WO2023045556A1 - 相电流采集方法、装置、设备、系统和存储介质 - Google Patents

相电流采集方法、装置、设备、系统和存储介质 Download PDF

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WO2023045556A1
WO2023045556A1 PCT/CN2022/108620 CN2022108620W WO2023045556A1 WO 2023045556 A1 WO2023045556 A1 WO 2023045556A1 CN 2022108620 W CN2022108620 W CN 2022108620W WO 2023045556 A1 WO2023045556 A1 WO 2023045556A1
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Prior art keywords
phase
current
transformer
phase shift
sampling
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PCT/CN2022/108620
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English (en)
French (fr)
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刘文龙
黄招彬
赵鸣
徐锦清
胡斌
江海昊
龙谭
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佛山市顺德区美的电子科技有限公司
广东美的制冷设备有限公司
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Publication of WO2023045556A1 publication Critical patent/WO2023045556A1/zh

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    • 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
    • G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R15/00—Details of measuring arrangements of the types provided for in groups G01R17/00 - G01R29/00, G01R33/00 - G01R33/26 or G01R35/00
    • G01R15/14—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
    • G01R15/18—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using inductive devices, e.g. transformers

Definitions

  • the present application relates to the technical field of motor control, and in particular to a phase current acquisition method, device, equipment, system and storage medium.
  • an inverter air conditioner uses a permanent magnet synchronous motor (Permanent Magnetic Synchronous Machine, PMSM) with low loss and high efficiency.
  • PMSM Permanent Magnet Synchronous Machine
  • the three-phase bridge inverter of the frequency converter can be controlled by SVPWM (Space Vector Pulse Width Modulation, Space Vector Pulse Width Modulation).
  • SVPWM originates from the idea of AC motor stator flux linkage tracking, which is easy to realize by digital controller, and has the advantages of good output current waveform and high DC link voltage utilization rate.
  • the Hall current sensor In the overmodulation area, it is often necessary to use the Hall current sensor to collect the phase current of any two phases of the three-phase motor, so as to obtain the current three-phase current value.
  • the high cost of the Hall current sensor increases the cost of three-phase motor control. cost.
  • the embodiments of the present application provide a phase current collection method, device, device, system and storage medium, aiming at collecting phase currents based on current transformers and reducing the control cost of three-phase motors.
  • the embodiment of the present application provides a phase current acquisition method, including:
  • the transformer sampling and conditioning circuit is used to collect the current signal of the secondary side of the current transformer arranged on the phase line of the motor;
  • phase shift compensation is performed on the current signal collected by the transformer sampling and conditioning circuit to obtain the phase current of the phase line.
  • the equivalent electrical parameters include: equivalent resistance, equivalent inductance, and equivalent capacitance
  • the phase shift of the current transformer is determined based on the equivalent electrical parameters and the electrical angular velocity of the motor rotor angle, using the following formula:
  • ⁇ is the phase shift angle of the current transformer
  • ⁇ is the electrical angular velocity of the motor rotor
  • R 0 is the equivalent resistance
  • L 0 is the equivalent inductance
  • C 0 is the equivalent capacitance
  • the phase shift compensation of the current signal collected by the transformer sampling and conditioning circuit based on the phase shift angle includes:
  • phase shift compensation is carried out to the current signal collected by the transformer sampling conditioning circuit;
  • the differential compensator H (j ⁇ ) adopts the following formula:
  • the compensation phase shift angle of the differential compensator H(j ⁇ ) ⁇ is the electrical angular velocity of the motor rotor, a is the first correction parameter, b is the second correction parameter, and the compensation phase shift angle It is equal to the magnitude of the phase shift angle of the current transformer.
  • phase current acquisition device including:
  • An acquisition module configured to acquire equivalent electrical parameters of a transformer sampling and conditioning circuit configured to acquire a current signal on a secondary side of a current transformer disposed on a phase line of a motor;
  • An operation module configured to determine the phase shift angle of the current transformer based on the equivalent electrical parameters and the electrical angular velocity of the motor rotor;
  • the phase shift compensation module is configured to perform phase shift compensation on the current signal collected by the transformer sampling and conditioning circuit based on the phase shift angle, so as to obtain the phase current of the phase line.
  • the equivalent electrical parameters include: equivalent resistance, equivalent inductance and equivalent capacitance
  • the calculation module adopts the following formula:
  • ⁇ is the phase shift angle of the current transformer
  • ⁇ is the electrical angular velocity of the motor rotor
  • R 0 is the equivalent resistance
  • L 0 is the equivalent inductance
  • C 0 is the equivalent capacitance
  • phase shift compensation module is specifically configured as:
  • phase shift compensation is carried out to the current signal collected by the transformer sampling conditioning circuit;
  • the differential compensator H (j ⁇ ) adopts the following formula:
  • the compensation phase shift angle of the differential compensator H(j ⁇ ) ⁇ is the electrical angular velocity of the motor rotor, a is the first correction parameter, b is the second correction parameter, and the compensation phase shift angle It is equal to the magnitude of the phase shift angle of the current transformer.
  • an embodiment of the present application provides a phase current acquisition device, including: a processor and a memory configured to store a computer program that can run on the processor, wherein the processor is configured to run the computer program , executing the steps of the method described in the first aspect of the embodiments of the present application.
  • the embodiment of the present application provides a phase current acquisition system of a motor, including:
  • the current transformer is arranged on the phase line of the three-phase motor
  • Transformer sampling conditioning circuit connected to the secondary side of the current transformer, for collecting the current signal of the secondary side of the current transformer
  • the phase current acquisition device described in the third aspect of the embodiment of the present application is connected to the transformer sampling and conditioning circuit, and is configured to perform phase shift compensation on the current signal output by the transformer sampling and conditioning circuit to obtain the phase current of the phase line. current.
  • the number of the current transformers is two, which are respectively arranged on the phase lines of any two phases of the three-phase motor, correspondingly, the number of the transformer sampling conditioning circuits is two, and the The current transformers are set in one-to-one correspondence.
  • the transformer sampling and conditioning circuit includes: a sampling resistor connected in series to the secondary side of the current transformer, and an operational amplifier connected to both ends of the sampling resistor for differential amplification.
