅值计算所述压缩机电机的d轴给定电流值具体包括：The d-axis given current value operation unit 504 is further shown in FIG. 6. The d-axis given current value operation unit 504 further includes a voltage amplitude calculation sub-unit 5041, a maximum output voltage value calculation sub-unit 5042, and a field weakening control sub-unit 5043. And the limiting subunit 5044, the d-axis given current value operation unit 504 calculates the d-axis given current value of the compressor motor according to the maximum output voltage of the inverter and the output voltage amplitude of the inverter, specifically including :
弱磁控制子单元5043对逆变器的最大输出电压Vmax与逆变器的输出电压幅值V1之差进行弱磁控制以获得d轴给定电流值初值Id0；限幅子单元5044对d轴给定电流值初值Id0进行限幅处理以获得d轴给定电流值Idref。The field weakening control sub-unit 5043 performs field weakening control on the difference between the maximum output voltage V max of the inverter and the output voltage amplitude V 1 of the inverter to obtain an initial value I d0 of the d-axis given current value; the limiting subunit 5044 performs a limiting process on the initial value I d0 of the d-axis given current value to obtain a d-axis given current value I dref .
其中，弱磁控制子单元5043可通过下述公式(3)计算d轴给定电流值初值Id0：The weak magnetic control sub-unit 5043 can calculate the initial value I d0 of the d-axis given current value by the following formula (3):
Figure PCTCN2017105300-appb-000018
Figure PCTCN2017105300-appb-000018
其中，Ki为积分控制系数，电压幅值计算子单元5041通过公式
Figure PCTCN2017105300-appb-000019
计算得到逆变器的输出电压幅值V1，最大输出电压值计算 子单元5042通过公式
Figure PCTCN2017105300-appb-000020
计算得到逆变器的最大输出电压Vmax，Vd和Vq分别为电机的d轴给定电压值和q轴给定电压值，Vdc为电机驱动系统的直流母线电压。Where K i is an integral control coefficient, and the voltage amplitude calculation subunit 5041 passes the formula
Figure PCTCN2017105300-appb-000019
Calculating the output voltage amplitude V 1 of the inverter, the maximum output voltage value calculation subunit 5042 passes the formula
Figure PCTCN2017105300-appb-000020
The maximum output voltage V max , V d and V q of the inverter are calculated as the d-axis given voltage value and the q-axis given voltage value, respectively, and V dc is the DC bus voltage of the motor drive system.
然后，限幅子单元5044根据d轴给定电流值初值Id0进行限幅处理，通过下述公式(4)计算d轴给定电流值Idref：Then, the limiting sub-unit 5044 performs limiting processing according to the initial value I d0 of the d-axis given current value, and calculates the d-axis given current value I dref by the following formula (4):
Figure PCTCN2017105300-appb-000021
Figure PCTCN2017105300-appb-000021
其中，Idemag为电机退磁电流限制值。Among them, I demag is the motor demagnetization current limit value.
dq轴电流运算单元505，对三相电流进行坐标变换获得d轴和q轴实际电流值具体包括：The dq axis current operation unit 505 performs coordinate transformation on the three-phase current to obtain the actual current values of the d-axis and the q-axis, and specifically includes:
根据检测获得的永磁同步电机U、V、W三相电流值Iu、Iv、Iw，并通过下述公式(5)计算电机在两相静止坐标系α和β轴方向上的电流Iα和Iβ According to the detection of the permanent magnet synchronous motor U, V, W three-phase current values I u , I v , I w , and calculate the current of the motor in the direction of the two-phase stationary coordinate system α and β axes by the following formula (5) I α and I β
Figure PCTCN2017105300-appb-000022
Figure PCTCN2017105300-appb-000022
再根据电机电角度θe进行坐标转换通过下述公式(6)计算得到Then, the coordinate conversion according to the motor electrical angle θ e is calculated by the following formula (6).
