WO2022262091A1 - 用于pmsm的多电流传感器比例误差平衡控制方法 - Google Patents

用于pmsm的多电流传感器比例误差平衡控制方法 Download PDF

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WO2022262091A1
WO2022262091A1 PCT/CN2021/110343 CN2021110343W WO2022262091A1 WO 2022262091 A1 WO2022262091 A1 WO 2022262091A1 CN 2021110343 W CN2021110343 W CN 2021110343W WO 2022262091 A1 WO2022262091 A1 WO 2022262091A1
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phase
current
vector
current sensor
sampling
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林治臣
史婷娜
张振
夏长亮
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Zhejiang University
Zhejiang University Advanced Electrical Equipment Innovation Center
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Zhejiang University
Zhejiang University Advanced Electrical Equipment Innovation Center
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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
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • 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
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Definitions

  • the invention relates to a three-phase inverter-permanent magnet synchronous motor PMSM balance control method in the field of PMSM control, in particular to a multi-current sensor proportional error balance control method applied in three-phase inverter-PMSM control.
  • PMSMs Due to their high power density, PMSMs have been widely used in applications such as electric vehicles, rail transit, and household appliances. High performance control of PMSMs relies on accurate stator current feedback. In order to obtain accurate motor three-phase current values, current sensors, corresponding analog signal conditioning circuits, and analog/digital conversion modules are essential. However, as the parameters of the current sensor and the corresponding conditioning circuit change, different sampling current errors will be generated among the various current sensors. Sampling current errors include offset errors and scaling errors. Among them, the offset error will introduce the fluctuation of the fundamental frequency of the motor into the torque, and the proportional error will introduce the fluctuation of twice the fundamental frequency of the motor into the torque.
  • H.Heo and S.Hwang obtained the value of the integral term of the two current loop PI regulators by giving two different reference values of the q-axis current at a specific speed, and made the difference to The relationship between the proportional error coefficient and the accurate proportional error coefficient is obtained, thereby realizing the accurate correction of the proportional error coefficient (Proc.IPEMC-ECCE Asia, 2016, pp.374-378).
  • Another type of method avoids the influence of the sampling current error on the motor control performance through a special hardware structure.
  • the single current sensor sampling-three-phase current reconstruction technology can use a current sensor to achieve high-performance control of the motor. Since only one current sensor is used, this method avoids the influence of proportional error imbalance among multiple current sensors.
  • Y.Cho and T.LaBella proposed a current sensor sampling offset error compensation method applied to single current sensor sampling-three-phase current reconstruction technology, which further eliminated the influence of current sensor sampling error (IEEE Trans.Ind.Electron., vol.59, no.7, pp.2924-2933, July 2012).
  • J.Lu and Y.Hu proposed another hardware structure to realize the three-phase current sensor sampling current in the PMSM control driven by the traditional voltage source three-phase inverter. Error estimation and compensation.
  • the method uses a current sensor to measure the sum of the output phase branch of the three-phase inverter and the current of a bridge arm branch of the three-phase inverter. Accurate sampling current error can be obtained by sampling the current when the zero vector and effective vector act, and performing ordinary numerical calculation on the sampling value. Due to the special hardware structure, this type of method often needs to sample the current in a specific vector. When the length of the vector required for sampling is not enough to complete one sampling, the sampling will fail. In the vector plane, the area where sampling failure may occur is called the sampling blind area (IEEE Trans. Power Electron., vol. 36, no. 5, pp. 5748-5759, May 2021).
  • the purpose of the present invention is to overcome the deficiencies in the prior art and provide a multi-current sensor proportional error balancing method that can eliminate sampling blind areas distributed in high modulation areas and improve DC voltage utilization.
  • the method of the invention samples the current when the direct vector acts, and at the same time realizes the pump-up of the bus voltage of the three-phase inverter, does not have the problem of sampling blind area, and expands the operating range of the motor.
  • An impedance network is set between the DC power supply and the three-phase inverter connected to the permanent magnet synchronous motor to avoid short-circuiting of the positive and negative poles of the DC power supply when the through-vector acts;
  • the impedance network in step 1) includes the first inductance L 1 , the second inductance L 2 , the first capacitor C 1 , the second capacitor C 2 and the switching tube S 0 .
