WO2019095877A1 - 电机驱动系统和采样相电流相电压的同步计算方法、装置 - Google Patents

电机驱动系统和采样相电流相电压的同步计算方法、装置 Download PDF

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WO2019095877A1
WO2019095877A1 PCT/CN2018/108562 CN2018108562W WO2019095877A1 WO 2019095877 A1 WO2019095877 A1 WO 2019095877A1 CN 2018108562 W CN2018108562 W CN 2018108562W WO 2019095877 A1 WO2019095877 A1 WO 2019095877A1
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Prior art keywords
time
voltage
current
phase
current sampling
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English (en)
French (fr)
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刘毅
孙杰
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Midea Group Co Ltd
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Midea Group Co Ltd
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Priority to KR1020207010632A priority Critical patent/KR102444032B1/ko
Priority to JP2020522682A priority patent/JP6898522B2/ja
Publication of WO2019095877A1 publication Critical patent/WO2019095877A1/zh
Priority to US15/930,366 priority patent/US11038451B2/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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters

Definitions

  • the present invention relates to the field of motor drive technology, and particularly relates to a synchronous calculation method for sampling phase current and phase voltage of a motor driver, a non-transitory computer readable storage medium, and a synchronous calculation device for sampling phase current and phase voltage of a motor driver And a motor drive system.
  • High-performance AC motor drive systems often use vector control techniques, such as field-oriented control or direct torque control.
  • vector control techniques such as field-oriented control or direct torque control.
  • a magnetic flux observer is used instead of the position/speed sensor of the motor.
  • the flux linkage of the motor can be obtained by software estimation of the flux observer. Location and speed information.
  • the flux observer needs to obtain the current and voltage of the motor when estimating the flux linkage position and velocity information of the motor.
  • the current of the motor can be obtained by hardware sampling
  • the voltage of the motor can be obtained by using the command voltage or by hardware sampling.
  • an object of the present application is to provide a synchronous calculation method for sampling phase current and phase voltage of a motor driver, which can ensure the accuracy of the output angle of the flux observer and ensure the normal operation of the motor.
  • a second object of the present application is to propose a non-transitory computer readable storage medium.
  • a third object of the present application is to provide a synchronous computing device for sampling a phase current and a phase voltage of a motor driver.
  • a fourth object of the present application is to propose a motor drive system.
  • the first aspect of the present application provides a synchronous calculation method for sampling a phase current and a phase voltage of a motor driver, the method comprising the steps of: sampling a three-phase current of the motor to obtain a current sampling value, and acquiring an instruction. Voltage or sampling voltage as a voltage sampling value; synchronously converting the current sampling value and the voltage sampling value to obtain a fundamental voltage at a current sampling time, so that a current vector and a voltage vector input to the flux observer Stay in sync.
  • the three-phase current of the motor is sampled to obtain a current sampling value, and the command voltage or the sampling voltage is obtained as a voltage sampling value, and the current sampling value is
  • the voltage sample values are subjected to synchronous scaling processing to obtain the fundamental voltage at the current sampling instant to synchronize the current vector and voltage vector input to the flux observer.
  • the synchronous calculation method for sampling the phase current and the phase voltage of the motor driver may further have the following additional technical features:
  • the current sampling value and the voltage sampling value are synchronously converted in any of the following manners: (1) using an intermediate time of two adjacent PWM carrier cycles as the current sampling time, and The voltage at the previous moment of the current sampling time and/or the voltage at the next moment is synchronously converted to the current sampling timing; (2) using any time between the peaks of two adjacent PWM carriers as the reference synchronization time, and according to The current sampling value and the voltage sampling value are synchronously converted by the reference synchronization timing.
  • the voltage at the previous moment of the current sampling time is the voltage corresponding to the peak of the previous PWM carrier, and the voltage at the latter moment of the current sampling timing is the voltage corresponding to the peak of the subsequent PWM carrier.
  • the electrical quantity at the time t ⁇ 1 before the reference synchronization time t x is The electrical quantity at the time t t ⁇ 2 after the reference synchronization time t x is Wherein, if the electrical quantity at the time t ⁇ 1 is Synchronous conversion to the reference synchronization time t x is performed synchronously according to the following formula:
  • the second aspect of the present application provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the program is executed by the processor to implement the first aspect of the present application.
  • a proposed method for calculating the phase current and phase voltage of a motor driver is proposed.
  • the accuracy of the output angle of the flux observer can be ensured, and the normal operation of the motor can be ensured.
  • the third aspect of the present application provides a synchronous computing device for sampling a phase current and a phase voltage of a motor driver, the device comprising: a current sampling module, sampling a three-phase current of the motor to obtain a current sampling value; a module, configured to acquire a command voltage or a sample voltage as a voltage sample value; a synchronization calculation module, configured to perform synchronous conversion processing on the current sample value and the voltage sample value to obtain a fundamental voltage at a current sampling time, so that The current vector and voltage vector input to the flux observer are synchronized.
  • a synchronous calculation device for sampling a phase current and a phase voltage the current sampling module samples a three-phase current of the motor to obtain a current sampling value
  • the acquisition module acquires a command voltage or a sampling voltage as a voltage sampling value, and simultaneously calculates
  • the module performs synchronous scaling on the current sample value and the voltage sample value to obtain the fundamental voltage at the current sampling time to synchronize the current vector and the voltage vector input to the flux observer.
  • the synchronous computing device for sampling the phase current and the phase voltage of the motor driver may further have the following additional technical features:
  • the synchronization calculation module performs synchronous scaling processing on the current sampling value and the voltage sampling value in any of the following manners: (1) using an intermediate moment of two adjacent PWM carrier periods as the current sampling timing, and Synchronizing the voltage at the previous time of the current sampling time and/or the voltage at the next time to the current sampling time; (2) using any time between the peaks of two adjacent PWM carriers as the reference synchronization time, And performing synchronous conversion processing on the current sampling value and the voltage sampling value according to the reference synchronization time.
  • the voltage at the previous moment of the current sampling time is the voltage corresponding to the peak of the previous PWM carrier, and the voltage at the latter moment of the current sampling timing is the voltage corresponding to the peak of the subsequent PWM carrier.
  • the synchronization calculation module when mode (1) is adopted, wherein if the voltage of the previous time of the current sampling time is synchronously converted to the current sampling time, the synchronization calculation module is according to the following formula Synchronous conversion of the voltage at the previous moment:
  • the electrical quantity at the time t ⁇ 1 before the reference synchronization time t x is The electrical quantity at the time t t ⁇ 2 after the reference synchronization time t x is
  • the synchronous calculation module performs synchronous conversion according to the following formula:
  • a fourth embodiment of the present application provides a motor drive system including a synchronous calculation device for sampling a phase current and a phase voltage of a motor driver according to an embodiment of the third aspect of the present application.
  • the accuracy of the output angle of the flux observer can be ensured, and the normal operation of the motor can be ensured.
  • FIG. 1 is a flow chart of a method for synchronously calculating a phase current and a phase voltage of a motor driver according to an embodiment of the present application
  • FIG. 2 is a waveform diagram of a PWM carrier and an output voltage according to an embodiment of the present application
  • FIG. 3 is a block schematic diagram of a synchronous computing device for sampling a phase current and a phase voltage of a motor driver in accordance with an embodiment of the present application.
