CN106559026B - A kind of control method of motor driven systems, control device and transducer air conditioning - Google Patents
A kind of control method of motor driven systems, control device and transducer air conditioning Download PDFInfo
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- CN106559026B CN106559026B CN201611088247.9A CN201611088247A CN106559026B CN 106559026 B CN106559026 B CN 106559026B CN 201611088247 A CN201611088247 A CN 201611088247A CN 106559026 B CN106559026 B CN 106559026B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004378 air conditioning Methods 0.000 title abstract 2
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000009466 transformation Effects 0.000 claims description 12
- 238000009499 grossing Methods 0.000 claims description 8
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 abstract 2
- 238000011897 real-time detection Methods 0.000 abstract 1
- 239000003990 capacitor Substances 0.000 description 22
- 230000004907 flux Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000003313 weakening effect Effects 0.000 description 3
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 2
- 230000005347 demagnetization Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
- H02M1/143—Arrangements for reducing ripples from dc input or output using compensating arrangements
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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
- 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
-
- 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
- H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
- H02P2201/15—Power factor correction [PFC] circuit generating the DC link voltage for motor driving inverter
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Abstract
The control method of motor driven systems provided by the invention, control device and transducer air conditioning, pass through detection d-c bus voltage value and the three-phase electricity flow valuve of driving motor, and average voltage level is obtained according to DC bus-bar voltage, and then magnitude of a voltage fluctuation is obtained according to d-c bus voltage value and average voltage level, finally according to magnitude of a voltage fluctuation, d-c bus voltage value and three-phase electricity flow valuve generate control signal and control the inverter of the motor driven systems, it is run with driving motor, control method provided by the invention is capable of the fluctuation of real-time detection DC bus-bar voltage, and the Iq current value in motor driven systems is adjusted by detection fluctuation in real time, to reduce the undulate quantity of DC bus-bar voltage.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method and a control device of a motor driving system and a variable frequency air conditioner.
Background
In a motor driving system, a conventional passive PFC (power factor correction) scheme frequency conversion driver is widely applied due to the advantages of low cost and high reliability, the passive PFC scheme is that after alternating-current voltage is rectified by a full bridge, the direct-current bus voltage is in a stable state through the smoothing action of a large electrolytic capacitor, but when the load of a driving motor is increased to enable an inverter part to output high power, ripple waves with the same phase as the alternating-current voltage of an input power supply appear on the direct-current bus voltage, namely, voltage fluctuation occurs, the ripple voltage can influence the service life of the large electrolytic capacitor, and further the working stability of the frequency conversion driver is influenced.
In order to ensure that the large electrolytic capacitor meets the requirement of frequency conversion control stability, the method is mainly realized by the following two methods: (1) reducing the output power of the variable frequency controller; (2) the capacity of the large electrolytic capacitor is increased. However, by reducing the output power of the variable frequency controller, stable high-power output cannot be obtained under the condition that the load is increased; and increasing the capacity of a large electrolytic capacitor increases the cost accordingly.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a control method of a motor driving system, and aims to solve the problem that in a motor driving system adopting a passive PFC scheme, the service life of an electrolytic capacitor is shortened to influence the working stability of the motor driving system due to the fact that output power is increased to generate ripples.
In order to achieve the above object, the present invention provides a method for controlling a motor driving system, the motor driving system including a rectifier, a passive PFC circuit, a dc smoothing circuit, an inverter, an operation control unit, and a motor, the rectifier full-wave rectifying an ac input voltage, the passive PFC circuit having a reactor connected in series with an output terminal of the rectifier, the ac input voltage supplying power to the inverter by outputting a dc bus voltage through the rectifier, the passive PFC circuit, and the dc smoothing circuit, the operation control unit controlling the inverter to drive the motor to operate, the method comprising:
detecting a voltage value of a direct current bus and a three-phase current value of a driving motor;
obtaining an average voltage value according to the voltage value of the direct current bus;
acquiring a voltage fluctuation amount according to the direct current bus voltage value and the average voltage value;
generating a control signal according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value so as to control an inverter of the motor driving system to drive a motor to operate;
generating a control signal to control an inverter of the motor driving system according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value, and specifically comprising:
acquiring an initial value of q-axis current;
calculating a q-axis current compensation amount according to the voltage fluctuation amount, and adding the q-axis current compensation amount and a q-axis current initial value to obtain a q-axis given current value;
obtaining a d-axis given current value according to the direct-current bus voltage value and the output voltage amplitude of the inverter;
carrying out coordinate transformation on the three-phase current to obtain a d-axis actual current value and a q-axis actual current value;
respectively calculating the d-axis given current value and the d-axis actual current value as well as the q-axis given current value and the q-axis actual current value to obtain a d-axis given voltage value and a q-axis given voltage value;
and generating a PWM control signal according to the d-axis given voltage value, the q-axis given voltage value, the direct-current bus voltage value and the motor rotor angle estimated value so as to control the inverter.