  • Inverter that is, the two ends of the DC power supply u in are respectively connected to the two bridge arm branches of the three-phase inverter, the second capacitor C 2 is connected in parallel with the DC power supply u in , the first inductor L 1 and the switch tube S 0 are connected in series At both ends of the rear, the first inductance L 1 , the switch tube S 0 and the second inductance L 2 are connected in series between the positive pole of the DC power supply u in and one of the three-phase inverter bridge arm branches, and the first capacitor C 1 is connected in parallel At both ends of the switch tube S 0 and the second inductor L 2 connected in series, the emitter of the switch tube S 0 is connected to the positive pole of the DC power supply u in through the first inductor L 1 , and the collector of the switch
  • the switch tube S0 is a MOS tube or an IGBT tube.
  • the bridge arm branch of the three-phase inverter refers to the branch between the node where the lower bridge arms of two phases are connected and the lower bridge arm of the remaining one phase.
  • step 2) in one PWM cycle of the three-phase inverter, when the upper bridge arm and the lower bridge arm of the A phase are separately turned on, a through vector is inserted: the upper bridge arm and the lower bridge arm of the B phase and the C phase Both the lower bridge arms are turned on, and only the upper bridge arm of phase A is turned on as the through vector V APsh , and the upper and lower bridge arms of phase B and C are both turned on, and only the lower bridge arm of phase A is turned on as through vector V ANsh ;
  • k A :k B :k C ⁇ i AM : ⁇ i BM : ⁇ i CM
  • ⁇ i AM i AMP i AMN
  • ⁇ i BM i BMP i BMN
  • ⁇ i CM i CMP i CMN
  • ⁇ i AM represents the difference between the sampling current value of the current sensor of phase A under two through vectors V APsh and V ANsh
  • i AMP represents the sampling current value of the current sensor of phase A when the through vector is V APsh
  • i AMN represents The sampling current value of the current sensor of phase A when the through vector is V ANsh
  • ⁇ i BM represents the difference between the sampling current values of the current sensor of phase B under the two through vectors V APsh and V ANsh
  • i BMP indicates that the through vector is V APsh
  • ⁇ i CM represents the sampling current value of the current sensor of phase B when the through vector is V ANsh
  • ⁇ i CM represents the sampling current value of the current sensor of phase C under two through vectors V APsh and V ANsh
  • the difference of the current value, i CMP represents the sampling current value of the current sensor of the C phase when the through vector is V APsh
  • i CMP represents
  • x, y, and z represent the correction coefficients of the current sensors of phase A, phase B, and phase C respectively;
  • the corrected three-phase current is obtained by processing according to the following formula:
  • i Ao , i Bo , and i Co are the currents of phase A, phase B, and phase C after correction;
  • the corrected three-phase current is fed back to the current loop of the permanent magnet synchronous motor for control to eliminate the three-phase current unbalance problem caused by the error of the proportional error coefficient of the three-phase sensor.
  • the proportional error coefficient relationship between the three-phase current sensors is obtained by making a difference between the sampled values of the current sensors under the action of two different through-vectors.
  • the present invention corrects the sampling current and the proportional error of the current sensor under the action of the direct vector, the zero vector and the effective vector are used for motor speed regulation, and the sampling current and the motor speed regulation are separated, so the present invention will not be affected by the zero vector The impact of the sampling blind area caused by the insufficient length of the effective vector.
  • the straight-through vector can not only provide a sampling current window, but also realize the pumping of the DC bus voltage of the three-phase inverter, thereby realizing the improvement of the voltage utilization rate.
  • the present invention can effectively correct the unbalance problem of the proportional error of multiple current sensors, thereby eliminating the motor current distortion and torque fluctuation caused by the unbalanced proportional error of the current sensors.
  • Fig. 1 is a structural block diagram of the method of the present invention.
  • Figure 2 is a schematic diagram of the installation position of the current sensor
  • Figure 3 is a schematic diagram of the current flow when two phases are connected through
  • Fig. 4 is a schematic diagram of switching signals of B and C two-phase through modulation methods
  • Fig. 5 is a schematic diagram of B and C two-phase direct modulation
  • Figure 6 is a waveform diagram of the influence of the proportional error of the three-phase current sensor on the torque.
  • the entire system implemented is composed of a DC power supply, a symmetrical impedance network, a three-phase inverter and a permanent magnet synchronous motor PMSM.