  • the embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the embodiment of the present application are implemented.
  • the technical solution provided by the embodiment of the present application obtains the equivalent electrical parameters of the transformer sampling and conditioning circuit, and the transformer sampling and conditioning circuit is used to collect the current signal of the secondary side of the current transformer arranged on the phase line of the motor;
  • the phase shift angle of the current transformer is determined based on the effective electrical parameters and the electrical angular velocity of the motor rotor; based on the phase shift angle, the phase shift compensation is performed on the current signal collected by the transformer sampling and conditioning circuit to obtain the phase current of the phase line.
  • the phase current on the phase line of the motor can be collected based on the current transformer, especially in the overmodulation area, and the phase current collection can be realized on the basis of satisfying the effective voltage vector, and then the bus voltage can be kept constant. , increase the output torque of the motor, and improve the utilization rate of the power supply voltage.
  • FIG. 1 is a schematic structural diagram of a motor application system based on bus current acquisition in the related art
  • Fig. 2 is the distribution diagram of space voltage vector
  • Figure 3 is a schematic diagram of the principle of the unobservable area of the space voltage vector in the embodiment of the present application.
  • FIG. 4 is a schematic diagram of a principle based on phase-shifting processing in the related art
  • FIG. 5 is a schematic flow diagram of a phase current acquisition method according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a transformer sampling and conditioning circuit according to an embodiment of the present application.
  • Fig. 7 is the equivalent circuit schematic diagram of the transformer sampling conditioning circuit of the embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a phase current acquisition device according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a phase current acquisition device according to an embodiment of the present application.
  • Fig. 10 is a schematic diagram of the arrangement of current transformers on phase lines of a three-phase motor in an application example of the present application.
  • FIG. 1 a motor application system based on bus current collection is shown in FIG. 1 .
  • the system includes: a motor M, a three-phase bridge inverter 101 , a direct current power supply DC and a bus current collection device 102 .
  • a capacitor C1 is further connected between the positive pole and the negative pole of the direct current power supply DC.
  • the direct current supplied by the direct current power source DC is converted by the three-phase bridge inverter 101 into the three-phase power supply of the motor M, and the motor M may be a PMSM.
  • the three-phase bridge inverter 101 can be controlled by a frequency converter using SVPWM.
  • the bus current acquisition device 102 can adopt a typical single-resistor sampling circuit, for example, including a sampling resistor Shunt connected between the negative pole of the DC power supply DC and the three-phase bridge inverter 101, and the voltage across the sampling resistor Shunt It is transmitted to the AD conversion circuit through the operational amplifier, and the bus current is converted by the AD conversion circuit.
  • the bus current is used in the subsequent phase current acquisition method, and then the reconstructed three-phase AC current is used as feedback to realize the closed-loop control of the current.
  • the three-phase bridge inverter is controlled by SVPWM modulation, and has 8 switch working states, including 6 non-zero voltage vectors (V 1 -V 6 ) and 2 zero-voltage vectors (V 0 and V 7 ), which divides the voltage space plane into hexagons as shown in Figure 2.
  • the basic principle of phase current reconstruction is to use the bus current sampled at different times within a PWM cycle to obtain each phase current.
  • the relationship between the current of the DC bus and the three-phase current is determined by the state of the instantaneous switching value, and the relationship is shown in Table 1.
  • T min T d + T set + T AD , where T d represents up and down The length of the dead zone of the bridge arm, T set indicates the establishment time of the bus current, and T AD indicates the sampling conversion time.
  • the three-phase lines include: a-phase, b-phase and c-phase lines, and the sampling window of the original T1 is smaller than T min , and the high voltage of the b-phase will be processed by phase shifting. Shifting T shift to the right can make the sampling window of T1 equal to T min after phase shifting.
  • the unobservable area is an overmodulation area, for example, the area outside the inscribed circle of the hexagon shown in Figure 3, there will be a problem that the phase shift is shifted out of the PWM cycle and the effective vector voltage cannot be satisfied.
  • the sampling window cannot be provided, resulting in the inability to collect the two-phase phase current in one PWM cycle. Therefore, the related phase current acquisition method based on phase shift processing cannot meet the overmodulation area. The reconstruction requirements of the three-phase current.
  • a cheap current transformer is used for phase current sampling.
  • the current transformer is based on the principle of electromagnetic induction. The current on the secondary side is converted into the current on the secondary side to measure the instrument, which has the problem of phase delay.
  • phase current sampling method based on phase compensation is proposed, and the phase compensation is performed on the collected current signal of the current transformer to obtain the actual phase current.
  • phase current acquisition method including:
  • Step 501 obtaining equivalent electrical parameters of a transformer sampling and conditioning circuit, which is used to collect a current signal on a secondary side of a current transformer disposed on a phase line of a motor.
  • Step 502 Determine the phase shift angle of the current transformer based on the equivalent electrical parameters and the electrical angular velocity of the motor rotor.
  • Step 503 Perform phase shift compensation on the current signal collected by the transformer sampling and conditioning circuit based on the phase shift angle to obtain the phase current of the phase line.
  • the embodiment of the present application is based on phase shift compensation of the current signal collected by the transformer sampling and conditioning circuit, and the phase current on the phase line of the motor can be collected based on the current transformer, especially in the overmodulation region, which can satisfy the On the basis of the effective voltage vector, the acquisition of the phase current can be realized, and then the output torque of the motor can be increased and the utilization rate of the power supply voltage can be improved under the condition that the bus voltage remains unchanged.
  • the transformer sampling and conditioning circuit includes: a sampling resistor Rs connected in series to the secondary side of the current transformer and an operational amplifier connected to both ends of the sampling resistor Rs for differential amplification.
  • the operational amplifier when the current induced by the secondary side of the current transformer flows through the sampling resistor Rs, it can be differentially amplified by the operational amplifier and output, thereby converting it into a signal that can be sampled by the AD conversion circuit.
  • the operational amplifier outputs a signal to the MCU (microprocessor), so that the current value can be obtained by the microprocessor through AD conversion.
  • the current transformer is based on the electromagnetic induction effect
  • the current signal on the secondary side has a phase shift caused by time delay, and it is necessary to determine the phase shift angle of the current transformer.