Figure PCTCN2017105300-appb-000023
Figure PCTCN2017105300-appb-000023
dq轴电压运算单元506，根据d、q轴给定电流值和d、q轴实际电流值获得d、q轴给定电压值具体可以通过下述公式(7)计算：The dq axis voltage operation unit 506 obtains the d and q axis given voltage values according to the d, q axis given current value and the d and q axis actual current values, which can be calculated by the following formula (7):
Figure PCTCN2017105300-appb-000024
Figure PCTCN2017105300-appb-000024
其中，Vq为Q轴给定电压，Vd为D轴给定电压，Iqref为Q轴给定电流、Idref为D轴给定电流，Iq为Q轴实际电流，Id为D轴实际电流，Kpd和Kid分别为D轴电流控制比例增益与积分增益，Kpq和Kiq分别为Q轴电流控制比例增益与积分增益，ω为电机转速，Ke为电机反电势系数，Ld和Lq分别为D轴和Q轴电感，
Figure PCTCN2017105300-appb-000025
表示x(τ)在时间上的积分。Where Vq is the Q axis given voltage, Vd is the D axis given voltage, Iqref is the Q axis given current, Idref is the D axis given current, Iq is the Q axis actual current, Id is the D axis actual current, Kpd and Kid is the D-axis current control proportional gain and integral gain respectively, Kpq and Kiq are Q-axis current control proportional gain and integral gain, ω is the motor speed, Ke is the motor back-EMF coefficient, Ld and Lq are D-axis and Q-axis respectively. inductance,
Figure PCTCN2017105300-appb-000025
Represents the integral of x(τ) over time.
PWM运算单元507，根据d、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号具体如下：The PWM operation unit 507 generates a PWM control signal according to the d, q axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value as follows:
获取到Q轴电压指令Vq和D轴电压指令Vd后，可根据电机转子角度θ对Vq和Vd进行Park逆变换，通过下述公式(8)计算得到固定坐标系上的电压指令Vα和Vβ：After obtaining the Q-axis voltage command Vq and the D-axis voltage command Vd, the Park inverse transform can be performed on Vq and Vd according to the motor rotor angle θ, and the voltage commands Vα and Vβ on the fixed coordinate system are calculated by the following formula (8):
Figure PCTCN2017105300-appb-000026
Figure PCTCN2017105300-appb-000026
其中，θ为电机转子角度，在此可取上述的转子角度估计值θe。Where θ is the rotor angle of the motor, and the above-mentioned estimated rotor angle θ e can be taken here .
对两相静止坐标系上的电压Vα、Vβ进行Clark逆变换，得到三相电压指令Vu、Vv、Vw，具体通过下述公式(9)计算得到：The Clark inverse transform is performed on the voltages V α and V β on the two-phase stationary coordinate system to obtain three-phase voltage commands V u , V v , V w , which are calculated by the following formula (9):
Figure PCTCN2017105300-appb-000027
Figure PCTCN2017105300-appb-000027
然后，可根据直流母线电压Vdc和三相电压指令Vu、Vv、Vw进行占空比计算，得到PWM控制信号，即三相占空比Du、Dv、Dw，具体通过下述公式(10)计算得到：Then, the duty ratio calculation can be performed according to the DC bus voltage V dc and the three-phase voltage commands V u , V v , V w to obtain a PWM control signal, that is, the three-phase duty ratios D u , D v , D w , specifically Calculated by the following formula (10):
Figure PCTCN2017105300-appb-000028
Figure PCTCN2017105300-appb-000028
最后，根据三相占空比Du、Dv、Dw对逆变器的开关管进行控制，以实现对电机的控制。Finally, the switching tube of the inverter is controlled according to the three-phase duty ratios D u , D v , D w to realize the control of the motor.
根据本发明提供的电机驱动系统的控制装置，通过检测直流母线电压值以及驱动电机的三相电流值，并根据直流母线电压获取平均电压值，进而根据直流母线电压值和平均电压值获取电压波动量，最后根据电压波动量、直流母线电压值和三相电流值生成控制信号对所述电机驱动系统的逆变器进行控制，以驱动电机运行。本发明提供的控制方法能够实时检测直流母线电压的波动，并通过检测波动来实时调节电机驱动系统中的Iq电流值进而最终对电机进行控制，从而减小直流母线电压的波动，实现了在不增大电解电容的情况下实现大功率的输出，解决了无源PFC方案电机驱动系统中，当出现负载过大时逆变器的输出功率过大，引起直流母线电压上出现文波电压导致直流母线上的大电解滤波电容工作寿命降低，进而影响整个电机驱动系统工作稳定性问题。According to the control device of the motor drive system provided by the present invention, the DC bus voltage value and the three-phase current value of the drive motor are detected, and the average voltage value is obtained according to the DC bus voltage, and then the voltage fluctuation is obtained according to the DC bus voltage value and the average voltage value. And finally, the inverter of the motor drive system is controlled according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value to generate a control signal to drive the motor to operate. The control method provided by the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, and finally control the motor, thereby reducing the fluctuation of the DC bus voltage, realizing the The high-power output is realized when the electrolytic capacitor is increased, and the passive PFC scheme is applied to the motor drive system. When the load is too large, the output power of the inverter is too large, causing a ripple voltage on the DC bus voltage to cause DC. The working life of the large electrolytic filter capacitor on the busbar is reduced, which in turn affects the stability of the entire motor drive system.