Preferably, the step of obtaining an initial value of the q-axis current comprises:
and calculating a difference value according to the target rotating speed value of the motor and the actual mechanical rotating speed value of the motor, and performing PI control to obtain an initial value of the q-axis current.
Preferably, the step of obtaining a d-axis given current value according to the dc bus voltage value and the output voltage amplitude of the inverter comprises:
calculating to obtain the output voltage amplitude of the inverter according to the previous d-axis given voltage value and the previous q-axis given voltage value;
calculating to obtain the maximum output voltage value of the inverter according to the voltage value of the direct-current bus;
calculating to obtain an initial value of the d-axis current according to the maximum output voltage value of the inverter and the output voltage amplitude of the inverter;
and carrying out amplitude limiting processing on the initial value of the d-axis current to obtain the d-axis given current value.
Preferably, the step of calculating the q-axis current compensation amount according to the voltage fluctuation amount includes:
and performing PI control according to the voltage fluctuation quantity to obtain a q-axis current compensation quantity.
The present invention also proposes a control device of a motor drive system, the control device including:
the current detection module is used for detecting the three-phase current value of the driving motor;
the voltage detection module is used for detecting the voltage value of a direct current bus of the motor driving system;
the average voltage obtaining module is used for obtaining an average voltage value according to the voltage value of the direct current bus;
the voltage fluctuation quantity acquisition module is used for acquiring voltage fluctuation quantity according to the direct current bus voltage value and the average voltage value;
the control signal generation module is used for generating a control signal according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value so as to control an inverter of the motor driving system to drive the motor to operate;
the control signal generation module specifically includes:
a q-axis current compensation calculating unit for calculating a q-axis current compensation amount according to the voltage fluctuation amount;
the q-axis current initial value acquisition unit is used for calculating a difference value according to a target rotating speed value and an actual rotating speed estimated value of the motor and then carrying out PI control to obtain a q-axis current initial value;
the q-axis given current value operation unit is used for adding the q-axis current compensation quantity and the q-axis current initial value to obtain a q-axis given current value;
the d-axis given current value operation unit is used for calculating a d-axis given current value according to the direct-current bus voltage value and the output voltage amplitude of the inverter;
the dq-axis current operation unit is used for carrying out coordinate transformation on the three-phase current to obtain a d-axis actual current value and a q-axis actual current value;
the dq-axis voltage operation unit is used for calculating a d-axis given current value and a d-axis actual current value as well as a q-axis given current value and a q-axis actual current value respectively to obtain a d-axis given voltage value and a q-axis given voltage value;
and the PWM operation unit is used for generating PWM control signals according to the d-axis given voltage value, the q-axis given voltage value, the direct-current bus voltage value and the motor rotor angle estimation value to control the inverter.
Preferably, the q-axis current compensation calculation unit is further configured to:
and performing PI control according to the voltage fluctuation quantity to obtain a q-axis current compensation quantity.
Preferably, the d-axis given current value operation unit specifically includes:
the voltage amplitude value calculation operator unit is used for calculating the output voltage amplitude value of the inverter according to the previous d-axis given voltage value and the previous q-axis given voltage value;
the maximum output voltage value calculating operator unit is used for calculating the maximum output voltage value of the inverter according to the voltage value of the direct-current bus;
the flux-weakening control subunit is used for calculating to obtain a d-axis current initial value according to the maximum output voltage of the inverter and the output voltage amplitude of the inverter;
and the amplitude limiting subunit is used for carrying out amplitude limiting processing on the d-axis current initial value to obtain the d-axis given current value.
The invention also proposes an inverter air conditioner comprising a control device of the motor drive system according to any one of claims 5 to 7.
In order to achieve the purpose, the invention also provides a variable frequency air conditioner which comprises the control device of the motor driving system.