  • transformer sampling conditioning circuit shown in FIG. 6 is equivalent to the equivalent circuit shown in FIG. 7 .
  • e(t) in Figure 7 is the electromotive force induced by the secondary side of the current transformer, which is calculated as follows:
  • ⁇ is the induced magnetic flux
  • N 1 is the number of turns on the primary side
  • N 2 is the number of turns on the secondary side
  • ⁇ 0 is the magnetic permeability
  • h is the coercive force coefficient
  • R 1 is the equivalent resistance of the primary side
  • R 2 is the equivalent resistance of the secondary side
  • i is the winding current of the primary side.
  • the equivalent electrical parameters of the equivalent circuit can be tested by an LCR (inductance capacitance resistance) tester.
  • the equivalent electrical parameters include: equivalent resistance R 0 , equivalent inductance L 0 , equivalent capacitance C 0 and load resistance R L .
  • phase shift angle of the current transformer is determined based on the equivalent electrical parameters and the electrical angular velocity of the motor rotor, using the following formula:
  • ⁇ is the phase shift angle of the current transformer
  • ⁇ is the electrical angular velocity of the motor rotor
  • R 0 is the equivalent resistance
  • L 0 is the equivalent inductance
  • C 0 is the equivalent capacitance
  • the electrical angular velocity of the rotor of the motor may be the determined electrical angular velocity of the rotor of the motor in the last sampling period.
  • the phase shift angle of the current transformer can be determined based on the acquired equivalent electrical parameters and the electrical angular velocity of the motor rotor.
  • phase shift compensation is performed on the current signal collected by the transformer sampling and conditioning circuit based on the phase shift angle, including:
  • the differential compensator H(j ⁇ ) Based on the differential compensator H(j ⁇ ), the current signal collected by the transformer sampling and conditioning circuit is compensated for phase shift; the differential compensator H(j ⁇ ) adopts the following formula:
  • the compensation phase shift angle of the differential compensator H(j ⁇ ) ⁇ is the electrical angular velocity of the motor rotor, a is the first correction parameter, b is the second correction parameter, and the compensation phase shift angle It is equal to the magnitude of the phase shift angle of the current transformer.
  • phase shift angle of the differential compensator H(j ⁇ ) It is equal to the phase shift angle of the current transformer determined above, and the phase shift angle can be compensated Calculate the first correction parameter a and the second correction parameter b according to the formula, so as to obtain the differential compensator H(j ⁇ ) that meets the requirements of phase shift compensation.
  • the value ranges of the first correction parameter a and the second correction parameter b can be preset, and based on the value range, first assume the value of one of the first correction parameter a and the second correction parameter b, and then based on Compensation phase shift angle Calculate the other of the formulas to obtain the first correction parameter a and the second correction parameter b.
  • the phase shift compensation can be performed on the current signal collected by the transformer sampling and conditioning circuit to obtain the phase current of the phase line It can participate in the vector calculation of the motor, and then can increase the output torque of the motor and improve the utilization rate of the power supply voltage under the condition that the bus voltage remains unchanged.
  • the embodiment of the present application also provides a phase current acquisition device, the phase current acquisition device corresponds to the above-mentioned phase current acquisition method, and the steps in the above-mentioned phase current acquisition method embodiment are also fully applicable to An embodiment of the current acquisition device of this phase.
  • the phase current acquisition device includes: an acquisition module 801 , an operation module 802 and a phase shift compensation module 803 .
  • the obtaining module 801 is configured to obtain equivalent electrical parameters of the transformer sampling and conditioning circuit, and the transformer sampling and conditioning circuit is configured to collect current signals on the secondary side of the current transformer arranged on the phase line of the motor;
  • the calculation module 802 is configured to determine the phase shift angle of the current transformer based on the equivalent electrical parameters and the electrical angular velocity of the motor rotor;
  • the phase shift compensation module 803 is configured to perform phase shift compensation on the current signal collected by the transformer sampling and conditioning circuit based on the phase shift angle to obtain the phase current of the phase line.
  • the equivalent electrical parameters include: equivalent resistance, equivalent inductance and equivalent capacitance
  • the calculation module 802 adopts the following formula:
  • ⁇ is the phase shift angle of the current transformer
  • ⁇ is the electrical angular velocity of the motor rotor
  • R 0 is the equivalent resistance
  • L 0 is the equivalent inductance
  • C 0 is the equivalent capacitance
  • phase shift compensation module 803 is specifically configured as:
  • the differential compensator H(j ⁇ ) Based on the differential compensator H(j ⁇ ), the current signal collected by the transformer sampling and conditioning circuit is compensated for phase shift; the differential compensator H(j ⁇ ) adopts the following formula:
  • the compensation phase shift angle of the differential compensator H(j ⁇ ) ⁇ is the electrical angular velocity of the motor rotor, a is the first correction parameter, b is the second correction parameter, and the compensation phase shift angle It is equal to the magnitude of the phase shift angle of the current transformer.
  • the acquisition module 801, the operation module 802 and the phase shift compensation module 803 may be implemented by a processor of the phase current acquisition device.
  • a processor needs to run a computer program in memory to carry out its functions.
  • phase current acquisition device when the phase current acquisition device provided by the above-mentioned embodiments performs the phase current acquisition method, the division of the above-mentioned program modules is used as an example for illustration. In practical applications, the above-mentioned processing can be allocated by different programs according to needs. Module completion means that the internal structure of the device is divided into different program modules to complete all or part of the processing described above.
  • the phase current acquisition device provided in the above embodiments and the phase current acquisition method embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, and will not be repeated here.
  • FIG. 9 only shows an exemplary structure of the phase current acquisition device but not the entire structure, and some or all of the structures shown in FIG. 9 can be implemented as required.
  • the phase current acquisition device 900 provided in the embodiment of the present application includes: at least one processor 901 , a memory 902 and a user interface 903 .
  • Various components in the phase current acquisition device 900 are coupled together via a bus system 904 .
  • the bus system 904 is used to realize connection and communication between these components.
  • the bus system 904 also includes a power bus, a control bus and a status signal bus.
