CN110829903B - Control system and method for suppressing current harmonic waves of permanent magnet synchronous motor - Google Patents
Control system and method for suppressing current harmonic waves of permanent magnet synchronous motor Download PDFInfo
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- H—ELECTRICITY
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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- 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
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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- 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
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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Abstract
The embodiment of the invention discloses a control system and a method for inhibiting current harmonics of a permanent magnet synchronous motor, wherein the control system comprises: a current sampling module: real-time application of three-phase current; a current coordinate transformation module: converting the current coordinate; a low-pass filtering processing module: processing the direct current component; a fuzzy control decision module: calculating to obtain harmonic compensation voltage; a voltage coordinate transformation module: transforming harmonic compensation voltage coordinates; harmonic compensation voltage injection module: superposing the reference voltage to obtain a final reference voltage signal; the SVPWM modulation module: the final reference voltage signal is modulated and injected into the motor. The invention can detect 5 and 7 harmonic components in the current fundamental wave in real time, and calculate corresponding harmonic compensation voltage to inject into the final reference voltage vector, thereby realizing the function of inhibiting the current harmonic of the permanent magnet synchronous motor, and the fuzzy control strategy has stronger robustness to a nonlinear time-varying system, thereby improving the control performance of the motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control system and a control method for inhibiting current harmonics of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high power density, high efficiency and the like, and is widely applied to various industrial transmission fields, such as electric automobiles, robots, numerical control machines and the like. However, due to factors such as dead time of the inverter, tube voltage drop, non-sine waveform of back electromotive force of the motor and the like, a large amount of higher harmonic current is contained in the stator current, and the higher harmonic current is mainly the 5 th harmonic and the 7 th harmonic. The existence of harmonic waves can cause the loss of the motor to increase, and simultaneously, the output torque fluctuation and the motor noise increase, so that the system control performance is deteriorated, and the application of the harmonic waves to the high-performance drive control occasion is limited. Therefore, it is one of the technical problems that experts in the field are urgently in need of solving to study a high-performance motor control strategy and suppress the influence of harmonic waves on the motor control performance.
In order to solve the problems, experts and scholars at home and abroad propose various control strategies for inhibiting the current harmonic waves of the motor, such as an active disturbance rejection controller strategy, harmonic wave PI inhibition based on coordinate transformation and the like. The active disturbance rejection controller strategy observes harmonic signals through an observer and eliminates errors through a nonlinear PID regulator. The method has the disadvantages that the nonlinear system theory is not mature, parameters of the observer and the regulator are not easy to set, and the system stability and robustness are poor; the harmonic PI suppression strategy based on coordinate transformation generates a compensation signal opposite to a harmonic signal from an original current signal through a PI regulator by a coordinate transformation method, and adds the compensation signal into a current loop to realize harmonic compensation. The method has the defects that harmonic signals are mainly 5 and 7 times of the frequency of fundamental wave signals, are limited by system bandwidth and are affected by nonlinearity, PI is adjusted too slowly, parameters are not easy to set, and medium-high speed harmonic current cannot be compensated in real time.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a control system and method for suppressing current harmonics of a permanent magnet synchronous motor, so as to reduce stator current harmonics, and meanwhile, not be affected by system nonlinearity.
In order to solve the above technical problem, an embodiment of the present invention provides a control system for suppressing a current harmonic of a permanent magnet synchronous motor, including:
a current sampling module: real-time sampling calculation of three-phase current i of permanent magnet synchronous motora、ib、icAnd a rotor position θ;
a current coordinate transformation module: converting the three-phase current through current coordinates to obtain a component i containing harmonic current in a synchronous rotating coordinate systemdAnd iq(ii) a To idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 5-order rotating coordinate system to obtain a direct current component i containing 5-order harmonic5dAnd i5qAnd the alternating current quantities of fundamental wave and 7 th harmonic wave; to idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 7-time rotating coordinate system to obtain a direct current component i containing 7-time harmonic7dAnd i7qAnd the alternating flow of fundamental wave and 5 th harmonic wave;
a low-pass filtering processing module: processing the obtained direct current component i of the 5 th harmonic5dAnd i5qAnd the direct current component i of the 7 th harmonic7dAnd i7q；
A fuzzy control decision module: harmonic DC component i5d、i5q、i7dAnd i7qWith the target harmonic current i5dref＝i5qref＝i7dref＝i7qrefComparing the signals to obtain a harmonic current deviation signal e5d、e5q、e7dAnd e7qAnd the corresponding rate of change in deviation ec5d、ec5q、ec7dAnd ec7qAnd calculating to obtain harmonic compensation voltage u5d、u5q、u7dAnd u7q；
A voltage coordinate transformation module: compensating the harmonic wave voltage u under the 5-time synchronous rotation coordinate system5d、u5qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα5、uβ5Compensating the harmonic wave voltage u under the 7-time synchronous rotation coordinate system7d、u7qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα7、uβ7；
Harmonic compensation voltage injection module: compensating the harmonic wave by a voltage uα5、uβ5、uα7And uβ7Reference voltage u in a two-phase static coordinate system obtained by adjusting with fundamental current component PI in a synchronous rotating coordinate systemα0、uβ0Superposing to obtain a final reference voltage signal uαAnd uβ(ii) a And
the SVPWM modulation module: modulating the final reference voltage signal uαAnd uβAnd generating six paths of PWM driving signals to control the inverter to inject harmonic compensation voltage into the three-phase stator winding of the motor.