  • FIG. 1 is a flowchart of a method for synchronously calculating a sampling phase current and a phase voltage of a motor driver according to an embodiment of the present application.
  • the method for calculating the synchronous phase current and phase voltage of the motor driver of the embodiment of the present application may include the following steps:
  • the three-phase current of the motor can be sampled by a current hardware sampling method such as two-phase sampling of the lower arm, three-phase sampling of the lower arm, and sampling of the AC output side to obtain a current sampling value.
  • the voltage sampling value can be the command voltage or the motor sampling voltage obtained by hardware sampling.
  • the mode (1) may be adopted, that is, the intermediate time of the adjacent two PWM carrier cycles is taken as the current sampling time, and the voltage of the previous time of the current sampling time and/or the subsequent time is The voltage is synchronously converted to the current sampling time, and the current sampling value and the voltage sampling value are synchronously converted.
  • waveform 1 is a waveform of a PWM carrier (only two waveforms of a PWM carrier are shown in FIG. 2)
  • waveform 2 is a waveform of an output voltage averaged by a switching period
  • waveform 3 is actual.
  • the fundamental waveform of the output voltage, t 3 is the middle time of the adjacent two PWM carrier cycles (ie, the current sampling time), and t ⁇ is the time from the previous time to the current sampling time or the time from the current sampling time to the next time .
  • the voltage vector at the previous moment defining the current sampling instant (ie, the voltage vector corresponding to the previous PWM carrier peak) can be expressed by the following formula:
  • V 1 , ⁇ 1 are voltage vectors respectively
  • the amplitude and phase, V 1 ⁇ and V 1 ⁇ are the voltages corresponding to the previous moment in the two-phase stationary coordinate system, respectively.
  • the voltage vector at the later moment defining the current sampling instant (ie, the voltage vector corresponding to the next PWM carrier peak) can be expressed by the following formula:
  • V 2 and ⁇ 2 are respectively voltage vectors.
  • the amplitude and phase, V 2 ⁇ and V 2 ⁇ are the voltages corresponding to the latter moment in the two-phase stationary coordinate system, respectively.
  • the voltage vector at the current sampling time can be obtained according to the following formula:
  • V x ⁇ and V x ⁇ are voltages corresponding to the current sampling time in the two-phase stationary coordinate system, respectively, so that the voltage vector corresponding to the current sampling time, that is, the fundamental voltage at the current sampling time, can be obtained, so that the input to the flux observer
  • the current vector and the voltage vector are kept in synchronization, thereby ensuring the accuracy of the flux observer output, thereby ensuring normal operation of the motor.
  • the voltage vector at the current sampling time can be obtained according to the following formula:
  • V x ⁇ and V x ⁇ are voltages corresponding to the current sampling time in the two-phase stationary coordinate system, respectively, so that the voltage vector corresponding to the current sampling time, that is, the fundamental voltage at the current sampling time, can be obtained, so that the input to the flux observer
  • the current vector and the voltage vector are kept in synchronization, thereby ensuring the accuracy of the flux observer output, thereby ensuring normal operation of the motor.
  • the voltage vector at the current sampling time can be obtained according to the following formula:
  • V x ⁇ and V x ⁇ are voltages corresponding to the current sampling time in the two-phase stationary coordinate system, respectively, so that the voltage vector corresponding to the current sampling time, that is, the fundamental voltage at the current sampling time, can be obtained, so that the input to the flux observer
  • the current vector and the voltage vector are kept in synchronization, thereby ensuring the accuracy of the flux observer output, thereby ensuring normal operation of the motor.
  • the current sampling value and the voltage sampling value may be synchronously converted in a manner (2), that is, any time between peaks of two adjacent PWM carriers is used as a reference synchronization time t x , and according to The current sampling value and the voltage sampling value are synchronously converted at the reference synchronization timing.
  • the electrical quantity at time t ⁇ 1 before the reference synchronization time t x may be (including voltage vector and current vector)
  • the electrical quantity at the time t t ⁇ 2 after the reference synchronization time t x is (including voltage vector and current vector).
  • the electrical quantity can be expressed by the following formula
  • X 1 and ⁇ 1 are respectively electrical quantities
  • the magnitude and phase, X 1 ⁇ and X 1 ⁇ are the electrical quantities at time t ⁇ 1 in the two-phase stationary coordinate system, respectively.
  • the electrical quantity can be expressed by the following formula
  • X 2 and ⁇ 2 are respectively electrical quantities
  • the magnitude and phase, X 2 ⁇ and X 2 ⁇ are the electrical quantities at time t ⁇ 2 in the two-phase stationary coordinate system, respectively.
  • the electrical quantity at the reference synchronization time t x can be obtained according to the following formula:
  • the electrical quantity at the reference synchronization time t x can be obtained according to the following formula:
  • the electrical quantity at the reference synchronization time t x can be obtained according to the following formula:
  • the three-phase current of the motor is sampled to obtain a current sampling value, and the command voltage or the sampling voltage is obtained as a voltage sampling value, and the current sampling value is
  • the voltage sample values are subjected to synchronous scaling processing to obtain the fundamental voltage at the current sampling instant to synchronize the current vector and voltage vector input to the flux observer.
  • the present application also proposes a non-transitory computer readable storage medium.
  • the non-transitory computer readable storage medium of the embodiment of the present application stores a computer program, wherein when the program is executed by the processor, the synchronous calculation method for sampling the phase current and the phase voltage of the motor driver proposed by the above embodiment of the present application can be implemented. .
  • the non-transitory computer readable storage medium of the embodiment of the present application by executing the stored computer program, the accuracy of the output angle of the flux observer can be ensured, and the normal operation of the motor can be ensured.
  • the present application further provides a synchronous computing device for sampling a phase current and a phase voltage of a motor driver.
  • the motor driver samples the phase current and phase voltage synchronization calculation device of the embodiment of the present application, including the current sampling module 100, the acquisition module 200, and the synchronization calculation module 300.
  • the current sampling module 100 can sample the three-phase current of the motor to obtain a current sampling value; the obtaining module 200 is configured to acquire a command voltage or a sampling voltage as a voltage sampling value; and the synchronization calculation module 300 is configured to sample the current sample and the voltage value. Synchronous scaling is performed to obtain the fundamental voltage at the current sampling instant to synchronize the current vector and voltage vector input to the flux observer.
  • the synchronization calculation module 300 may perform the synchronous conversion processing on the current sampling value and the voltage sampling value in a manner (1), that is, the intermediate time between two adjacent PWM carrier cycles is used as the current sampling time, and The voltage at the previous moment of the current sampling instant and/or the voltage at the latter moment are simultaneously converted to the current sampling instant.
  • waveform 1 is a waveform of a PWM carrier (only two waveforms of a PWM carrier are shown in FIG. 2)
  • waveform 2 is a waveform of an output voltage averaged by a switching period
  • waveform 3 is actual.
  • the fundamental waveform of the output voltage, t 3 is the intermediate time of the two adjacent PWM carrier periods (ie, the current sampling time), and t ⁇ is the time from the previous time to the current sampling time or the time from the current sampling time to the next time.
