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CN109600088B - Harmonic current injection device and method of three-phase inverter - Google Patents

Harmonic current injection device and method of three-phase inverter Download PDF

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Publication number
CN109600088B
CN109600088B CN201811281364.6A CN201811281364A CN109600088B CN 109600088 B CN109600088 B CN 109600088B CN 201811281364 A CN201811281364 A CN 201811281364A CN 109600088 B CN109600088 B CN 109600088B
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CN109600088A (en
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于子翔
孔武斌
曲荣海
李大伟
崔濛萌
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • 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
    • H02P25/08—Reluctance 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
    • 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
    • H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Ac Motors In General (AREA)
  • Synchronous Machinery (AREA)

Abstract

the invention discloses a harmonic current injection device and a method of a three-phase inverter, belonging to the field of alternating current motors and drive control, wherein the device comprises a rotor position sensor, a current distributor, a static/rotary coordinate conversion module, a d-axis current regulator, a q-axis current regulator, a rotary/static coordinate conversion module and a pulse width modulation module.

Description

Harmonic current injection device and method of three-phase inverter
Technical Field
The invention belongs to the field of alternating current motors and drive control, and particularly relates to a harmonic current injection device and method of a three-phase inverter.
Background
The current harmonic injection type vernier reluctance motor injects two sinusoidal alternating currents with different frequencies into each phase winding of the motor through a three-phase inverter, wherein a rotating magnetic potential generated by one sinusoidal current component and air gap magnetic conductance act to generate a modulation magnetic field, and then the modulation magnetic field and the rotating magnetic potential generated by the other sinusoidal current component interact to generate torque, so that electromechanical energy conversion is realized. The current utilization rate is improved by 11 percent compared with that of a direct-current injection type vernier reluctance motor; in addition, the complexity of the motor system controller part is obviously reduced, the cost is greatly reduced, and a three-phase inverter can be used for driving the motor to operate.
However, the existing control device and method can only perform the non-differential control on the fundamental current, and cannot perform the non-differential control on the harmonic current, so that the motor cannot output the maximum electromagnetic torque, and the working efficiency of the motor is also reduced. Therefore, it is necessary to research a control apparatus and a control method for realizing harmonic current injection by using a three-phase inverter, and simultaneously perform a differential-free control on a fundamental current and a harmonic current to realize a high-performance speed-regulating operation of a current-harmonic injection type vernier reluctance motor.
Disclosure of Invention
The invention provides a harmonic current injection device and a harmonic current injection method for a three-phase inverter, aiming at simultaneously carrying out no-difference control on fundamental current and harmonic current and realizing high-performance speed regulation operation of a current harmonic injection vernier reluctance motor, thereby solving the technical problems that the existing control device and method can only carry out no-difference control on the fundamental current and can not carry out no-difference control on the harmonic current.