According to the control method of the motor driving system, the direct current bus voltage value and the three-phase current value of the driving motor are detected, the average voltage value is obtained according to the direct current bus voltage, the voltage fluctuation quantity is further obtained according to the direct current bus voltage value and the average voltage value, and finally, the control signal is generated according to the voltage fluctuation quantity, the direct current bus voltage value and the three-phase current value to control the inverter of the motor driving system so as to drive the motor to operate. The control method provided by the invention can detect the fluctuation of the direct current bus voltage in real time, and adjust the Iq current value in the motor driving system in real time by detecting the fluctuation so as to finally control the motor, thereby reducing the fluctuation of the direct current bus voltage, realizing high-power output under the condition of not increasing electrolytic capacitors, and solving the problem that the working stability of the whole motor driving system is influenced because the working life of a large electrolytic filter capacitor on the direct current bus is reduced due to the fact that the output power of an inverter is overlarge when the load is overlarge in the motor driving system adopting a passive PFC scheme and the voltage of an upper wave appears on the direct current bus voltage.
Drawings
Fig. 1 is a schematic circuit diagram of a motor driving system according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a control method of a motor driving system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control device of a motor drive system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of signal generation of a voltage fluctuation amount acquisition module in a control device of a motor drive system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control signal generation module in a control device of a motor drive system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a d-axis given current value operation unit in the control device of the motor drive system according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
First, a passive PFC-based motor driving system according to an embodiment of the present invention will be described. As shown in fig. 1, the motor drive system includes: rectifier 2, passive PFC circuit 3, dc smoothing circuit 4, inverter 5, arithmetic control unit 7, and motor 6. The passive PFC circuit 3 is provided with a reactor L connected with the output end of the rectifier 2 in series, and can also comprise a first capacitor C1 and a diode D5, the direct current smoothing circuit 4 comprises a second capacitor C2, the rectifier 2 is rectified by a full bridge consisting of diodes D1-D4 to rectify the alternating current input voltage 1 and convert the alternating current input voltage into direct current pulsating voltage, the reactor L is connected with the rear side of the rectifier in series, the first end of the reactor L is connected with the positive electrode output end of the rectifier, the second end of the reactor L is connected with the anode of a diode D5, a first capacitor C1 is connected with the first end of the reactor L and the cathode end of the diode in parallel, a second capacitor C2 is connected with the cathode end of the diode and the cathode output end of the rectifier in parallel, the rectifier L utilizes the characteristic of the inductor to the current charging and discharging lagging voltage to improve the power factor of the output current, the first capacitor C1 is a, the second capacitor is a large-capacity electrolytic capacitor, the direct current pulsating voltage output by the rectifier is smoothed, and the diode D5 can improve the charging voltage on the second capacitor by utilizing the isolation effect of the diode D5, so that the power factor is further improved. The AC input voltage outputs DC bus voltage through the rectifier 2, the passive PFC circuit 3 and the DC smoothing circuit 4 to provide DC power for the inverter 5, the operation control part 7 controls the switch tubes S1-S6 of the inverter to drive the motor 6 to run through control commands, and the motor 6 is a permanent magnet synchronous motor and comprises a compressor for a variable frequency air conditioner.
Fig. 2 is a flowchart of a control method of a motor driving system according to an embodiment of the present invention, and as shown in fig. 2, the control method of the motor driving system includes the steps of:
and S10, detecting the voltage value of the direct current bus and the three-phase current value of the driving motor.
Specifically, the direct-current bus voltage V of the motor driving system can be detected through the circuit structure of the voltage dividing resistordcThe three-phase currents Iu, v and w of the motor are detected through circuit structures in a single-resistor or three-resistor sampling mode, and the circuit structures belong to the prior art.
And S20, obtaining an average voltage value according to the direct current bus voltage.
Specifically, the voltage value V of the direct current bus can be detected within a preset timedcThen averaging to obtain an average voltage value V of the perioddc_ave。
And S30, acquiring the voltage fluctuation amount according to the direct current bus voltage value and the average voltage value.
Specifically, the average value V of the DC bus voltage is detecteddc_aveThen, the voltage V of the DC bus is calculateddcThe difference value of (2) can obtain the voltage fluctuation quantity delta Vdc。
And S40, generating a control signal according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value to control an inverter of the motor driving system so as to drive the motor to operate.
