WO2022085866A1 - 전동기 또는 발전기의 전류를 결정하는 방법 및 디바이스 - Google Patents
전동기 또는 발전기의 전류를 결정하는 방법 및 디바이스 Download PDFInfo
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- WO2022085866A1 WO2022085866A1 PCT/KR2020/095141 KR2020095141W WO2022085866A1 WO 2022085866 A1 WO2022085866 A1 WO 2022085866A1 KR 2020095141 W KR2020095141 W KR 2020095141W WO 2022085866 A1 WO2022085866 A1 WO 2022085866A1
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- 238000012546 transfer Methods 0.000 claims description 28
- 230000004044 response Effects 0.000 claims description 12
- 230000006870 function Effects 0.000 description 49
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
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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
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/04—Recursive filters
- H03H17/0416—Recursive filters with input-sampling frequency and output-delivery frequency which differ, e.g. extrapolation; Anti-aliasing
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H17/00—Networks using digital techniques
- H03H17/02—Frequency selective networks
- H03H17/06—Non-recursive filters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
- G01R19/16533—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values characterised by the application
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
- H03H11/00—Networks using active elements
- H03H11/02—Multiple-port networks
- H03H11/04—Frequency selective two-port networks
- H03H11/12—Frequency selective two-port networks using amplifiers with feedback
- H03H11/126—Frequency selective two-port networks using amplifiers with feedback using a single operational amplifier
- H03H11/1286—Sallen-Key biquad
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/90—Specific system operational feature
- Y10S388/902—Compensation
Definitions
- the present disclosure relates to a method and device for determining the current of an electric motor or generator, and more particularly, to a method and device capable of effectively compensating for a time delay caused by a filter to control the current of an electric motor or generator .
- a control system of a three-phase synchronous motor/generator is composed of a power converter using PWM (Pulse Width Modulation) and a real-time controller for controlling torque/current/speed/position, etc.
- PWM Pulse Width Modulation
- the current signal of the motor/generator is measured, the three-phase rotational coordinate system is converted into the two-phase stationary coordinate system, and the current control is performed based on the position information of the rotor to generate the desired torque.
- a non-contact sensor such as a Hall sensor is used to measure the current of a three-phase synchronous motor/generator, and a low-pass filter is used to remove electrical noise included in the current signal and harmonic noise signals such as PWM.
- the low-pass filter used to measure the current signal can be configured in various forms such as an analog filter and a digital filter.
- the output signal of the filter is delayed compared to the input signal. This time delay is called group delay, and the synchronization between the measured current signal and the rotor position information is different by the group delay, so that the phase of the d-q axis of the two-phase stationary coordinate system of the synchronous motor/generator control system is out of phase. This results in loss of performance, resulting in less than optimal performance.
- At least a second-order filter and an AAF are installed in the front stage of the ADC (Analog-Digital Converter) used for digital motor control algorithm calculation in the current measurement sensor and pass through the ADC. It is necessary to remove the electrical noise by using a digital filter such as an FIR filter in the signal, but as mentioned above, if the filter performance increases, the delay time by the filter also increases, which is the cause of lowering the control performance of the motor/generator. works
- An embodiment of the present disclosure is intended to solve the problems of the prior art described above, and it is possible to provide a method and a device capable of controlling the current of an electric motor or the generator by effectively compensating for a time delay caused by a filter.
- a method for determining a current of an electric motor or generator includes: obtaining characteristics of a filter for filtering noise generated in the process of determining the electric current of the electric motor or the generator; determining a time delay generated by the filter based on a change in a phase representing a characteristic of the filter according to a change in the operating frequency of the electric motor or the generator; and determining the current of the electric motor or the generator by compensating for the time delay.
- the magnitude indicating the characteristics of the filter and the phase indicating the characteristics of the filter may be determined according to the operating frequency.
- the filter may include at least one of a low-pass filter, an anti-aliasing filter, and a finite impulse response (FIR) filter.
- the filter includes a low-pass filter, an anti-aliasing filter, and a finite impulse response (FIR) filter, the first time delay generated by the low-pass filter, by the anti-aliasing filter
- the time delay may be determined by adding the second time delay generated and the third time delay generated by the FIR filter.