To achieve the above object, according to one aspect of the present invention, there is provided a harmonic current injection apparatus of a three-phase inverter, including:
a rotor position sensor for acquiring a rotor position signal theta of the motorr；
Current distributor for setting a value i according to the d1 shaft currentd1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2And motor rotor position signal thetarAnd calculating to obtain d-axis current given value idAnd q-axis current set value iq*；
A stationary/rotating coordinate transformation module for receiving the motor rotor position signal thetarAnd current harmonic wave injection type vernier reluctance motor three-phase winding A, B, C phase current signal ia、ib、icThen the d-axis current feedback value i is obtained through conversiondQ-axis current feedback value iq；
A d-axis current regulator, the first input end of which is connected with the first output end of the current distributor, the second input end of which is connected with the first output end of the static/rotating coordinate transformation module, and used for calculating the d-axis current given value idFeedback value of x and d axis current idAnd based on the difference, outputting a d-axis voltage given value ud*；
A q-axis current regulator, the first input end of which is connected with the second output end of the current distributor, the second input end of which is connected with the second output end of the static/rotating coordinate transformation module, and used for calculating a q-axis current given value iqFeedback value i of current of x axis and q axisqAnd based on the difference, outputting a given value u of the q-axis voltageq*；
A rotating/stationary coordinate transformation module, the first input end of which is connected with the output end of the d-axis current regulator and the second input end of which is connected with the output end of the q-axis current regulator, and used for receiving a d-axis voltage given value udVoltage set value u of axis x and qqAnd rotor position signal thetarBased on the rotor position signal thetarD-axis voltage given value udAxis x and qGiven value of voltage uqtransforming the synthesized voltage vector to a stationary coordinate system to obtain an alpha axis given voltage u under the stationary α β coordinate systemαgiven voltage u on the x and beta axesβ*；
a pulse width modulation module, the input end of which is connected with the output end of the rotating/static coordinate transformation module and is used for giving a voltage u to the α axisαgiven voltage u on x and beta axesβPerforming space vector pulse width modulation and outputting a PWM signal; the PWM signal is used for controlling the output voltage of the three-phase inverter; the output voltage of the three-phase inverter acts on a three-phase winding of the current harmonic injection type vernier reluctance motor to control the current harmonic injection type vernier reluctance motor to operate.
Preferably, the current distributor obtains a d-axis current given value idGiven value of current of x and q axesqThe calculation formula is as follows:
Figure BDA0001848094290000031
wherein n isrThe number of pole pairs of the motor rotor is shown.
Preferably, the stationary/rotary coordinate transformation module transforms the d-axis current feedback value idQ-axis current feedback value iqThe conversion formula of (1) is as follows:
Figure BDA0001848094290000032
wherein n isrThe number of pole pairs of the motor rotor is shown.
Preferably, the d-axis current regulator adjusts the d-axis voltage given value udLet d-axis current set value idFeedback value of x and d axis current idIs always zero, i.e. for a given value i of d-axis currentdPerform the homodyne tracking.
Preferably, the q-axis current regulator adjusts the q-axis voltage given value uqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqIs always zero, i.e. for a given value i of the q-axis currentqProceed without differenceAnd (6) tracking.
Preferably, the transformation formula of the rotation/stationary coordinate transformation module is:
Figure BDA0001848094290000033
wherein n isrThe number of pole pairs of the motor rotor is shown.
preferably, the pulse width modulation module gives a voltage u to the α axisαgiven voltage u on x and beta axesβSpace vector pulse width modulation is carried out to generate A, B, C-phase voltage duty ratio signal Ta、Tb、TcAccording to said voltage duty cycle signal Ta、Tb、TcPWM signals acting on the phases of the three-phase inverter A, B, C are generated and output.
Preferably, the d-axis current regulator and the q-axis current regulator use proportional-integral-resonant (PIR) regulators to achieve a differential-free regulation of an ac given signal.
According to another aspect of the present invention, there is provided a harmonic current injection method of a three-phase inverter, including the steps of:
(1) setting value i according to d1 shaft currentd1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2Calculating to obtain d-axis current given value i when the motor runsdGiven value of current of x and q axes iq*；
(2) The motor rotor position signal thetarAnd current harmonic wave injection type vernier reluctance motor three-phase winding A, B, C phase current signal ia、ib、icThen converted to obtain d-axis current feedback value idQ-axis current feedback value iq；
(3) By adjusting d-axis voltage set value udLet d-axis current set value idFeedback value of x and d axis current idIs zero by adjusting the q-axis voltage set value uqA start toGiven value of q-axis current iqFeedback value i of current of x axis and q axisqThe difference of (a) is zero;
(4) according to d-axis voltage set value udVoltage set value u of axis x and qqAnd rotor position signal thetarand converting to obtain α axis given voltage u under the static alpha beta coordinate systemαgiven voltage u on the x and beta axesβ*；
(5) for alpha axis given voltage uαgiven voltage u on the x and beta axesβPerforming space vector pulse width modulation to generate A, B, C-phase PWM signals; the PWM signal is used for controlling the output voltage of the three-phase inverter;
(6) the output voltage of the three-phase inverter acts on the A, B, C phase winding of the current harmonic injection vernier reluctance motor, so that the motor winding generates a current signal with secondary current harmonic to control the operation of the current harmonic injection vernier reluctance motor.
