CN109639215A - A kind of three phase alternating current motor current harmonics suppressing method - Google Patents
A kind of three phase alternating current motor current harmonics suppressing method Download PDFInfo
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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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
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Abstract
一种三相交流电机电流谐波抑制方法，将电机三相电流通过低通滤波器提取出谐波分量总和，然后经过谐波分量调节器获取所需注入的谐波电压分量值，再将谐波电压分量值叠加到d、q轴电流闭环控制器的输出电压控制信号中得到目标参考电压。通过空间矢量脉宽调制技术获取功率驱动模块的控制信号。本发明可以实现对d‑q轴电流直流分量和电流全阶次谐波分量的解耦及独立控制，有效减少各个阶次电流谐波含量。
A three-phase AC motor current harmonic suppression method, the three-phase current of the motor is passed through a low-pass filter to extract the sum of harmonic components, and then the harmonic voltage component value to be injected is obtained through a harmonic component regulator, and then the harmonic components are adjusted. The wave voltage component values are superimposed on the output voltage control signals of the d and q-axis current closed-loop controllers to obtain the target reference voltage. The control signal of the power drive module is obtained by space vector pulse width modulation technology. The invention can realize the decoupling and independent control of the d-q axis current direct current component and the current full-order harmonic component, and effectively reduce the current harmonic content of each order.
Description
Technical field
The present invention relates to a kind of three phase alternating current motor control methods.
Background technique
Requirement with modern industry to motor control performance is higher and higher, and Field orientable control is widely used in exchanging
Motor high performance control occasion.What Field orientable control was realized by the direction of rotor field, so that in synchronously rotating reference frame
Stator current can be decomposed into excitation component and torque component under system, obtain target voltage ginseng using proportional and integral controller
Value is examined, the control signal of power driver module is finally obtained using space vector pulse width modulation (SVPWM) technology, to realize
The high performance control of alternating current generator.Due to the distortion of alternating current generator air-gap field and the presence for the factors such as inverter is non-linear, lead
Harmonic component rich in machine three-phase current is sent a telegraph, therefore traditional d-q shaft-type governor should control DC component again
AC compounent is controlled, so that current harmonic content is higher.Machine winding and the induction reactance of filter have high-frequency current harmonic wave
More apparent inhibitory effect, but it is limited to low-frequency harmonics inhibitory effect, and the presence of low-order harmonic causes the efficiency of motor to drop
Low and control device reliability reduction.
In order to solve influence of the low-order harmonic to motor control performance in electric current, there is scholar to propose some solutions,
Such as application No. is 200410053929.7 patent " a kind of rotors of low harmony wave permanent magnet synchronous motor ", and the patent is mainly with optimization
The sine degree of motor gas-gap Distribution of Magnetic Field improves current harmonics component caused by distorted magnetic field, but it is unable to improve due to inverse
Become current harmonics component caused by device nonlinear characteristic.It is " equivalent based on voltage that application No. is 201010268341.9 patents
The voltage compensating method of non-inverting output ", mainly contained by compensating the nonlinear characteristic of inverter to improve the harmonic wave of electric current
Amount, but it can not compensate the harmonic current due to caused by the motor gas-gap distortion of field.Application No. is 201110145038.4
Patent " control method that a kind of harmonic voltage inhibits permanent magnet synchronous motor harmonic current ", the method proposed is mainly used to
Improve 5 times and 7 primary current harmonic components in electric current, structure is complicated since this method is computationally intensive, is not appropriate for for electric current
Middle each harmonic component is inhibited.In summary it is found that being the high performance control for realizing motor, need to develop a kind of simple
Practical electric current low-order harmonic suppressing method.
Summary of the invention
The purpose of the present invention is overcoming in traditional vector controlled current control scheme, d-q shaft current adjuster is mainly used
In realizing to the control of the DC component of electric current, it cannot achieve the shortcomings that effectively controlling the AC compounent of electric current, propose one kind
Thee-phase alternating current permanent-magnetic current of electric harmonic suppressing method.
Output voltage control signal u of the present invention in traditional d-q shaft current closed loop controllerd、uqIn, it is injected separately into benefit
Repay harmonic voltage control signal delta ud、Δuq, realized by applying the closed-loop control that target is zero to individual harmonic current summation
Inhibition, without being inhibited respectively to individual harmonic current component.The present invention is not influencing the direct current point to d-q shaft current
Under the premise of measuring control effect, the decoupling under rotating coordinate system to the DC component and AC compounent of d-q shaft current is realized
Control.
The present invention is suitable for including asynchronous machine, magneto and brshless DC motor to all alternating current generators, below
Illustrate technical solution of the present invention by taking magneto as an example.