  • u in is the DC power supply
  • i A , i B , and i C are the three-phase currents of the permanent magnet synchronous motor PMSM
  • the system allows the upper and lower bridge arms of the same phase of the three-phase inverter to be turned on at the same time, and this state is a straight-through vector.
  • the shoot-through vector is one of the voltage vectors, and the duty cycle of the shoot-through vector in one PWM period is d sh .
  • composition of the symmetrical impedance network and the three-phase inverter shown in Figure 2 can realize the pumping of the bus voltage by adjusting the duty ratio of the direct vector. At this time, the output of the three-phase inverter can be increased without increasing the modulation coefficient. magnitude of the voltage. This feature provides another sampling window for motor control.
  • each current sensor simultaneously collects the sum of the current of one phase output branch and the current of the bridge arm branch.
  • the sampling value of the current sensor is expressed as:
  • i br is the current of the bridge arm branch of the three-phase inverter
  • i AM , i BM , and i CM are the sampling current values of the three-phase current sensors
  • k A , k B , and k C are the three-phase currents
  • the proportional error coefficients of the sensors, e A , e B , and e C are the offset errors of the three-phase current sensors.
  • the system allows the three-phase inverter to work in various through-states, including three-leg through-through, two-bridge-arm through-through and single-bridge-arm through-through.
  • the present invention selects the way of B and C to be connected simultaneously to realize the direct vector sampling current.
  • V APsh the through vector when only the upper bridge arm of phase A is turned on as V APsh
  • V ANsh the through vector when only the lower bridge arm of phase A is turned on as V ANsh .
  • the state of the three-phase inverter corresponding to V APsh and V ANsh is shown in Fig. 3 .
  • i sh is the through current when the three-phase inverter is through.
  • the three phases of the three-phase inverter are divided into A phase, B phase and C phase.
  • the current sensor offset error is compensated when the motor is not working, and the current sensor sampling offset error has been compensated.
  • ⁇ i AM i AMP -i AMN
  • ⁇ i BM i BMP -i BMN
  • ⁇ i CM i CMP -i CMN
  • ⁇ i AM represents the difference between the sampling current value of the current sensor of phase A under two through vectors V APsh and V ANsh
  • i AMP represents the sampling current value of the current sensor of phase A when the through vector is V APsh
  • i AMN represents The sampling current value of the current sensor of phase A when the direct vector is V ANsh ;
  • ⁇ i BM represents the difference between the sampling current values of the B-phase current sensor under the two through-vectors V APsh and V ANsh
  • i BMP represents the sampling current value of the B-phase current sensor when the through-vector is V APsh
  • i BMN represents the through-vector is the sampling current value of the current sensor of phase B when V ANsh ;
  • ⁇ i CM represents the difference between the sampled current values of the C-phase current sensor under the two through-vectors V APsh and V ANsh
  • i CMP represents the sampled current value of the C-phase current sensor when the through-vector is V APsh
  • i CMN represents the through-vector V ANsh is the sampling current value of the current sensor of phase C
  • k A , k B , and k C represent the proportional error coefficients of the current sensors of phase A, phase B, and phase C respectively.
  • a corresponding modulation mode is set to implement insertion of the through vectors V APsh and V ANsh in one PWM cycle.
  • the switch signal diagram after inserting through vector V APsh and vector V ANsh is shown in FIG. 4 .
  • S AP , S BP , and S CP are the switching signals of the three-phase upper bridge arm of the three-phase inverter respectively
  • S AN , S BN , and S CN are the switching signals of the three-phase lower bridge arm of the three-phase inverter respectively.
  • the modulation method to realize the switching signal is shown in Fig. 5 .
  • x, y, and z represent the correction coefficients of the current sensors of phase A, phase B, and phase C respectively;
  • the corrected three-phase current is obtained by processing according to the following formula:
  • i Ao , i Bo , and i Co are the currents of phase A, phase B, and phase C after correction.
  • the rectified three-phase current is fed back to the current loop of the permanent magnet synchronous motor for control to eliminate the three-phase current imbalance problem caused by the proportional error of the three-phase sensor.
  • Figure 6 shows the motor torque waveforms when the motor runs at 1000r/min and the motor torques are 20N ⁇ m, 40N ⁇ m, and 60N ⁇ m respectively, when the three-phase current sensor has no proportional error and when there is an error.