Preferably, in step (1), d-axis current set value idGiven value of current of x and q axesqThe calculation formula is as follows:
Figure BDA0001848094290000051
wherein n isrIs the number of pole pairs, theta, of the motor rotorrIs a motor rotor position signal.
Preferably, in the step (2), the d-axis current feedback value i is obtained through conversiondQ-axis current feedback value iqThe conversion formula of (1) is as follows:
Figure BDA0001848094290000052
in the step (4), the alpha axis given voltage u under the stationary α β coordinate system is obtained through conversionαgiven voltage u on the x and beta axesβThe conversion formula is:
Figure BDA0001848094290000053
wherein n isrIs the number of pole pairs, theta, of the motor rotorrIs a motor rotor position signal.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) in the device of the invention, the d-axis current regulator adjusts the given value u of the d-axis voltagedLet d-axis current set value idFeedback value of x and d axis current idThe difference value of the d-axis current is always zero, and the d-axis current given value i is realizedd(xvi) no difference tracking; the q-axis current regulator regulates the given value u of q-axis voltageqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqThe difference value of the q-axis current is always zero, and the given value i of the q-axis current is realizedq(xvi) no difference tracking; compared with the prior art, the method can simultaneously carry out the differential control on the fundamental current and the harmonic current, and realize the high-performance speed regulation operation of the current-harmonic injection type vernier reluctance motor.
(2) The device can change the d1 shaft current set value i of the motord1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2And obtaining current set values of a d axis and a q axis as control quantities of the current harmonic wave injection type vernier reluctance motor. The invention can flexibly change the torque output capacity of the current harmonic injection type vernier reluctance motor, obviously improve the speed regulation performance of the current harmonic injection type vernier reluctance motor and is suitable for the drive control of the motor.
(3) The device provided by the invention aims at the self structural characteristics of the current harmonic injection type vernier reluctance motor, has high control precision and stability, and effectively ensures the torque capacity of the current harmonic injection type vernier reluctance motor.
(4) The method of the invention adjusts the d-axis voltage given value udLet d-axis current set value idFeedback value of x and d axis current idIs zero by adjusting the q-axis voltage set value uqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqIs zero(ii) a Thereby realizing d-axis current given value idGiven value of i and q axis currentq(ii) no-difference tracking of; compared with the prior art, the method can simultaneously carry out the differential control on the fundamental current and the harmonic current, and realize the high-performance speed regulation operation of the current-harmonic injection type vernier reluctance motor.
Drawings
FIG. 1 is a block diagram of a current harmonic injection vernier reluctance machine according to the present invention;
fig. 2 is a schematic diagram of a harmonic current injection device of a three-phase inverter according to an embodiment of the present invention;
fig. 3 is a current waveform of the current harmonic injection vernier reluctance motor according to an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same elements or structures, wherein:
1. a stator; 2. A rotor; 3. winding wire
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a harmonic current injection device and method of a three-phase inverter, which are suitable for the drive control of a current harmonic injection type vernier reluctance motor.
As shown in fig. 1, the current harmonic injection vernier reluctance motor structure according to the present invention includes a stator 1, a rotor 2, and a winding 3.
The current introduced into each phase of winding of the motor is formed by overlapping two sinusoidal current components with different frequencies, and the frequency of the introduced harmonic current is two times of the frequency of the fundamental current. The rotating magnetic potential generated by one sinusoidal current component interacts with the air gap magnetic conductance to generate a modulation magnetic field, and then interacts with the rotating magnetic potential generated by the other sinusoidal current component to generate torque, so that electromechanical energy conversion is realized.