- the determining of the current of the generator may update the phase of the current of the electric motor or the generator based on a value obtained by multiplying the operating frequency by the time delay.
- the determining of the time delay may include determining the time delay by differentiating a phase of a transfer function representing the characteristics of the filter with the operating frequency, and the phase of the transfer function may use the operating frequency as a variable input. .
- Equation (2) the time delay ⁇ 2 may satisfy Equation (2) below.
- a device for determining a current of an electric motor or a generator includes a filter for filtering noise generated in the process of determining the current of the electric motor or the generator; and obtaining a characteristic of the filter, determining a time delay generated by the filter based on a change in phase representing the characteristic of the filter according to a change in an operating frequency of the electric motor or the generator, and compensating for the time delay and a processor for determining the current of the electric motor or the generator.
- the magnitude indicating the characteristics of the filter and the phase indicating the characteristics of the filter may be determined according to the operating frequency.
- the filter may include at least one of a low-pass filter, an anti-aliasing filter, and a finite impulse response (FIR) filter.
- the filter includes a low-pass filter, an anti-aliasing filter, and a finite impulse response (FIR) filter, the first time delay generated by the low-pass filter, by the anti-aliasing filter
- the time delay may be determined by adding the second time delay generated and the third time delay generated by the FIR filter.
- the processor may update the phase of the current of the electric motor or the generator based on a value obtained by multiplying the operating frequency by the time delay.
- the processor may determine the time delay by differentiating a phase of a transfer function representing the characteristics of the filter with the operating frequency, and the phase of the transfer function may use the operating frequency as a variable input.
- the time delay ⁇ 2 may satisfy Equation (2) below.
- a third aspect of the present disclosure may provide a computer-readable recording medium recording a program for executing the method according to the first aspect on a computer.
- the fourth aspect of the present disclosure may provide a computer program stored in a recording medium to implement the method according to the first aspect.
- FIG. 1 is a block diagram schematically illustrating a configuration of a current determination device according to an embodiment.
- FIG. 2 is a block diagram illustrating an example of a configuration of a current determining device according to an embodiment in more detail.
- FIG 3 is a block diagram of a filter according to the sixth embodiment.
- FIG. 4 is a conceptual diagram illustrating an operation of a device according to a sixth embodiment.
- FIG. 7 is a circuit diagram of a Saline-Key type low-pass filter according to a fourth embodiment.
- FIGS. 8 to 9 are graphs illustrating simulation results of size characteristics and time delay characteristics determined by the device for each of a plurality of types of filters according to the fourth embodiment.
- FIG. 10 is a graph showing a simulation result of a frequency response characteristic of a device to which various filters are combined according to the sixth embodiment.
- 11 is a flowchart illustrating a method for a device to determine a current of an electric motor or a generator according to an embodiment.
- 12 to 15 are graphs illustrating simulation results improved as a device effectively compensates for a time delay, according to an embodiment.
- module means a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.
- FIG. 1 is a block diagram schematically illustrating a configuration of a current determining device 1000 according to an exemplary embodiment.
- the current determining device 1000 may include a filter 100 and a processor 200 .
- Filter 100 can filter noise generated in the process of determining the current of the motor or generator 10, for example, is disposed in front of the filter 100 to the current signal of the motor or generator 10 A current signal may be received from a measuring current sensor unit (not shown), and noise included in the current signal may be removed and output.
- the filter 100 may include at least one of a low-pass filter 110 , an anti-aliasing filter 120 , and a finite impulse response (FIR) filter 130 . It is not limited, and may further include various types of filters required in the process of controlling the current of the motor or generator 10, and may be configured in various forms such as analog filters and digital filters.
- FIR finite impulse response
- the filter 100 may be implemented to include one or more filters having a first order or higher, for example, the low-pass filter 110 is composed of a first-order filter or a second-order filter, or one It is composed of a combination of the above first-order filter and the second-order filter and can be designed with a specific order.
- the low-pass filter 110 is composed of a first-order filter or a second-order filter, or one It is composed of a combination of the above first-order filter and the second-order filter and can be designed with a specific order.
- the processor 200 may acquire characteristics of the filter 100 .
- the magnitude indicating the characteristics of the filter 100 and the phase indicating the characteristics of the filter 100 may be determined according to the operating frequency.