According to an embodiment of the present invention, the generating a control signal according to the voltage fluctuation amount, the dc bus voltage value, and the three-phase current value to control the inverter of the motor driving system specifically includes:
acquiring an initial value of q-axis current;
calculating q-axis current compensation quantity according to the voltage fluctuation quantity, and adding the q-axis current compensation quantity and a q-axis current initial value to obtain a q-axis given current value;
obtaining a d-axis given current value according to the voltage value of the direct-current bus and the output voltage amplitude of the inverter;
carrying out coordinate transformation on the three-phase current to obtain a d-axis actual current value and a q-axis actual current value;
respectively calculating a d-axis given current value and a d-axis actual current value as well as a q-axis given current value and a q-axis actual current value to obtain a d-axis given voltage value and a q-axis given voltage value;
and generating PWM control signals according to the d-axis given voltage value, the q-axis given voltage value, the direct-current bus voltage value and the motor rotor angle estimated value so as to control the inverter.
Specifically, according to the voltage fluctuation amount Δ VdcCalculating to obtain q-axis current compensation Iq_com1By a voltage fluctuation amount DeltaVdcPerforming PI control, and calculating to obtain q-axis current compensation Iq_com1。
Initial value of q-axis current Iq0Can pass through the motor target rotating speed value omegam *And the actual rotation speed value omega of the motormCalculating the difference value and then performing PI control to obtain the actual rotating speed value omega of the motormCan be detected by a position sensor in the motor, such as a hall switch, or for a motor without a position sensor, the actual speed value omega of the motor is detectedmFor the estimation, at this time ωmThe acquisition is specifically as follows:
obtaining rotor angle estimated value theta of motor through flux linkage observation methodestAnd the actual rotation speed value omega of the motorm. Specifically, the voltage V on the two-phase stationary coordinate system can be first determinedα、VβAnd current Iα、IβThe estimated values of the effective magnetic fluxes of the compressor motor in the axial directions of the two-phase stationary coordinate systems α and β are calculated according to the following formula (1):
wherein,andthe effective flux, V, of the motor in the α and β axial directions, respectivelyαAnd VβVoltage in the direction of the α and β axes, IαAnd IβCurrent in the direction of the α and β axes, R is stator resistance, LqIs the q-axis flux linkage of the motor.
Then, a rotor angle estimation value theta of the compressor motor is calculated according to the following formula (2)eAnd the actual rotation speed value omega of the motorm：
Wherein, Kp_pllAnd Ki_pllRespectively, a proportional integral parameter, thetaerrAs an estimate of the deviation angle, ωfThe bandwidth of the velocity low pass filter.
For q-axis current compensation Iq_com1And an initial value of q-axis current Iq0Adding to obtain q-axis power supplyFlow value Iqref。
The specific steps of calculating the d-axis given current value of the compressor motor according to the direct-current bus voltage value and the output voltage amplitude of the inverter are as follows:
maximum output voltage V to invertermaxAnd the output voltage amplitude V of the inverter1The difference is subjected to field weakening control to obtain an initial value I of a given current value of the d axisd0(ii) a Setting an initial value I of current for d axisd0Performing a clipping process to obtain a d-axis given current value Idref。
Wherein the initial value I of the d-axis given current value can be calculated by the following formula (3)d0：
Wherein, KiIn order to integrate the control coefficients of the motor,Vdand VqRespectively d-axis and q-axis set voltage values, V, of the motordcIs the dc bus voltage of the motor drive system.
Then, an initial value I of the current is set according to the d axisd0Performing a clipping process to calculate a d-axis predetermined current value I by the following formula (4)dref：
Wherein, IdemagIs the demagnetization current limit value of the motor.