As shown in fig. 2, the harmonic current injection device for a three-phase inverter according to an embodiment of the present invention is applied to a three-phase inverter 5 and a current harmonic injection vernier reluctance motor 6, and includes a current distributor 1, a d-axis current regulator 2a, a q-axis current regulator 2b, a rotating/stationary coordinate transformation module 3, a pulse width modulation module 4, a rotor position sensor 7, and a stationary/rotating coordinate transformation module 8; wherein,
the rotor position sensor 7 is used for detecting a motor rotor position signal thetarAnd output.
The current distributor 1 is used for receiving an input signal d1 shaft current given value id1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2And motor rotor position signal thetarAccording to the input signals, a d-axis current set value i is calculateddAnd q-axis current set value iqAnd outputting; the calculation formula is as follows:
Figure BDA0001848094290000071
wherein n isrThe number of pole pairs of the motor rotor is shown.
A stationary/rotating coordinate transformation module 8 for receiving the motor rotor position signal thetarAnd current harmonic wave injection type vernier reluctance motor three-phase winding A, B, C phase current signal ia、ib、icConverting the D-axis and the q-axis direct current signals to obtain d-axis and q-axis direct current signals which are respectively used as d-axis current feedback values idQ-axis current feedback value iq(ii) a The conversion formula is:
Figure BDA0001848094290000072
a d-axis current regulator 2a, a first input of which is connected to a first output of the current distributor 1The second input end is connected with the first output end of the static/rotating coordinate transformation module 8 and used for receiving a d-axis current given value idFeedback value of x and d axis current idCalculating d-axis current set value idFeedback value of x and d axis current idAnd based on the difference, outputting a d-axis voltage given value ud*. The d-axis current regulator 2a regulates the given value u of d-axis voltagedLet d-axis current set value idFeedback values of x and d axis currents idDifference i ofd*-idAlways zero, i.e. given value i for d-axis currentdPerform the homodyne tracking.
A q-axis current regulator 2b having a first input connected to the second output of said current distributor and a second input connected to the second output of the stationary/rotating coordinate transformation module 8, for receiving a q-axis current setpoint iqFeedback value i of current of x axis and q axisqCalculating a given value i of the q-axis currentqFeedback value i of current of x axis and q axisqAnd based on the difference, outputting a given value u of the q-axis voltageq*. The q-axis current regulator 2b regulates a given value u of q-axis voltageqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqDifference i ofq*-iqAlways zero, i.e. given value i for q-axis currentqPerform the homodyne tracking.
To achieve a uniform regulation of an ac given signal, d-axis and q-axis current regulators typically use proportional-integral-resonant (PIR) regulators.
A rotating/stationary coordinate transformation module 3, a first input of which is connected to the output of the d-axis current regulator 2a and a second input of which is connected to the output of said q-axis current regulator 2b, for receiving a d-axis voltage setpoint udVoltage set value u of q axisqAnd rotor position signal thetarBased on the rotor position signal thetarD-axis voltage given value udVoltage set value u of axis x and qqtransforming the synthesized voltage vector to a stationary coordinate system to obtain an alpha axis given voltage u under the stationary α β coordinate systemαgiven voltage u on the x and beta axesβA first step of; the transformation formula is as follows:
Figure BDA0001848094290000081
a pulse width modulation module 4, α shaft input end of which is connected with α shaft output end of α shaft rotating/static coordinate transformation module 3 and is used for receiving α shaft given voltage u of α shaft alpha axisαgiven voltage u on x and beta axesβgiven a voltage u to the α axisαgiven voltage u on x and beta axesβSpace Vector Pulse Width Modulation (SVPWM) is carried out to generate A, B, C-phase voltage duty ratio signal Ta、Tb、TcFinally, PWM signal PWM1-6 acting on A, B, C phase of inverter 5 is generated; PWM signal PWM1-6 is used to control the output voltage of the three-phase inverter.