- the processor 200 may determine a magnitude function and a phase function in the frequency domain from a transfer function indicating the characteristics of the pre-stored filter 100 .
- information indicating characteristics of the filter 100 eg, transfer function, order information, circuit implementation method, circuit design parameters, etc.
- the processor 200 may determine a time delay generated by the filter 100 based on a change in phase representing the characteristics of the filter 100 according to a change in the operating frequency of the motor or generator 10 .
- the time delay may be determined by differentiating the phase of the transfer function representing the characteristics of the filter 100 with the operating frequency, and the phase of the transfer function may use the operating frequency as a variable input.
- the processor 200 may determine the current 10 of the electric motor or generator by compensating for the time delay.
- the processor 200 may update the phase of the current of the motor or generator 10 based on a value obtained by multiplying the time delay by the operating frequency. For example, the processor 200 obtains a time delay by adding the first to third time delays generated by the low-pass filter 110, the anti-aliasing filter 120, and the FIR filter 130, respectively. Then, it is possible to compensate for the attenuation ratio of the gain function by calculating the product of w calculated based on the position information of the rotor.
- FIG. 2 is a block diagram illustrating an example of the configuration of the current determining device 1000 according to an embodiment in more detail.
- the current determining device 1000 includes a first part 1000a that determines a time delay generated by the filter 100 based on the characteristics of the filter 100 and an electric motor or It may be divided into a second part 1000b that determines and controls the current of the generator 10 .
- the processor 200 may include a differentiator 210 and a time delay operator 220 .
- the differentiator 210 may differentiate the phase of the transfer function indicating the characteristics of the filter 100 by the operating frequency, for example, is disposed in front of the differentiator 210 to the motor or generator 10 Receives the phase angle ⁇ from the rotor position detection unit (not shown) that detects the position of the rotor, and differentiates the phase function determined from the transfer function of the low-pass filter 110 by the operating frequency w A time delay function ( ⁇ (t)) representing the characteristic of ⁇ ) can be determined.
- the time delay calculator 220 determines a time delay (eg, T g ) based on the time delay function ( ⁇ (t)) determined by the differentiator 210, and determines the time delay by the electric motor or
- the phase compensation value ( ⁇ d ) for time delay compensation may be determined by multiplying the operating frequency of the generator 10 .
- the processor 200 is the motor or generator 10 based on the phase ( ⁇ ) and the phase compensation value ( ⁇ d ) of the current of the motor or generator (10) It is possible to determine the current of, and control the driving of the electric motor or the generator 10 according to the determined current.
- the low-pass filter 110 included in the filter 100 is a first-order filter, and when the first transfer function G 1 (s) of the low-pass filter 110 satisfies Equation 1 , the first time delay ⁇ 1 may satisfy Equation (4).
- the gain and time delay graph with respect to frequency according to the first embodiment is the same as that shown in FIG. 5, and it can be seen that the time delay varies according to the frequency, and the maximum time delay is w n -1 , (0.1*w n ⁇ w n ), it can be seen that the amount of change of the time delay per unit frequency is the largest, and it is 1/2 of the maximum time delay at the point where the gain is -3dB.
- Equation (8) the second magnitude function (M 2 ) and the second phase function ( ⁇ 2 ) of the low-pass filter 110 can be determined as in Equations 6 and 7, respectively, and the second phase function ( A second time delay ( ⁇ 2 ) representing an instantaneous time delay with respect to the frequency by differentiating ⁇ 2 ) with respect to the frequency w may be determined as in Equation (8).
- the processor 200 may determine the relationship between the frequency w and the second time delay ⁇ 2 as in Equation 9 based on Equation (8).
- the processor 200 may obtain the peak value of the gain function as in Equation (10) based on Equation (6).
- the processor 200 may also calculate the peak value of the group delay, and since the denominator is a fourth-order polynomial and the numerator is a second-order polynomial, when differentiating with respect to frequency, the denominator term is an eighth-order polynomial. , the numerator term appears as a fifth-order polynomial, and multiple solutions are obtained, but since the group delay must be greater than 0, Equation 11 can be used.