  • Figure 6(a) shows the motor torque waveform when there is no proportional error in the three-phase current sensor
  • Figure 6(b) shows the motor torque waveform when there is a proportional error in the three-phase current sensor.
  • T represents torque, which is measured by using a torque sensor.
  • the embodiments of the present invention can correct the unbalanced proportional errors of multiple current sensors through the above steps, thereby eliminating the motor current distortion and torque fluctuation caused by the unbalanced proportional errors of the current sensors.
  • the models of the devices are not limited, as long as they can complete the above functions.

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Abstract

一种用于PMSM的多电流传感器比例误差平衡控制方法。在直流电源和永磁同步电机所连接的三相逆变器间设置一个避免直通矢量作用时直流电源正负极短路的阻抗网络；在PWM周期中的两个直通矢量作用下，使用三相的电流传感器分别对三相逆变器的三相输出支路的其中每一路和三相逆变器同一个桥臂支路的电流之和进行采样，依据采样的电流运算获得三相的电流传感器的比例误差系数之间的关系；再计算矫正系数，利用矫正系数反馈控制实现电流传感器比例误差的矫正。该方法在直通矢量作用时进行采样电流，同时实现了三相逆变器母线电压的泵升，不会出现采样盲区的问题，扩展了电机的运行范围。

Description

用于PMSM的多电流传感器比例误差平衡控制方法 技术领域
本发明涉及PMSM控制领域的一种三相逆变器-永磁同步电机PMSM平衡控制方法，特别是涉及一种应用于三相逆变器-PMSM控制中的多电流传感器比例误差平衡控制方法。
背景技术
由于具有较高的功率密度，PMSM已被广泛应用于电动汽车、轨道交通和家用电器等应用场合。PMSM的高性能控制依赖于准确的定子电流反馈。为了获得准确的电机三相电流值，电流传感器以及对应的模拟信号调理电路、模/数转换模块必不可少。然而，随着电流传感器以及对应调理电路参数的变化，各个电流传感器之间将会产生不同的采样电流误差。采样电流误差包括偏移误差以及比例误差。其中，偏移误差会在转矩中引入电机基波频率的波动量，比例误差会在转矩中引入电机二倍基波频率的波动量。
为了消除采样电流误差对电机控制性能的影响，各种采样电流误差补偿策略被相继提出。现有方案可以分为两类。一类方法通过观测器或者解析的方法实现采样电流误差的估计与补偿。M.Kim和S.Sul等利用定子电压误差分别提取出了电流传感器偏移误差和比例误差，实现了稳态时的采样电流误差的补偿(IEEE Trans.Ind.Appl.,vol.50,no.9,pp.3365-3373,2014年9月)。现有文献在处理比例误差时，一般是将多个电流传感器的比例误差进行平衡，使多个电流传感器具有相同的比例误差系数，并没有获得准确的比例误差系数。为了解决这一问题，H.Heo和S.Hwang等通过在一个特定转速下给定q轴电流两个不同的参考值来获取两次电流环PI调节器积分项的值，将其作差以获得比例误差系数与准确比例误差系数的关系，从而实现了比例误差系数的准确矫正(Proc.IPEMC-ECCE Asia,2016,pp.374-378)。