The coordinate transformation of the three-phase current to obtain the d-axis and q-axis actual current values specifically comprises the following steps:
the three-phase current value I of the permanent magnet synchronous motor U, V, W is obtained according to detectionu、Iv、IwAnd calculating the current I of the motor in the axial directions of the two-phase stationary coordinate systems α and β by the following formula (5)αAnd Iβ
Iα＝Iu
Then according to the electrical angle theta of the motoreThe coordinate conversion is carried out, and the actual current values I of the d axis and the q axis under a two-phase rotating coordinate system are obtained by calculation through the following formula (6)q、Id。
Id＝Iαcosθe+Iβsinθe
Iq＝-Iαsinθe+Iβcosθe (6)
The d-and q-axis given voltage values obtained from the d-and q-axis given current values and the d-and q-axis actual current values may be specifically calculated by the following formula (7):
Vd＝Vd0-ωLqIq
Vq＝Vq0+ωLdId+ωKe (7)
wherein Vq is Q-axis given voltage, Vd is D-axis given voltage, Iqref is Q-axis given current, Idref is D-axis given current, Iq is Q-axis actual current, Id is D-axis actual current, Kpd and Kid is D-axis current control proportional gain and integral gain respectively, Kpq and Kiq are Q-axis current control proportional gain and integral gain respectively, omega is the motor rotation speed, Ke is the motor back electromotive force coefficient, Ld and Lq are D-axis and Q-axis inductances respectively,denotes the integral of x (τ) over time.
Generating a PWM control signal according to the given voltage values of the d and q axes, the voltage value of the direct current bus and the angle estimation value of the motor rotor to control the inverter as follows:
after a Q-axis given voltage value Vq and a D-axis given voltage value Vd are obtained, Park inverse transformation can be carried out on the Vq and the Vd according to the angle theta of the motor rotor, and a voltage command V on a fixed coordinate system is obtained through calculation according to the following formula (8)αAnd Vβ：
Where θ is the motor rotor angle, where the rotor angle estimate θ can be takene。
For voltage V on two-phase static coordinate systemα、VβPerforming Clark inverse transformation to obtain three-phase voltage value Vu、Vv、VwSpecifically, the calculation is obtained by the following formula (9):
then, the voltage V can be obtained according to the DC busdcAnd three-phase voltage value Vu、Vv、VwDuty ratio calculation is carried out to obtain PWM control signals, namely three-phase duty ratio Du、Dv、DwSpecifically, the calculation is obtained by the following formula (10):
finally, according to the three-phase duty ratio Du、Dv、DwAnd controlling a switching tube of the inverter to realize the control of the motor.
According to the control method of the motor driving system, the direct current bus voltage value and the three-phase current value of the driving motor are detected, the average voltage value is obtained according to the direct current bus voltage, the voltage fluctuation quantity is further obtained according to the direct current bus voltage value and the average voltage value, and finally, the control signal is generated according to the voltage fluctuation quantity, the direct current bus voltage value and the three-phase current value to control the inverter of the motor driving system so as to drive the motor to operate. The control method provided by the invention can detect the fluctuation of the direct current bus voltage in real time, and adjust the Iq current value in the motor driving system in real time by detecting the fluctuation so as to finally control the motor, thereby reducing the fluctuation of the direct current bus voltage, realizing high-power output under the condition of not increasing electrolytic capacitors, and solving the problem that the working stability of the whole motor driving system is influenced because the working life of a large electrolytic filter capacitor on the direct current bus is reduced due to the fact that the output power of an inverter is overlarge when the load is overlarge in the motor driving system adopting a passive PFC scheme and the voltage of an upper wave appears on the direct current bus voltage.
The invention also provides a control device of the motor driving system.
Fig. 3 is a schematic structural diagram of a control device of a motor drive system according to an embodiment of the present invention, and as shown in fig. 3, the control device of the motor drive system includes:
the current detection module 10 is used for detecting the three-phase current value of the driving motor;
the voltage detection module 20 is used for detecting a direct current bus voltage value of the motor driving system;
the average voltage obtaining module 30 is configured to obtain an average voltage value according to the dc bus voltage value;
the voltage fluctuation amount acquisition module 40 is used for acquiring a voltage fluctuation amount according to the direct current bus voltage value and the average voltage value;
and the control signal generation module 50 generates a control signal according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value so as to control an inverter of the motor driving system to drive the motor to operate.