此外，本发明还提供一种变频空调器，包括上述电机驱动系统的控制装置，其变频空调器的电机可以是直流风机或者压缩机，其具体的实施方式可参考上述实施例，在此不再赘述。In addition, the present invention also provides an inverter air conditioner, including the above-mentioned control device of the motor drive system, and the motor of the inverter air conditioner may be a DC fan or a compressor. For the specific implementation, refer to the above embodiment, and no longer Narration.
本发明实施例提供的变频空调器，能实时检测直流母线电压的波动，并通过检测波动来实时调节电机驱动系统中的Iq电流值，从而减小直流母线电压的波动量，实现了在不增大电解电容的情况下实现大功率的输出，解决了无源PFC方案电机驱动系统中，当出现负载过大时逆变器的输出功率过大，引起直流母线电压上出现文波电压导致直流母线上的大电解滤波电容工作寿命降低，进而影响整个电机驱动系统工作稳定性问题。The inverter air conditioner provided by the embodiment of the invention can detect the fluctuation of the DC bus voltage in real time, and adjust the Iq current value in the motor drive system in real time by detecting the fluctuation, thereby reducing the fluctuation of the DC bus voltage, thereby achieving no increase In the case of large electrolytic capacitors, high-power output is realized, and the passive PFC scheme is solved in the motor drive system. When the load is too large, the output power of the inverter is too large, causing a waveform voltage on the DC bus voltage to cause a DC bus. The working life of the large electrolytic filter capacitor is reduced, which in turn affects the stability of the entire motor drive system.
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。 The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (13)

  1. 一种电机驱动系统的控制方法，所述电机驱动系统包括整流器、无源PFC电路、直流平滑电路、逆变器、运算控制部及电机，所述整流器对交流输入电压进行全波整流，所述无源PFC电路具有与所述整流器输出端串联的电抗器，所述交流输入电压通过所述整流器、无源PFC电路、直流平滑电路输出直流母线电压为所述逆变器提供电源，所述运算控制部对逆变器进行控制以驱动电机运行，其特征在于，所述控制方法包括以下步骤：A control method of a motor drive system, the motor drive system comprising a rectifier, a passive PFC circuit, a DC smoothing circuit, an inverter, an operation control unit, and a motor, wherein the rectifier performs full-wave rectification on an AC input voltage, The passive PFC circuit has a reactor connected in series with the output end of the rectifier, and the AC input voltage supplies power to the inverter through the rectifier, the passive PFC circuit, and the DC smoothing circuit to output a DC bus voltage, the operation The control unit controls the inverter to drive the motor to operate, and the control method includes the following steps:
    检测所述直流母线电压值以及驱动电机的三相电流值；Detecting the DC bus voltage value and a three-phase current value of the driving motor;
    根据所述直流母线电压值获取平均电压值；Obtaining an average voltage value according to the DC bus voltage value;
    根据所述直流母线电压值和平均电压值获取电压波动量；Obtaining a voltage fluctuation amount according to the DC bus voltage value and the average voltage value;
    根据所述电压波动量、直流母线电压值和三相电流值生成控制信号，以对所述电机驱动系统的逆变器进行控制，以驱动电机运行。A control signal is generated according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
  2. 如权利要求1所述的电机驱动系统控制方法，其特征在于，根据所述电压波动量、直流母线电压值和三相电流值生成控制信号对所述电机驱动系统的逆变器进行控制，具体包括：The motor drive system control method according to claim 1, wherein the inverter of the motor drive system is controlled according to the voltage fluctuation amount, the DC bus voltage value, and the three-phase current value generating control signal, specifically include:
    获取q轴电流初始值；Obtain the initial value of the q-axis current;
    根据所述电压波动量计算q轴电流补偿量，并根据所述q轴电流补偿量和q轴电流初始值相加，获得q轴给定电流值；Calculating a q-axis current compensation amount according to the voltage fluctuation amount, and adding a q-axis given current value according to the q-axis current compensation amount and the q-axis current initial value;
    根据所述直流母线电压值和逆变器的输出电压幅值获得d轴给定电流值；Obtaining a d-axis given current value according to the DC bus voltage value and an output voltage amplitude of the inverter;
    对所述三相电流进行坐标变换获得d轴实际电流值和q轴实际电流值；Performing coordinate transformation on the three-phase current to obtain a d-axis actual current value and a q-axis actual current value;
    分别对所述d轴给定电流值和d轴实际电流值以及q轴给定电流值和q轴实际电流值进行计算得到d轴给定电压值和q轴给定电压值；Calculating the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given voltage value;
    根据所述d轴给定电压值、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号，以对逆变器进行控制。 The PWM control signal is generated according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value to control the inverter.
