CN112671293B - Current harmonic optimization method of permanent magnet synchronous motor for new energy automobile - Google Patents
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Abstract
The invention discloses a current harmonic optimization method of a permanent magnet synchronous motor for a new energy automobile, wherein the control method comprises the following steps: three-phase current of the permanent magnet synchronous motor is obtained, and stator higher harmonic current is extracted; constructing a harmonic current regulator according to the obtained stator higher harmonic current; transforming the harmonic voltage output by the harmonic current regulator; superposing harmonic voltage signals and fundamental voltage, and sending the superimposed harmonic voltage signals and fundamental voltage signals into SVPWM three-phase modulation reference voltage; the method can solve the problems of poor harmonic current inhibition effect and large operand in the prior art.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a current harmonic optimization method of a permanent magnet synchronous motor for a new energy automobile.
Background
Permanent magnet synchronous motors are increasingly being used in high performance motion control applications such as aerospace, precision machine tools, direct robot drive, and recently very rapidly developing electric automobile fields due to their high power density, low moment of inertia, high efficiency, and the like.
The higher harmonic current components can cause torque ripple, resulting in a significant reduction in reliability, stability and efficiency of the overall system. At the same time, additional copper and iron losses are generated in the stator windings and the iron core of the permanent magnet synchronous motor, which causes the temperature of the motor to rise. In addition, the higher harmonic current also increases motor noise. For suppressing harmonic currents, expert scholars at home and abroad have made a great deal of research work and have proposed various methods. For example, repetitive control may suppress current harmonics that are integer multiples of the motor current frequency, thereby improving torque ripple. However, the conventional repetitive control algorithm is complex and occupies a large amount of memory. The expert students have successively proposed improved repetitive control algorithms, which employ fourier analysis and signal reconstruction at specific frequencies, which greatly simplifies the algorithm and avoids the use of redundant memory space. However, these methods are insufficient in terms of system stability and do not consider the influence of the switching frequency on the repetitive control in the case of high-speed operation of the motor, and the harmonic suppression effect is limited when the motor operation speed is increased.
The invention provides a current harmonic optimization method of a permanent magnet synchronous motor for a new energy automobile, which integrates and resists saturation of a PI regulator in a harmonic current regulator according to the rotating speed, reduces the operation difficulty of a control algorithm and improves the harmonic suppression effect.
Disclosure of Invention
The invention aims to provide a current harmonic optimization method of a permanent magnet synchronous motor for a new energy automobile, which adopts a method of superposing harmonic voltage and fundamental voltage after harmonic current adjustment and conversion and performing integral anti-saturation on a PI regulator so as to solve the problems of poor harmonic current inhibition effect and large operand in the prior art.
The invention provides a current harmonic optimization method of a permanent magnet synchronous motor for a new energy automobile, which comprises the following steps:
step1: three-phase current of the permanent magnet synchronous motor is obtained, and stator higher harmonic current is extracted;
step 2: constructing a harmonic current regulator according to the obtained stator higher harmonic current;
Step 3: transforming the harmonic voltage output by the harmonic current regulator;
step 4: and superposing the harmonic voltage signal and the fundamental voltage, and sending the superposed harmonic voltage signal and the fundamental voltage into SVPWM three-phase modulation reference voltage.
Optionally, the specific determination method for extracting the stator higher harmonic current in the step1 is as follows:
three-phase current i abc is transformed into a dq coordinate system for 5 times and 7 times respectively through coordinate transformation, and then 5 times and 7 times harmonic currents are extracted through low-pass filtering, so that current amplitudes of the harmonic waves in the dq coordinate system are obtained respectively.
Optionally, the specific calculation method for transforming the three-phase current i abc to the dq coordinate system of 5 times and 7 times respectively through coordinate transformation is as follows:
Wherein: i 5th-dq0 is the current transformed into the 5-order dq coordinate system, i 7th-dq0 is the current transformed into the 7-order dq coordinate system, For the fundamental dq coordinate system to the 5 th harmonic dq coordinate system transformation matrix,The transformation matrix is from a fundamental dq coordinate system to a 7-harmonic dq coordinate system, P is a Park transformation matrix, i abc is three-phase current, and θ is the relative angle between the d axis in the dq coordinate system and the a axis in the three-phase static coordinate system.