  • the various buses are labeled as bus system 904 in FIG. 9 .
  • the user interface 903 may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch panel or a touch screen, and the like.
  • the memory 902 in the embodiment of the present application is used to store various types of data to support the operation of the phase current acquisition device. Examples of such data include: any computer program for operating on a phase current acquisition device.
  • the phase current acquisition disclosed in the embodiment of the present application may be applied to the processor 901 or implemented by the processor 901 .
  • the processor 901 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of phase current collection can be completed by an integrated logic circuit of hardware in the processor 901 or instructions in the form of software.
  • the aforementioned processor 901 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • DSP Digital Signal Processor
  • the processor 901 may implement or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.
  • a general purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in a storage medium, and the storage medium is located in the memory 902.
  • the processor 901 reads the information in the memory 902, and combines its hardware to complete the steps of phase current acquisition provided by the embodiment of the present application.
  • the phase current acquisition device may be implemented by one or more application-specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic device (PLD, Programmable Logic Device), complex programmable logic device (CPLD, Complex Programmable Logic Device), Field Programmable Logic Gate Array (FPGA, Field Programmable Gate Array), general-purpose processor, controller, microcontroller (MCU, Micro Controller Unit), microprocessor (Microprocessor), or others Electronic components are implemented for performing the aforementioned methods.
  • ASIC Application Specific Integrated Circuit
  • DSP programmable logic device
  • PLD Programmable Logic Device
  • CPLD Complex Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • general-purpose processor controller, microcontroller (MCU, Micro Controller Unit), microprocessor (Microprocessor), or others
  • MCU microcontroller
  • Microcontroller Micro Controller Unit
  • Microprocessor Microprocessor
  • the memory 902 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories.
  • the non-volatile memory can be read-only memory (ROM, Read Only Memory), programmable read-only memory (PROM, Programmable Read-Only Memory), erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory) Only Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), Magnetic Random Access Memory (FRAM, ferromagnetic random access memory), Flash Memory (Flash Memory), Magnetic Surface Memory , CD, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface storage can be disk storage or tape storage.
  • the volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache.
  • RAM random access memory
  • RAM Random Access Memory
  • many forms of RAM are available, such as Static Random Access Memory (SRAM, Static Random Access Memory), Synchronous Static Random Access Memory (SSRAM, Synchronous Static Random Access Memory), Dynamic Random Access Memory Memory (DRAM, Dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), enhanced Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous Link Dynamic Random Access Memory (SLDRAM, SyncLink Dynamic Random Access Memory), Direct Memory Bus Random Access Memory (DRRAM, Direct Rambus Random Access Memory ).
  • SRAM Static Random Access Memory
  • SSRAM Synchronous Static Random Access Memory
