CN116418264B - Admittance remodeling-based thin-film capacitor motor driver grid-side current oscillation suppression method - Google Patents
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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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Abstract
The invention discloses a method for suppressing current oscillation on a power grid side of a thin-film capacitor motor driver based on admittance remodeling, and belongs to the field of thin-film capacitor motor driving systems. The method mainly comprises the steps of admittance reshaping of a thin film capacitor motor driver and current oscillation suppression at the power grid side; and analyzing the influence of bus voltage fluctuation and digital delay in the modulation process on the basis of the power fluctuation of the inverter side in the thin film capacitor system to obtain an equivalent admittance model of the inverter side considering the dynamic characteristics of the motor side. And correcting the output voltage of the inverter according to the collected direct-current voltage to obtain the remodeled inverter side equivalent admittance. The method can prevent the voltage feedforward compensation from losing efficacy, promote the rapidity of adjustment and inhibit overshoot, avoid the saturation phenomenon of a current adjusting unit, enable an inverter to be effectively controlled, and improve the effect of current oscillation inhibition on the power grid side.
Description
Technical Field
The invention relates to the field of thin-film capacitor motor driving systems, in particular to a thin-film capacitor motor driver grid side current oscillation suppression method based on admittance reshaping.
Background
Conventional motor drives typically employ hundreds of uF high capacity electrolytic capacitors to provide energy buffering for the dc bus and to maintain bus voltage stability. However, the electrolytic capacitor is susceptible to environmental temperature and pressure, and the like, so that the electrolyte is invalid, and the motor driver is caused to malfunction even. Therefore, the electrolytic capacitor in the traditional motor driver is replaced by the small-capacity film capacitor, and the method has obvious significance for improving the power density and reliability of the whole motor driver. Meanwhile, the bus voltage cannot be kept constant due to the fact that the capacity of the thin film capacitor is greatly reduced, and the conduction angle of the uncontrolled rectifier bridge is increased along with the voltage pulsation of the power grid. Compared with the traditional motor driver, a power factor correction (Power Factor Correction, PFC) circuit on the input side of a power grid can be removed, and the size of the driver is further reduced.
Compared with the traditional motor driver, the high-capacity electrolytic capacitor and the PFC circuit are removed, the power coupling of the power grid side-direct current port-inverter side is serious, the system is unstable easily caused by oscillation caused between the power grid side filter inductor and the film capacitor, and meanwhile, the current harmonic content of the power grid side is increased. The oscillation suppression of the thin film capacitor motor driver studied at present mainly focuses on the direct current port side, and the thought is based on a system characteristic equation and admittance remodeling. However, for a thin film capacitor system, the power of the system also pulsates along with the voltage of a power grid, and for the current modeling method, the power fluctuation component is ignored, and in addition, the situation of compensation failure exists in the admittance remodeling process, so that the system is unstable, and the current oscillation at the power grid side can not be effectively restrained.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a thin film capacitor motor driver power grid side current oscillation suppression method based on admittance remodeling, and under the condition of not increasing hardware cost, the output voltage vector of an inverter is corrected by reshaping the equivalent admittance of the inverter, so that the stability of a system is ensured and the current oscillation phenomenon of the power grid side is suppressed.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a method for suppressing current oscillation on the power grid side of a thin film capacitor motor driver based on admittance remodeling comprises the following steps of;
step 1: collecting power fluctuation of an inverter side in a thin film capacitor system, and establishing an equivalent admittance model of the inverter side containing the power fluctuation; then, on the basis of containing power fluctuation, taking the dynamic characteristics of the motor side into consideration, and establishing an inverter side equivalent admittance model taking the dynamic characteristics of the motor side into consideration; finally, obtaining a remodeled inverter side equivalent admittance model according to the direct-current voltage information;
step 2: the thin film capacitor system is provided with a rotating speed adjusting unit, a power adjusting unit, a q-axis current adjusting unit and a PWM unit, wherein the PWM unit is used for modulating reference voltage into a switching signal required by inverter control; and setting a threshold value based on the minimum value of the direct-current voltage of the remodeled inverter side equivalent admittance model, constructing a voltage feedforward compensation component, correcting the output voltage of the inverter to obtain the output voltage of the q-axis inverter, and controlling the inverter through a PWM unit to achieve the current oscillation suppression effect of the power grid side.