Optionally, the specific calculation method for extracting the 5 th harmonic current and the 7 th harmonic current through low-pass filtering comprises the following steps:
i5th-d＝Kai5th-d *×(1-Ka)i5th-d′
i5th-q＝Kbi5th-q *×(1-Kb)i5th-q′
i7th-d＝Kai7th-d *×(1-Ka)i7th-d′
i7th-q＝Kbi7th-q *×(1-Kb)i7th-q′
wherein i 5th-d、i5th-q、i7th-d、i7th-q is the extracted 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current and 7 th harmonic q-axis current through low-pass filtering respectively; i 5th-d *、i5th-q *、i7th-d *、i7th-q * is the 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current, 7 th harmonic q-axis current sampled before low-pass filtering; i 5th-d′、i5th-q′、i7th-d′、i7th-q' is the 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current and 7 th harmonic q-axis current after the last low-pass filtering treatment respectively; k a is a filter coefficient of d-axis current, and the value range is 0.01-0.02; k b is the filter coefficient of q-axis current, and the value range is 0.02-0.03.
Optionally, the specific method for constructing the harmonic current regulator in the step 2 is as follows:
the extracted 5 th harmonic current component and 7 th harmonic current component are respectively subjected to PI regulator and then are subjected to cross coupling, and then a steady-state voltage equation under a rotating coordinate system is introduced to perform feedforward compensation, so that a corresponding harmonic voltage compensation signal can be obtained;
u5th-d＝Wpi(i5th-d)+Wpi(i5th-q)·f5th-q(Ld,Lq)+u5th-d-ss
u5th-q＝Wpi(i5th-q)+Wpi(i5th-d)·f5th-d(Ld,Lq)+u5th-q-ss
u7th-d＝Wpi(i7th-d)+Wpi(i7th-q)·f7th-q(Ld,Lq)+u7th-d-ss
u7th-q＝Wpi(i7th-q)+Wpi(i7th-d)·f7th-d(Ld,Lq)+u7th-q-ss
Wherein: u 5th-d、u5th-q、u7th-d、u7th-q is the 5 th harmonic d-axis voltage, 5 th harmonic q-axis voltage, 7 th harmonic d-axis voltage and 7 th harmonic q-axis voltage in the dq coordinate system after the adjustment of the harmonic current regulator; w pi(i5th-d)、Wpi(i5th-q)、Wpi(i7th-d)、Wpi(i7th-q) is a cross coupling term of a converted 5 th harmonic d-axis voltage, a converted 5 th harmonic q-axis voltage, a converted 7 th harmonic d-axis voltage and a converted 7 th harmonic q-axis voltage ;f5th-d(Ld,Lq)、f5th-q(Ld,Lq)、f7th-d(Ld,Lq)、f7th-q(Ld,Lq) after the 5 th harmonic current and the 7 th harmonic current pass through the PI regulator respectively, and the 5 th harmonic d-axis current, the 7 th harmonic d-axis current and the 7 th harmonic q-axis current are respectively; u 5th-d-ss、u5th-q-ss、u7th-d-ss、u7th-d-ss is the 5 th harmonic steady-state d-axis voltage, 5 th harmonic steady-state q-axis voltage, 7 th harmonic steady-state d-axis voltage, and 7 th harmonic steady-state q-axis voltage, respectively.
Optionally, the PI regulator specifically is a PI regulator that introduces a rotational speed as a reference for integrating anti-saturation, and the specific calculation method is as follows:
Wherein: e is the input quantity of the PI regulator, t is the integration time, K p is the proportional amplification coefficient of the PI regulator, K I is the integration coefficient of the PI regulator, and K L is the integral anti-saturation coefficient, and the specific setting method is as follows:
Wherein: omega is the angular velocity and omega 0 is the rated angular velocity of the permanent magnet synchronous motor.
Optionally, the cross-coupling term function specifically includes:
f5th-q(Ld,Lq)＝-5ωLd-6ωLq
f5th-d(Ld,Lq)＝5ωLd+6ωLq
f7th-q(Ld,Lq)＝-7ωLd-6ωLq
f7th-d(Ld,Lq)＝7ωLd+6ωLq
Wherein: l d is the d-axis inductance in the dq coordinate system, and L q is the q-axis inductance in the dq coordinate system.