另一类方法通过特殊的硬件结构避免了采样电流误差对电机控制性能的影响。其中，单电流传感器采样-三相电流重构技术可以使用一个电流传感器实现电机的高性能控制。由于只使用一个电流传感器，该方法避免了多个电流传感器之间比例误差不平衡的影响。在此基础上，Y.Cho和T.LaBella等给出了应用于单电流传感器采样-三相电流重构技术的电流传感器采样偏移误差补偿方法， 进一步消除了电流传感器采样误差的影响(IEEE Trans.Ind.Electron.,vol.59,no.7,pp.2924-2933,2012年7月)。与单电流传感器采样-三相电流重构技术不同，J.Lu和Y.Hu等提出了另一种硬件结构来实现传统电压源三相逆变器驱动的PMSM控制中三相电流传感器采样电流误差的估计与补偿。该方法使用电流传感器测量三相逆变器输出相支路与三相逆变器一个桥臂支路电流的和。通过在零矢量和有效矢量作用时对电流进行采样，并将采样值做普通的数值运算，即可获得准确的采样电流误差。由于采用了特殊的硬件结构，这类方法往往需要在特定矢量中进行采样电流，当采样所需矢量的长度不足以完成一次采样时，会导致采样失败。在矢量平面中，可能产生采样失败的区域被称为采样盲区(IEEE Trans.Power Electron.,vol.36,no.5,pp.5748-5759,2021年5月)。
发明内容
本发明的目的是为了克服现有技术中的不足，提供一种可以消除分布于高调制区的采样盲区，提高直流电压利用率的多电流传感器比例误差平衡方法。
本发明方法在直通矢量作用时进行采样电流，同时实现了三相逆变器母线电压的泵升，不会出现采样盲区的问题，扩展了电机的运行范围。
如图1所示，本发明的目的是通过以下技术方案实现的：
1)在直流电源和永磁同步电机所连接的三相逆变器之间设置一个避免直通矢量作用时直流电源正负极短路的阻抗网络；
2)在三相逆变器的一个PWM周期中的两个直通矢量作用下，使用三相的电流传感器分别对三相逆变器的三相输出支路的其中每一路和三相逆变器同一个桥臂支路的电流之和进行采样，获得三相各自的一个采样电流，然后依据采样电流进行运算获得三相的电流传感器的比例误差系数之间的关系；
3)通过三相电流传感器的比例误差系数之间的关系计算矫正系数，利用矫正系数反馈控制实现电流传感器比例误差的矫正。
所述步骤1)中的阻抗网络包括了第一电感L 1、第二电感L 2、第一电容C 1、第二电容C 2和开关管S 0，原本直流电源u in并联在三相逆变器上，即直流电源u in的两端分别连接三相逆变器的两个桥臂支路上，第二电容C 2并联于直流电源u in、第一电感L 1和开关管S 0串联后的两端，直流电源u in正极和三相逆变器其中一个桥臂支路之间依次串联有第一电感L 1、开关管S 0和第二电感L 2，第一电容C 1并联在开关管S 0和第二电感L 2串联后的两端，开关管S 0的发射极经第一电感L 1和直流电源u in正极连接，开关管S 0的集电极和第二电感L 2连接。
所述的开关管S 0采用MOS管或者IGBT管。
所述步骤2)中，三相逆变器的桥臂支路是指两个相的下桥臂相连后的节点与剩余一相的下桥臂之间的支路。
所述步骤2)中，在三相逆变器的一个PWM周期中，A相的上桥臂和下桥臂分别单独导通时插入一次直通矢量：以B相和C相的上桥臂和下桥臂均导通、A相仅上桥臂导通状态作为直通矢量V APsh，以B相和C相的上桥臂和下桥臂均导通、A相仅下桥臂导通状态作为直通矢量V ANsh；
然后在为直通矢量V APsh和直通矢量V ANsh情况下分别通过三相的电流传感器采集获得的采样电流值，再按照以下公式获得三相的电流传感器比例误差系数之间的关系，表示为：
k A:k B:k C＝Δi AM:Δi BM:Δi CM
Δi AM＝i AMP i AMN，Δi BM＝i BMP i BMN，Δi CM＝i CMP i CMN
其中，Δi AM表示两次直通矢量V APsh和V ANsh下A相的电流传感器的采样电流值的差值，i AMP表示直通矢量为V APsh时A相的电流传感器的采样电流值，i AMN表示直通矢量为V ANsh时A相的电流传感器的采样电流值；Δi BM表示两次直通矢量V APsh和V ANsh下B相的电流传感器的采样电流值的差值，i BMP表示直通矢量为V APsh时B相的电流传感器的采样电流值，i BMN表示直通矢量为V ANsh时B相的电流传感器的采样电流值；Δi CM表示两次直通矢量V APsh和V ANsh下C相的电流传感器的采样电流值的差值，i CMP表示直通矢量为V APsh时C相的电流传感器的采样电流值，i CMN表示直通矢量为V ANsh时C相的电流传感器的采样电流值；k A、k B、k C分别表示A相、B相、C相处的电流传感器的比例误差系数。