  • the voltage vector at the previous moment defining the current sampling instant (ie, the voltage vector corresponding to the previous PWM carrier peak) can be expressed by the following formula:
  • V 1 , ⁇ 1 are voltage vectors respectively
  • the amplitude and phase, V 1 ⁇ and V 1 ⁇ are the voltages corresponding to the previous moment in the two-phase stationary coordinate system, respectively.
  • the voltage vector at the later moment defining the current sampling instant (ie, the voltage vector corresponding to the next PWM carrier peak) can be expressed by the following formula:
  • V 2 and ⁇ 2 are respectively voltage vectors.
  • the amplitude and phase, V 2 ⁇ and V 2 ⁇ are the voltages corresponding to the previous moment in the two-phase stationary coordinate system, respectively.
  • the synchronization calculation module 300 can obtain the voltage vector of the current sampling moment according to the following formula:
  • the synchronous calculation module 300 processes the voltage corresponding to the moment, and the synchronous calculation module 300 processes the formula (5) and the formula (6) to obtain:
  • V x ⁇ and V x ⁇ are voltages corresponding to the current sampling time in the two-phase stationary coordinate system, respectively, so that the voltage vector corresponding to the current sampling time, that is, the fundamental voltage at the current sampling time, can be obtained, so that the input to the flux observer
  • the current vector and the voltage vector are kept in synchronization, thereby ensuring the accuracy of the output angle of the flux observer, thereby ensuring the normal operation of the motor.
  • the synchronization calculation module 300 can obtain the voltage vector of the current sampling time according to the following formula:
  • ⁇ ⁇ ⁇ e t ⁇
  • ⁇ e the electrical angular frequency
  • t ⁇ the time from the current sampling time to the next time (equal to the time from the previous time to the current sampling time)
  • V 2 ⁇ And V 2 ⁇ is the voltage corresponding to the next moment in the two-phase stationary coordinate system
  • V x ⁇ and V x ⁇ are voltages corresponding to the current sampling time in the two-phase stationary coordinate system, respectively, so that the voltage vector corresponding to the current sampling time, that is, the fundamental voltage at the current sampling time, can be obtained, so that the input to the flux observer
  • the current vector and the voltage vector are kept in synchronization, thereby ensuring the accuracy of the output angle of the flux observer, thereby ensuring the normal operation of the motor.
  • the synchronization calculation module 300 can obtain the voltage vector of the current sampling time according to the following formula:
  • ⁇ ⁇ ⁇ e t ⁇
  • ⁇ e the electrical angular frequency
  • t ⁇ is the time from the previous time to the current sampling time or the time from the current sampling time to the next time
  • V 1 ⁇ and V 1 ⁇ is the voltage corresponding to the previous moment in the two-phase stationary coordinate system
  • V 2 ⁇ and V 2 ⁇ are respectively the voltages corresponding to the next moment in the two-phase stationary coordinate system
  • the synchronization calculation module 300 passes the formulas (11) and (6). ) and formula (9) to process, you can get:
  • V x ⁇ and V x ⁇ are voltages corresponding to the current sampling time in the two-phase stationary coordinate system, respectively, so that the voltage vector corresponding to the current sampling time, that is, the fundamental voltage at the current sampling time, can be obtained, so that the input to the flux observer
  • the current vector and the voltage vector are kept in synchronization, thereby ensuring the accuracy of the output angle of the flux observer, thereby ensuring the normal operation of the motor.
  • the synchronization calculation module 300 may obtain a voltage vector corresponding to the current sampling moment according to the following formula:
  • the synchronization calculation module 300 can perform synchronous conversion processing on the current sampling value and the voltage sampling value by using the mode (2), that is, any time between the peaks of two adjacent PWM carriers is used as the reference synchronization time t. x , and synchronously convert the current sample value and the voltage sample value according to the reference synchronization time.
  • the electrical quantity at time t ⁇ 1 before the reference synchronization time t x may be (including voltage vector and current vector)
  • the electrical quantity at the time t t ⁇ 2 after the reference synchronization time t x is (including voltage vector and current vector).
  • the electrical quantity can be expressed by the following formula
  • X 1 and ⁇ 1 are respectively electrical quantities
  • the magnitude and phase, X 1 ⁇ and X 1 ⁇ are the electrical quantities at time t ⁇ 1 in the two-phase stationary coordinate system, respectively.
  • the electrical quantity can be expressed by the following formula
  • X 2 and ⁇ 2 are respectively electrical quantities
  • the magnitude and phase, X 2 ⁇ and X 2 ⁇ are the electrical quantities at time t ⁇ 2 in the two-phase stationary coordinate system, respectively.
  • the synchronization calculation module 300 can obtain the electrical quantity at the reference synchronization time t x according to the following formula:
  • the synchronization calculation module 300 processes the formula (19) and the formula (20) to obtain:
  • the synchronization calculation module 300 can obtain the electrical quantity at the reference synchronization time t x by the following formula:
  • the synchronization calculation module 300 can obtain the electrical quantity at the reference synchronization time t x by the following formula:
  • the synchronization calculation module 300 can obtain the electrical quantity at the reference synchronization time t x according to the following formula:
  • a synchronous calculation device for sampling a phase current and a phase voltage the current sampling module samples a three-phase current of the motor to obtain a current sampling value
  • the acquisition module acquires a command voltage or a sampling voltage as a voltage sampling value, and simultaneously calculates
  • the module performs synchronous scaling on the current sample value and the voltage sample value to obtain the fundamental voltage at the current sampling time to synchronize the current vector and the voltage vector input to the flux observer.
  • the present application also proposes a motor drive system.
  • the motor drive system of the embodiment of the present application includes the synchronous calculation device for sampling the phase current and the phase voltage of the motor driver according to the above embodiment of the present application.
  • the synchronous calculation device for sampling the phase current and the phase voltage of the motor driver according to the above embodiment of the present application.
  • the accuracy of the output angle of the flux observer can be ensured, and the normal operation of the motor can be ensured.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless otherwise explicitly stated and defined. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements.
  • installation can be understood on a case-by-case basis.