- the processor 200 calculates the attenuation index ⁇ of the second-order low-pass filter based on the condition that (1-2 ⁇ 2 ) > 0, which must be established for a real value to be calculated according to Equation (10). , and the gain function in w n can be determined as in Equation 12 based on Equation 6 .
- the processor 200 may determine the attenuation factor ⁇ such that the gain value at the cutoff frequency w n becomes -3 [dB], for example, the output value according to Equation 12 is -3 [dB] ], ⁇ can be designed as 0.707.
- the low-pass filter 110 included in the filter 100 may be composed of a combination of one or more primary filters and secondary filters, for example, using one or more of Equations 1 to 8 It can be designed as a high-order filter using
- the analog filter included in the filter 100 may include the anti-aliasing filter 120 .
- the analog filter may be determined based on a circuit implementation method and circuit parameters, for example, may be designed according to any one of a Sallen-Key method and a multiple feedback method.
- the Saline-Key scheme may be used to amplify a unity gain or a signal of 20 [dB] or less
- the multiple feedback scheme may be used to amplify a signal of 20 [dB] or more.
- the circuit diagram of the low-pass filter 110 of the Saline-Key method according to the fourth embodiment is as shown in FIG. 7 , and the third transfer function A(s) of the low-pass filter 110 according to the Saline-Key method )) may be determined according to Equation 13.
- the processor 200 may calculate the third time delay ⁇ S from Equation 13 in the same manner as in the above-described embodiments, and specifically, the third transfer function of the low-pass filter 110 .
- (A(s)) satisfies Equation 13
- the third magnitude function M S and the third phase function ⁇ S of the low-pass filter 110 satisfy Equations 14 and 15, respectively, and 3 time delay ( ⁇ S ) may satisfy Equation (16).
- the capacitances C 1 and C 2 may be determined as in Equation 17 by setting , but the present invention is not limited thereto, and each resistance value may be set to a specific value selected and input by the user.
- the processor 200 may determine the group delay by using Table 2, and obtain time delay characteristics appearing in the frequency domain as shown in Table 3 and FIG. 8 .
- Table 2 There is a lot of difference in the time delay characteristics depending on the various types of filters. Butterworth, Chebyshev, and Gaussian filters show a relatively large time delay change rate, and in the case of Bessel, Linear Phase and Elliptic filters, the smallest time delay at the half cutoff frequency. It can be seen that the rate of change is shown, and in particular, the Elliptic filter has the smallest time delay up to 0.5w n .
- the filter 100 may include an anti-aliasing filter 120
- the anti-aliasing filter 120 may include an elliptic filter.
- the anti-aliasing filter 120 may include an elliptic filter disposed in front of an Analog-Digital Converter (ADC) used for operation of a control algorithm of the motor or generator 10, and in this case, Table 3
- ADC Analog-Digital Converter
- Table 3 the performance can be improved by implementing the elliptic filter to show a small time delay by using a feature having a relatively small difference in the passband and a feature having the smallest time delay up to 0.5w n .
- the digital filter included in the filter 100 may include any one of an FIR filter 130 and an IIR (Infinite Impulse Response) filter (not shown).
- IIR Infinite Impulse Response
- the filter can be implemented using the transfer function of the analog filter, and the group delay of the IIR filter has the same characteristics as the analog filter.
- the IIR filter may be implemented by converting Equation 5 into a continuous state equation and converting the converted equation into a discrete state equation, for example, the IIR filter Equation 18 can be used for the discrete state equation of .
- the formula f s means a sampling frequency
- u(k) is an input signal of the filter
- y(k) is an output signal of the filter
- x 1 and x 2 are state variables
- K is Equation 19 is used
- the constants ⁇ , w n , and f s are set by the user during the filter design process, and all values in the matrix appear as constants, so that the output value of the IIR filter can be calculated through the operation of the equation of state, , the time delay can be calculated in the same way by calculating Equation (8).
- the FIR filter has a constant group delay in all frequency domains, and may be implemented according to a direct realization method or an optimized realization method.
- the direct implementation method is determined by dividing the sampling frequency by the number of TAPs (N) of the FIR filter, and the optimal implementation method may be determined based on Equation (20).
- FIG. 3 is a block diagram of the filter 100 according to the sixth embodiment
- FIG. 4 is a conceptual diagram for explaining the operation of the device 100 according to the sixth embodiment.