Optionally, the specific calculation method of the harmonic steady-state voltage equation is as follows:
u5th-d-ss＝Rsid-5ωLqi5th-q
u5th-q-ss＝Rsi5th-q+5ωLdi5th-d
u7th-d-ss＝Rsid-7ωLqi7th-q
u7th-q-ss＝Rsi7th-q+7ωLdi7th-d
Wherein: r s is the phase resistance of the permanent magnet synchronous motor.
Optionally, the specific calculation method for transforming the harmonic voltage output by the harmonic current regulator in the step 3 is as follows:
Wherein: for the output of harmonic voltages for the alpha axis transformed into the alpha beta coordinate system, For the output of harmonic voltages for the beta axis transformed into the alpha beta coordinate system,The matrix is transformed from the dq coordinate system to the alpha beta coordinate system.
Optionally, the specific calculation method for superposing the harmonic voltage signal and the fundamental voltage in the step 4 is as follows:
Wherein: u α is the alpha-axis output total harmonic suppression reference voltage in the alpha beta coordinate system, u β is the beta-axis output total harmonic suppression reference voltage in the alpha beta coordinate system, To output the fundamental voltage for the alpha-axis transformed into the alpha-beta coordinate system,The fundamental voltage is output for the beta axis transformed into the alpha-beta coordinate system.
The invention provides a current harmonic optimization system of a permanent magnet synchronous motor for a new energy automobile, which comprises the following components: the system comprises a three-phase current acquisition module, a higher harmonic current extraction module, a harmonic current adjustment module, a fundamental wave voltage calculation module, a harmonic voltage calculation module and an SVPWM adjustment module;
the three-phase current acquisition module is connected with the higher harmonic current extraction module and is used for extracting current amplitudes of 5 times and 7 times harmonic waves in the dq coordinate system through the three-phase current;
the three-phase current acquisition module is connected with the fundamental voltage calculation module and is used for obtaining fundamental voltage under an alpha beta coordinate system;
The higher harmonic current extraction module is connected with the harmonic current adjustment module and is used for obtaining a harmonic voltage compensation signal;
The harmonic current adjusting module is connected with the harmonic voltage calculating module and is used for converting the harmonic voltage compensation signal in the dq coordinate system after processing into an alpha beta coordinate system;
The fundamental wave voltage calculation module is connected with the SVPWM regulation module after being overlapped with the harmonic wave voltage calculation module and is used for calculating a total reference voltage signal required by complete suppression of current harmonic waves.
Optionally, the harmonic current adjustment module includes: the system comprises a steady-state voltage equation module, a PI regulation module and a cross-coupling calculation module;
the PI regulating module is connected with the cross coupling calculation module and is used for obtaining accurate harmonic voltage compensation quantity;
and the steady-state voltage equation module is connected with the cross-coupling calculation module in a superposition way and is used for improving the dynamic response and the accuracy of the controller.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention adopts a method of superposing harmonic voltage and fundamental wave voltage which are regulated and converted by harmonic current and taking the harmonic voltage and the fundamental wave voltage as SVPWM modulation input, and can solve the problem of more effectively inhibiting the harmonic current.
2. The invention adopts the comprehensive method of PI regulation, integral anti-saturation and voltage reference, and provides the precision of higher harmonic conversion. The integral anti-saturation reduces the operation workload and the repeated control.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
fig. 1 shows a general flow chart of a current harmonic optimization method of a permanent magnet synchronous motor for a new energy automobile.
Fig. 2 shows a current harmonic optimization system diagram of a permanent magnet synchronous motor for a new energy automobile.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The invention provides a current harmonic optimization method of a permanent magnet synchronous motor for a new energy automobile, which is shown in fig. 1 and comprises the following steps:
step S1: three-phase current of the permanent magnet synchronous motor is obtained, and stator higher harmonic current is extracted;
step S2: constructing a harmonic current regulator according to the obtained stator higher harmonic current;
Step S3: transforming the harmonic voltage output by the harmonic current regulator;
Step S4: and superposing the harmonic voltage signal and the fundamental voltage, and sending the superposed harmonic voltage signal and the fundamental voltage into SVPWM three-phase modulation reference voltage.