It include DC bus-bar voltage source, current sampling circuit, three-phase using magneto speed-adjusting and control system of the invention
Inverter, dsp controller and power driver module.The present invention acquires DC side mother by electric current and voltage hall sensor respectively
The phase current of line voltage and magneto inputs voltage sampling signal and current sampling signal after hardware conditioning circuit
Be converted to digital signal in dsp controller, digital signal input power drive module again realizes the control to magneto.
The step of three phase alternating current motor current harmonics suppressing method of the present invention includes:
Step 1: the motor three-phase current sampled value that current sensor is sampled passes through Clark, Park coordinate transform,
Obtain the current sampling data i under d-q axis coordinate systemdWith iq；
Step 2: the reference current amplitude in vector controlled is obtained by revolving speed outer ring pi regulatorPass through current division ratio
(MTPA) current reference value under d-q axis coordinate system is respectively obtainedWithThe current reference valueRespectively with electric current
Sampled value idWith iqIt is poor to make, and obtains output voltage control signal u by d, q shaft current closed loop controllerd、uq；
Step 3: the low pass of the current sampling data input harmonic current observer under the d-q axis coordinate system that step 1 is obtained
In filter, d, q shaft current DC component are extracted by d axis low-pass filter and q axis low-pass filterD-q axis is sat
The DC component of d, q shaft current of current sampling data and extraction under mark systemIt makes the difference, obtains total harmonic current components
It is shown below:
In formula, id、iqIt is transformed into the electric current obtained under d-q axis coordinate system for three-phase current sampled value,For d-q axis seat
Mark is the direct current component value of lower electric current, TfFor the time constant of low-pass first order filter, s is that differential operator accords in complex frequency domain
Number；
Step 4: the closed-loop control that target is zero being applied to total harmonic current that step 3 obtains, obtains harmonic voltage control
Signal delta ud、Δuq:
In formula, kphd、kihd、kphq、kihqRatio and integration system respectively in harmonic current controller in d-q shaft-type governor
Number, s are differential operator symbol in complex frequency domain；
Step 5: the harmonic voltage control signal delta u that step 4 is obtaineddWith Δ uqD, q axis electricity that the step 2 that is added to obtains
Flow the output voltage control signal u of closed loop controllerd、uqIn, new voltage control signal generated passes through PWM modulation strategy
Operation, the driving control signal of magneto speed-adjusting and control system power module is generated by dsp controller, and is sent into power mould
Block executes, the final inhibition realized to three phase alternating current motor current harmonics.
The factors such as alternating current generator air-gap field presence distortion and inverter are non-linear, cause to contain in three phase alternating current motor electric current
There is a large amount of harmonic component, traditional d-q shaft-type governor controls DC component and AC compounent simultaneously will will lead to current harmonics
Content is higher.Harmonic voltage control letter is calculated by applying the closed-loop control that target is zero to total harmonic current in the present invention
Number, above-mentioned harmonic voltage control signal is injected into DC voltage control signal, superimposed voltage signal is sweared as space
Pulsewidth modulation reference voltage value is measured, generates magneto speed-adjusting and control system power driver module by PWM modulation strategy operation
Control signal, finally realize effective inhibition to individual harmonic current component.The present invention realizes under d-q axis coordinate system
The decoupling control of DC component and AC compounent under rotating coordinate system to d-q shaft current.Inventive algorithm structure is simple,
Operand is smaller, versatile, has preferable each harmonic inhibitory effect.
Detailed description of the invention
Fig. 1 is magneto speed-adjusting and control system structural schematic diagram；
Fig. 2 is that Control System of AC Permanent Magnet Synchronous current harmonics inhibits control block diagram；
Fig. 3 is Control System of AC Permanent Magnet Synchronous harmonic component extraction and compensation control block diagram；
Fig. 4 is that magneto is under 800rpm band 120Nm load behavior, B before compensating, C phase current experimental waveform；
Fig. 5 is that magneto is under 800rpm band 120Nm load behavior, B phase current frequency spectrum before compensating；
Fig. 6 is that magneto is under 800rpm band 120Nm load behavior, for Current experiments wave after the compensation of 2 subharmonic
Shape；
Fig. 7 is that magneto is under 800rpm band 120Nm load behavior, for current spectrum after the compensation of 2 subharmonic；
Fig. 8 is that magneto is under 800rpm band 120Nm load behavior, uses Current experiments after compensation policy of the present invention
Waveform；
Fig. 9 is that magneto is under 800rpm band 120Nm load behavior, uses electric current frequency after compensation policy of the present invention
Spectrum；
Figure 10 is that magneto is under 800rpm band 120Nm load behavior, id Current experiments waveform and frequency spectrum before compensating；
Figure 11 is that magneto is under 800rpm band 120Nm load behavior, using id electric current after strategy compensation of the invention
Experimental waveform and frequency spectrum；
Figure 12 is that magneto is under 800rpm band 120Nm load behavior, iq Current experiments waveform and frequency spectrum before compensating；
Figure 13 is that magneto is under 800rpm band 120Nm load behavior, using iq electric current after strategy compensation of the invention
Experimental waveform and frequency spectrum.
Specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
In following embodiment, alternating current generator is by taking magneto as an example, and inverter is by taking two level PWM voltage source inverters as an example.
Fig. 1 is magneto speed-adjusting and control system electrical block diagram, and the control system includes DC bus electricity
Potential source, current sampling circuit, three-phase inverter, dsp controller and power driver module.The present invention passes through electric current and voltage Hall
Sensor acquires the phase current of DC side busbar voltage and magneto respectively, then by voltage sampling signal and current sampling signal
It is input in dsp controller after hardware conditioning circuit and is converted to digital signal.Controller generates magneto speed regulating control
The driving control signal of system power module, and it is sent into power module execution.
Fig. 2 is current harmonics suppressing method control block diagram in AC magnetoelectric machine speed-regulating system, including current DC
Component pi regulator and full order harmonic current compensation unit.Harmonic current observer 2 and harmonic current controller 3 constitute entirely
Order harmonic current compensation unit 1, as shown in Figure 3.Entire permanent magnet speed regulation system control algolithm dsp controller shown in Fig. 1
It realizes.
As shown in Fig. 2, steps are as follows by the present invention:
(1) first step samples to obtain motor three-phase current sampled value by current sensor, then by Clark with
Park converts to obtain the current sampling data i under d-q axis coordinate systemdWith iq；
(2) second step obtains reference current by revolving speed outer ring pi regulator in magneto Vector Speed-Control System
AmplitudeThen the current reference value under d-q axis coordinate system is respectively obtained by current division ratio (MTPA)With
(3) third step, the current reference value under the d-q axis coordinate system that second step is obtainedIt is obtained with the first step
Current sampling data i under d-q axis coordinate systemd、iqIt makes the difference, difference obtains output voltage control by current dc component pi regulator
Signal u processedd、uq；
(4) the 4th steps realize the extraction to total harmonic current based on harmonic current observer.As shown in figure 3, full order is humorous
Wave current compensation unit 1 is made of harmonic current observer 2 and 3 two parts of harmonic wave current controller, and wherein harmonic current is observed
Device 2 is mainly made of low-pass filter.
Specific steps are as follows: the current sampling data i under the d-q axis coordinate system for obtaining the first stepd、iqLow-pass filter is inputted,
Extract id、iqDC componentAgain by the current sampling data i under d-q axis coordinate systemd、iqWith its DC component
Subtract each other, extracts total harmonic current, i.e. individual harmonic current summation
In formula, TfFor the time constant of low-pass first order filter, s is symbol of the differential operator in complex frequency domain.
(5) the 5th steps, to guarantee that low-pass first order filter used in the 4th step can filter out as far as possible in d-q shaft current
AC compounent, while harmonic component extraction process being made to keep faster response speed, therefore first-order low-pass in the present invention again
The time constant T of wavefIt designs as follows:
In formula, fiIt is the fundamental frequency of phase current, ωcIt is off frequency.
(6) the 6th steps, the harmonic current controller 3 based on full order harmonic current compensation unit 1 are realized to harmonic current
Control.Method particularly includes: the total harmonic current extracted in the 4th step makes the difference with harmonic current instruction value zero, the difference warp of acquisition
Crossing pi regulator can be obtained harmonic voltage control signal delta udWith Δ uqAre as follows:
In formula, kphd、kihd、kphq、kihqRatio and integral respectively in harmonic current controller 3 in d-q shaft-type governor
Coefficient, s are differential operator symbol in complex frequency domain.
(7) the 7th steps, the harmonic voltage signal delta u that will be obtained in the 6th stepdWith Δ uqBe added to the electricity obtained in third step
In voltage-controlled signal processed, target reference voltage signal is obtainedWith
(8) the 8th steps, the target reference voltage vector obtained according to the 7th stepWithPass through Park inverse transformation and sky again
Between Vector Pulse Width Modulation (SVPWM) obtain the control signal of power driver module.