  • the first feature "on” or “below” the second feature may be the direct contact of the first and second features, or the first and second features are indirectly through the intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

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Abstract

本申请公开了一种电机驱动系统和采样相电流相电压的同步计算方法、装置，其中，该方法包括以下步骤：采样电机的三相电流以获得电流采样值，并获取指令电压或采样电压以作为电压采样值；对电流采样值和电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。根据本申请实施例的方法，能够保证磁链观测器输出角度的准确性，保障电机正常运行。

Description

电机驱动系统和采样相电流相电压的同步计算方法、装置
相关申请的交叉引用
本申请基于申请号为201711147862.7，申请日为2017年11月17日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及电机驱动技术领域，特别涉及一种电机驱动器采样相电流与相电压的同步计算方法、一种非临时性计算机可读存储介质、一种电机驱动器采样相电流与相电压的同步计算装置和一种电机驱动系统。
背景技术
高性能交流电机驱动系统常采用矢量控制技术，如磁场定向控制或直接转矩控制等，在采用这类控制技术时需要知道准确的电机的磁链位置或速度信息。在工业、家电或汽车等应用场合，为了降低硬件成本或摆脱机械安装限制，会采用磁链观测器代替电机的位置/速度传感器，通过磁链观测器的软件估算的方法可获取电机的磁链位置和速度信息。
磁链观测器在估算电机的磁链位置和速度信息时，需要获取电机的电流量和电压量。其中，电机的电流可通过硬件采样获取，电机的电压既可以采用指令电压，也可以通过硬件采样获取。
然而，通过上述方式获取电机的电流量和电压量时，常常会出现输入到磁链观测器的电流矢量和电压矢量不同步的现象，当电机运行的频率较高，或是数字采样频率(即电流环控制频率、PWM开关频率)较低时，该现象会使磁链观测器计算得到的角度存在偏差，影响电机的控制性能。
发明内容
本申请旨在至少在一定程度上解决上述技术中的技术问题之一。为此，本申请的一个目的在于提出一种电机驱动器采样相电流与相电压的同步计算方法，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
本申请的第二个目的在于提出一种非临时性计算机可读存储介质。
本申请的第三个目的在于提出一种电机驱动器采样相电流与相电压的同步计算装置。
本申请的第四个目的在于提出一种电机驱动系统。
为达到上述目的，本申请第一方面实施例提出了一种电机驱动器采样相电流与相电压的同步计算方法，该方法包括以下步骤：采样电机的三相电流以获得电流采样值，并获取指令电压或采样电压以作为电压采样值；对所述电流采样值和所述电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。
根据本申请实施例的电机驱动器采样相电流与相电压的同步计算方法，采样电机的三相电流以获得电流采样值，并获取指令电压或采样电压以作为电压采样值，以及对电流采样值和电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。由此，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
另外，根据本申请上述实施例提出的电机驱动器采样相电流与相电压的同步计算方法还可以具有如下附加的技术特征：
具体地，采用以下任一方式对所述电流采样值和所述电压采样值进行同步换算处理：(一)将相邻两个PWM载波周期的中间时刻作为所述电流采样时刻，并将所述电流采样时刻的前一时刻的电压和/或后一时刻的电压同步换算至所述电流采样时刻；(二)将相邻两个PWM载波波峰之间的任意时刻作为基准同步时刻，并根据所述基准同步时刻对所述电流采样值和所述电压采样值进行同步换算处理。
在本申请的一个实施例中，所述电流采样时刻的前一时刻的电压为前一PWM载波波峰对应的电压，所述电流采样时刻的后一时刻的电压为后一PWM载波波峰对应的电压。
在本申请的一个实施例中，当采用方式(一)时，其中，如果将所述电流采样时刻的前一时刻的电压同步换算至所述电流采样时刻，则根据以下公式对所述前一时刻的电压进行同步换算：
Figure PCTCN2018108562-appb-000001
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间；如果将所述电流采样时刻的后一时刻的电压同步换算至所述电流采样时刻，则根据以下公式对所述后一时刻的电压进行同步换算：
Figure PCTCN2018108562-appb-000002
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 2α和V 2β分别为 两相静止坐标系下后一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为电流采样时刻至后一时刻的时间；如果将所述电流采样时刻的前一时刻的电压和后一时刻的电压同步换算至所述电流采样时刻，则根据以下公式对所述前一时刻的电压和后一时刻的电压进行同步换算：
Figure PCTCN2018108562-appb-000003
在本申请的一个实施例中，当采用方式(二)时，所述基准同步时刻t x之前t Δ1时刻的电气量为
Figure PCTCN2018108562-appb-000004
所述基准同步时刻t x之后t Δ2时刻的电气量为
Figure PCTCN2018108562-appb-000005
其中，如果将所述t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000006
同步换算至所述基准同步时刻t x，则根据以下公式进行同步换算：
Figure PCTCN2018108562-appb-000007
其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 1α和X 1β分别为两相静止坐标系下t Δ1时刻的电气量，θ Δ1＝ω et Δ1，ω e为电角频率；如果将所述t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000008
同步换算至所述基准同步时刻t x，则根据以下公式进行同步换算：
Figure PCTCN2018108562-appb-000009
其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 2α和X 2β分别为两相静止坐标系下t Δ2时刻的电气量，θ Δ2＝ω et Δ2，ω e为电角频率；如果将所述t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000010
和所述t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000011
同步换算至所述基准同步时刻t x，则根据以下公式进行同步换算：
Figure PCTCN2018108562-appb-000012
为达到上述目的，本申请第二方面实施例提出了一种非临时性计算机可读存储介质，，其上存储有计算机程序，其中，该程序被处理器执行时实现本申请第一方面实施例提出的电机驱动器采样相电流与相电压的同步计算方法。
根据本申请实施例的非临时性计算机可读存储介质，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
为达到上述目的，本申请第三方面实施例提出了一种电机驱动器采样相电流与相电压的同步计算装置，该装置包括：电流采样模块，采样电机的三相电流以获得电流采样值；获取模块，用于获取指令电压或采样电压以作为电压采样值；同步计算模块，用于对所述电流采样值和所述电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。
根据本申请实施例的电机驱动器采样相电流与相电压的同步计算装置，电流采样模块采样电机的三相电流以获得电流采样值，获取模块获取指令电压或采样电压以作为电压采样值，同步计算模块对电流采样值和电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。由此，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
另外，根据本申请上述实施例提出的电机驱动器采样相电流与相电压的同步计算装置还可以具有如下附加的技术特征：
具体地，同步计算模块采用以下任一方式对所述电流采样值和所述电压采样值进行同步换算处理：(一)将相邻两个PWM载波周期的中间时刻作为所述电流采样时刻，并将所述电流采样时刻的前一时刻的电压和/或后一时刻的电压同步换算至所述电流采样时刻；(二)将相邻两个PWM载波波峰之间的任意时刻作为基准同步时刻，并根据所述基准同步时刻对所述电流采样值和所述电压采样值进行同步换算处理。
在本申请的一个实施例中，所述电流采样时刻的前一时刻的电压为前一PWM载波波峰对应的电压，所述电流采样时刻的后一时刻的电压为后一PWM载波波峰对应的电压。
在本申请的一个实施例中，当采用方式(一)时，其中，如果将所述电流采样时刻的前一时刻的电压同步换算至所述电流采样时刻，所述同步计算模块则根据以下公式对所述前一时刻的电压进行同步换算：
Figure PCTCN2018108562-appb-000013
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间；如果将所述电流采样时刻的后一时刻的电压同步换算至所述电流采样时刻，所述同步计算模块则根据以下公式对所述后一时刻的电压进行同步换算：