The inverter 5 comprises a direct-current power supply and 6 IGBTs, wherein the output end A, B, C of the inverter is respectively connected with the input ends of A, B, C phases of the current harmonic injection type vernier reluctance motor; the output voltage of the inverter 5 acts on the three-phase winding of the current harmonic injection vernier reluctance motor to control the current of A, B, C phase of the three-phase winding of the current harmonic injection vernier reluctance motor and generate a current signal i of A, B, C phase of the three-phase winding with second harmonic corresponding to the input PWM signala、ib、icAnd controlling the current harmonic wave injection type vernier reluctance motor to operate, and finally realizing the no-difference tracking of the d-axis current and the q-axis current.
The embodiment of the invention also provides a harmonic current injection method of the three-phase inverter, which comprises the following steps:
(1) setting value i according to d1 shaft currentd1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2Calculating to obtain d-axis current given value i when the motor runsdGiven value of current of x and q axes iq*；
(2) The motor rotor position signal thetarAnd current harmonic wave injection type vernier reluctance motor three-phase winding A, B, C phase current signal ia、ib、icIs converted intoFeedback value i of current to d axisdQ-axis current feedback value iq；
(3) By adjusting d-axis voltage set value udLet d-axis current set value idFeedback value of x and d axis current idIs zero by adjusting the q-axis voltage set value uqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqThe difference of (a) is zero;
(4) according to d-axis voltage set value udVoltage set value u of axis x and qqAnd rotor position signal thetarand converting to obtain α axis given voltage u under the static alpha beta coordinate systemαgiven voltage u on the x and beta axesβ*；
(5) for alpha axis given voltage uαgiven voltage u on the x and beta axesβPerforming space vector pulse width modulation to generate A, B, C-phase PWM signals; the PWM signal is used for controlling the output voltage of the three-phase inverter;
(6) the output voltage of the three-phase inverter acts on the A, B, C phase winding of the current harmonic injection vernier reluctance motor, so that the motor winding generates a current signal with secondary current harmonic to control the operation of the current harmonic injection vernier reluctance motor.
Further, in the step (1), the d-axis current set value idGiven value of current of x and q axesqThe calculation formula is as follows:
Figure BDA0001848094290000101
wherein n isrIs the number of pole pairs, theta, of the motor rotorrIs a motor rotor position signal.
Further, in the step (2), a d-axis current feedback value i is obtained through conversiondQ-axis current feedback value iqThe conversion formula of (1) is as follows:
Figure BDA0001848094290000102
further, in α axis step (4), α axis given voltage u of α axis alpha axis under α axis static alpha and beta coordinate system is obtained through conversionαgiven voltage u on the x and beta axesβThe conversion formula is:
Figure BDA0001848094290000103
wherein n isrIs the number of pole pairs, theta, of the motor rotorrIs a motor rotor position signal.
The harmonic current injection device and the method of the three-phase inverter provided by the embodiment of the invention are used for injecting the harmonic current, and the method comprises the following steps:
(1) the current distributor 1 gives a given value i according to the shaft current d1d1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2Calculating to obtain d-axis current given value i when the motor runsdGiven value of current of x and q axes iq*；
(2) The motor rotor position signal thetarAnd current harmonic wave injection type vernier reluctance motor three-phase winding A, B, C phase current signal ia、ib、icInputting the current into a static/rotating coordinate transformation module, and transforming the current into a d-axis current feedback value i by the static/rotating coordinate transformation moduledQ-axis current feedback value iq；
(3) The d-axis current regulator 2a regulates the given value u of d-axis voltagedLet d-axis current set value idFeedback value of x and d axis current idIs zero, the q-axis current regulator 2b regulates the q-axis voltage given value uqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqThe difference of (a) is zero;
(4) the rotating/static coordinate transformation module 3 gives a value u according to the d-axis voltagedVoltage set value u of axis x and qqAnd rotor position signal thetarand converting to obtain α axis given voltage u under the static alpha beta coordinate systemαgiven voltage u on the x and beta axesβ*；
(5) pulse width modulation module 4 sets voltage u to α axisαgiven voltage u on the x and beta axesβPerforming Space Vector Pulse Width Modulation (SVPWM) to generate A, B, C-phase PWM signals PWM 1-6; the PWM signal PWM1-6 is used for controlling the output voltage of the three-phase inverter;
(6) the output voltage of the three-phase inverter acts on the A, B, C phase winding of the current harmonic injection vernier reluctance motor, so that the motor winding generates a current signal with secondary current harmonic to control the operation of the current harmonic injection vernier reluctance motor.