- the filter 100 may include a low-pass filter 110 , an anti-aliasing filter 120 , and an FIR filter 130 .
- the device 100 may use a combination of various types of filters to effectively control the electric motor or generator 10 , for example, the filter 100 may control the electric current of the electric motor or generator 10 .
- a logic module eg, FPGA
- IIR may include the FIR filter 130 located within, and is connected to the processor 200 or the driving unit 300 that controls the motor or generator 10 in real time to finally remove the electrical noise and PMW frequency from the current signal It may further include a filter and the like.
- the filter 100 is a cell (Bessel) type secondary low-pass filter 110 disposed at the rear end of the current sensor unit, and an elliptic type secondary anti-aliasing filter disposed at the front end of the ADC. 120, and a Blackman-Harris type FIR filter 130 disposed in the FPGA, and the processor 200 passes the low-pass filter 110 and a first time delay is generated.
- T d1 a second time delay (T d2 ) generated while passing through the low-pass filter 110 and the anti-aliasing filter 120 , and the low-pass filter 110 , the anti-aliasing filter 120 and the FIR filter
- T d3 The third time delay (T d3 ) generated while passing through 130 is summed to determine the time delay (T g ), the frequency w is calculated using the position information of the rotor and the above-described equations, and the time delay
- a phase compensation value ( ⁇ d ) for time delay compensation may be determined through an operation of multiplying (T g ) by the calculated frequency w.
- the first time delay (T d1 ) to the third time delay (T d3 ) may be determined based on the above-described method, for example, the processor 200 is the attenuation index ⁇ in Table 1
- the processor 200 may obtain the gain and time delay at the half cutoff frequency determined using Equations 20 to 25 as shown in Table 4.
- Table 5 it can be seen that the gain at the half cutoff frequency is reduced by about 15% to -1.44 [dB], and the time demonstration is 605.38 [uSec], which shows a difference of about 2.8%.
- the frequency response characteristic of the device 100 in which various filters are combined according to the sixth embodiment is as shown in FIG. 10, and as the gain characteristic is -100 [dB] above 5 [kHz], most of the electrical noise is reduced It can be seen that the PWM frequency can be removed almost completely when the PWM frequency is set to 5 [kHz] or higher.
- the processor 200 calculates the delay phase angle using Equation 15 in the case of the low-pass filter 110 and the anti-aliasing filter 120 in the process of compensating for the time delay, and the FIR filter ( 130), the time delay of the analog filter can be calculated. In this case, it may be effective in terms of resource consumption of the MCU performing the operation by reducing the operation time required by the FIR filter 130.
- the processor 200 determines whether the magnitude of the gain function is 1 or less. Based on the time delay can be compensated. For example, if the magnitude of the gain function is 1 or less, the processor 200 compensates the attenuation ratio of the gain function as shown in FIG.
- the gain function compensator M k may be determined based on Equation (26).
- the processor 200 may determine a phase for time delay compensation based on a lookup table including information on time delay. For example, as shown in Table 5, when the error between the time delay phase and the half cutoff frequency is about 2.8% and is within the allowable error range (eg 3%), the time delay T g calculated according to the sixth embodiment can be expressed as a constant value based on Equation 27, the time delay T g can be used in the form of a lookup table, and when the motor or generator 10 operates at the rated frequency, the delay phase based on Equation 28 The angle may be determined, and the gain error may be naturally compensated for by the error dynamics of the device 100 . In this case, even if a low-cost microcontroller unit (MCU) having no built-in floating point unit (FPU) is used for the operation of the processor 200 , the operation of the algorithm can be easily performed.
- MCU microcontroller unit
- FPU floating point unit
- the processor 200 may determine the three-phase current signal passing through the components of the device 100 as Equation 29 based on Equation 28, and based on Equation 29, the three-phase current signal can be determined as in Equation 30 by DQ transformation into a two-phase Clarke Transformation, and a two-phase Park Transformation can be determined as in Equation 31 using Equation 30.
- the processor 200 may perform a series of operations for determining the current of the electric motor or generator 10 , and includes a central processor unit (CPU) that controls overall operation of the device 100 . It may be implemented, and may be electrically connected to the filter 100 and other components to control the flow of data therebetween.