As a preferred embodiment of the present invention, the process of establishing the inverter-side equivalent admittance model including power fluctuation described in step 1 is as follows:
in a thin film capacitor motor driver, the output power of an inverter fluctuates in the running process of the motor, and small signals containing power fluctuation are considered, wherein the small signals of the power fluctuation comprise equivalent inverter power small signal components and direct current voltage small signal components, and the obtained inverter current is as follows:
wherein i is inv For inverter current, P L For equivalent inverter power, P L0 Is equivalent to the power average value and delta P of the inverter L As small signal component, u dc For DC voltage, u dc0 Is the average value of direct current voltage and delta u dc Is a small signal component;
inverter current i inv Linearization is as follows:
the inverter side equivalent admittance including power fluctuation is obtained as follows:
wherein Y is L Is the inverter-side equivalent admittance that contains power fluctuations.
As a preferable aspect of the present invention, the motor-side dynamic characteristic described in step 1 includes a small signal component of a motor voltage under the dq-axis, a small signal component of a motor current under the dq-axis, and a small signal component of an equivalent inverter power under the dq-axis; the establishment process of the inverter side equivalent admittance model considering the dynamic characteristics of the motor side is as follows:
in a thin film capacitor motor driver, considering the influence of bus voltage fluctuation and digital delay in the modulation process, the small signal component of the motor voltage under the dq axis is:
wherein δu d For the small signal component of the d-axis voltage, deltau q For the q-axis voltage small signal component δu dref Is the small signal component of the d-axis reference voltage, δi qref As a small signal component of the q-axis reference voltage, u dref0 For the average value of the d-axis reference voltage, u qref0 For the q-axis reference voltage average value, T d Is a delay operator;
the small signal component of the motor current at the dq axis is:
wherein δi d For the small signal component of the d-axis current, δi q For the small signal component of the q-axis current, L d Is d-axis inductance, L q For q-axis inductance, c d Is a d-axis current controller, C q For q-axis current controller, R s Is a stator resistor;
the small signal component at which the equivalent inverter power is at the dq axis is:
wherein i is d0 ，i q0 The average value of d-axis current and q-axis current respectively;
equivalent admittance Y at inverter side including power ripple L On the basis, the dynamic characteristic delta u of the motor side is combined d ，δu q ，δi d ，δi q And δP L The inverter-side equivalent admittance taking into account the motor-side dynamics is obtained as:
wherein Y is LM To account for the inverter-side equivalent admittance of motor-side dynamics, e and s is Laplace operator.
As a preferred embodiment of the present invention, the remodeled inverter side equivalent admittance model described in step 1 is as follows:
correcting the output voltage of the inverter according to the collected direct current voltage, wherein the small signal component of the corrected reference voltage is as follows:
δu qref ＝ω e L d δi d -C q δi q +K c δu dc
wherein K is c Is a correction factor;
according to the small signal component of the corrected reference voltage, obtaining the remolded inverter side equivalent admittance as follows:
wherein Y is c Is the equivalent admittance of the remodeled inverter side.
As a preferred embodiment of the present invention, the step 2 specifically includes:
step 2.1) obtaining a torque average value according to a rotating speed adjusting unit, obtaining a q-axis current reference value through a power adjusting unit, and obtaining a q-axis inverter output voltage through the q-axis current adjusting unit;
step 2.2) setting a threshold value based on the minimum value of the direct current voltage, constructing a voltage feedforward compensation component, and correcting the output voltage of the q-axis inverter;
step 2.3) utilizing the output voltage of the inverter, generating a switching signal by the output voltage through the PWM unit, and controlling the inverter by the generated switching signal.
As a preferred embodiment of the present invention, the threshold construction voltage feedforward compensation component is set in step 2.2 based on the dc voltage minimum, specifically:
the oscillation of the system is reflected in the direct current voltage, and the threshold value is set on the basis of the minimum value of the direct current voltage through the sampled direct current voltage, so that the voltage feedforward compensation component is constructed as follows:
wherein u is com K is the voltage feedforward compensation component c To correct the factor U g For the amplitude of the grid voltage, θ g For the phase angle of the network voltage, u dcmin Is the minimum value of the direct current voltage.