  • DRAM Dynamic Random Access Memory
  • SDRAM Synchronous Dynamic Random Access Memory
  • the embodiment of the present application also provides a phase current collection system of a motor, including: a current transformer, a transformer sampling and conditioning circuit, and the aforementioned phase current collection device, wherein the current transformer is arranged on a phase line of a three-phase motor;
  • the transformer sampling and conditioning circuit is connected to the secondary side of the current transformer, and is used to collect the current signal of the secondary side of the current transformer;
  • the phase current acquisition device is connected to the transformer sampling and conditioning circuit, and is configured to sample the current output from the transformer conditioning circuit The signal is subjected to phase shift compensation to obtain the phase current of the phase line.
  • the number of current transformers is two, which are respectively arranged on the phase lines of any two phases of the three-phase motor.
  • the embodiment of the present application can obtain the phase currents of two phases after performing phase shift compensation processing based on the current signals of the phase lines collected by two current transformers, and then obtain the current three-phase current , and then realize the vector closed-loop control of the motor.
  • the transformer sampling and conditioning circuit includes: a sampling resistor Rs connected in series to the secondary side of the current transformer, and an operational amplifier connected to both ends of the sampling resistor Rs for differential amplification.
  • the embodiment of the present application also provides a storage medium, that is, a computer storage medium, specifically, it may be a computer-readable storage medium, such as including a memory 902 storing a computer program, and the above-mentioned computer program may be used by the phase current acquisition device
  • the processor 901 is executed to complete the steps of the method in the embodiment of the present application.
  • the computer-readable storage medium may be memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

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Abstract

一种相电流采集方法、装置、设备、系统和存储介质。相电流采集方法包括：获取互感器采样调理电路的等效电气参数，互感器采样调理电路用于采集设置于电机的相线上的电流互感器的二次侧的电流信号（501）；基于等效电气参数和电机转子的电角速度确定电流互感器的相移角（502）；基于相移角对互感器采样调理电路采集的电流信号进行相移补偿，得到相线的相电流（503）。可以在母线电压不变的情形下，增大电机的输出转矩，提高电源电压利用率。

Description

相电流采集方法、装置、设备、系统和存储介质
相关申请的交叉引用
本申请基于申请号为202111136034.X、申请日为2021年09月27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
本申请涉及电机控制技术领域，尤其涉及一种相电流采集方法、装置、设备、系统和存储介质。
背景技术
随着节能降耗技术的积极推广，电机控制的节能技术日益受到重视。例如，变频空调器采用具有损耗小、效率高的永磁同步电机(Permanent Magnetic Synchronous Machine，PMSM)。
变频器驱动永磁同步电机时，变频器的三相桥式逆变器可以采用SVPWM(Space Vector Pulse Width Modulation，空间矢量脉宽调制)方式控制。SVPWM源于交流电动机定子磁链跟踪的思想，易于数字控制器的实现，且输出电流波形好、直流环节电压利用率高等优点。
传统的SVPWM控制系统中，由于需要测量三相的交流电信号作为反馈，实现电流的闭环控制，即变频器的交流侧需要设置三个电流传感器，导致成本高、结构复杂及体积大，不利于集成化。采用单电流传感器来完成三相电流的重构成为研究的热点。
在实际应用中，为了提高三相桥式逆变器的输出电压，以在电机控制中增大电机的最大输出转矩，往往需要采用过调制技术。然而，由于发生 过调制现象时，空间矢量落在不可观测区，相关的基于单电流传感器完成相电流采集方法的方法难以实现。
因此，在过调制区往往需要采用霍尔电流传感器采集三相电机的任意两相的相电流，从而得到当前的三相电流值，然而霍尔电流传感器成本高，增大了三相电机控制的成本。
发明内容
有鉴于此，本申请实施例提供了一种相电流采集方法、装置、设备、系统和存储介质，旨在基于电流互感器进行相电流采集，降低三相电机的控制成本。
本申请实施例的技术方案是这样实现的：
第一方面，本申请实施例提供了一种相电流采集方法，包括：
获取互感器采样调理电路的等效电气参数，所述互感器采样调理电路用于采集设置于电机的相线上的电流互感器的二次侧的电流信号；
基于所述等效电气参数和电机转子的电角速度确定所述电流互感器的相移角；
基于所述相移角对所述互感器采样调理电路采集的电流信号进行相移补偿，得到所述相线的相电流。
在一些实施方案中，所述等效电气参数包括：等效电阻、等效电感及等效电容，所述基于所述等效电气参数和电机转子的电角速度确定所述电流互感器的相移角，采用如下公式：
Figure PCTCN2022108620-appb-000001
其中，θ为所述电流互感器的相移角，ω为电机转子的电角速度，R 0为等效电阻、L 0为等效电感，C 0为等效电容。
在一些实施方案中，所述基于所述相移角对所述互感器采样调理电路 采集的电流信号进行相移补偿，包括：