Given value i of d1 shaft currentd1Given value of shaft current i 19A, q1q1Axle current given value i of 0A, d2d2Given value of shaft current i 19A, q2q2initial phase angle α of 0A, dq1 rotating coordinate system1initial phase angle α of 0 ° dq2 rotating coordinate system2Taking the case of 0 ° as an example, the current waveform in each phase winding of the current harmonic injection vernier reluctance motor obtained by using the apparatus and method of the present invention is shown in fig. 3. The resulting phase current waveform of the machine includes a sinusoidal fundamental current component, as well as a second harmonic current component. The fundamental current component and the second harmonic current component interact with each other to generate torque, so that the motor is driven to stably operate.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. A harmonic current injection device of a three-phase inverter comprises a rotor position sensor for acquiring a motor rotor position signal thetar(ii) a It is characterized by also comprising:
current distributor for setting a value i according to the d1 shaft currentd1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2And motor rotor position signal thetarCalculating to obtain d-axis currentGiven value idAnd q-axis current set value iq*；
A stationary/rotating coordinate transformation module for receiving the motor rotor position signal thetarAnd current harmonic wave injection type vernier reluctance motor three-phase winding A, B, C phase current signal ia、ib、icThen the d-axis current feedback value i is obtained through conversiondQ-axis current feedback value iq；
A d-axis current regulator, the first input end of which is connected with the first output end of the current distributor, the second input end of which is connected with the first output end of the static/rotating coordinate transformation module, and used for calculating the d-axis current given value idFeedback value of x and d axis current idAnd based on the difference, outputting a d-axis voltage given value ud*；
A q-axis current regulator, the first input end of which is connected with the second output end of the current distributor, the second input end of which is connected with the second output end of the static/rotating coordinate transformation module, and used for calculating a q-axis current given value iqFeedback value i of current of x axis and q axisqAnd based on the difference, outputting a given value u of the q-axis voltageq*；
A rotating/stationary coordinate transformation module, the first input end of which is connected with the output end of the d-axis current regulator and the second input end of which is connected with the output end of the q-axis current regulator, and used for receiving a d-axis voltage given value udVoltage set value u of axis x and qqAnd rotor position signal thetarBased on the rotor position signal thetarD-axis voltage given value udVoltage set value u of axis x and qqtransforming the synthesized voltage vector to a stationary coordinate system to obtain an alpha axis given voltage u under the stationary α β coordinate systemαgiven voltage u on the x and beta axesβ*；
a pulse width modulation module, the input end of which is connected with the output end of the rotating/static coordinate transformation module and is used for giving a voltage u to the α axisαgiven voltage u on x and beta axesβPerforming space vector pulse width modulation and outputting a PWM signal; the PWM signal is used for controlling the output voltage of the three-phase inverter; output of three-phase inverterAnd the voltage acts on a three-phase winding of the current harmonic wave injection type vernier reluctance motor to control the current harmonic wave injection type vernier reluctance motor to operate.
2. The harmonic current injection apparatus of claim 1, wherein the current distributor obtains a d-axis current set value idGiven value of current of x and q axesqThe calculation formula is as follows:
Figure FDA0001848094280000021
wherein n isrThe number of pole pairs of the motor rotor is shown.