The present invention is of the invention effective to verify by Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, experimental waveform shown in Fig. 9 comparison
Property.It is the phase current experimental waveform and spectrogram for not carrying out harmonic current control shown in Fig. 4 and Fig. 5, Fig. 6 and Fig. 7 show Shen
Please numbers 201110145038.4 patent " control method that a kind of harmonic voltage inhibits permanent magnet synchronous motor harmonic current "
The phase current experimental waveform and spectrogram of the specific subfrequency control strategy proposed, Fig. 8 and Fig. 9 are shown using the present invention
Phase current experimental waveform and spectrogram after harmonic current control strategy.Due in the patent application No. is 201110145038.4
The specific subfrequency control strategy proposed needs the harmonic wave for the different frequencys to be respectively controlled, but it is humorous to carry out multifrequency time
Wave inhibit calculation amount it is very big, from the point of view of Fig. 5 analysis of harmonic spectrum result, low-order harmonic content is very high, especially with motor around
The caused second harmonic of group non-sine distribution is the most prominent, therefore based on being proposed in the patent application No. is 201110145038.4
Specific subfrequency control strategy only select the highest 2 subfrequency control strategy of amplitude to compare.The present invention
All waveforms be all to be carried out under the operating condition that 800rpm is loaded with 120Nm in magneto stable operation.
As shown in Fig. 5 and Fig. 9, after inhibiting strategy using current harmonics proposed by the present invention, low-order harmonic has been obtained more preferably
Inhibition, the waveform of phase current has been approached the sine of standard, 2 under the operating condition that 800rpm is loaded with 120Nmth、3th、4th、5thIt is secondary
Harmonic amplitude is reduced to 12A, 1A, 1.5A, 3A from original 28.5A, 4A, 3.5A, 4A respectively, current total harmonic distortion rate by
23.32% is reduced to 12.27%.Fig. 7 is that " a kind of harmonic voltage inhibits the control of permanent magnet synchronous motor harmonic current using patent
Method processed " in propose the motor B phase current frequency spectrum based on 2 subfrequency control strategies, current total harmonic distortion rate is only
Fall below 18.59%.Figure 10, Figure 11, Figure 12, Figure 13 are set forth compensated using harmonics restraint strategy of the invention before
Electric current actual sample value i under d-q axis coordinate system afterwardsdAnd iqExperimental waveform, it can be seen that after compensation, electric current under d-q axis coordinate system
Actual sample value idAnd iqIn alternating component obtained effective inhibition, the amplitude of each frequency low-order harmonic has apparent drop
It is low.Can be obtained by the comparison of above-mentioned experimental waveform: harmonics restraint strategy of the invention can be each in significantly more efficient reduction electric current
The amplitude of order harmonic components, compared to patent " control method that a kind of harmonic voltage inhibits permanent magnet synchronous motor harmonic current "
The method of proposition, harmonics restraint strategy of the invention can significantly improve the sine degree of phase current waveform.
Claims (1)
1. a kind of three phase alternating current motor current harmonics suppressing method, which is characterized in that the method for inhibiting harmonic current is in d-q
The output voltage control signal u of shaft current closed loop controllerd、uqIn, difference compensation harmonic voltage control signal Δ ud、Δuq, real
Now to the inhibition of individual harmonic current summation；Steps are as follows:
Step 1: the motor three-phase current sampled value that current sensor is sampled passes through Clark, Park coordinate transform, obtains
Current sampling data i under d-q axis coordinate systemdWith iq；
Step 2: the reference current amplitude in vector controlled is obtained by revolving speed outer ring pi regulatorDistinguished by current division ratio
Obtain the current reference value under d-q axis coordinate systemWithThe current reference valueRespectively with current sampling data idWith
iqMake poor, the output voltage control signal u obtained by d, q shaft current closed loop controllerd、uq；
Step 3: the low pass filtered of the current sampling data input harmonic current observer (2) under the d-q axis coordinate system that step 1 is obtained
In wave device, d, q shaft current DC component are extracted by d axis low-pass filter and q axis low-pass filterBy d-q axial coordinate
The DC component of d, q shaft current of current sampling data and extraction under systemIt makes the difference, obtains total harmonic current componentsSuch as
Shown in following formula:
In formula, id、iqIt is transformed into the electric current obtained under d-q axis coordinate system for three-phase current sampled value,For d-q axis coordinate system
The direct current component value of lower electric current, TfFor the time constant of low-pass first order filter, s is differential operator symbol in complex frequency domain；
Step 4: the closed-loop control that target is zero being applied to total harmonic current that step 3 obtains, obtains harmonic voltage control signal
Δud、Δuq:
In formula, kphd、kihd、kphq、kihqRatio and integration system respectively in harmonic current controller (3) in d-q shaft-type governor
Number, s are differential operator symbol in complex frequency domain；
Step 5: the harmonic voltage control signal delta u that step 4 is obtaineddWith Δ uqD, q shaft current that the step 2 that is added to obtains are closed
The output voltage u of ring controllerd、uqIn, new voltage control signal generated passes through the operation of PWM modulation strategy, by DSP
Controller generates the driving control signal of magneto speed-adjusting and control system power module, is sent into power module and executes, realization pair
The inhibition of three phase alternating current motor current harmonics.
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