Compared with the prior art, the invention has the following beneficial technical effects:
(1) The thin film capacitor motor driver admittance remodeling method fully considers the small signal of the inverter power fluctuation in the thin film capacitor system, the dynamic characteristic of the motor side is also contained in the inverter side equivalent admittance on the basis, and the remodeled inverter side equivalent admittance model is built by using the acquired direct current voltage information under the condition that no additional power grid side current sensor is added, which is different from the prior study in mainly solving the direct current port side oscillation problem, and in addition, the power fluctuation component is ignored by the prior modeling method.
(2) According to the power grid side current oscillation suppression method, when the voltage feedforward compensation component is constructed, the threshold value is set based on the minimum value of the direct current voltage, the threshold value is adjusted in real time according to the minimum value of the direct current voltage, the situation of compensation failure is prevented, in addition, the saturation of a current adjusting unit is avoided because the output voltage of the inverter is directly corrected, the adjustment rapidity can be improved, the overshoot is suppressed, the inverter is effectively controlled, and the power grid side current oscillation suppression effect is achieved.
Drawings
Fig. 1 is a main circuit topology of a thin film capacitor motor driver.
Fig. 2 is a grid-side dc port-inverter-side equivalent circuit diagram.
Fig. 3 is an equivalent circuit diagram of the inverter in consideration of the motor side dynamic characteristics.
FIG. 4 is a diagram of a voltage feedforward compensation unit.
Fig. 5 is a grid-side current oscillation suppression control block diagram.
Fig. 6 shows the waveform and spectrum analysis result of the grid current without the method of the present invention.
Fig. 7 shows the waveform and spectrum analysis result of the grid current under the method of the present invention.
Detailed Description
In order to more particularly describe the present invention, the following detailed description of the technical scheme of the present invention is provided with reference to the accompanying drawings and the specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not limiting the invention.
As shown in fig. 1, the main circuit topology of the thin film capacitor motor driver is composed of three parts of a power grid side-a direct current port-an inverter side circuit, and mainly comprises: the system comprises a power grid side filter inductor, a single-phase uncontrolled rectifier bridge, a direct-current port film capacitor, a three-phase inverter and a permanent magnet synchronous motor system. U in the figure g For the grid voltage, L g Filter inductance for power grid side g I is the DC port current, i c For capacitive current, u dc Is a direct current voltage, C dc Is a direct current port film capacitor, i inv Is the inverter current.
Based on the above main circuit structure, the present invention provides a method for suppressing current oscillation on the grid side of a thin film capacitor motor driver based on admittance remodeling, which includes a method for suppressing current oscillation on the grid side and a method for reshaping admittance of a thin film capacitor motor driver, and specifically, reference is first made to a grid side-dc port-inverter side equivalent circuit shown in fig. 2, where the equivalent circuit includes a grid voltage source |u g Electric network side filter inductance L g DC port film capacitor C dc And inverter-side equivalent admittance Y including power fluctuation L Considering a small signal containing power fluctuation, the obtained inverter current is:
wherein i is inv For inverter current, P L ，P L0 And δP L Equivalent inverter power, equivalent inverter power average value and small signal component, u dc ，u dc0 And δu dc Respectively direct-current voltage, direct-current voltage average value and small signal component.
Inverter current i inv Linearization is as follows:
the inverter side equivalent admittance including power fluctuation is obtained as follows:
wherein Y is L Is the inverter-side equivalent admittance that contains power fluctuations.
Since the inverter side object is a permanent magnet synchronous motor, the motor parameters and the dynamic characteristics thereof can influence the equivalent admittance of the inverter side, and in particular, referring to the inverter side equivalent circuit which takes the dynamic characteristics of the motor side into account as shown in fig. 3, the equivalent circuit comprises a power grid voltage source |u g Electric network side filter inductance L g DC port film capacitor C dc And inverter-side equivalent admittance Y accounting for motor-side dynamics LM . Considering the influence of bus voltage fluctuation and digital delay in the modulation process, the small signal component of the voltage under the dq axis is:
wherein δu d ，δu q Small signal components of d-axis and q-axis voltages, δu dref ，δu qref Small signal components of d-axis and q-axis reference voltages, u dref0 ，u qref0 Average value of reference voltages of d axis and q axis respectively, T d Is a delay operator.