Figure PCTCN2018108562-appb-000014
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 2α和V 2β分别为两相静止坐标系下后一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为电流采样时刻至后一时刻的时间；如果将所述电流采样时刻的前一时刻的电压和后一时刻的电压同步换算至所述电流采样时刻，所述同步计算模块则根据以下公式对所述前一时刻的电压和后一时刻的电压进行同步换算：
Figure PCTCN2018108562-appb-000015
在本申请的一个实施例中，当采用方式(二)时，所述基准同步时刻t x之前t Δ1时刻的电气量为
Figure PCTCN2018108562-appb-000016
所述基准同步时刻t x之后t Δ2时刻的电气量为
Figure PCTCN2018108562-appb-000017
其中，如果将所述t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000018
同步换算至所述基准同步时刻t x，所述同步计算模块则根据以下公式进行同步换算：
Figure PCTCN2018108562-appb-000019
其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 1α和X 1β分别为两相静止坐标系下t Δ1时刻的电气量，θ Δ1＝ω et Δ1，ω e为电角频率；如果将所述t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000020
同步换算至所述基准同步时刻t x，所述同步计算模块则根据以下公式进行同步换算：
Figure PCTCN2018108562-appb-000021
其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 2α和X 2β分别为两相静止坐标系下t Δ2时刻的电气量，θ Δ2＝ω et Δ2，ω e为电角频率；如果将所述t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000022
和所述t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000023
同步换算至所述基准同步时刻t x，所述同步计算模块则根据以下公式进行同步换算：
Figure PCTCN2018108562-appb-000024
为达到上述目的，本申请第四方面实施例提出了一种电机驱动系统，其包括本申请第三方面实施例提出的电机驱动器采样相电流与相电压的同步计算装置。
根据本申请实施例的电机驱动系统，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
附图说明
图1为根据本申请实施例的电机驱动器采样相电流与相电压的同步计算方法的流程图；
图2为根据本申请一个实施例的PWM载波和输出电压的波形图；
图3为根据本申请实施例的电机驱动器采样相电流与相电压的同步计算装置的方框示意图。
具体实施方式
下面详细描述本申请的实施例，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，旨在用于解释本申请，而不能理解为对本申请的限制。
下面结合附图来描述本申请实施例的电机驱动系统和采样相电流相电压的同步计算方法、装置。
图1为本申请实施例的电机驱动器采样相电流与相电压的同步计算方法的流程图。
如图1所示，本申请实施例的电机驱动器采样相电流与相电压的同步计算方法，可包括以下步骤：
S1，采样电机的三相电流以获得电流采样值，并获取指令电压或采样电压以作为电压采样值。
在本申请的一个实施例中，可通过下桥臂两相采样、下桥臂三相采样、交流输出侧采样等电流硬件采样方式对电机的三相电流进行采样以获得电流采样值。
电压采样值可为指令电压，也可为通过硬件采样方式获得的电机采样电压。
S2，对电流采样值和电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。
在本申请的一个实施例中，可采用方式(一)，即将相邻两个PWM载波周期的中间时刻作为电流采样时刻，并将电流采样时刻的前一时刻的电压和/或后一时刻的电压同步换算 至电流采样时刻，对电流采样值和电压采样值进行同步换算处理。
具体地，如图2所示，波形1为PWM载波的波形(图2中仅示出PWM载波两个周期的波形图)，波形2为按开关周期平均的输出电压的波形，波形3为实际输出电压的基波波形，t 3时刻为相邻两个PWM载波周期的中间时刻(即电流采样时刻)，t Δ为前一时刻至电流采样时刻的时间或者电流采样时刻至后一时刻的时间。
定义电流采样时刻的前一时刻的电压矢量(即前一PWM载波波峰对应的电压矢量)可通过以下公式表示：
Figure PCTCN2018108562-appb-000025
Figure PCTCN2018108562-appb-000026
其中，
Figure PCTCN2018108562-appb-000027
为电流采样时刻的前一时刻的电压矢量，V 1,θ 1分别为电压矢量
Figure PCTCN2018108562-appb-000028
的幅值和相位，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压。
定义电流采样时刻的后一时刻的电压矢量(即后一PWM载波波峰对应的电压矢量)可通过以下公式表示：
Figure PCTCN2018108562-appb-000029
Figure PCTCN2018108562-appb-000030
其中，
Figure PCTCN2018108562-appb-000031
为电流采样时刻的后一时刻的电压矢量，V 2,θ 2分别为电压矢量
Figure PCTCN2018108562-appb-000032
的幅值和相位，V 2α和V 2β分别为两相静止坐标系下后一时刻对应的电压。
如果将电流采样时刻的前一时刻的电压同步换算至电流采样时刻，则可根据以下公式得到电流采样时刻的电压矢量：
Figure PCTCN2018108562-appb-000033
Figure PCTCN2018108562-appb-000034
其中，
Figure PCTCN2018108562-appb-000035
为电流采样时刻的电压矢量，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，通过对公式(5)和公式(6)进行处理，可得到：
Figure PCTCN2018108562-appb-000036
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，从而可得到电流采样时刻对应的电压矢量，即电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出量的准确性，从而保障电机正常运行。
如果将电流采样时刻的后一时刻的电压同步换算至电流采样时刻，则可根据以下公式得到电流采样时刻的电压矢量：
Figure PCTCN2018108562-appb-000037
Figure PCTCN2018108562-appb-000038
其中，
Figure PCTCN2018108562-appb-000039
为电流采样时刻的电压矢量，θ Δ＝ω et Δ，ω e为电角频率，t Δ为电流采样时刻至后一时刻的时间(等于前一时刻至电流采样时刻的时间)，V 2α和V 2β分别为两相静止坐标系下后一时刻对应的电压，通过对公式(8)和公式(9)进行处理，可得到：
Figure PCTCN2018108562-appb-000040
Figure PCTCN2018108562-appb-000041
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，从而可得到电流采样时刻对应的电压矢量，即电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出量的准确性，从而保障电机正常运行。
如果将电流采样时刻的前一时刻的电压和后一时刻的电压同步换算至电流采样时刻，则可根据以下公式得到电流采样时刻的电压矢量：
Figure PCTCN2018108562-appb-000042
其中，
Figure PCTCN2018108562-appb-000043
为电流采样时刻的电压矢量，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间或电流采样时刻至后一时刻的时间，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，V 2α和V 2β分别为两相静止坐标系下后一时刻对应的电压，通过对公式(11)、式(6)和公式(9)进行处理可得到：
Figure PCTCN2018108562-appb-000044
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，从而可得到电流采样时刻对应的电压矢量，即电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出量的准确性，从而保障电机正常运行。
进一步地，当θ Δ近似等于零时，可根据以下公式得到电流采样时刻对应的电压矢量：
Figure PCTCN2018108562-appb-000045
Figure PCTCN2018108562-appb-000046
以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出量的准确性，从而保障电机正常运行。
在本申请的一个实施例中，可采用方式(二)对电流采样值和电压采样值进行同步换算处理，即将相邻两个PWM载波波峰之间的任意时刻作为基准同步时刻t x，并根据基准同步时刻对电流采样值和电压采样值进行同步换算处理。
具体地，当采用方式(二)时，基准同步时刻t x之前t Δ1时刻的电气量可为