Further, the fuzzy control decision module comprises four independent two-dimensional fuzzy controllers, and the two-dimensional fuzzy controllers comprise fuzzification, fuzzy inference, a knowledge base and deblurring; the input quantity of which is a harmonic deviation signale5d、e5q、e7dAnd e7qAnd the corresponding deviation change rate ec5d、ec5q、ec7dAnd ec7qFuzzification is carried out, and then output is carried out to fuzzy reasoning; the knowledge base comprises a database for storing input and output linguistic variables and a rule base for storing corresponding expert experience rules; the fuzzy inference process refers to expert experience rules in a rule base and expresses a fuzzy logic relation existing between the fuzzified input harmonic deviation signal and the output fuzzy control quantity in the form of a condition statement of a fuzzy statement 'if … and … the …'; and the output fuzzy control quantity is subjected to fuzzy resolving treatment to obtain harmonic compensation voltage.
Further, the two fuzzy controller parameters of the 5 th harmonic are kept consistent, and e of the input deviation5d、e5qAnd the rate of change of deviation ec5d、ec5qThe fuzzy theory domains are { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, and the fuzzy sets corresponding to the fuzzy domains are { NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take a triangle membership function, and a deviation quantization factor ke is input56/300, offset Rate factor kec5＝10-10(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NM (negative middle), NS (negative small), ZO (zero), PS (positive small), PM (positive middle), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝9/3＝3。
Further, the parameters of two fuzzy controllers of 7 th harmonic wave are kept consistent, and e of input deviation7d、e7qAnd the rate of change of deviation ec7d、ec7qThe fuzzy universe of (1) is { -6, -4, -2, 0,2,4,6}, and the corresponding fuzzy sets are { NB (negative large), NS (negative small), ZO (zero), PS (positive small), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take triangle membership functions, and the input deviation quantization factor ke is76/100-0.06 offset rate factor kec7＝10-8(ii) a Blurring of blurred output valuesThe domain of discourse is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative large), NS (negative small), ZO (zero), PS (positive small), PB (positive large) }, the output variables all adopt triangular membership functions, and the output scale factor ku is output5＝6/3＝2。
Further, a transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 5 th harmonic rotating coordinate system is as follows:
the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 7 th harmonic rotating coordinate system is shown as follows:
the transformation matrix of the 5 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta is shown as the following formula:
the transformation matrix of the 7 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta is shown as the following formula:
correspondingly, an embodiment of the present invention further provides a control method for suppressing a current harmonic of a permanent magnet synchronous motor, which is applied to the control system for suppressing a current harmonic of a permanent magnet synchronous motor, and includes:
a sampling step: real-time sampling and calculating three-phase current i of motor through current sampling modulea、ib、icAnd a rotor position θ;
and current coordinate transformation: the three-phase current is obtained by current coordinate transformationComponent i containing harmonic current under synchronous rotating coordinate systemdAnd iq(ii) a To idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 5-order rotating coordinate system to obtain a direct current component i containing 5-order harmonic5dAnd i5qAnd the alternating current quantities of fundamental wave and 7 th harmonic wave; to idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 7-time rotating coordinate system to obtain a direct current component i containing 7-time harmonic7dAnd i7qAnd the alternating flow of fundamental wave and 5 th harmonic wave;
the processing steps are as follows: the direct current component i of the 5 th harmonic is obtained through the processing of a low-pass filtering processing module5dAnd i5qAnd the direct current component i of the 7 th harmonic7dAnd i7q；
Fuzzy control: harmonic DC component i5d、i5q、i7dAnd i7qWith the target harmonic current i5dref＝i5qref＝i7dref＝i7qrefComparing the signals to obtain a harmonic current deviation signal e5d、e5q、e7dAnd e7qAnd calculating its deviation change rate ec in real time5d、ec5q、ec7dAnd ec7qThen the harmonic compensation voltage u is input into a fuzzy control decision module to obtain harmonic compensation voltage u5d、u5q、u7dAnd u7q；
Voltage coordinate transformation: compensating the harmonic wave voltage u under the 5-time synchronous rotation coordinate system5d、u5qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα5、uβ5Compensating the harmonic wave voltage u under the 7-time synchronous rotation coordinate system7d、u7qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα7、uβ7；
Voltage injection step: compensating the harmonic wave by a voltage uα5、uβ5、uα7And uβ7Reference voltage u in a two-phase static coordinate system obtained by adjusting with fundamental current component PI in a synchronous rotating coordinate systemα0、uβ0Superposing to obtain a final reference voltage signal uαAnd uβ；
A modulation step: and modulating the final reference voltage signal by an SVPWM (space vector pulse width modulation) module to generate six paths of PWM driving signals, and controlling an inverter to inject harmonic compensation voltage into a three-phase stator winding of the permanent magnet synchronous motor so as to realize the suppression of current harmonics.