The small signal component of the motor current at the dq axis is:
wherein δi d ，δi q Respectively d-axis and q-axisSmall signal component of shaft current, L d ，L q D-axis and q-axis inductances, C d ，C q D-axis and q-axis current controllers, R s Is the stator resistance.
The small signal component of the equivalent inverter power at the dq axis is:
wherein i is d0 ，i q0 The average value of d-axis current and q-axis current respectively;
the inverter-side equivalent admittance taking into account the motor-side dynamic characteristics is obtained as:
wherein Y is LM To account for inverter-side equivalent admittance, ω, of motor-side dynamics e And s is Laplace operator.
Based on the collected dc voltage, in particular, with reference to a voltage feedforward compensation unit as shown in fig. 4, the compensation unit comprises a grid voltage u g And a minimum value u of the DC voltage dcmin Comparison unit, correction factor K c And a voltage feedforward compensation component u com . Since the oscillation of the system is also reflected in the direct current voltage, by sampling the direct current voltage, setting a threshold value based on the minimum value of the direct current voltage, constructing a voltage feedforward compensation component as follows:
wherein u is com K is the voltage feedforward compensation component c To correct the factor U g For the amplitude of the grid voltage, θ g For the phase angle of the grid voltage, u dcmin Is the minimum value of the direct current voltage;
by applying voltage feedforward compensation, the output voltage of the inverter is corrected, and the small signal component of the corrected reference voltage is as follows:
δu qref ＝ω e L d δi d -C q δi q +K c δu dc
wherein K is c Is a correction factor;
according to the small signal component of the corrected reference voltage, obtaining the remolded inverter side equivalent admittance as follows:
wherein Y is c Is the equivalent admittance of the remodeled inverter side.
On the basis, as shown in fig. 5, a control block diagram for suppressing current oscillation on the power grid side is provided, and the thin film capacitor system comprises a rotating speed adjusting unit, a power adjusting unit, a q-axis current adjusting unit, a Clark conversion, a Park conversion, an IPark conversion, a PWM unit and a permanent magnet synchronous motor.
Rotational speed reference value omega * And omega m The error between the two is passed through a rotating speed regulating unit to obtain a torque average value T * Obtaining a q-axis current reference value through a power adjusting unit
The collected current is subjected to Clark conversion and Park conversion to obtain d-axis current i d And q-axis current i q The d-axis and q-axis reference voltages are obtained through the d-axis current adjusting unit and the q-axis current adjusting unit.
The result of superimposing the voltage feedforward compensation component on the q-axis reference voltageWill->And->Through IPark transformation, u is obtained α And u β The PWM unit generates a switching signal after modulation to control the inverter.
As shown in fig. 6, in order to obtain the waveform and spectrum analysis result of the grid current without implementing the method provided by the invention, the oscillation component in the grid current is obvious according to the result, and the THD is 64.7% and the 11 th harmonic content is larger as shown by the spectrum analysis.
As shown in fig. 7, in order to implement the method provided by the invention, the waveform diagram of the grid current and the spectrum analysis result show that the oscillation in the grid current can be effectively inhibited according to the result, and the spectrum analysis shows that the THD is 31.1%, and the components near the 11 th harmonic are obviously reduced.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. The present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications within the scope of the present invention.