所述步骤3)中，将三相的电流传感器比例误差系数之间的关系代入以下公式：
Figure PCTCN2021110343-appb-000001
进而获得三个矫正系数x，y，z：
Figure PCTCN2021110343-appb-000002
其中，x、y、z分别表示A相、B相、C相的电流传感器的矫正系数；
根据矫正系数按照以下公式处理获得矫正的三相电流：
Figure PCTCN2021110343-appb-000003
其中，i Ao、i Bo、i Co为矫正后的A相、B相、C相的电流；
最后采用矫正后的三相电流反馈给永磁同步电机的电流环进行控制，消除由于三相传感器比例误差系数误差带来的三相电流不平衡问题。
所述步骤3)中，三相电流传感器之间的比例误差系数关系是通过将两个不同的直通矢量作用下的电流传感器采样值作差来获得。
与现有技术相比，本发明的技术方案所带来的有益效果是：
(1)本发明在直通矢量作用下进行采样电流与电流传感器比例误差矫正，零矢量与有效矢量被用于电机调速，采样电流与电机调速被分离，因此本发明不会受到因零矢量与有效矢量长度不足而产生的采样盲区的影响。
(2)由于本发明阻抗网络的存在，直通矢量不仅可以提供采样电流窗口，也实现了三相逆变器直流母线电压的泵升，从而实现了电压利用率的提升。
(3)本发明可以有效矫正多电流传感器比例误差的不平衡问题，从而消除了由于电流传感器比例误差的不平衡导致的电机电流畸变与转矩波动。
附图说明
图1是是本发明方法的结构框图。
图2是电流传感器安装位置示意图；
图3是两相直通时电流流向示意图；
图4是B、C两相直通调制方法开关信号示意图；
图5是B、C两相直通调制示意图；
图6是三相电流传感器比例误差对转矩的影响波形图。
具体实施方式
以下结合附图和具体实施例对本发明作进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明的实施例及其实施情况过程如下：
一、布置系统
如图2所示，具体实施的整个系统由直流电源、对称的阻抗网络，三相逆变器以及永磁同步电机PMSM组成。
图中，u in为直流电源，i A、i B、i C为永磁同步电机PMSM的三相电流，L 1＝L 2＝L分别为阻抗网络的第一电感、第二电感及其电感值，C 1＝C 2＝C为阻抗网络的第 一电容、第二电容及其电容值。
系统允许三相逆变器同一相的上、下桥臂同时导通，该状态为直通矢量。直通矢量为其中的一种电压矢量，在一个PWM周期中直通矢量的占空比为d sh。
图2所示对称的阻抗网络与三相逆变器的构成，可通过调节直通矢量占空比实现母线电压的泵升，此时可以在不增加调制系数的前提下增加三相逆变器输出电压的幅值。这一特性为电机控制提供了另一个采样窗口。
二、电流传感器采样误差与抑制采样误差的电流传感器安装
在三相逆变器的三相输出支路的其中每一路和三相逆变器同一个桥臂支路之间的交叉处安装一个电流传感器，三相输出支路对应的三个交叉处安装三个电流传感器，每个电流传感器同时采集的各自一相输出支路的电流和桥臂支路的电流的和。
电流传感器安装后，考虑采样电流误差，电流传感器采样值表示为：
Figure PCTCN2021110343-appb-000004
其中，i br为三相逆变器的桥臂支路的电流，i AM、i BM、i CM为三相的电流传感器的采样电流值，k A、k B、k C为三相的电流传感器的比例误差系数，e A、e B、e C为三相的电流传感器的偏移误差。
三、直通矢量采样-电流传感器比例误差平衡
系统允许三相逆变器工作于多种直通状态，包括三桥臂直通、两桥臂直通以及单桥臂直通。综合考虑采样电流的实现与三相逆变器电流应力，本发明选择B、C相同时直通的方式实现直通矢量采样电流。定义A相仅上桥臂导通时的直通矢量为V APsh以及A相仅下桥臂导通时的直通矢量为V ANsh。V APsh与V ANsh对应的三相逆变器状态如图3所示。图3中i sh为三相逆变器直通时的直通电流。
所述的三相逆变器的三相分为A相、B相和C相。