Specifically, the current detection module 10 may detect the dc bus voltage V of the motor driving system through a circuit structure of the voltage dividing resistordcThe three-phase currents Iu, v and w of the motor are detected through circuit structures in a single-resistor or three-resistor sampling mode, and the circuit structures belong to the prior art. The average voltage obtaining module 30 may detect the dc bus voltage V within a preset timedcThen averaging to obtain an average voltage value V of the perioddc_ave。
The voltage fluctuation amount obtaining module 40 detects the average value V of the dc bus voltage as shown in fig. 4dc_aveThen, the voltage V of the DC bus is calculateddcThe difference value of (2) can obtain the voltage fluctuation quantity delta Vdc。
As shown in fig. 5, the control signal generating module 50 specifically includes:
a q-axis current compensation calculating unit 501 for calculating a q-axis current compensation amount according to the voltage fluctuation amount;
a q-axis current initial value obtaining unit 502, configured to perform difference calculation according to a target rotation speed value of the motor and an actual rotation speed estimation value of the motor, and perform PI control to obtain a q-axis current initial value;
a q-axis given current value operation unit 503, configured to add the q-axis current compensation amount and the q-axis current initial value to obtain a q-axis given current value;
the d-axis given current value operation unit 504 is used for calculating a d-axis given current value according to the direct-current bus voltage value and the output voltage amplitude of the inverter;
a dq-axis current operation unit 505, configured to perform coordinate transformation on the three-phase current to obtain d-axis and q-axis actual current values;
a dq-axis voltage operation unit 506 for calculating a d-axis given current value and a d-axis actual current value, and a q-axis given current value and a q-axis actual current value, respectively, to obtain a d-axis given voltage value and a q-axis given voltage value;
and a PWM operation unit 507, configured to generate a PWM control signal according to the d-axis given voltage value, the q-axis given voltage value, the dc bus voltage value, and the estimated motor rotor angle value to control the inverter.
Specifically, according to the voltage fluctuation amount Δ VdcCalculating to obtain q-axis current compensation Iq_com1By a voltage fluctuation amount DeltaVdcPerforming PI control, and calculating to obtain q-axis current compensation Iq_com1。
q-axis current initial value acquisition unit 502 acquires q-axis current initial value Iq0The target rotation speed value omega of the motor can be usedm *And the actual rotation speed value omega of the motormCalculating the difference value and then performing PI control to obtain the actual rotating speed value omega of the motormCan be detected by a position sensor in the motor, such as a hall switch, or for a motor without a position sensor, the actual speed value omega of the motor is detectedmFor the estimation, at this time ωmThe acquisition is specifically as follows:
obtaining rotor angle estimated value theta of motor through flux linkage observation methodestAnd the actual rotation speed value omega of the motorm. Specifically, the voltage V on the two-phase stationary coordinate system can be first determinedα、VβAnd current Iα、IβAnd calculating the estimated value of the effective magnetic flux of the compressor motor in the axial directions of the two-phase static coordinate systems α and β, wherein the specific calculation formula is as follows:
wherein,andan estimate of the effective flux, V, in the direction of the α and β axes of the compressor motor, respectivelyαAnd VβVoltage in the direction of the α and β axes, IαAnd IβCurrent in the direction of the α and β axes, R is stator resistance, LqIs the q-axis flux linkage of the compressor motor.
Then, a rotor angle estimation value theta of the compressor motor is calculated according to the following formula (2)eAnd the actual rotation speed value omega of the motorm：
Wherein, Kp_pllAnd Ki_pllRespectively, a proportional integral parameter, thetaerrAs an estimate of the deviation angle, ωfThe bandwidth of the velocity low pass filter.
q-axis given current value computing unit 503 compensates q-axis current by amount Iq_com1And an initial value of q-axis current Iq0Adding the obtained values to obtain a given q-axis current value Iqref。
d-axis given current value operation unit 504 as further shown in fig. 6, the d-axis given current value operation unit 504 further includes a voltage magnitude operator unit 5041, a maximum output voltage value operator unit 5042, a field weakening control sub-unit 5043, and a limiting sub-unit 5044, and the d-axis given current value operation unit 504 specifically includes:
maximum output voltage V of weak magnetic control subunit 5043 to invertermaxAnd the output voltage amplitude V of the inverter1The difference is subjected to field weakening control to obtain an initial value I of a given current value of the d axisd0(ii) a Amplitude limiting subunit 5044 gives initial value of current I to d-axisd0Performing a clipping process to obtain a d-axis given current value Idref。
The flux-weakening control sub-unit 5043 may calculate an initial value I of the d-axis predetermined current value by the following formula (3)d0：
Wherein, KiFor integrating the control coefficients, the voltage magnitude operator unit 5041 passes the formulaCalculating to obtain the output voltage amplitude V of the inverter1The maximum output voltage value operator unit 5042 is calculated by formulaCalculating to obtain the maximum output voltage V of the invertermax，VdAnd VqRespectively d-axis and q-axis set voltage values, V, of the motordcIs the dc bus voltage of the motor drive system.