3. The harmonic current injection apparatus of claim 1, wherein the stationary/rotating coordinate transformation module transforms the d-axis current feedback value idQ-axis current feedback value iqThe conversion formula of (1) is as follows:
Figure FDA0001848094280000022
wherein n isrThe number of pole pairs of the motor rotor is shown.
4. The harmonic current injection apparatus of claim 1 wherein the d-axis current regulator adjusts the d-axis voltage by a set value udLet d-axis current set value idFeedback value of x and d axis current idIs always zero, i.e. for a given value i of d-axis currentdPerform the homodyne tracking.
5. The harmonic current injection apparatus of claim 1 wherein said q-axis current regulator adjusts the q-axis voltage setpoint uqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqIs always zeroI.e. for a given value of q-axis current iqPerform the homodyne tracking.
6. The harmonic current injection apparatus of a three-phase inverter according to claim 1, wherein the conversion formula of the rotating/stationary coordinate conversion module is:
Figure FDA0001848094280000031
wherein n isrThe number of pole pairs of the motor rotor is shown.
7. the harmonic current injection apparatus of claim 1 wherein the pulse width modulation module provides a given voltage u to α axisαgiven voltage u on x and beta axesβSpace vector pulse width modulation is carried out to generate A, B, C-phase voltage duty ratio signal Ta、Tb、TcAccording to said voltage duty cycle signal Ta、Tb、TcPWM signals acting on the phases of the three-phase inverter A, B, C are generated and output.
8. A harmonic current injection method of a three-phase inverter is characterized by comprising the following steps:
(1) setting value i according to d1 shaft currentd1Given value of shaft current i and q1q1Given value of shaft current i and d2d2Given value of shaft current i and q2q2initial phase angle α of dq1 rotating coordinate system1initial phase angle α of dq2 rotating coordinate system2Calculating to obtain d-axis current given value i when the motor runsdGiven value of current of x and q axes iq*；
(2) The motor rotor position signal thetarAnd current harmonic wave injection type vernier reluctance motor three-phase winding A, B, C phase current signal ia、ib、icThen converted to obtain d-axis current feedback value idQ-axis current feedback value iq；
(3) By regulating d-axis voltage toConstant value udLet d-axis current set value idFeedback value of x and d axis current idIs zero by adjusting the q-axis voltage set value uqMaking q-axis current given value iqFeedback value i of current of x axis and q axisqThe difference of (a) is zero;
(4) according to d-axis voltage set value udVoltage set value u of axis x and qqAnd rotor position signal thetarand converting to obtain α axis given voltage u under the static alpha beta coordinate systemαgiven voltage u on the x and beta axesβ*；
(5) for alpha axis given voltage uαgiven voltage u on the x and beta axesβPerforming space vector pulse width modulation to generate A, B, C-phase PWM signals; the PWM signal is used for controlling the output voltage of the three-phase inverter;
(6) the output voltage of the three-phase inverter acts on the A, B, C phase winding of the current harmonic injection vernier reluctance motor, so that the motor winding generates a current signal with secondary current harmonic to control the operation of the current harmonic injection vernier reluctance motor.
9. The harmonic current injection method of a three-phase inverter according to claim 8, wherein in the step (1), the d-axis current set value i isdGiven value of current of x and q axesqThe calculation formula is as follows:
Figure FDA0001848094280000041
wherein n isrIs the number of pole pairs, theta, of the motor rotorrIs a motor rotor position signal.
10. The harmonic current injection method of a three-phase inverter according to claim 8, wherein in the step (2), the d-axis current feedback value i is obtained by conversiondQ-axis current feedback value iqThe conversion formula of (1) is as follows:
Figure FDA0001848094280000042
in the step (4), the alpha axis given voltage u under the stationary α β coordinate system is obtained through conversionαgiven voltage u on the x and beta axesβThe conversion formula is:
Figure FDA0001848094280000043
wherein n isrIs the number of pole pairs, theta, of the motor rotorrIs a motor rotor position signal.
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