Claims (2)
1. The method for suppressing the current oscillation of the thin-film capacitor motor driver on the power grid side based on admittance remodeling is characterized by comprising the following steps of;
step 1: collecting power fluctuation of an inverter side in a thin film capacitor system, and establishing an equivalent admittance model of the inverter side containing the power fluctuation; then, on the basis of containing power fluctuation, taking the dynamic characteristics of the motor side into consideration, and establishing an inverter side equivalent admittance model taking the dynamic characteristics of the motor side into consideration; finally, obtaining a remodeled inverter side equivalent admittance model according to the direct-current voltage information;
the establishment process of the inverter side equivalent admittance model containing power fluctuation is as follows:
in a thin film capacitor motor driver, the output power of an inverter fluctuates in the running process of the motor, and small signals containing power fluctuation are considered, wherein the small signals of the power fluctuation comprise equivalent inverter power small signal components and direct current voltage small signal components, and the obtained inverter current is as follows:
wherein i is inv For inverter current, P L For equivalent inverter power, P L0 Is equivalent to the power average value and delta P of the inverter L As the equivalent inverter power small signal component, u dc For DC voltage, u dc0 Is the average value of direct current voltage and delta u dc Is a direct-current voltage small signal component;
inverter current i inv Linearization is as follows:
the inverter side equivalent admittance including power fluctuation is obtained as follows:
wherein Y is L Is an inverter-side equivalent admittance including power fluctuations;
the motor side dynamic characteristics comprise a small signal component of motor voltage under a dq axis, a small signal component of motor current under the dq axis and a small signal component of equivalent inverter power under the dq axis; the establishment process of the inverter side equivalent admittance model considering the dynamic characteristics of the motor side is as follows:
in a thin film capacitor motor driver, considering the influence of bus voltage fluctuation and digital delay in the modulation process, the small signal component of the motor voltage under the dq axis is:
wherein δu d As small signal component of d-axis voltage δu q For the q-axis voltage small signal component δu dref Is the small signal component of the d-axis reference voltage, δu qref Is q-axis ginsengSmall signal component of the test voltage, u dref0 For the average value of the d-axis reference voltage, u qref0 For the q-axis reference voltage average value, T d Is a delay operator;
the small signal component of the motor current at the dq axis is:
wherein δi d For the small signal component of the d-axis current, δi q For the small signal component of the q-axis current, L d Is d-axis inductance, L q For q-axis inductance, C d For the transfer function of the d-axis current regulating unit, C q For the transfer function of the q-axis current regulating unit, R s Is a stator resistor;
the small signal component at which the equivalent inverter power is at the dq axis is:
wherein i is d0 ，i q0 The average value of d-axis current and q-axis current respectively;
equivalent admittance Y at inverter side including power ripple L On the basis, the dynamic characteristic delta u of the motor side is combined d ，δu q ，δi d ，δi q And δP L The inverter-side equivalent admittance taking into account the motor-side dynamics is obtained as:
wherein Y is LM To account for inverter-side equivalent admittance, ω, of motor-side dynamics e The electrical angular velocity is s is Laplace operator;
the remolded inverter side equivalent admittance model is as follows:
correcting the output voltage of the inverter according to the collected direct-current voltage, wherein the small signal component of the q-axis reference voltage after correction is as follows:
δu qref ＝ω e L d δi d -C q δi q +K c δu dc
wherein K is c Is a correction factor;
according to the small signal component of the corrected q-axis reference voltage, obtaining the remolded inverter side equivalent admittance as follows:
wherein Y is c Is the equivalent admittance of the remodeled inverter side; step 2: the thin film capacitor system is provided with a rotating speed adjusting unit, a power adjusting unit, a q-axis current adjusting unit and a PWM unit, wherein the PWM unit is used for modulating reference voltage into a switching signal required by inverter control; setting a threshold value based on the minimum value of the direct-current voltage of the remodeled inverter side equivalent admittance model, constructing a voltage feedforward compensation component, correcting the output voltage of the inverter output by the q-axis current adjusting unit to obtain the corrected output voltage of the q-axis inverter, and controlling the inverter through the PWM unit to achieve the current oscillation suppression effect of the power grid side;
the DC voltage minimum value based on the remolded inverter side equivalent admittance model is provided with a threshold value, and a voltage feedforward compensation component is constructed, specifically:
the oscillation of the system is also embodied in the direct current voltage, and the threshold value is set based on the minimum value of the direct current voltage through the sampled direct current voltage, so that the voltage feedforward compensation component is constructed as follows:
wherein u is com K is the voltage feedforward compensation component c To correct the factor U g For the amplitude of the grid voltage, θ g For the phase angle of the network voltage, u dcmin Is the minimum value of the direct current voltage.
2. The method for suppressing current oscillation on the power grid side of a thin film capacitor motor driver based on admittance remodeling according to claim 1, wherein the step 2 is specifically:
step 2.1) obtaining a torque average value according to a rotating speed adjusting unit, obtaining a q-axis current reference value through a power adjusting unit, and obtaining a q-axis inverter output voltage through the q-axis current adjusting unit;
step 2.2) setting a threshold value based on the minimum value of the direct current voltage, constructing a voltage feedforward compensation component, and correcting the output voltage of the q-axis inverter;
step 2.3) utilizing the output voltage of the inverter, generating a switching signal by the output voltage through the PWM unit, and controlling the inverter by the generated switching signal.
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