Optionally, the specific determination method for extracting the stator higher harmonic current in step S1 includes:
three-phase current i abc is transformed into a dq coordinate system for 5 times and 7 times respectively through coordinate transformation, and then 5 times and 7 times harmonic currents are extracted through low-pass filtering, so that current amplitudes of the harmonic waves in the dq coordinate system are obtained respectively.
Optionally, the specific calculation method for transforming the three-phase current i abc to the dq coordinate system of 5 times and 7 times respectively through coordinate transformation is as follows:
Wherein: i 5th-dq0 is the current transformed into the 5-order dq coordinate system, i 7th-dq0 is the current transformed into the 7-order dq coordinate system, For the fundamental dq coordinate system to the 5 th harmonic dq coordinate system transformation matrix,The transformation matrix is from a fundamental dq coordinate system to a 7-harmonic dq coordinate system, P is a Park transformation matrix, i abc is three-phase current, and θ is the relative angle between the d axis in the dq coordinate system and the a axis in the three-phase static coordinate system.
Optionally, the specific calculation method for extracting the 5 th harmonic current and the 7 th harmonic current through low-pass filtering comprises the following steps:
i5th-d＝Kai5th-d *×(1-Ka)i5th-d′
i5th-q＝Kbi5th-q *×(1-Kb)i5th-q′
i7th-d＝Kai7th-d *×(1-Ka)i7th-d′
i7th-q＝Kbi7th-q *×(1-Kb)i7th-q′
wherein i 5th-d、i5th-q、i7th-d、i7th-q is the extracted 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current and 7 th harmonic q-axis current through low-pass filtering respectively; i 5th-d *、i5th-q *、i7th-d *、i7th-q * is the 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current, 7 th harmonic q-axis current sampled before low-pass filtering; i 5th-d′、i5th-q′、i7th-d′、i7th-q' is the 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current and 7 th harmonic q-axis current after the last low-pass filtering treatment respectively; k a is a filter coefficient of d-axis current, and the value range is 0.01-0.02; k b is the filter coefficient of q-axis current, and the value range is 0.02-0.03.
Optionally, the specific method for constructing the harmonic current regulator in step S2 is as follows:
the extracted 5 th harmonic current component and 7 th harmonic current component are respectively subjected to PI regulator and then are subjected to cross coupling, and then a steady-state voltage equation under a rotating coordinate system is introduced to perform feedforward compensation, so that a corresponding harmonic voltage compensation signal can be obtained;
u5th-d＝Wpi(i5th-d)+Wpi(i5th-q)·f5th-q(Ld,Lq)+u5th-d-ss
u5th-q＝Wpi(i5th-q)+Wpi(i5th-d)·f5th-d(Ld,Lq)+u5th-q-ss
u7th-d＝Wpi(i7th-d)+Wpi(i7th-q)·f7th-q(Ld,Lq)+u7th-d-ss
u7th-q＝Wpi(i7th-q)+Wpi(i7th-d)·f7th-d(Ld,Lq)+u7th-q-ss
Wherein: u 5th-d、u5th-q、u7th-d、u7th-q is the 5 th harmonic d-axis voltage, 5 th harmonic q-axis voltage, 7 th harmonic d-axis voltage and 7 th harmonic q-axis voltage in the dq coordinate system after the adjustment of the harmonic current regulator; w pi(i5th-d)、Wpi(i5th-q)、Wpi(i7th-d)、Wpi(i7th-q) is a cross coupling term of a converted 5 th harmonic d-axis voltage, a converted 5 th harmonic q-axis voltage, a converted 7 th harmonic d-axis voltage and a converted 7 th harmonic q-axis voltage ;f5th-d(Ld,Lq)、f5th-q(Ld,Lq)、f7th-d(Ld,Lq)、f7th-q(Ld,Lq) after the 5 th harmonic current and the 7 th harmonic current pass through the PI regulator respectively, and the 5 th harmonic d-axis current, the 7 th harmonic d-axis current and the 7 th harmonic q-axis current are respectively; u 5th-d-ss、u5th-q-ss、u7th-d-ss、u7th-d-ss is the 5 th harmonic steady-state d-axis voltage, 5 th harmonic steady-state q-axis voltage, 7 th harmonic steady-state d-axis voltage, and 7 th harmonic steady-state q-axis voltage, respectively.