Further, the fuzzy control decision module comprises four independent two-dimensional fuzzy controllers, and the two-dimensional fuzzy controllers comprise fuzzification, fuzzy inference, a knowledge base and deblurring; the knowledge base comprises a database for storing input and output linguistic variables and a rule base for storing corresponding expert experience rules;
the fuzzy control step comprises: harmonic deviation signal e to be input5d、e5q、e7dAnd e7qAnd the corresponding deviation change rate ec5d、ec5q、ec7dAnd ec7qFuzzification is carried out, and then output is carried out to fuzzy reasoning; the fuzzy inference process refers to expert experience rules in a rule base and expresses a fuzzy logic relation existing between the fuzzified input harmonic deviation signal and the output fuzzy control quantity in the form of a condition statement of a fuzzy statement 'if … and … the …'; and the output fuzzy control quantity is subjected to fuzzy resolving treatment to obtain harmonic compensation voltage.
Further, in the fuzzy control step:
the parameters of two fuzzy controllers of 5 th harmonic wave are kept consistent, and e of the input deviation5d、e5qAnd the rate of change of deviation ec5d、ec5qThe fuzzy theory domains are { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, and the fuzzy sets corresponding to the fuzzy domains are { NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take a triangle membership function, and a deviation quantization factor ke is input56/300, offset Rate factor kec5＝10-10(ii) a The fuzzy domain of the fuzzy output value is { -3, -2, -1,0,1,2,3}, and the corresponding fuzzy sets are { NB (negative big), NM (negative middle), NS (negative small)) ZO (zero), PS (positive small), PM (positive middle), PB (positive large) }, the output variables are all triangular membership functions, and the output scale factor ku5＝9/3＝3。
Further, in the fuzzy control step:
the parameters of two fuzzy controllers with 7 th harmonic waves are kept consistent, and e of the deviation is input7d、e7qAnd the rate of change of deviation ec7d、ec7qThe fuzzy universe of (1) is { -6, -4, -2, 0,2,4,6}, and the corresponding fuzzy sets are { NB (negative large), NS (negative small), ZO (zero), PS (positive small), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take triangle membership functions, and the input deviation quantization factor ke is76/100-0.06 offset rate factor kec7＝10-8(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NS (negative small), ZO (zero), PS (positive small), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝6/3＝2。
Further, the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 5 th harmonic rotating coordinate system in the current coordinate transformation step is as follows:
the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 7 th harmonic rotating coordinate system is shown as follows:
the transformation matrix of the 5 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta in the voltage coordinate transformation step is shown as the following formula:
the transformation matrix of the 7 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta is shown as the following formula:
the invention has the beneficial effects that: the invention can detect 5 and 7 harmonic components in the current fundamental wave in real time, and calculate corresponding harmonic compensation voltage to inject into the final reference voltage vector, thereby realizing the function of inhibiting the current harmonic of the permanent magnet synchronous motor, and the fuzzy control strategy has stronger robustness to a nonlinear time-varying system, thereby improving the control performance of the motor.
Drawings
Fig. 1 is a schematic structural diagram of a control system for suppressing current harmonics of a permanent magnet synchronous motor according to an embodiment of the present invention.