Then, the clipping sub-unit 5044 gives an initial value of current I according to the d-axisd0Performing a clipping process to calculate a d-axis predetermined current value I by the following formula (4)dref：
Wherein, IdemagIs the demagnetization current limit value of the motor.
The dq-axis current operation unit 505 specifically includes, for obtaining the d-axis and q-axis actual current values by performing coordinate transformation on the three-phase currents:
the three-phase current value I of the permanent magnet synchronous motor U, V, W is obtained according to detectionu、Iv、IwAnd calculating the current I of the motor in the axial directions of the two-phase stationary coordinate systems α and β by the following formula (5)αAnd Iβ
Iα＝Iu
Then according to the electrical angle theta of the motoreThe coordinate conversion is carried out, and the actual current values I of the d axis and the q axis under a two-phase rotating coordinate system are obtained by calculation through the following formula (6)q、Id。
Id＝Iαcosθe+Iβsinθe
Iq＝-Iαsinθe+Iβcosθe (6)
The dq-axis voltage operation unit 506, which obtains the d-axis and q-axis given voltage values from the d-axis and q-axis given current values and the d-axis and q-axis actual current values, may specifically calculate by the following formula (7):
Vd＝Vd0-ωLqIq
Vq＝Vq0+ωLdId+ωKe (7)
wherein Vq is a Q-axis given voltage, Vd is a D-axis given voltage, Iqref is a Q-axis given current, Idref is a D-axis given current, Iq is a Q-axis actual current, Id is a D-axis actual current, Kpd and Kid are respectively a D-axis current control proportional gain and an integral gain, Kpq and Kiq are respectively a Q-axis current control proportional gain and an integral gain, omega is a motor rotation speed, Ke is a motor back electromotive force coefficient, Ld and Lq are respectively a D-axis inductor and a Q-axis inductor,denotes the integral of x (τ) over time.
The PWM operation unit 507 generates a PWM control signal according to the d and q axis given voltage values, the dc bus voltage value, and the motor rotor angle estimation value as follows:
after the Q-axis voltage command Vq and the D-axis voltage command Vd are obtained, Park inverse transformation can be performed on Vq and Vd according to the motor rotor angle θ, and voltage commands V α and V β on a fixed coordinate system are obtained through calculation by the following formula (8):
where θ is the motor rotor angle, where the rotor angle estimate θ can be takene。
For voltage V on two-phase static coordinate systemα、VβPerforming Clark inverse transformation to obtain three-phase voltage command Vu、Vv、VwSpecifically, the calculation is obtained by the following formula (9):
then, the voltage V can be obtained according to the DC busdcAnd three-phase voltage command Vu、Vv、VwDuty ratio calculation is carried out to obtain PWM control signals, namely three-phase duty ratio Du、Dv、DwSpecifically, the calculation is obtained by the following formula (10):
finally, according to the three-phase duty ratio Du、Dv、DwAnd controlling a switching tube of the inverter to realize the control of the motor.
According to the control device of the motor driving system, the voltage value of the direct-current bus and the three-phase current value of the driving motor are detected, the average voltage value is obtained according to the voltage of the direct-current bus, the voltage fluctuation quantity is further obtained according to the voltage value of the direct-current bus and the average voltage value, and finally, the control signal is generated according to the voltage fluctuation quantity, the voltage value of the direct-current bus and the three-phase current value to control the inverter of the motor driving system so as to drive the motor to operate. The control method provided by the invention can detect the fluctuation of the direct current bus voltage in real time, and adjust the Iq current value in the motor driving system in real time by detecting the fluctuation so as to finally control the motor, thereby reducing the fluctuation of the direct current bus voltage, realizing high-power output under the condition of not increasing electrolytic capacitors, and solving the problem that the working stability of the whole motor driving system is influenced because the working life of a large electrolytic filter capacitor on the direct current bus is reduced due to the fact that the output power of an inverter is overlarge when the load is overlarge in the motor driving system adopting a passive PFC scheme and the voltage of an upper wave appears on the direct current bus voltage.
In addition, the present invention further provides an inverter air conditioner, including the control device of the motor driving system, where a motor of the inverter air conditioner may be a direct current fan or a compressor, and the specific implementation manner of the inverter air conditioner may refer to the above embodiments, which are not described herein again.