Optionally, the PI regulator specifically is a PI regulator that introduces a rotational speed as a reference for integrating anti-saturation, and the specific calculation method is as follows:
Wherein: e is the input quantity of the PI regulator, t is the integration time, K p is the proportional amplification coefficient of the PI regulator, K I is the integration coefficient of the PI regulator, and K L is the integral anti-saturation coefficient, and the specific setting method is as follows:
Wherein: omega is the angular velocity and omega 0 is the rated angular velocity of the permanent magnet synchronous motor.
Optionally, the cross-coupling term function is specifically:
f5th-q(Ld,Lq)＝-5ωLd-6ωLq
f5th-d(Ld,Lq)＝5ωLd+6ωLq
f7th-q(Ld,Lq)＝-7ωLd-6ωLq
f7th-d(Ld,Lq)＝7ωLd+6ωLq
Wherein: l d is the d-axis inductance in the dq coordinate system, and L q is the q-axis inductance in the dq coordinate system.
Optionally, the specific calculation method of the harmonic steady-state voltage equation is as follows:
u5th-d-ss＝Rsid-5ωLqi5th-q
u5th-q-ss＝Rsi5th-q+5ωLdi5th-d
u7th-d-ss＝Rsid-7ωLqi7th-q
u7th-q-ss＝Rsi7th-q+7ωLdi7th-d
Wherein: r s is the phase resistance of the permanent magnet synchronous motor.
Optionally, in step S3, the specific calculation method for transforming the harmonic voltage output by the harmonic current regulator is as follows:
Wherein: for the output of harmonic voltages for the alpha axis transformed into the alpha beta coordinate system, For the output of harmonic voltages for the beta axis transformed into the alpha beta coordinate system,The matrix is transformed from the dq coordinate system to the alpha beta coordinate system.
Optionally, in step S4, the specific calculation method for superposing the harmonic voltage signal and the fundamental voltage is as follows:
Wherein: u α is the alpha-axis output total harmonic suppression reference voltage in the alpha beta coordinate system, u β is the beta-axis output total harmonic suppression reference voltage in the alpha beta coordinate system, To output the fundamental voltage for the alpha-axis transformed into the alpha-beta coordinate system,The fundamental voltage is output for the beta axis transformed into the alpha-beta coordinate system.
The invention provides a current harmonic optimization system of a permanent magnet synchronous motor for a new energy automobile, which comprises the following components: a three-phase current acquisition module 51, a higher harmonic current extraction module 52, a harmonic current adjustment module 53, a fundamental voltage calculation module 54, a harmonic voltage calculation module 55, and a SVPWM adjustment module 56;
the three-phase current acquisition module 51 is connected with the higher harmonic current extraction module 52 and is used for extracting current amplitudes of 5 th harmonic and 7 th harmonic in the dq coordinate system through the three-phase current;
the three-phase current acquisition module 51 is connected with the fundamental voltage calculation module 54 and is used for obtaining fundamental voltage under an alpha beta coordinate system;
The higher harmonic current extraction module 52 is connected with the harmonic current adjustment module 53 and is used for obtaining a harmonic voltage compensation signal;
the harmonic current adjusting module 53 is connected with the harmonic voltage calculating module 55, and is used for converting the harmonic voltage compensation signal in the dq coordinate system after processing into the alpha beta coordinate system;
the fundamental voltage calculation module 54 is connected to the SVPWM adjustment module 56 after being overlapped with the harmonic voltage calculation module 55, and is used for calculating a total reference voltage signal required for completely suppressing the current harmonic.
Optionally, the harmonic current adjustment module 53 includes: a steady-state voltage equation module 53-1, a PI regulation module 53-2, and a cross-coupling calculation module 53-3;
the PI regulating module 53-2 is connected with the cross coupling calculation module 53-3 and is used for obtaining accurate harmonic voltage compensation quantity;
the steady-state voltage equation module 53-1 is connected with the cross-coupling calculation module 53-3 in a superposition manner, and is used for improving the dynamic response and the accuracy of the controller.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein without departing from the general concepts defined in the claims and their equivalents.