基于微分补偿器H(jω)对所述互感器采样调理电路采集的电流信号进行相移补偿；所述微分补偿器H(jω)采用如下公式：
Figure PCTCN2022108620-appb-000002
其中，所述微分补偿器H(jω)的补偿相移角
Figure PCTCN2022108620-appb-000003
ω为电机转子的电角速度，a为第一校正参数，b为第二校正参数，所述补偿相移角
Figure PCTCN2022108620-appb-000004
与所述电流互感器的相移角的大小相等。
第二方面，本申请实施例提供了一种相电流采集装置，包括：
获取模块，配置为获取互感器采样调理电路的等效电气参数，所述互感器采样调理电路配置为采集设置于电机的相线上的电流互感器的二次侧的电流信号；
运算模块，配置为基于所述等效电气参数和电机转子的电角速度确定所述电流互感器的相移角；
相移补偿模块，配置为基于所述相移角对所述互感器采样调理电路采集的电流信号进行相移补偿，得到所述相线的相电流。
在一些实施方案中，所述等效电气参数包括：等效电阻、等效电感及等效电容，所述运算模块采用如下公式：
Figure PCTCN2022108620-appb-000005
其中，θ为所述电流互感器的相移角，ω为电机转子的电角速度，R 0为等效电阻、L 0为等效电感，C 0为等效电容。
在一些实施方案中，所述相移补偿模块具体配置为：
基于微分补偿器H(jω)对所述互感器采样调理电路采集的电流信号进行相移补偿；所述微分补偿器H(jω)采用如下公式：
Figure PCTCN2022108620-appb-000006
其中，所述微分补偿器H(jω)的补偿相移角
Figure PCTCN2022108620-appb-000007
ω为电机转子的电角速度，a为第一校正参数，b为第二校正参数，所述补偿相移角
Figure PCTCN2022108620-appb-000008
与所述电流互感器的相移角的大小相等。
第三方面，本申请实施例提供了一种相电流采集设备，包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器，配置为运行计算机程序时，执行本申请实施例第一方面所述方法的步骤。
第四方面，本申请实施例提供了一种电机的相电流采集系统，包括：
电流互感器，设置于三相电机的相线上；
互感器采样调理电路，连接所述电流互感器的二次侧，用于采集所述电流互感器的二次侧的电流信号；
本申请实施例第三方面所述的相电流采集设备，连接所述互感器采样调理电路，配置为对所述互感器采样调理电路输出的电流信号进行移相补偿，得到所述相线的相电流。
在一些实施方案中，所述电流互感器的数量为两个，分别设置于所述三相电机的任意两相的相线上，相应地，所述互感器采样调理电路为两个，与所述电流互感器一一对应设置。
在一些实施方案中，所述互感器采样调理电路包括：串接于所述电流互感器的二次侧的采样电阻及连接于采样电阻两端的用于差分放大的运算放大器。
第五方面，本申请实施例提供了一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时，实现本申请实施例所述方法的步骤。
本申请实施例提供的技术方案，获取互感器采样调理电路的等效电气参数，互感器采样调理电路用于采集设置于电机的相线上的电流互感器的 二次侧的电流信号；基于等效电气参数和电机转子的电角速度确定电流互感器的相移角；基于相移角对互感器采样调理电路采集的电流信号进行相移补偿，得到相线的相电流。如此，可以基于电流互感器采集电机的相线上的相电流，尤其是在过调制区，可以在满足有效电压矢量的基础上，实现相电流的采集，进而可以在母线电压不变的情形下，增大电机的输出转矩，提高电源电压利用率。
附图说明
图1为相关技术中基于母线电流采集的电机应用系统的结构示意图；
图2为空间电压矢量的分布示意图；
图3为本申请实施例中空间电压矢量不可观测区的原理示意图；
图4为相关技术中基于移相处理的原理示意图；
图5为本申请实施例相电流采集方法的流程示意图；
图6为本申请实施例互感器采样调理电路的结构示意图；
图7为本申请实施例互感器采样调理电路的等效电路示意图；
图8为本申请实施例相电流采集装置的结构示意图；
图9为本申请实施例相电流采集设备的结构示意图；
图10为本申请一应用示例中三相电机的相线上电流互感器的布置示意图。
具体实施方式
下面结合附图及实施例对本申请再作进一步详细的描述。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。
相关技术中，基于母线电流采集的电机应用系统如图1所示，该系统 包括：电机M、三相桥式逆变器101、直流电源DC及母线电流采集装置102。
示例性地，直流电源DC的正极与负极之间还连接电容C1。直流电源DC供应的直流电经三相桥式逆变器101转换为电机M的三相电源，该电机M可以为PMSM。该三相桥式逆变器101可以由变频器采用SVPWM方式控制。其中，母线电流采集装置102可以采用典型的单电阻采样电路，例如，包括接入至直流电源DC的负极与三相桥式逆变器101之间的采样电阻Shunt，采样电阻Shunt的两端电压经运算放大器传递至AD转换电路，由AD转换电路转换生成母线电流，该母线电流用于后续的相电流采集方法，进而将重构的三相交流电流作为反馈以实现电流的闭环控制。
可以理解的是，三相桥式逆变器采用SVPWM调制方式控制，有8种开关工作状态，包括6个非零电压矢量(V 1-V 6)和2个零电压矢量(V 0和V 7)，其将电压空间平面分成六边形如图2所示。相电流重构的基本原理是利用1个PWM周期内在不同的时刻采样的母线电流，得到各个相电流。直流母线的电流与三相电流的关系由瞬时开关量的状态决定，关系如表1所示。
表1
电压矢量 相电流 电压矢量 相电流
V 1 I c V 5 -I b
V 2 I b V 6 -I c
V 3 -I a V 0 0
V 4 I a V 7 0
在实际应用中，考虑到母线电流的采样需满足采样窗口，即要求非零电压矢量必须持续1个最小采样时长T min，T min＝T d+T set+T AD，其中，T d表示上下桥臂的死区时长，T set表示母线电流建立时长，T AD表示采样转换时长。
如图3所示，当输出的电压矢量处于低调制区或非零电压矢量附近时，在1个PWM周期内可能存在非零电压矢量的持续时长小于T min的情况。这种情况使采样的母线电流毫无意义。本申请实施例中，将在一个PWM周期内不能采样到两相不同相电流(即两个非零电压矢量对应的母线直流)的区域统称为不可观测区。
相关技术中，为了保证每个PWM周期可以采样到两相相电流，需要在不可观测区通过移相处理，保证一个PWM周期内采样到两相相电流。例如，如图4所示，示例性地，三相线路包括：a相、b相及c相线路，原有的T1的采样窗口小于T min，将通过移相处理，将b相的高电平右移T shift，可以使得移相后的T1的采样窗口等于T min。
当不可观测区为过调制区域时，例如，图3所示的六边形的内切圆之外的区域，会出现移相移出PWM周期导致不能满足有效矢量电压的问题，然而，如果为了保证矢量电压的PWM周期，则会出现无法提供采样窗口的情况，导致无法在一个PWM周期内采集到两相相电流，因此，相关的基于移相处理的相电流采集方法的方法无法满足过调制区的三相电流的重构要求。
需要说明的是，上述基于母线电流采样进行三相电流的重构，由于不是同时得到电机的相电流，两个采样一定存在时间差，导致采样是误差的，且受开关震荡影响，不能采集很窄脉冲的电流。此外，如果改用传统相电流采样传感器(例如，霍尔电流传感器)，会造成成本上升过大。
基于此，本申请各种实施例中，为了既保证相电流采样，又满足成本控制的需求，采用价格便宜的电流互感器进行相电流采样，然而电流互感器由于是依据电磁感应原理，将一次侧的电流转换为二次侧的电流来测量的仪器，其存在相位延时的问题。
基于此，本申请各种实施例中，提出了一种基于相位补偿的相电流采 样方法，针对电流互感器的采集的电流信号进行相位补偿，得到实际的相电流。
如图5所示，本申请实施例提供了一种相电流采集方法，包括：
步骤501，获取互感器采样调理电路的等效电气参数，互感器采样调理电路用于采集设置于电机的相线上的电流互感器的二次侧的电流信号。
步骤502，基于等效电气参数和电机转子的电角速度确定电流互感器的相移角。
步骤503，基于相移角对互感器采样调理电路采集的电流信号进行相移补偿，得到相线的相电流。
可以理解的是，本申请实施例基于对互感器采样调理电路采集的电流信号进行相移补偿，可以基于电流互感器采集电机的相线上的相电流，尤其是在过调制区，可以在满足有效电压矢量的基础上，实现相电流的采集，进而可以在母线电压不变的情形下，增大电机的输出转矩，提高电源电压利用率。