  3. 如权利要求2所述的电机驱动系统控制方法，其特征在于，所述获取q轴电流初始值步骤包括：The motor drive system control method according to claim 2, wherein the step of acquiring the q-axis current initial value comprises:
    根据电机目标转速值和电机实际机械转速值进行差值计算再进行PI控制得到q轴电流初始值。The difference between the motor target speed value and the actual motor speed value of the motor is calculated and PI control is performed to obtain the initial value of the q-axis current.
  4. 如权利要求2所述的电机驱动系统控制方法，其特征在于，所述根据直流母线电压值和逆变器的输出电压幅值获得d轴给定电流值步骤包括：The motor drive system control method according to claim 2, wherein the step of obtaining a d-axis given current value according to the DC bus voltage value and the output voltage amplitude of the inverter comprises:
    根据前一次的d轴给定电压值和q轴给定电压值计算得到所述逆变器的输出电压幅值；Calculating the output voltage amplitude of the inverter according to the previous d-axis given voltage value and the q-axis given voltage value;
    根据直流母线电压值计算得到逆变器的最大输出电压值；Calculating the maximum output voltage value of the inverter according to the DC bus voltage value;
    根据逆变器的最大输出电压值和所述逆变器的输出电压幅值计算得到所述d轴电流初始值；Calculating an initial value of the d-axis current according to a maximum output voltage value of the inverter and an output voltage amplitude of the inverter;
    对所述d轴电流初始值进行限幅处理获得所述d轴给定电流值。The d-axis current initial value is subjected to a clipping process to obtain the d-axis given current value.
  5. 如权利要求2所述的电机驱动系统控制方法，其特征在于，所述电压波动量计算q轴电流补偿量步骤包括：The motor drive system control method according to claim 2, wherein the step of calculating the q-axis current compensation amount by the voltage fluctuation amount comprises:
    根据电压波动量进行PI控制以获得q轴电流补偿量。PI control is performed according to the amount of voltage fluctuation to obtain a q-axis current compensation amount.
  6. 一种电机驱动系统的控制装置，其特征在于，所述控制装置包括：A control device for a motor drive system, characterized in that the control device comprises:
    电流检测模块，用于检测驱动电机的三相电流值；a current detecting module for detecting a three-phase current value of the driving motor;
    电压检测模块，用于检测所述电机驱动系统的直流母线电压值；a voltage detecting module, configured to detect a DC bus voltage value of the motor driving system;
    平均电压获取模块，用于根据所述直流母线电压值获取平均电压值；An average voltage obtaining module, configured to obtain an average voltage value according to the DC bus voltage value;
    电压波动量获取模块，用于根据所述直流母线电压值和平均电压值获取电压波动量；a voltage fluctuation quantity acquisition module, configured to acquire a voltage fluctuation amount according to the DC bus voltage value and the average voltage value;
    控制信号生成模块，根据所述电压波动量、直流母线电压值和三相电流值生成控制信号以对所述电机驱动系统的逆变器进行控制，以驱动电机运行。 The control signal generating module generates a control signal according to the voltage fluctuation amount, the DC bus voltage value and the three-phase current value to control the inverter of the motor drive system to drive the motor to operate.