- CPU central processor unit
- the device 100 is a drive unit 300 that controls the driving of the driver or generator 10 based on a control signal by the processor 200 and a rotor based on the power supplied by the drive unit 300 . It may further include an electric motor or generator 10 for rotating.
- the device 100 may include a current detection unit capable of detecting a current applied to the motor or generator 10 , a rotor position detection unit capable of detecting the position of a rotor rotating in the motor or generator 10 , etc. may further include, and in another embodiment, some of the components shown in FIG. 1 or FIG. 2 may be omitted.
- FIG. 11 is a flowchart illustrating a method for the device 100 to determine a current of an electric motor or a generator 10 according to an embodiment.
- the device 100 may acquire characteristics of the filter 100 for filtering noise generated in the process of determining the current of the electric motor or generator 10 .
- the magnitude indicating the characteristics of the filter 100 and the phase indicating the characteristics of the filter 100 may be determined according to the operating frequency.
- the device 100 may determine a time delay generated by the filter 100 based on a change in phase indicating the characteristics of the filter 100 according to a change in the operating frequency of the motor or generator 10 . In an embodiment, the device 100 may determine the time delay by differentiating the phase of the transfer function representing the characteristics of the filter 100 with the operating frequency.
- the device 100 may determine the current of the electric motor or the generator 10 by compensating for the time delay. In an embodiment, the device 100 may update the phase of the current of the motor or generator based on a value obtained by multiplying the time delay by the operating frequency.
- the device 100 accurately determines the time delay generated by the filter 100 based on a change in phase indicating the characteristics of the filter 100 to determine the current of the electric motor or generator 10 . can be effectively compensated for.
- 12 to 15 are graphs illustrating simulation results improved as the device 100 effectively compensates for a time delay, according to an exemplary embodiment.
- the device 100 improved the mechanical output by about 38.7% by effectively compensating for the time delay generated by the filter 100, and referring to FIG. 13 , the rotation speed was improved by about 28.2% , 14 , about 14.6% greater torque was generated at the same current, and referring to FIG. 15 , it can be seen that the degree of torque improvement significantly increases by about 10.8% or more as the rotation speed increases.
- the device 100 may improve current consumption and power consumption according to time delay compensation, and may provide effects such as maintaining a constant torque up to a set RPM (eg, 12000 RPM).
- the above-described method can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium.
- the structure of the data used in the above-described method may be recorded in a computer-readable recording medium through various means.
- the computer-readable recording medium includes a storage medium such as a magnetic storage medium (eg, ROM, RAM, USB, floppy disk, hard disk, etc.) and an optically readable medium (eg, CD-ROM, DVD, etc.) do.
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- Physics & Mathematics (AREA)
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- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
Claims (15)
- 전동기 또는 발전기의 전류를 결정하는 방법에 있어서,상기 전동기 또는 상기 발전기의 전류를 결정하는 과정에서 발생하는 노이즈를 필터링하는 필터의 특성을 획득하는 단계;상기 전동기 또는 상기 발전기의 동작 주파수의 변화에 따른 상기 필터의 특성을 나타내는 위상의 변화에 기초하여 상기 필터에 의해 발생하는 시간 지연을 결정하는 단계; 및상기 시간 지연을 보상하여 상기 전동기 또는 상기 발전기의 전류를 결정하는 단계;를 포함하는 방법.
- 제 1 항에 있어서,상기 필터의 특성을 나타내는 크기 및 상기 필터의 특성을 나타내는 위상은 상기 동작 주파수에 따라 결정되는, 방법.
- 제 1 항에 있어서,상기 필터는 저역 통과 필터, 안티 엘리어싱(anti-aliasing) 필터 및 FIR(finite impulse response) 필터 중 적어도 하나를 포함하는, 방법.
- 제 1 항에 있어서,상기 필터는 저역 통과 필터, 안티 엘리어싱(anti-aliasing) 필터 및 FIR(finite impulse response) 필터를 포함하고,상기 저역 통과 필터에 의해 발생하는 제 1 시간지연, 상기 안티 엘리어싱 필터에 의해 발생하는 제 2 시간지연 및 상기 FIR 필터에 의해 발생하는 제 3 시간지연을 더하여 상기 시간 지연을 결정하는, 방법.