Figure PCTCN2018108562-appb-000047
(包括电压矢量和电流矢量)，所述基准同步时刻t x之后t Δ2时刻的电气量为
Figure PCTCN2018108562-appb-000048
(包括电压矢量和电流矢量)。其中，可通过以下公式表示电气量
Figure PCTCN2018108562-appb-000049
Figure PCTCN2018108562-appb-000051
其中，X 1,θ 1分别为电气量
Figure PCTCN2018108562-appb-000052
的幅值和相位，X 1α和X 1β分别为两相静止坐标系下t Δ1时刻的电气量。
可通过以下公式表示电气量
Figure PCTCN2018108562-appb-000053
Figure PCTCN2018108562-appb-000054
Figure PCTCN2018108562-appb-000055
其中，X 2,θ 2分别为电气量
Figure PCTCN2018108562-appb-000056
的幅值和相位，X 2α和X 2β分别为两相静止坐标系下t Δ2时刻的电气量。
如果将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000057
同步换算至基准同步时刻t x，则该基准同步时刻t x处的电气量可根据以下公式得到：
Figure PCTCN2018108562-appb-000058
Figure PCTCN2018108562-appb-000059
其中，
Figure PCTCN2018108562-appb-000060
为基准同步时刻t x处的电气量，θ Δ1＝ω et Δ1，ω e为电角频率。通过对公式(19)和公式(20)进行处理，可得到：
Figure PCTCN2018108562-appb-000061
即通过计算可将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000062
(包括t Δ1时刻的电压矢量和t Δ1时刻的电流矢量)同步换算至基准同步时刻t x处的电气量
Figure PCTCN2018108562-appb-000063
(包括基准同步时刻t x处的电压矢量和基准同步时刻t x处的电流矢量)，从而使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出量的准确性，从而保障电机正常运行。
如果将t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000064
同步换算至基准同步时刻t x，则基准同步时刻t x处的电气量可根据以下公式得到：
Figure PCTCN2018108562-appb-000065
Figure PCTCN2018108562-appb-000066
其中，
Figure PCTCN2018108562-appb-000067
为基准同步时刻t x处的电气量，θ Δ2＝ω et Δ2，ω e为电角频率。通过对公式(22)和公式(23)进行处理，可得到：
Figure PCTCN2018108562-appb-000068
Figure PCTCN2018108562-appb-000069
即通过计算可将t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000070
(包括t Δ2时刻的电压矢量和t Δ2时刻的电流矢量)同步换算至基准同步时刻t x处的电气量
Figure PCTCN2018108562-appb-000071
(包括基准同步时刻t x处的电压矢量和基准同步时刻t x处的电流矢量)，从而使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出量的准确性，从而保障电机正常运行。
如果将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000072
和t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000073
同步换算至基准同步时刻t x，则基准同步时刻t x处的电气量可根据以下公式得到：
Figure PCTCN2018108562-appb-000074
其中，
Figure PCTCN2018108562-appb-000075
为基准同步时刻t x处的电气量，θ Δ1＝ω et Δ1，θ Δ2＝ω et Δ2，ω e为电角频率。通过对公式(20)、公式(23)和公式(25)进行处理，可得到：
Figure PCTCN2018108562-appb-000076
即通过计算可将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000077
(包括t Δ1时刻的电压矢量和t Δ1时刻的电流矢量)和t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000078
(包括t Δ2时刻的电压矢量和t Δ2时刻的电流矢量)同步换算至基准同步时刻t x处的电气量
Figure PCTCN2018108562-appb-000079
(包括基准同步时刻t x处的电压矢量和基准同步时刻t x处的电流矢量)，从而使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出量的准确性，从而保障电机正常运行。
进一步地，当θ Δ1和θ Δ2均近似等于零时，可根据以下公式得到电流采样时刻对应的电压矢量：
Figure PCTCN2018108562-appb-000080
Figure PCTCN2018108562-appb-000081
以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
根据本申请实施例的电机驱动器采样相电流与相电压的同步计算方法，采样电机的三相电流以获得电流采样值，并获取指令电压或采样电压以作为电压采样值，以及对电流采样值和电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。由此，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
对应上述实施例，本申请还提出一种非临时性计算机可读存储介质。
本申请实施例的非临时性计算机可读存储介质，存储有计算机程序，其中当该程序被处理器执行时，可实现本申请上述实施例提出的电机驱动器采样相电流与相电压的同步计算方法。
根据本申请实施例的非临时性计算机可读存储介质，通过执行其存储的计算机程序，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
对应上述实施例，本申请还提出一种电机驱动器采样相电流与相电压的同步计算装置。
如图3所示，本申请实施例的电机驱动器采样相电流与相电压的同步计算装置，包括电流采样模块100、获取模块200和同步计算模块300。
其中，电流采样模块100可采样电机的三相电流以获得电流采样值；获取模块200用于获取指令电压或采样电压以作为电压采样值；同步计算模块300用于对电流采样值和电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。
在本申请的一个实施例中，同步计算模块300可采用方式(一)对电流采样值和电压采样值进行同步换算处理，即将相邻两个PWM载波周期的中间时刻作为电流采样时刻，并将电流采样时刻的前一时刻的电压和/或后一时刻的电压同步换算至电流采样时刻。
具体地，如图2所示，波形1为PWM载波的波形(图2中仅示出PWM载波两个周期的波形图)，波形2为按开关周期平均的输出电压的波形，波形3为实际输出电压的基波波形，t 3为相邻两个PWM载波周期的中间时刻(即电流采样时刻)，t Δ为前一时刻至电流采样时刻的时间或者电流采样时刻至后一时刻的时间。
定义电流采样时刻的前一时刻的电压矢量(即前一PWM载波波峰对应的电压矢量) 可通过以下公式表示：
Figure PCTCN2018108562-appb-000082
Figure PCTCN2018108562-appb-000083
其中，
Figure PCTCN2018108562-appb-000084
为电流采样时刻的前一时刻的电压矢量，V 1,θ 1分别为电压矢量
Figure PCTCN2018108562-appb-000085
的幅值和相位，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压。
定义电流采样时刻的后一时刻的电压矢量(即后一PWM载波波峰对应的电压矢量)可通过以下公式表示：
Figure PCTCN2018108562-appb-000086
Figure PCTCN2018108562-appb-000087
其中，
Figure PCTCN2018108562-appb-000088
为电流采样时刻的后一时刻的电压矢量，V 2,θ 2分别为电压矢量
Figure PCTCN2018108562-appb-000089
的幅值和相位，V 2α和V 2β分别为两相静止坐标系下前一时刻对应的电压。
如果将电流采样时刻的前一时刻的电压同步换算至电流采样时刻，则同步计算模块300可根据以下公式得到电流采样时刻的电压矢量：
Figure PCTCN2018108562-appb-000090
Figure PCTCN2018108562-appb-000091
其中，
Figure PCTCN2018108562-appb-000092
为电流采样时刻的电压矢量，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，同步计算模块300通过对公式(5)和公式(6)进行处理，可得到：
Figure PCTCN2018108562-appb-000093
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，从而可得到电流采样时刻对应的电压矢量，即电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