  7. 如权利要求6所述的电机驱动系统的控制装置，其特征在于，所述控制信号生成模块具体包括：The control device of the motor drive system according to claim 6, wherein the control signal generating module specifically comprises:
    q轴电流补偿计算单元，用于根据所述电压波动量计算q轴电流补偿量；a q-axis current compensation calculation unit, configured to calculate a q-axis current compensation amount according to the voltage fluctuation amount;
    q轴电流初始值获取单元，用于根据电机目标转速值和电机实际转速估算值进行差值计算再进行PI控制获得q轴电流初始值；The q-axis current initial value obtaining unit is configured to perform a difference calculation according to the motor target speed value and the actual motor speed estimation value, and then perform PI control to obtain an initial value of the q-axis current;
    q轴给定电流值运算单元，用于根据所述q轴电流补偿量和q轴电流初始值相加，获得q轴给定电流值；a q-axis given current value operation unit, configured to obtain a q-axis given current value according to the q-axis current compensation amount and the initial value of the q-axis current;
    d轴给定电流值运算单元，用于根据所述直流母线电压值和逆变器的输出电压幅值计算得到d轴给定电流值；a d-axis given current value operation unit, configured to calculate a d-axis given current value according to the DC bus voltage value and an output voltage amplitude of the inverter;
    dq轴电流运算单元，用于对所述三相电流进行坐标变换获得d轴实际电流值和q轴实际电流值；The dq axis current operation unit is configured to perform coordinate transformation on the three-phase current to obtain an actual current value of the d-axis and an actual current value of the q-axis;
    dq轴电压运算单元，用于分别对d轴给定电流值和d轴实际电流值以及q轴给定电流值和q轴实际电流值进行计算获得d轴给定电压值和q轴给定电压值；The dq axis voltage operation unit is configured to calculate the d-axis given current value and the d-axis actual current value and the q-axis given current value and the q-axis actual current value respectively to obtain the d-axis given voltage value and the q-axis given voltage. value;
    PWM运算单元，用于根据d轴给定电压值、q轴给定电压值、直流母线电压值和电机转子角度估算值生成PWM控制信号对逆变器进行控制。The PWM operation unit is configured to generate a PWM control signal to control the inverter according to the d-axis given voltage value, the q-axis given voltage value, the DC bus voltage value, and the motor rotor angle estimation value.
  8. 如权利要求7所述的电机驱动系统的控制装置，其特征在于，所述q轴电流补偿计算器还用于：The control device for a motor drive system according to claim 7, wherein said q-axis current compensation calculator is further configured to:
    根据电压波动量进行PI控制以获得q轴电流补偿量。PI control is performed according to the amount of voltage fluctuation to obtain a q-axis current compensation amount.
  9. 如权利要求7所述的电机驱动系统的控制装置，其特征在于，所述d轴给定电流值运算单元具体包括：The control device of the motor drive system according to claim 7, wherein the d-axis given current value operation unit specifically comprises:
    电压幅值计算子单元，用于根据前一次的d轴给定电压值和q轴给定电压值计算得到所述逆变器的输出电压幅值；a voltage amplitude calculation subunit, configured to calculate an output voltage amplitude of the inverter according to a previous d-axis given voltage value and a q-axis given voltage value;
    最大输出电压值计算子单元，用于根据直流母线电压值计算得到逆变器的最大输出电压值； The maximum output voltage value calculation sub-unit is configured to calculate the maximum output voltage value of the inverter according to the DC bus voltage value;
    弱磁控制子单元，用于根据所述逆变器的最大输出电压和逆变器的输出电压幅值计算得到d轴电流初始值；a field weakening control subunit, configured to calculate an initial value of the d-axis current according to a maximum output voltage of the inverter and an output voltage amplitude of the inverter;
    限幅子单元，用于对所述d轴电流初始值进行限幅处理获得所述d轴给定电流值。The limiting subunit is configured to perform a limiting process on the initial value of the d-axis current to obtain the d-axis given current value.
  10. 一种变频空调器，其特征在于，所述变频空调器包括权利要求6所述的电机驱动系统的控制装置。An inverter air conditioner characterized in that the inverter air conditioner includes the control device of the motor drive system according to claim 6.
  11. 一种变频空调器，其特征在于，所述变频空调器包括权利要求7所述的电机驱动系统的控制装置。An inverter air conditioner characterized in that the inverter air conditioner includes the control device of the motor drive system according to claim 7.
  12. 一种变频空调器，其特征在于，所述变频空调器包括权利要求8所述的电机驱动系统的控制装置。An inverter air conditioner characterized in that the inverter air conditioner includes the control device of the motor drive system according to claim 8.
  13. 一种变频空调器，其特征在于，所述变频空调器包括权利要求9所述的电机驱动系统的控制装置。 An inverter air conditioner characterized in that the inverter air conditioner includes the control device of the motor drive system according to claim 9.
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