Fig. 2 is a spatial relationship diagram of a fundamental current, 5 th harmonic current and 7 th harmonic current synchronous rotation coordinate system of the embodiment of the invention.
Fig. 3 is a block diagram of a harmonic current extraction, harmonic compensation voltage calculation, and harmonic compensation voltage injection control strategy in a high-order rotation coordinate based on vector control according to an embodiment of the present invention.
FIG. 4 is a block diagram of a 5 th harmonic d-axis current fuzzy controller in accordance with an embodiment of the present invention.
FIG. 5 is a graph of dq-axis current waveforms before and after harmonic compensation according to an embodiment of the present invention.
Fig. 6 is a flowchart illustrating a control method for suppressing a current harmonic of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict, and the present invention is further described in detail with reference to the drawings and specific embodiments.
If directional indications (such as up, down, left, right, front, and rear … …) are provided in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the movement, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Referring to fig. 1, a control system for suppressing current harmonics of a permanent magnet synchronous motor according to an embodiment of the present invention includes a current sampling module, a current coordinate transformation module, a low-pass filtering module, a fuzzy control decision module, a voltage coordinate transformation module, a harmonic compensation voltage injection module, and an SVPWM modulation module.
In the steady-state operation of the permanent magnet synchronous motor, the waveform of the motor is distorted due to factors such as air gap magnetic field distortion, inverter dead zone and tube voltage drop, so that the motor contains a large amount of higher harmonics, the torque fluctuation of the motor can be caused, wherein 5 and 7 harmonic current components have large influence on the performance of the motor, and the electromagnetic torque can be caused to generate 6 times of pulsation. Under a three-phase static coordinate, the rotation direction of a 5-th harmonic current vector is opposite to that of a fundamental wave vector, and the rotation speed is 5 omega; the direction of rotation of the 7 th harmonic current vector is the same as the direction of rotation of the fundamental voltage vector, and the rotation speed is 7 ω. Transformation matrixes transformed from the fundamental current synchronous rotating coordinate system to the 5 th and 7 th harmonic rotating coordinate systems are shown as formulas (1) and (2):
referring to fig. 2, the current sampling module samples and calculates the three-phase current i of the motor in real timea、ib、icAnd rotor position θ. A current coordinate transformation module: IIIThe phase current is converted by current coordinates to obtain a component i containing harmonic current in a synchronous rotating coordinate systemdAnd iq；idAnd iqObtaining a direct current component i containing 5 th harmonic under a 5 th rotation coordinate system according to the harmonic transformation matrix operation of the formula (1)5dAnd i5qAnd the alternating current quantity of fundamental wave and 7 th harmonic wave is processed by a low-pass filtering module to obtain a direct current component i of 5 th harmonic wave5dAnd i5q；idAnd iqObtaining a direct current component i containing 7 th harmonic under a 7-order rotation coordinate system according to the harmonic transformation matrix operation of the formula (2)7dAnd i7qAnd the alternating current of fundamental wave and 5 th harmonic, and the direct current component i of 7 th harmonic is obtained by the processing of a low-pass filtering module7dAnd i7q。
Referring to fig. 3 and 4, the specific implementation of the fuzzy control decision module of the present invention is as follows: harmonic DC component i5d、i5q、i7dAnd i7qWith the target harmonic current i5dref＝i5qref＝i7dref＝i7qrefComparing the signals to obtain a harmonic current deviation signal e5d、e5q、e7dAnd e7qAnd calculating its deviation change rate ec in real time5d、ec5q、ec7dAnd ec7q. The fuzzy control decision module comprises 4 fuzzy controllers with consistent structures but independent. As an implementation mode, in the specific implementation process, two fuzzy controller parameters of 5 th harmonic waves are kept consistent, and e of input deviation5d、e5qAnd the rate of change of deviation ec5d、ec5qThe fuzzy theory domains are { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, and the fuzzy sets corresponding to the fuzzy domains are { NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take a triangle membership function, and a deviation quantization factor ke is input56/300, offset Rate factor kec5＝10-10(ii) a The fuzzy domain of the fuzzy output value is { -3, -2, -1,0,1,2,3}, and the corresponding fuzzy sets are { NB (negative large), NM (negative medium), NS (negative small), ZO (zero)PS (positive small), PM (positive small), PB (positive large) }, and the output variables are all triangular membership functions and output scale factors ku5＝9/3＝3；