如果将电流采样时刻的后一时刻的电压同步换算至电流采样时刻，则同步计算模块300 可根据以下公式得到电流采样时刻的电压矢量：
Figure PCTCN2018108562-appb-000094
Figure PCTCN2018108562-appb-000095
其中，
Figure PCTCN2018108562-appb-000096
为电流采样时刻的电压矢量，θ Δ＝ω et Δ，ω e为电角频率，t Δ为电流采样时刻至后一时刻的时间(等于前一时刻至电流采样时刻的时间)，V 2α和V 2β分别为两相静止坐标系下后一时刻对应的电压，同步计算模块300通过对公式(8)和公式(9)进行处理，同可得到：
Figure PCTCN2018108562-appb-000097
Figure PCTCN2018108562-appb-000098
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，从而可得到电流采样时刻对应的电压矢量，即电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
如果将电流采样时刻的前一时刻的电压和后一时刻的电压同步换算至电流采样时刻，则同步计算模块300可根据以下公式得到电流采样时刻的电压矢量：
Figure PCTCN2018108562-appb-000099
其中，
Figure PCTCN2018108562-appb-000100
为电流采样时刻的电压矢量，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间或电流采样时刻至后一时刻的时间，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，V 2α和V 2β分别为两相静止坐标系下后一时刻对应的电压，同步计算模块300通过对公式(11)、式(6)和公式(9)进行处理，可得到：
Figure PCTCN2018108562-appb-000101
其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，从而可得到电流 采样时刻对应的电压矢量，即电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
进一步地，当θ Δ近似等于零时，同步计算模块300可根据以下公式得到电流采样时刻对应的电压矢量：
Figure PCTCN2018108562-appb-000102
Figure PCTCN2018108562-appb-000103
以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
在本申请的一个实施例中，同步计算模块300可采用方式(二)对电流采样值和电压采样值进行同步换算处理，即将相邻两个PWM载波波峰之间的任意时刻作为基准同步时刻t x，并根据基准同步时刻对电流采样值和电压采样值进行同步换算处理。
具体地，当采用方式(二)时，基准同步时刻t x之前t Δ1时刻的电气量可为
Figure PCTCN2018108562-appb-000104
(包括电压矢量和电流矢量)，所述基准同步时刻t x之后t Δ2时刻的电气量为
Figure PCTCN2018108562-appb-000105
(包括电压矢量和电流矢量)。其中，可通过以下公式表示电气量
Figure PCTCN2018108562-appb-000106
Figure PCTCN2018108562-appb-000107
Figure PCTCN2018108562-appb-000108
其中，X 1,θ 1分别为电气量
Figure PCTCN2018108562-appb-000109
的幅值和相位，X 1α和X 1β分别为两相静止坐标系下t Δ1时刻的电气量。
可通过以下公式表示电气量
Figure PCTCN2018108562-appb-000110
Figure PCTCN2018108562-appb-000111
Figure PCTCN2018108562-appb-000112
其中，X 2,θ 2分别为电气量
Figure PCTCN2018108562-appb-000113
的幅值和相位，X 2α和X 2β分别为两相静止坐标系下t Δ2时 刻的电气量。
如果将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000114
同步换算至基准同步时刻t x，则同步计算模块300可根据以下公式得到该基准同步时刻t x处的电气量：
Figure PCTCN2018108562-appb-000115
Figure PCTCN2018108562-appb-000116
其中，
Figure PCTCN2018108562-appb-000117
为基准同步时刻t x处的电气量，θ Δ1＝ω et Δ1，ω e为电角频率。同步计算模块300通过对公式(19)和公式(20)进行处理，可得到：
Figure PCTCN2018108562-appb-000118
即通过计算可将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000119
(包括t Δ1时刻的电压矢量和t Δ1时刻的电流矢量)同步换算至基准同步时刻t x处的电气量
Figure PCTCN2018108562-appb-000120
(包括基准同步时刻t x处的电压矢量和基准同步时刻t x处的电流矢量)，从而使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
如果将t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000121
同步换算至基准同步时刻t x，则同步计算模块300可通过以下公式得到基准同步时刻t x处的电气量：
Figure PCTCN2018108562-appb-000122
Figure PCTCN2018108562-appb-000123
其中，
Figure PCTCN2018108562-appb-000124
为基准同步时刻t x处的电气量，θ Δ2＝ω et Δ2，ω e为电角频率。通过对公式(22)和公式(23)进行处理处理，可得到：
Figure PCTCN2018108562-appb-000125
Figure PCTCN2018108562-appb-000126
即通过计算可将t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000127
(包括t Δ2时刻的电压矢量和t Δ2时刻的电流矢量)同步换算至基准同步时刻t x处的电气量
Figure PCTCN2018108562-appb-000128
(包括基准同步时刻t x处的电压矢量和基准同步时刻t x处的电流矢量)，从而使输入到磁链观测器的电流矢量和电压矢量保持同步，由此， 可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
如果将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000129
和t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000130
同步换算至基准同步时刻t x，则同步计算模块300可通过以下公式得到基准同步时刻t x处的电气量：
Figure PCTCN2018108562-appb-000131
其中，
Figure PCTCN2018108562-appb-000132
为基准同步时刻t x处的电气量，θ Δ1＝ω et Δ1，θ Δ2＝ω et Δ2，ω e为电角频率。通过对公式(20)、公式(23)和公式(25)进行处理，可得到：
Figure PCTCN2018108562-appb-000133
即通过计算可将t Δ1时刻的电气量
Figure PCTCN2018108562-appb-000134
(包括t Δ1时刻的电压矢量和t Δ1时刻的电流矢量)和t Δ2时刻的电气量
Figure PCTCN2018108562-appb-000135
(包括t Δ2时刻的电压矢量和t Δ2时刻的电流矢量)同步换算至基准同步时刻t x处的电气量
Figure PCTCN2018108562-appb-000136
(包括基准同步时刻t x处的电压矢量和基准同步时刻t x处的电流矢量)，从而使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
进一步地，当θ Δ1和θ Δ2均近似等于零时，同步计算模块300可根据以下公式得到基准同步时刻t x处的电气量：
Figure PCTCN2018108562-appb-000137
Figure PCTCN2018108562-appb-000138
以使输入到磁链观测器的电流矢量和电压矢量保持同步，由此，可保证磁链观测器输出角度的准确性，从而保障电机正常运行。
根据本申请实施例的电机驱动器采样相电流与相电压的同步计算装置，电流采样模块采样电机的三相电流以获得电流采样值，获取模块获取指令电压或采样电压以作为电压采样值，同步计算模块对电流采样值和电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。由此，能够保证磁链 观测器输出角度的准确性，保障电机正常运行。
对应上述实施例，本申请还提出一种电机驱动系统。
本申请实施例的电机驱动系统，包括本申请上述实施例提出的电机驱动器采样相电流与相电压的同步计算装置，其具体的实施方式可参照上述实施例，为避免冗余，在此不再赘述。
根据本申请实施例的电机驱动系统，能够保证磁链观测器输出角度的准确性，保障电机正常运行。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (12)

  1. 一种电机驱动器采样相电流与相电压的同步计算方法，其特征在于，包括以下步骤：