如图6所示，本申请实施例中，互感器采样调理电路包括：串接于电流互感器的二次侧的采样电阻Rs及连接于采样电阻Rs两端的用于差分放大的运算放大器。
可以理解的是，电流互感器二次侧感应的电流流经采样电阻Rs时，可以由经运算放大器差分放大后输出，从而转换为可以被AD转换电路采样的信号。例如，运算放大器输出信号给MCU(微处理器)，从而可以由微处理器经过AD转换得到电流值。
这里，由于电流互感器基于电磁感应效应，二次侧的电流信号存在时延导致的相移，需要确定该电流互感器的相移角。
示例性地，将图6所示的互感器采样调理电路等效成如图7所示的等效电路。图7中的e(t)为电流互感器二次侧感应生成的电动势，计算如 下：
Figure PCTCN2022108620-appb-000009
其中，φ为感应磁通，N 1为一次侧匝数，N 2为二次侧匝数，μ 0为磁导率，h为矫顽力系数，R 1为一次侧等效电阻，R 2为二次侧等效电阻，i为一次侧绕组电流。
示例性地，可以通过LCR(电感电容电阻)测试仪测试该等效电路的等效电气参数。如图7所示，等效电气参数包括：等效电阻R 0、等效电感L 0、等效电容C 0及负载电阻R L。
示例性地，基于等效电气参数和电机转子的电角速度确定电流互感器的相移角，采用如下公式：
Figure PCTCN2022108620-appb-000010
其中，θ为电流互感器的相移角，ω为电机转子的电角速度，R 0为等效电阻、L 0为等效电感，C 0为等效电容。
这里，电机转子的电角速度可以采用上一采样周期的确定的电机转子的电角速度。如此，可以基于获取的等效电气参数和电机转子的电角速度确定电流互感器的相移角。
在一些实施例中，基于相移角对互感器采样调理电路采集的电流信号进行相移补偿，包括：
基于微分补偿器H(jω)对互感器采样调理电路采集的电流信号进行相移补偿；微分补偿器H(jω)采用如下公式：
Figure PCTCN2022108620-appb-000011
其中，微分补偿器H(jω)的补偿相移角
Figure PCTCN2022108620-appb-000012
ω为电机转子的电角速度，a为第一校正参数，b为第二校正参数，补偿相移角
Figure PCTCN2022108620-appb-000013
与电流互感器的相移角的大小相等。
需要说明的是，由于微分补偿器H(jω)的补偿相移角
Figure PCTCN2022108620-appb-000014
与前述确定的电流互感器的相移角的大小相等，可以补偿相移角
Figure PCTCN2022108620-appb-000015
的公式，计算第一校正参数a和第二校正参数b，从而得到满足相移补偿要求的微分补偿器H(jω)。
示例性地，可以预先设定第一校正参数a和第二校正参数b的取值范围，基于取值范围先假定第一校正参数a和第二校正参数b中的一个的取值，然后基于补偿相移角
Figure PCTCN2022108620-appb-000016
的公式求取另一个，从而得到第一校正参数a和第二校正参数b。
本申请实施例中，可以基于确定了第一校正参数a和第二校正参数b的微分补偿器H(jω)对互感器采样调理电路采集的电流信号进行相移补偿，得到相线的相电流可以参与电机矢量运算，进而可以在母线电压不变的情形下，增大电机的输出转矩，提高电源电压利用率。
为了实现本申请实施例的方法，本申请实施例还提供一种相电流采集装置，该相电流采集装置与上述相电流采集方法对应，上述相电流采集方法实施例中的各步骤也完全适用于本相电流采集装置实施例。
如图8所示，该相电流采集装置包括：获取模块801、运算模块802及相移补偿模块803。
获取模块801配置为获取互感器采样调理电路的等效电气参数，互感器采样调理电路配置为采集设置于电机的相线上的电流互感器的二次侧的电流信号；
运算模块802配置为基于等效电气参数和电机转子的电角速度确定电流互感器的相移角；
相移补偿模块803配置为基于相移角对互感器采样调理电路采集的电流信号进行相移补偿，得到相线的相电流。
在一些实施例中，等效电气参数包括：等效电阻、等效电感及等效电 容，运算模块802采用如下公式：
Figure PCTCN2022108620-appb-000017
其中，θ为电流互感器的相移角，ω为电机转子的电角速度，R 0为等效电阻、L 0为等效电感，C 0为等效电容。
在一些实施方案中，相移补偿模块803具体配置为：
基于微分补偿器H(jω)对互感器采样调理电路采集的电流信号进行相移补偿；微分补偿器H(jω)采用如下公式：
Figure PCTCN2022108620-appb-000018
其中，微分补偿器H(jω)的补偿相移角
Figure PCTCN2022108620-appb-000019
ω为电机转子的电角速度，a为第一校正参数，b为第二校正参数，补偿相移角
Figure PCTCN2022108620-appb-000020
与电流互感器的相移角的大小相等。
实际应用时，获取模块801、运算模块802及相移补偿模块803，可以由相电流采集装置的处理器来实现。当然，处理器需要运行存储器中的计算机程序来实现它的功能。
需要说明的是：上述实施例提供的相电流采集装置在进行相电流采集方法时，仅以上述各程序模块的划分进行举例说明，实际应用中，可以根据需要而将上述处理分配由不同的程序模块完成，即将装置的内部结构划分成不同的程序模块，以完成以上描述的全部或者部分处理。另外，上述实施例提供的相电流采集装置与相电流采集方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
基于上述程序模块的硬件实现，且为了实现本申请实施例的方法，本申请实施例还提供一种相电流采集设备。图9仅仅示出了该相电流采集设备的示例性结构而非全部结构，根据需要可以实施图9示出的部分结构或全部结构。
如图9所示，本申请实施例提供的相电流采集设备900包括：至少一个处理器901、存储器902和用户接口903。相电流采集设备900中的各个组件通过总线系统904耦合在一起。可以理解，总线系统904用于实现这些组件之间的连接通信。总线系统904除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图9中将各种总线都标为总线系统904。
其中，用户接口903可以包括显示器、键盘、鼠标、轨迹球、点击轮、按键、按钮、触感板或者触摸屏等。
本申请实施例中的存储器902用于存储各种类型的数据以支持相电流采集设备的操作。这些数据的示例包括：用于在相电流采集设备上操作的任何计算机程序。
本申请实施例揭示的相电流采集可以应用于处理器901中，或者由处理器901实现。处理器901可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，相电流采集的各步骤可以通过处理器901中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器901可以是通用处理器、数字信号处理器(DSP，Digital Signal Processor)，或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。处理器901可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤，可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于存储介质中，该存储介质位于存储器902，处理器901读取存储器902中的信息，结合其硬件完成本申请实施例提供的相电流采集的步骤。
在示例性实施例中，相电流采集设备可以被一个或多个应用专用集成电路(ASIC，Application Specific Integrated Circuit)、DSP、可编程逻辑器 件(PLD，Programmable Logic Device)、复杂可编程逻辑器件(CPLD，Complex Programmable Logic Device)、现场可编程逻辑门阵列(FPGA，Field Programmable Gate Array)、通用处理器、控制器、微控制器(MCU，Micro Controller Unit)、微处理器(Microprocessor)、或者其他电子元件实现，用于执行前述方法。