As an implementation mode, in the specific implementation process, two fuzzy controller parameters of 7 th harmonic waves are kept consistent, and e of input deviation7d、e7qAnd the rate of change of deviation ec7d、ec7qThe fuzzy universe of (1) is { -6, -4, -2, 0,2,4,6}, and the corresponding fuzzy sets are { NB (negative large), NS (negative small), ZO (zero), PS (positive small), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take triangle membership functions, and the input deviation quantization factor ke is76/100-0.06 offset rate factor kec7＝10-8(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NS (negative small), ZO (zero), PS (positive small), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output56/3 2. Finally, harmonic compensation voltage u is obtained according to a fuzzy control decision module5d、u5q、u7dAnd u7q。
Transformation matrices for transforming 5 th and 7 th harmonic voltages in a synchronous rotating coordinate system to stationary two-phase α β are shown in equations (3) and (4):
a voltage coordinate transformation module: compensating the harmonic wave voltage u under the 5-time synchronous rotation coordinate system5d、u5qConverting the harmonic voltage coordinate into a stationary two-phase alpha beta coordinate system according to the formula (3) to obtain a harmonic compensation voltage u in the alpha beta coordinate systemα5、uβ5Compensating the harmonic wave voltage u under the 7-time synchronous rotation coordinate system7d、u7qConverting harmonic voltage coordinates into stationary two-phase alpha beta coordinates according to formula (3)Obtaining harmonic compensation voltage u under alpha beta coordinate systemα7、uβ7. Harmonic compensation voltage injection module: compensating the harmonic wave by a voltage uα5、uβ5、uα7And uβ7Reference voltage u in a two-phase static coordinate system obtained by adjusting with fundamental current component PI in a synchronous rotating coordinate systemα0、uβ0Superposing to obtain a final reference voltage signal uαAnd uβ. And finally, modulating the reference voltage signal by an SVPWM (space vector pulse width modulation) module to generate six paths of PWM driving signals, and controlling the inverter to inject harmonic compensation voltage into a three-phase stator winding of the motor, thereby realizing the suppression of current harmonics.
Fig. 5 is a dq axis current waveform after the method of the present invention is adopted, as shown in the figure, before a harmonic suppression strategy is not used, the dq axis current Id and Iq have large high-frequency fluctuations, and obvious high-frequency harmonic components exist, and after the harmonic compensation voltage is injected, the current fluctuations are obviously reduced, and the harmonic components are effectively suppressed.
Referring to fig. 6, the control method for suppressing the current harmonics of the permanent magnet synchronous motor according to the embodiment of the present invention includes a sampling step, a current coordinate transformation step, a processing step, a fuzzy control step, a voltage coordinate transformation step, a voltage injection step, and a modulation step.
A sampling step: real-time sampling and calculating three-phase current i of motor through current sampling modulea、ib、icAnd rotor position θ.
And current coordinate transformation: converting the three-phase current through current coordinates to obtain a component i containing harmonic current in a synchronous rotating coordinate systemdAnd iq(ii) a To idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 5-order rotating coordinate system to obtain a direct current component i containing 5-order harmonic5dAnd i5qAnd the alternating current quantities of fundamental wave and 7 th harmonic wave; to idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 7-time rotating coordinate system to obtain a direct current component i containing 7-time harmonic7dAnd i7qAnd the amount of alternating current of the fundamental wave and the 5 th harmonic wave.
The processing steps are as follows: through lowThe direct current component i of the 5 th harmonic is obtained by the processing of a filtering processing module5dAnd i5qAnd the direct current component i of the 7 th harmonic7dAnd i7q。
Fuzzy control: harmonic DC component i5d、i5q、i7dAnd i7qWith the target harmonic current i5dref＝i5qref＝i7dref＝i7qrefComparing the signals to obtain a harmonic current deviation signal e5d、e5q、e7dAnd e7qAnd calculating its deviation change rate ec in real time5d、ec5q、ec7dAnd ec7qThen the harmonic compensation voltage u is input into a fuzzy control decision module to obtain harmonic compensation voltage u5d、u5q、u7dAnd u7q。
Voltage coordinate transformation: compensating the harmonic wave voltage u under the 5-time synchronous rotation coordinate system5d、u5qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα5、uβ5Compensating the harmonic wave voltage u under the 7-time synchronous rotation coordinate system7d、u7qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα7、uβ7。
Voltage injection step: compensating the harmonic wave by a voltage uα5、uβ5、uα7And uβ7Reference voltage u in a two-phase static coordinate system obtained by adjusting with fundamental current component PI in a synchronous rotating coordinate systemα0、uβ0Superposing to obtain a final reference voltage signal uαAnd uβ。
A modulation step: and modulating the final reference voltage signal by an SVPWM (space vector pulse width modulation) module to generate six paths of PWM driving signals, and controlling an inverter to inject harmonic compensation voltage into a three-phase stator winding of the permanent magnet synchronous motor so as to realize the suppression of current harmonics.