在三相逆变器的一个PWM周期中，A相的上桥臂和下桥臂分别单独导通时插入一次直通矢量：以B相和C相的上桥臂和下桥臂均导通、A相仅上桥臂导通状态作为直通矢量V APsh，以B相和C相的上桥臂和下桥臂均导通、A相仅下桥臂导通状态作为直通矢量V Ansh；
本发明具体实施中，电流传感器偏移误差在电机未工作时进行补偿，电流传感器采样偏移误差已经被补偿。
然后在为直通矢量V APsh和直通矢量V ANsh情况下分别通过三相的电流传感 器采集获得的采样电流值，再按照以下公式获得三相的电流传感器比例误差系数之间的关系，表示为：
k A:k B:k C＝Δi AM:Δi BM:Δi CM          (2)
Δi AM＝i AMP-i AMN，Δi BM＝i BMP-i BMN，Δi CM＝i CMP-i CMN
其中，Δi AM表示两次直通矢量V APsh和V ANsh下A相的电流传感器的采样电流值的差值，i AMP表示直通矢量为V APsh时A相的电流传感器的采样电流值，i AMN表示直通矢量为V ANsh时A相的电流传感器的采样电流值；
Δi BM表示两次直通矢量V APsh和V ANsh下B相的电流传感器的采样电流值的差值，i BMP表示直通矢量为V APsh时B相的电流传感器的采样电流值，i BMN表示直通矢量为V ANsh时B相的电流传感器的采样电流值；
Δi CM表示两次直通矢量V APsh和V ANsh下C相的电流传感器的采样电流值的差值，i CMP表示直通矢量为V APsh时C相的电流传感器的采样电流值，i CMN表示直通矢量为V ANsh时C相的电流传感器的采样电流值；k A、k B、k C分别表示A相、B相、C相处的电流传感器的比例误差系数。
具体实施中，设置相应的调制方式，以实现在一个PWM周期中插入直通矢量V APsh与V ANsh。以参考直通矢量位于第I扇区为例，插入直通矢量V APsh与矢量V ANsh后的开关信号图如图4所示。其中，S AP，S BP，S CP分别为三相逆变器三相上桥臂开关信号，S AN，S BN，S CN分别为三相逆变器三相下桥臂开关信号。
实现该开关信号的调制方式如图5所示。
四、矫正处理
当电流传感器比例误差系数不同时，将三相的电流传感器比例误差系数之间的关系代入以下公式用以平衡电流传感器比例误差系数：
Figure PCTCN2021110343-appb-000005
获得三个矫正系数x，y，z：
Figure PCTCN2021110343-appb-000006
其中，x、y、z分别表示A相、B相、C相的电流传感器的矫正系数；
根据矫正系数按照以下公式处理获得矫正的三相电流：
Figure PCTCN2021110343-appb-000007
其中，i Ao、i Bo、i Co为矫正后的A相、B相、C相的电流。
最后采用矫正后的三相电流反馈给永磁同步电机的电流环进行控制，消除由于三相传感器比例误差带来的三相电流不平衡问题。
图6示出了电机运行于1000r/min，电机转矩分别为20N·m、40N·m、60N·m时，三相电流传感器不存在比例误差与存在误差时电机转矩的波形。其中，图6(a)示出了三相电流传感器不存在比例误差时的电机转矩波形；图6(b)示出了三相电流传感器存在比例误差时的电机转矩波形。图中，T表示转矩，是通过使用转矩传感器测量得到的。由图6可知，通过采用本发明的技术方案对多电流传感器比例误差的不平衡问题进行矫正，可以消除由于电流传感器比例误差的不平衡导致的电机电流畸变与转矩波动。
综上所述，本发明实施例通过上述步骤可以实现多电流传感器比例误差的不平衡的矫正，从而消除了由于电流传感器比例误差的不平衡导致的电机电流畸变与转矩波动。
本发明实施例对各器件的型号除做特殊说明的以外，其他器件的型号不做限制，只要能完成上述功能的器件均可。
本领域技术人员可以理解附图只是一个优选实施例的示意图，上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
本发明并不限于上文描述的实施方式。以上对具体实施方式的描述旨在描述和说明本发明的技术方案，上述的具体实施方式仅仅是示意性的，并不是限制性的。在不脱离本发明宗旨和权利要求所保护的范围情况下，本领域的普通技术人员在本发明的启示下还可做出很多形式的具体变换，这些均属于本发明的保护范围之内。