Claims (7)
1. The current harmonic optimization method of the permanent magnet synchronous motor for the new energy automobile is characterized by comprising the following steps of:
step1: three-phase current of the permanent magnet synchronous motor is obtained, and stator higher harmonic current is extracted;
step 2: constructing a harmonic current regulator according to the obtained stator higher harmonic current;
Step 3: transforming the harmonic voltage output by the harmonic current regulator;
step 4: superposing harmonic voltage signals and fundamental voltage, and sending the superimposed harmonic voltage signals and fundamental voltage signals into SVPWM three-phase modulation reference voltage;
The calculation method for extracting the 5 th harmonic current and the 7 th harmonic current through low-pass filtering comprises the following steps:
i5th-d＝Kai5th-d *×(1-Ka)i5th-d′
i5th-q＝Kbi5th-q *×(1-Kb)i5th-q′
i7th-d＝Kai7th-d *×(1-Ka)i7th-d′
i7th-q＝Kbi7th-q *×(1-Kb)i7th-q′
Wherein i 5th-d、i5th-q、i7th-d、i7th-q is the extracted 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current and 7 th harmonic q-axis current through low-pass filtering respectively; i 5th-d *、i5th-q *、i7th-d *、i7th-q * is the 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current, 7 th harmonic q-axis current sampled before low-pass filtering; i 5th-d′、i5th-q′、i7th-d′、i7th-q' is the 5 th harmonic d-axis current, 5 th harmonic q-axis current, 7 th harmonic d-axis current and 7 th harmonic q-axis current after the last low-pass filtering treatment respectively; k a is a filter coefficient of d-axis current, and the value range is 0.01-0.02; k b is a filter coefficient of q-axis current, and the value range is 0.02-0.03;
The specific method for constructing the harmonic current regulator in the step 2 is as follows:
The extracted 5 th harmonic current component and 7 th harmonic current component are respectively subjected to PI regulator and then are subjected to cross coupling, and then a harmonic steady-state voltage equation under a rotating coordinate system is introduced to perform feedforward compensation, so that a corresponding harmonic voltage compensation signal is obtained;
u5th-d＝Wpi(i5th-d)+Wpi(i5th-q)·f5th-q(Ld,Lq)+u5th-d-ss
u5th-q＝Wpi(i5th-q)+Wpi(i5th-d)·f5th-d(Ld,Lq)+u5th-q-ss
u7th-d＝Wpi(i7th-d)+Wpi(i7th-q)·f7th-q(Ld,Lq)+u7th-d-ss
u7th-q＝Wpi(i7th-q)+Wpi(i7th-d)·f7th-d(Ld,Lq)+u7th-q-ss
Wherein: u 5th-d、u5th-q、u7th-d、u7th-q is the 5 th harmonic d-axis voltage, 5 th harmonic q-axis voltage, 7 th harmonic d-axis voltage and 7 th harmonic q-axis voltage in the dq coordinate system after the adjustment of the harmonic current regulator; w pi(i5th-d)、Wpi(i5th-q)、Wpi(i7th-d)、Wpi(i7th-q) is a cross coupling term of a converted 5 th harmonic d-axis voltage, a converted 5 th harmonic q-axis voltage, a converted 7 th harmonic d-axis voltage and a converted 7 th harmonic q-axis voltage ;f5th-d(Ld,Lq)、f5th-q(Ld,Lq)、f7th-d(Ld,Lq)、f7th-q(Ld,Lq) after the 5 th harmonic current and the 7 th harmonic current pass through the PI regulator respectively, and the 5 th harmonic d-axis current, the 7 th harmonic d-axis current and the 7 th harmonic q-axis current are respectively; u 5th-d-ss、u5th-q-ss、u7th-d-ss、u7th-d-ss is the 5 th harmonic steady-state d-axis voltage, 5 th harmonic steady-state q-axis voltage, 7 th harmonic steady-state d-axis voltage, 7 th harmonic steady-state q-axis voltage, respectively;
the PI regulator specifically comprises a PI regulator which introduces the rotating speed as the reference of integral anti-saturation, and the calculation method comprises the following steps:
Wherein: e is the input quantity of the PI regulator, t is the integration time, K p is the proportional amplification coefficient of the PI regulator, K I is the integration coefficient of the PI regulator, and K L is the integral anti-saturation coefficient, and the setting method is as follows:
Wherein: omega is the angular velocity and omega 0 is the rated angular velocity of the permanent magnet synchronous motor.