As an implementation mode, the fuzzy control decision module comprises four independent two-dimensional fuzzy controllers, wherein the two-dimensional fuzzy controllers comprise fuzzification, fuzzy inference, a knowledge base and deblurring; the knowledge base comprises a database for storing input and output linguistic variables and a rule base for storing corresponding expert experience rules;
the fuzzy control step comprises: harmonic deviation signal e to be input5d、e5q、e7dAnd e7qAnd the corresponding deviation change rate ec5d、ec5q、ec7dAnd ec7qFuzzification is carried out, and then output is carried out to fuzzy reasoning; the fuzzy inference process refers to expert experience rules in a rule base and expresses a fuzzy logic relation existing between the fuzzified input harmonic deviation signal and the output fuzzy control quantity in the form of a condition statement of a fuzzy statement 'if … and … the …'; and the output fuzzy control quantity is subjected to fuzzy resolving treatment to obtain harmonic compensation voltage.
As an embodiment, in the fuzzy control step:
the parameters of two fuzzy controllers of 5 th harmonic wave are kept consistent, and e of the input deviation5d、e5qAnd the rate of change of deviation ec5d、ec5qThe fuzzy theory domains are { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, and the fuzzy sets corresponding to the fuzzy domains are { NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take a triangle membership function, and a deviation quantization factor ke is input56/300, offset Rate factor kec5＝10-10(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NM (negative middle), NS (negative small), ZO (zero), PS (positive small), PM (positive middle), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝9/3＝3。
As an embodiment, in the fuzzy control step:
the parameters of two fuzzy controllers with 7 th harmonic waves are kept consistent, and e of the deviation is input7d、e7qAnd the rate of change of deviation ec7d、ec7qThe fuzzy universe of (1) is { -6, -4, -2, 0,2,4,6}, and the fuzzy sets corresponding to the fuzzy universes are { NB (negative large), NS (negative small), ZO (zero), PS (zero) ((b))Positive small), PB (positive large), wherein NB takes Z-type membership function, PB takes S-type membership function, the rest takes triangle membership function, and deviation quantization factor ke is input76/100-0.06 offset rate factor kec7＝10-8(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NS (negative small), ZO (zero), PS (positive small), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝6/3＝2。
As an embodiment, the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 5 th harmonic rotating coordinate system in the current coordinate transformation step is as follows:
the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 7 th harmonic rotating coordinate system is shown as follows:
as an embodiment, the transformation matrix of the 5 th harmonic voltage in the synchronous rotating coordinate system to the stationary two-phase α β in the voltage coordinate transformation step is as follows:
the transformation matrix of the 7 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta is shown as the following formula:
although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A control system for suppressing current harmonics of a permanent magnet synchronous motor, comprising:
a current sampling module: real-time sampling calculation of three-phase current i of permanent magnet synchronous motora、ib、icAnd a rotor position θ;
a current coordinate transformation module: converting the three-phase current through current coordinates to obtain a component i containing harmonic current in a synchronous rotating coordinate systemdAnd iq(ii) a To idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 5-order rotating coordinate system to obtain a direct current component i containing 5-order harmonic5dAnd i5qAnd the alternating current quantities of fundamental wave and 7 th harmonic wave; to idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 7-time rotating coordinate system to obtain a direct current component i containing 7-time harmonic7dAnd i7qAnd the alternating flow of fundamental wave and 5 th harmonic wave;
a low-pass filtering processing module: processing the obtained direct current component i of the 5 th harmonic5dAnd i5qAnd the direct current component i of the 7 th harmonic7dAnd i7q；
A fuzzy control decision module: harmonic DC component i5d、i5q、i7dAnd i7qWith the target harmonic current i5dref＝i5qref＝i7dref＝i7qrefComparing the signals to obtain a harmonic current deviation signal e5d、e5q、e7dAnd e7qAnd the corresponding rate of change in deviation ec5d、ec5q、ec7dAnd ec7qAnd calculating to obtain harmonic compensation voltage u5d、u5q、u7dAnd u7q；
A voltage coordinate transformation module: compensating the harmonic wave voltage u under the 5-time synchronous rotation coordinate system5d、u5qBy sitting onThe standard is transformed to a stationary two-phase alpha beta coordinate system to obtain a harmonic compensation voltage u under the alpha beta coordinate systemα5、uβ5Compensating the harmonic wave voltage u under the 7-time synchronous rotation coordinate system7d、u7qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα7、uβ7；