- 제 1 항에 있어서,상기 발전기의 전류를 결정하는 단계는상기 시간 지연에 상기 동작 주파수를 곱하여 획득한 값에 기초하여 상기 전동기 또는 상기 발전기의 전류의 위상을 갱신하는, 방법.
- 제 1 항에 있어서,상기 시간 지연을 결정하는 단계는상기 필터의 특성을 나타내는 전달 함수의 위상을 상기 동작 주파수로 미분하여 상기 시간 지연을 결정하고,상기 전달 함수의 위상은 상기 동작 주파수를 변수 입력으로 이용하는, 방법.
- 전동기 또는 발전기의 전류를 결정하는 디바이스에 있어서,상기 전동기 또는 상기 발전기의 전류를 결정하는 과정에서 발생하는 노이즈를 필터링하는 필터; 및상기 필터의 특성을 획득하고, 상기 전동기 또는 상기 발전기의 동작 주파수의 변화에 따른 상기 필터의 특성을 나타내는 위상의 변화에 기초하여 상기 필터에 의해 발생하는 시간 지연을 결정하고, 상기 시간 지연을 보상하여 상기 전동기 또는 상기 발전기의 전류를 결정하는 프로세서;를 포함하는, 디바이스.
- 제 8 항에 있어서,상기 필터의 특성을 나타내는 크기 및 상기 필터의 특성을 나타내는 위상은 상기 동작 주파수에 따라 결정되는, 디바이스.
- 제 8 항에 있어서,상기 필터는 저역 통과 필터, 안티 엘리어싱(anti-aliasing) 필터 및 FIR(finite impulse response) 필터 중 적어도 하나를 포함하는, 디바이스.
- 제 8 항에 있어서,상기 필터는 저역 통과 필터, 안티 엘리어싱(anti-aliasing) 필터 및 FIR(finite impulse response) 필터를 포함하고,상기 저역 통과 필터에 의해 발생하는 제 1 시간지연, 상기 안티 엘리어싱 필터에 의해 발생하는 제 2 시간지연 및 상기 FIR 필터에 의해 발생하는 제 3 시간지연을 더하여 상기 시간 지연을 결정하는, 디바이스.
- 제 8 항에 있어서,상기 프로세서는상기 시간 지연에 상기 동작 주파수를 곱하여 획득한 값에 기초하여 상기 전동기 또는 상기 발전기의 전류의 위상을 갱신하는, 디바이스.
- 제 8 항에 있어서,상기 프로세서는상기 필터의 특성을 나타내는 전달 함수의 위상을 상기 동작 주파수로 미분하여 상기 시간 지연을 결정하고,상기 전달 함수의 위상은 상기 동작 주파수를 변수 입력으로 이용하는, 디바이스.
- 제 1 항 내지 제 7 항 중 어느 한 항의 방법을 컴퓨터에서 실행시키기 위한 프로그램을 기록한 컴퓨터로 읽을 수 있는 기록매체.
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EP20958816.9A EP4231521A4 (en) | 2020-10-20 | 2020-11-11 | METHOD AND DEVICE FOR DETERMINING THE CURRENT OF AN ELECTRIC MOTOR OR GENERATOR |
JP2023524537A JP2023547132A (ja) | 2020-10-20 | 2020-11-11 | 電動機または発電機の電流を決定する方法、デバイス、およびコンピュータで読み取り可能な記録媒体 |
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KR20150011779A (ko) * | 2013-07-23 | 2015-02-02 | 한국해양과학기술원 | 필터와 결합된 전류검출센서의 시간 지연보상기법을 적용한 모터의 구동장치 |
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JP2020170354A (ja) * | 2019-04-03 | 2020-10-15 | ファナック株式会社 | モータ制御装置及びモータ制御用コンピュータプログラム |
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KR20130080701A (ko) * | 2012-01-05 | 2013-07-15 | 엘지전자 주식회사 | 압축기 제어 장치 및 이를 포함하는 공기 조화기 |
KR20150011779A (ko) * | 2013-07-23 | 2015-02-02 | 한국해양과학기술원 | 필터와 결합된 전류검출센서의 시간 지연보상기법을 적용한 모터의 구동장치 |
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