    采样电机的三相电流以获得电流采样值，并获取指令电压或采样电压以作为电压采样值；
    对所述电流采样值和所述电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。
  2. 如权利要求1所述的电机驱动器采样相电流与相电压的同步计算方法，其特征在于，采用以下任一方式对所述电流采样值和所述电压采样值进行同步换算处理：
    (一)将相邻两个PWM载波周期的中间时刻作为所述电流采样时刻，并将所述电流采样时刻的前一时刻的电压和/或后一时刻的电压同步换算至所述电流采样时刻；
    (二)将相邻两个PWM载波波峰之间的任意时刻作为基准同步时刻，并根据所述基准同步时刻对所述电流采样值和所述电压采样值进行同步换算处理。
  3. 如权利要求2所述的电机驱动器采样相电流与相电压的同步计算方法，其特征在于，所述电流采样时刻的前一时刻的电压为前一PWM载波波峰对应的电压，所述电流采样时刻的后一时刻的电压为后一PWM载波波峰对应的电压。
  4. 如权利要求3所述的电机驱动器采样相电流与相电压的同步计算方法，其特征在于，当采用方式(一)时，其中，
    如果将所述电流采样时刻的前一时刻的电压同步换算至所述电流采样时刻，则根据以下公式对所述前一时刻的电压进行同步换算：
    Figure PCTCN2018108562-appb-100001
    其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间；
    如果将所述电流采样时刻的后一时刻的电压同步换算至所述电流采样时刻，则根据以下公式对所述后一时刻的电压进行同步换算：
    Figure PCTCN2018108562-appb-100002
    其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 2α和V 2β分别为两相静止坐标系下后一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为电流采样时刻至 后一时刻的时间；
    如果将所述电流采样时刻的前一时刻的电压和后一时刻的电压同步换算至所述电流采样时刻，则根据以下公式对所述前一时刻的电压和后一时刻的电压进行同步换算：
    Figure PCTCN2018108562-appb-100003
  5. 如权利要求2或3所述的电机驱动器采样相电流与相电压的同步计算方法，其特征在于，当采用方式(二)时，所述基准同步时刻t x之前t Δ1时刻的电气量为
    Figure PCTCN2018108562-appb-100004
    所述基准同步时刻t x之后t Δ2时刻的电气量为
    Figure PCTCN2018108562-appb-100005
    其中，
    如果将所述t Δ1时刻的电气量
    Figure PCTCN2018108562-appb-100006
    同步换算至所述基准同步时刻t x，则根据以下公式进行同步换算：
    Figure PCTCN2018108562-appb-100007
    其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 1α和X 1β分别为两相静止坐标系下t Δ1时刻的电气量，θ Δ1＝ω et Δ1，ω e为电角频率；
    如果将所述t Δ2时刻的电气量
    Figure PCTCN2018108562-appb-100008
    同步换算至所述基准同步时刻t x，则根据以下公式进行同步换算：
    Figure PCTCN2018108562-appb-100009
    其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 2α和X 2β分别为两相静止坐标系下t Δ2时刻的电气量，θ Δ2＝ω et Δ2，ω e为电角频率；
    如果将所述t Δ1时刻的电气量
    Figure PCTCN2018108562-appb-100010
    和所述t Δ2时刻的电气量
    Figure PCTCN2018108562-appb-100011
    同步换算至所述基准同步时刻t x，则根据以下公式进行同步换算：
    Figure PCTCN2018108562-appb-100012
  6. 一种非临时性计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序 被处理器执行时实现如权利要求1-5中任一项所述的电机驱动器采样相电流与相电压的同步计算方法。
  7. 一种电机驱动器采样相电流与相电压的同步计算装置，其特征在于，包括：
    电流采样模块，采样电机的三相电流以获得电流采样值；
    获取模块，用于获取指令电压或采样电压以作为电压采样值；
    同步计算模块，用于对所述电流采样值和所述电压采样值进行同步换算处理以获得电流采样时刻的基波电压，以使输入到磁链观测器的电流矢量和电压矢量保持同步。
  8. 如权利要求7所述的电机驱动器采样相电流与相电压的同步计算装置，其特征在于，所述同步计算模块采用以下任一方式对所述电流采样值和所述电压采样值进行同步换算处理：
    (一)将相邻两个PWM载波周期的中间时刻作为所述电流采样时刻，并将所述电流采样时刻的前一时刻的电压和/或后一时刻的电压同步换算至所述电流采样时刻；
    (二)将相邻两个PWM载波波峰之间的任意时刻作为基准同步时刻，并根据所述基准同步时刻对所述电流采样值和所述电压采样值进行同步换算处理。
  9. 如权利要求8所述的电机驱动器采样相电流与相电压的同步计算装置，其特征在于，所述电流采样时刻的前一时刻的电压为前一PWM载波波峰对应的电压，所述电流采样时刻的后一时刻的电压为后一PWM载波波峰对应的电压。
  10. 如权利要求9所述的电机驱动器采样相电流与相电压的同步计算装置，其特征在于，当采用方式(一)时，其中，
    如果将所述电流采样时刻的前一时刻的电压同步换算至所述电流采样时刻，所述同步计算模块则根据以下公式对所述前一时刻的电压进行同步换算：
    Figure PCTCN2018108562-appb-100013
    其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 1α和V 1β分别为两相静止坐标系下前一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为前一时刻至电流采样时刻的时间；
    如果将所述电流采样时刻的后一时刻的电压同步换算至所述电流采样时刻，所述同步计算模块则根据以下公式对所述后一时刻的电压进行同步换算：
    Figure PCTCN2018108562-appb-100014
    其中，V xα和V xβ分别为两相静止坐标系下电流采样时刻对应的电压，V 2α和V 2β分别为 两相静止坐标系下后一时刻对应的电压，θ Δ＝ω et Δ，ω e为电角频率，t Δ为电流采样时刻至后一时刻的时间；
    如果将所述电流采样时刻的前一时刻的电压和后一时刻的电压同步换算至所述电流采样时刻，所述同步计算模块则根据以下公式对所述前一时刻的电压和后一时刻的电压进行同步换算：
    Figure PCTCN2018108562-appb-100015
  11. 如权利要求8或9所述的电机驱动器采样相电流与相电压的同步计算装置，其特征在于，当采用方式(二)时，所述基准同步时刻t x之前t Δ1时刻的电气量为
    Figure PCTCN2018108562-appb-100016
    所述基准同步时刻t x之后t Δ2时刻的电气量为
    Figure PCTCN2018108562-appb-100017
    其中，
    如果将所述t Δ1时刻的电气量
    Figure PCTCN2018108562-appb-100018
    同步换算至所述基准同步时刻t x，所述同步计算模块则根据以下公式进行同步换算：
    Figure PCTCN2018108562-appb-100019
    其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 1α和X 1β分别为两相静止坐标系下t Δ1时刻的电气量，θ Δ1＝ω et Δ1，ω e为电角频率；
    如果将所述t Δ2时刻的电气量
    Figure PCTCN2018108562-appb-100020
    同步换算至所述基准同步时刻t x，所述同步计算模块则根据以下公式进行同步换算：
    Figure PCTCN2018108562-appb-100021
    其中，X xα和X xβ分别为两相静止坐标系下基准同步时刻对应的电气量，X 2α和X 2β分别为两相静止坐标系下t Δ2时刻的电气量，θ Δ2＝ω et Δ2，ω e为电角频率；
    如果将所述t Δ1时刻的电气量
    Figure PCTCN2018108562-appb-100022
    和所述t Δ2时刻的电气量
    Figure PCTCN2018108562-appb-100023
    同步换算至所述基准同步时刻t x，所述同步计算模块则根据以下公式进行同步换算：
    Figure PCTCN2018108562-appb-100024
  12. 一种电机驱动系统，其特征在于，包括如权利要求7-11中任一项所述的电机驱动器采样相电流与相电压的同步计算装置。
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CN107294454A (zh) * 2017-07-31 2017-10-24 广东威灵电机制造有限公司 永磁同步电机定子磁链观测方法、磁链观测器及存储介质
CN107994827A (zh) * 2017-11-17 2018-05-04 美的集团股份有限公司 电机驱动系统和采样相电流相电压的同步计算方法、装置

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