Harmonic compensation voltage injection module: compensating the harmonic wave by a voltage uα5、uβ5、uα7And uβ7Reference voltage u in a two-phase static coordinate system obtained by adjusting with fundamental current component PI in a synchronous rotating coordinate systemα0、uβ0Superposing to obtain a final reference voltage signal uαAnd uβ(ii) a And
the SVPWM modulation module: modulating the final reference voltage signal uαAnd uβGenerating six paths of PWM driving signals, and controlling the inverter to inject harmonic compensation voltage into a three-phase stator winding of the motor;
the fuzzy control decision module comprises four independent two-dimensional fuzzy controllers, and the two-dimensional fuzzy controllers comprise fuzzification, fuzzy inference, a knowledge base and deblurring; the input quantity of which is a harmonic deviation signal e5d、e5q、e7dAnd e7qAnd the corresponding deviation change rate ec5d、ec5q、ec7dAnd ec7qFuzzification is carried out, and then output is carried out to fuzzy reasoning; the knowledge base comprises a database for storing input and output linguistic variables and a rule base for storing corresponding expert experience rules; the fuzzy inference process refers to expert experience rules in a rule base and expresses a fuzzy logic relation existing between the fuzzified input harmonic deviation signal and the output fuzzy control quantity in the form of a condition statement of a fuzzy statement 'if … and … the …'; the output fuzzy control quantity is subjected to fuzzy resolving processing to obtain harmonic compensation voltage;
the parameters of two fuzzy controllers of 5 th harmonic wave are kept consistent, and e of the input deviation5d、e5qAnd the rate of change of deviation ec5d、ec5qThe fuzzy domain of (a) is { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, and the fuzzy set corresponding to the fuzzy domain is { NB (negative)Big, NM (negative middle), NS (negative small), ZO (zero), PS (positive small), PM (positive middle), PB (positive big) }, wherein NB takes Z type membership function, PB takes S type membership function, the rest takes triangle membership function, and the deviation quantization factor ke is input56/300, offset Rate factor kec5＝10-10(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NM (negative middle), NS (negative small), ZO (zero), PS (positive small), PM (positive middle), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝9/3＝3；
The parameters of two fuzzy controllers with 7 th harmonic waves are kept consistent, and e of the deviation is input7d、e7qAnd the rate of change of deviation ec7d、ec7qThe fuzzy universe of (1) is { -6, -4, -2, 0,2,4,6}, and the corresponding fuzzy sets are { NB (negative large), NS (negative small), ZO (zero), PS (positive small), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take triangle membership functions, and the input deviation quantization factor ke is76/100-0.06 offset rate factor kec7＝10-8(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NS (negative small), ZO (zero), PS (positive small), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝6/3＝2。
2. The control system for suppressing the current harmonics of the permanent magnet synchronous motor according to claim 1, wherein a transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 5 th harmonic rotating coordinate system is represented by the following equation:
the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 7 th harmonic rotating coordinate system is shown as follows:
the transformation matrix of the 5 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta is shown as the following formula:
the transformation matrix of the 7 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta is shown as the following formula:
3. a control method for suppressing current harmonics of a permanent magnet synchronous motor, which is applied to the control system for suppressing current harmonics of a permanent magnet synchronous motor according to any one of claims 1 to 2, comprising:
a sampling step: real-time sampling and calculating three-phase current i of motor through current sampling modulea、ib、icAnd a rotor position θ;
and current coordinate transformation: converting the three-phase current through current coordinates to obtain a component i containing harmonic current in a synchronous rotating coordinate systemdAnd iq(ii) a To idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 5-order rotating coordinate system to obtain a direct current component i containing 5-order harmonic5dAnd i5qAnd the alternating current quantities of fundamental wave and 7 th harmonic wave; to idAnd iqTransforming the fundamental current synchronous rotating coordinate system to a 7-time rotating coordinate system to obtain a direct current component i containing 7-time harmonic7dAnd i7qAnd the alternating flow of fundamental wave and 5 th harmonic wave;
the processing steps are as follows: the direct current component i of the 5 th harmonic is obtained through the processing of a low-pass filtering processing module5dAnd i5qAnd the direct current component i of the 7 th harmonic7dAnd i7q；