Claims (5)

  1. 一种用于PMSM的多电流传感器比例误差平衡控制方法，其特征在于，包括以下步骤：
    1)在直流电源和永磁同步电机所连接的三相逆变器之间设置一个避免直通矢量作用时直流电源正负极短路的阻抗网络；
    2)在三相逆变器的一个PWM周期中的两个直通矢量作用下，使用三相的电流传感器分别对三相逆变器的三相输出支路的其中每一路和三相逆变器同一个桥臂支路的电流之和进行采样，获得三相各自的采样电流，然后依据采样电流进行运算获得三相的电流传感器的比例误差系数之间的关系；
    3)通过三相电流传感器的比例误差系数之间的关系计算矫正系数，利用矫正系数反馈控制实现电流传感器比例误差的矫正。
  2. 根据权利要求1所述的一种直通矢量作用下采样多电流传感器比例误差平衡方法，其特征在于：所述步骤1)中的阻抗网络包括了第一电感L 1、第二电感L 2、第一电容C 1、第二电容C 2和开关管S 0，直流电源u in并联在三相逆变器上，第二电容C 2并联于直流电源u in、第一电感L 1和开关管S 0串联后的两端，直流电源u in正极和三相逆变器其中一个桥臂支路之间依次串联有第一电感L 1、开关管S 0和第二电感L 2，第一电容C 1并联在开关管S 0和第二电感L 2串联后的两端。
  3. 根据权利要求1所述的一种直通矢量作用下采样多电流传感器比例误差平衡方法，其特征在于：所述步骤2)中，三相逆变器的桥臂支路是指两个相的下桥臂相连后的节点与剩余一相的下桥臂之间的支路。
  4. 根据权利要求1所述的一种直通矢量作用下采样多电流传感器比例误差平衡方法，其特征在于：所述步骤2)中，在三相逆变器的一个PWM周期中，A相的上桥臂和下桥臂分别单独导通时插入一次直通矢量：以B相和C相的上桥臂和下桥臂均导通、A相仅上桥臂导通状态作为直通矢量V APsh，以B相和C相的上桥臂和下桥臂均导通、A相仅下桥臂导通状态作为直通矢量V ANsh；
    然后在为直通矢量V APsh和直通矢量V ANsh情况下分别通过三相的电流传感器采集获得的采样电流值，再按照以下公式获得三相的电流传感器比例误差系数之间的关系，表示为：
    k A:k B:k C＝Δi AM:Δi BM:Δi CM
    Δi AM＝i AMPi AMN，Δi BM＝i BMPi BMN，Δi CM＝i CMPi CMN
    其中，Δi AM表示两次直通矢量V APsh和V ANsh下A相的电流传感器的采样电流值的差值，i AMP表示直通矢量为V APsh时A相的电流传感器的采样电流值，i AMN表示直通矢量为V ANsh时A相的电流传感器的采样电流值；Δi BM表示两次直通矢量V APsh和V ANsh下B相的电流传感器的采样电流值的差值，i BMP表示直通矢量为V APsh时B相的电流传感器的采样电流值，i BMN表示直通矢量为V ANsh时B相的电流传感器的采样电流值；Δi CM表示两次直通矢量V APsh和V ANsh下C相的电流传感器的采样电流值的差值，i CMP表示直通矢量为V APsh时C相的电流传感器的采样电流值，i CMN表示直通矢量为V ANsh时C相的电流传感器的采样电流值；k A、k B、k C分别表示A相、B相、C相处的电流传感器的比例误差系数。
  5. 根据权利要求1所述的一种直通矢量作用下采样多电流传感器比例误差平衡方法，其特征在于：所述步骤3)中，将三相的电流传感器比例误差系数之间的关系代入以下公式：
    Figure PCTCN2021110343-appb-100001
    进而获得三个矫正系数x，y，z：
    Figure PCTCN2021110343-appb-100002
    其中，x、y、z分别表示A相、B相、C相的电流传感器的矫正系数；
    根据矫正系数按照以下公式处理获得矫正的三相电流：
    Figure PCTCN2021110343-appb-100003
    其中，i Ao、i Bo、i Co为矫正后的A相、B相、C相的电流；
    最后采用矫正后的三相电流反馈给永磁同步电机的电流环进行控制，消除由于三相传感器比例误差系数误差带来的三相电流不平衡问题。
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