可以理解，存储器902可以是易失性存储器或非易失性存储器，也可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(ROM，Read Only Memory)、可编程只读存储器(PROM，Programmable Read-Only Memory)、可擦除可编程只读存储器(EPROM，Erasable Programmable Read-Only Memory)、电可擦除可编程只读存储器(EEPROM，Electrically Erasable Programmable Read-Only Memory)、磁性随机存取存储器(FRAM，ferromagnetic random access memory)、快闪存储器(Flash Memory)、磁表面存储器、光盘、或只读光盘(CD-ROM，Compact Disc Read-Only Memory)；磁表面存储器可以是磁盘存储器或磁带存储器。易失性存储器可以是随机存取存储器(RAM，Random Access Memory)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(SRAM，Static Random Access Memory)、同步静态随机存取存储器(SSRAM，Synchronous Static Random Access Memory)、动态随机存取存储器(DRAM，Dynamic Random Access Memory)、同步动态随机存取存储器(SDRAM，Synchronous Dynamic Random Access Memory)、双倍数据速率同步动态随机存取存储器(DDRSDRAM，Double Data Rate Synchronous Dynamic Random Access Memory)、增强型同步动态随机存取存储器(ESDRAM，Enhanced Synchronous Dynamic Random Access Memory)、同步连接动态随机存取存储器(SLDRAM，SyncLink Dynamic Random Access Memory)、直接内存总线随机存取存储器(DRRAM，Direct  Rambus Random Access Memory)。本申请实施例描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本申请实施例还提供了一种电机的相电流采集系统，包括：电流互感器、互感器采样调理电路及前述的相电流采集设备，其中，电流互感器设置于三相电机的相线上；互感器采样调理电路连接电流互感器的二次侧，用于采集电流互感器的二次侧的电流信号；相电流采集设备连接互感器采样调理电路，配置为对互感器采样调理电路输出的电流信号进行移相补偿，得到相线的相电流。
示例性地，如图10所示，电流互感器的数量为两个，分别设置于三相电机的任意两相的相线上，相应地，互感器采样调理电路为两个，与电流互感器一一对应设置。
可以理解的是，在过调制区，本申请实施例可以基于两个电流互感器采集的相线的电流信号，进行移相补偿处理后，得到两相的相电流，进而得到当前的三相电流，然后实现电机的矢量闭环控制。
示例性地，如图6所示，互感器采样调理电路包括：串接于电流互感器的二次侧的采样电阻Rs及连接于采样电阻Rs两端的用于差分放大的运算放大器。
在示例性实施例中，本申请实施例还提供了一种存储介质，即计算机存储介质，具体可以是计算机可读存储介质，例如包括存储计算机程序的存储器902，上述计算机程序可由相电流采集设备的处理器901执行，以完成本申请实施例方法的步骤。计算机可读存储介质可以是ROM、PROM、EPROM、EEPROM、Flash Memory、磁表面存储器、光盘、或CD-ROM等存储器。
需要说明的是：“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
另外，本申请实施例所记载的技术方案之间，在不冲突的情况下，可以任意组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请披露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (11)

  1. 一种相电流采集方法，包括：
    获取互感器采样调理电路的等效电气参数，所述互感器采样调理电路用于采集设置于电机的相线上的电流互感器的二次侧的电流信号；
    基于所述等效电气参数和电机转子的电角速度确定所述电流互感器的相移角；
    基于所述相移角对所述互感器采样调理电路采集的电流信号进行相移补偿，得到所述相线的相电流。
  2. 根据权利要求1所述的方法，其中，所述等效电气参数包括：等效电阻、等效电感及等效电容，所述基于所述等效电气参数和电机转子的电角速度确定所述电流互感器的相移角，采用如下公式：
    Figure PCTCN2022108620-appb-100001
    其中，θ为所述电流互感器的相移角，ω为电机转子的电角速度，R 0为等效电阻、L 0为等效电感，C 0为等效电容。
  3. 根据权利要求1所述的方法，其中，所述基于所述相移角对所述互感器采样调理电路采集的电流信号进行相移补偿，包括：
    基于微分补偿器H(jω)对所述互感器采样调理电路采集的电流信号进行相移补偿；所述微分补偿器H(jω)采用如下公式：
    Figure PCTCN2022108620-appb-100002
    其中，所述微分补偿器H(jω)的补偿相移角
    Figure PCTCN2022108620-appb-100003
    ω为电机转子的电角速度，a为第一校正参数，b为第二校正参数，所述补偿相移角
    Figure PCTCN2022108620-appb-100004
    与所述电流互感器的相移角的大小相等。
  4. 一种相电流采集装置，包括：
    获取模块，配置为获取互感器采样调理电路的等效电气参数，所述互感器采样调理电路配置为采集设置于电机的相线上的电流互感器的二次侧的电流信号；
    运算模块，配置为基于所述等效电气参数和电机转子的电角速度确定所述电流互感器的相移角；
    相移补偿模块，配置为基于所述相移角对所述互感器采样调理电路采集的电流信号进行相移补偿，得到所述相线的相电流。
  5. 根据权利要求4所述的相电流采集装置，其中，所述等效电气参数包括：等效电阻、等效电感及等效电容，所述运算模块采用如下公式：
    Figure PCTCN2022108620-appb-100005
    其中，θ为所述电流互感器的相移角，ω为电机转子的电角速度，R 0为等效电阻、L 0为等效电感，C 0为等效电容。
  6. 根据权利要求4所述的相电流采集装置，其中，所述相移补偿模块具体配置为：
    基于微分补偿器H(jω)对所述互感器采样调理电路采集的电流信号进行相移补偿；所述微分补偿器H(jω)采用如下公式：
    Figure PCTCN2022108620-appb-100006
    其中，所述微分补偿器H(jω)的补偿相移角
    Figure PCTCN2022108620-appb-100007
    ω为电机转子的电角速度，a为第一校正参数，b为第二校正参数，所述补偿相移角
    Figure PCTCN2022108620-appb-100008
    与所述电流互感器的相移角的大小相等。
  7. 一种相电流采集设备，包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器，其中，
    所述处理器，配置为运行计算机程序时，执行权利要求1至3任一项所述方法的步骤。
  8. 一种电机的相电流采集系统，包括：
    电流互感器，设置于三相电机的相线上；
    互感器采样调理电路，连接所述电流互感器的二次侧，用于采集所述电流互感器的二次侧的电流信号；
    如权利要求7所述的相电流采集设备，连接所述互感器采样调理电路，配置为对所述互感器采样调理电路输出的电流信号进行移相补偿，得到所述相线的相电流。
  9. 根据权利要求8所述的相电流采集系统，其中，
    所述电流互感器的数量为两个，分别设置于所述三相电机的任意两相的相线上，相应地，所述互感器采样调理电路为两个，与所述电流互感器一一对应设置。
  10. 根据权利要求8所述的相电流采集系统，其中，
    所述互感器采样调理电路包括：串接于所述电流互感器的二次侧的采样电阻及连接于采样电阻两端的用于差分放大的运算放大器。
  11. 一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时，实现权利要求1至3任一项所述方法的步骤。
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