Fuzzy control: harmonic DC component i5d、i5q、i7dAnd i7qWith the target harmonic current i5dref＝i5qref＝i7dref＝i7qrefComparing the signals to obtain a harmonic current deviation signal e5d、e5q、e7dAnd e7qAnd calculating its deviation change rate ec in real time5d、ec5q、ec7dAnd ec7qThen the harmonic compensation voltage u is input into a fuzzy control decision module to obtain harmonic compensation voltage u5d、u5q、u7dAnd u7q；
Voltage coordinate transformation: compensating the harmonic wave voltage u under the 5-time synchronous rotation coordinate system5d、u5qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα5、uβ5Compensating the harmonic wave voltage u under the 7-time synchronous rotation coordinate system7d、u7qObtaining harmonic compensation voltage u under the alpha beta coordinate system by coordinate transformation to the static two-phase alpha beta coordinate systemα7、uβ7；
Voltage injection step: compensating the harmonic wave by a voltage uα5、uβ5、uα7And uβ7Reference voltage u in a two-phase static coordinate system obtained by adjusting with fundamental current component PI in a synchronous rotating coordinate systemα0、uβ0Superposing to obtain a final reference voltage signal uαAnd uβ；
A modulation step: modulating the final reference voltage signal by an SVPWM (space vector pulse width modulation) module to generate six paths of PWM (pulse width modulation) driving signals, and controlling an inverter to inject harmonic compensation voltage into a three-phase stator winding of the permanent magnet synchronous motor to realize the suppression of current harmonics;
the fuzzy control decision module comprises four independent two-dimensional fuzzy controllers, and the two-dimensional fuzzy controllers comprise fuzzification, fuzzy inference, a knowledge base and deblurring; the knowledge base comprises a database for storing input and output linguistic variables and a rule base for storing corresponding expert experience rules;
the fuzzy control step comprises: harmonic deviation signal e to be input5d、e5q、e7dAnd e7qAnd the corresponding deviation change rate ec5d、ec5q、ec7dAnd ec7qFuzzification is carried out, and then output is carried out to fuzzy reasoning; the fuzzy inference process refers to expert experience rules in a rule base and expresses a fuzzy logic relation existing between the fuzzified input harmonic deviation signal and the output fuzzy control quantity in the form of a condition statement of a fuzzy statement 'if … and … the …'; the output fuzzy control quantity is subjected to fuzzy resolving processing to obtain harmonic compensation voltage;
the fuzzy control step comprises:
the parameters of two fuzzy controllers of 5 th harmonic wave are kept consistent, and e of the input deviation5d、e5qAnd the rate of change of deviation ec5d、ec5qThe fuzzy theory domains are { -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6}, and the fuzzy sets corresponding to the fuzzy domains are { NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take a triangle membership function, and a deviation quantization factor ke is input56/300, offset Rate factor kec5＝10-10(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NM (negative middle), NS (negative small), ZO (zero), PS (positive small), PM (positive middle), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝9/3＝3；
The fuzzy control step comprises:
the parameters of two fuzzy controllers with 7 th harmonic waves are kept consistent, and e of the deviation is input7d、e7qAnd the rate of change of deviation ec7d、ec7qThe fuzzy universe of (1) is { -6, -4, -2, 0,2,4,6}, and the corresponding fuzzy sets are { NB (negative large), NS (negative small), ZO (zero), PS (positive small), PB (positive large) }, wherein NB takes a Z-type membership function, PB takes an S-type membership function, the rest take triangle membership functions, and the input deviation quantization factor ke is76/100-0.06 offset rate factor kec7＝10-8(ii) a The fuzzy universe of fuzzy output value is { -3, -2, -1,0,1,2,3}, the corresponding fuzzy sets are { NB (negative big), NS (negative small), ZO (zero), PS (positive small), PB (positive big) }, the output variables are all triangle membership function, and the output scale factor ku is output5＝6/3＝2。
4. The control method for suppressing the current harmonics of the permanent magnet synchronous motor according to claim 3, wherein the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 5 th harmonic rotating coordinate system in the current coordinate transformation step is represented by the following equation:
the transformation matrix transformed from the fundamental current synchronous rotating coordinate system to the 7 th harmonic rotating coordinate system is shown as follows:
the transformation matrix of the 5 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta in the voltage coordinate transformation step is shown as the following formula:
the transformation matrix of the 7 th harmonic voltage under the synchronous rotating coordinate system to the stationary two-phase alpha beta is shown as the following formula:
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