2. The method for optimizing current harmonics of a permanent magnet synchronous motor for a new energy automobile according to claim 1, wherein the determining method for extracting stator higher harmonic current in step 1 is as follows:
three-phase current i abc is transformed into a dq coordinate system for 5 times and 7 times respectively through coordinate transformation, and then 5 times and 7 times harmonic currents are extracted through low-pass filtering, so that current amplitudes of the harmonic waves in the dq coordinate system are obtained respectively.
3. The method for optimizing current harmonics of a permanent magnet synchronous motor for a new energy automobile according to claim 2, wherein the calculation method for transforming the three-phase current i abc into the dq coordinate system of 5 times and 7 times respectively through coordinate transformation is as follows:
Wherein: i 5th-dq0 is the current transformed into the 5-order dq coordinate system, i 7th-dq0 is the current transformed into the 7-order dq coordinate system, For the fundamental dq coordinate system to the 5 th harmonic dq coordinate system transformation matrix,The transformation matrix is from a fundamental dq coordinate system to a 7-harmonic dq coordinate system, P is a Park transformation matrix, i abc is three-phase current, and θ is the relative angle between the d axis in the dq coordinate system and the a axis in the three-phase static coordinate system.
4. The method for optimizing current harmonics of a permanent magnet synchronous motor for a new energy automobile according to claim 1, wherein the method for calculating a harmonic steady-state voltage equation is as follows:
u5th-d-ss＝Rsid-5ωLqi5th-q
u5th-q-ss＝Rsi5th-q+5ωLdi5th-d
u7th-d-ss＝Rsid-7ωLqi7th-q
u7th-q-ss＝Rsi7th-q+7ωLdi7th-d
Wherein: r s is the phase resistance of the permanent magnet synchronous motor.
5. The method for optimizing current harmonics of a permanent magnet synchronous motor for a new energy automobile according to claim 1, wherein the calculating method for converting the harmonic voltage output by the harmonic current regulator in the step 3 is as follows:
wherein: θ is the relative angle of the d-axis in the dq coordinate system and the a-axis in the three-phase stationary coordinate system, For the output of harmonic voltages for the alpha axis transformed into the alpha beta coordinate system,For the output of harmonic voltages for the beta axis transformed into the alpha beta coordinate system,The matrix is transformed from the dq coordinate system to the alpha beta coordinate system.
6. The method for optimizing current harmonics of a permanent magnet synchronous motor for a new energy automobile according to claim 5, wherein the calculating method for superposing the harmonic voltage signal and the fundamental voltage in the step 4 is as follows:
Wherein: u α is the alpha-axis output total harmonic suppression reference voltage in the alpha beta coordinate system, u β is the beta-axis output total harmonic suppression reference voltage in the alpha beta coordinate system, To output the fundamental voltage for the alpha-axis transformed into the alpha-beta coordinate system,The fundamental voltage is output for the beta axis transformed into the alpha-beta coordinate system.
7. The method for optimizing current harmonics of a permanent magnet synchronous motor for a new energy automobile according to claim 1, wherein the system used comprises:
The system comprises a three-phase current acquisition module, a higher harmonic current extraction module, a harmonic current adjustment module, a fundamental wave voltage calculation module, a harmonic voltage calculation module and an SVPWM adjustment module;
the three-phase current acquisition module is connected with the higher harmonic current extraction module and is used for extracting current amplitudes of 5 times and 7 times harmonic waves in the dq coordinate system through the three-phase current;
the three-phase current acquisition module is connected with the fundamental voltage calculation module and is used for obtaining fundamental voltage under an alpha beta coordinate system;
The higher harmonic current extraction module is connected with the harmonic current adjustment module and is used for obtaining a harmonic voltage compensation signal;
The harmonic current adjusting module is connected with the harmonic voltage calculating module and is used for converting the harmonic voltage compensation signal in the dq coordinate system after processing into an alpha beta coordinate system;
The fundamental wave voltage calculation module is connected with the SVPWM regulation module after being overlapped with the harmonic wave voltage calculation module and is used for calculating a total reference voltage signal required by complete suppression of current harmonic waves.
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