The variable frequency air conditioner provided by the embodiment of the invention can detect the fluctuation of the direct current bus voltage in real time, and adjust the Iq current value in the motor driving system in real time by detecting the fluctuation, thereby reducing the fluctuation amount of the direct current bus voltage, realizing high-power output under the condition of not increasing the electrolytic capacitor, and solving the problem that the working stability of the whole motor driving system is influenced because the working life of a large electrolytic filter capacitor on a direct current bus is reduced due to the fact that the output power of an inverter is overlarge when the load is overlarge in the motor driving system adopting a passive PFC scheme and the voltage of an upper wave appears on the direct current bus voltage.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A control method of a motor drive system including a rectifier full-wave rectifying an ac input voltage, a passive PFC circuit having a reactor connected in series with an output terminal of the rectifier, a dc smoothing circuit outputting a dc bus voltage through the rectifier, the passive PFC circuit, the dc smoothing circuit to supply a power to the inverter, an inverter controlled by the arithmetic control part to drive a motor to operate, and a motor, the control method comprising the steps of:
detecting a voltage value of a direct current bus and a three-phase current value of a driving motor;
obtaining an average voltage value according to the voltage value of the direct current bus;
acquiring a voltage fluctuation amount according to the direct current bus voltage value and the average voltage value;
generating a control signal according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value so as to control an inverter of the motor driving system to drive a motor to operate;
generating a control signal to control an inverter of the motor driving system according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value, and specifically comprising:
acquiring an initial value of q-axis current;
calculating a q-axis current compensation amount according to the voltage fluctuation amount, and adding the q-axis current compensation amount and a q-axis current initial value to obtain a q-axis given current value;
obtaining a d-axis given current value according to the direct-current bus voltage value and the output voltage amplitude of the inverter;
carrying out coordinate transformation on the three-phase current to obtain a d-axis actual current value and a q-axis actual current value;
respectively calculating the d-axis given current value and the d-axis actual current value as well as the q-axis given current value and the q-axis actual current value to obtain a d-axis given voltage value and a q-axis given voltage value;
and generating a PWM control signal according to the d-axis given voltage value, the q-axis given voltage value, the direct-current bus voltage value and the motor rotor angle estimated value so as to control the inverter.
2. The control method of a motor drive system according to claim 1, wherein the step of obtaining the initial value of the q-axis current comprises:
and calculating a difference value according to the target rotating speed value of the motor and the actual mechanical rotating speed value of the motor, and performing PI control to obtain an initial value of the q-axis current.
3. The control method of a motor drive system according to claim 1, wherein the step of obtaining a d-axis given current value based on the dc bus voltage value and the output voltage amplitude of the inverter comprises:
calculating to obtain the output voltage amplitude of the inverter according to the previous d-axis given voltage value and the previous q-axis given voltage value;
calculating to obtain the maximum output voltage value of the inverter according to the voltage value of the direct-current bus;
calculating to obtain an initial value of the d-axis current according to the maximum output voltage value of the inverter and the output voltage amplitude of the inverter;
and carrying out amplitude limiting processing on the initial value of the d-axis current to obtain the d-axis given current value.
4. The control method of a motor drive system according to claim 1, wherein the step of calculating the q-axis current compensation amount based on the voltage fluctuation amount includes:
and performing PI control according to the voltage fluctuation quantity to obtain a q-axis current compensation quantity.
5. A control device of a motor drive system, characterized by comprising:
the current detection module is used for detecting the three-phase current value of the driving motor;
the voltage detection module is used for detecting the voltage value of a direct current bus of the motor driving system;
the average voltage obtaining module is used for obtaining an average voltage value according to the voltage value of the direct current bus;
the voltage fluctuation quantity acquisition module is used for acquiring voltage fluctuation quantity according to the direct current bus voltage value and the average voltage value;
the control signal generation module is used for generating a control signal according to the voltage fluctuation amount, the direct current bus voltage value and the three-phase current value so as to control an inverter of the motor driving system to drive the motor to operate;
the control signal generation module specifically includes:
a q-axis current compensation calculating unit for calculating a q-axis current compensation amount according to the voltage fluctuation amount;
the q-axis current initial value acquisition unit is used for calculating a difference value according to a target rotating speed value and an actual rotating speed estimated value of the motor and then carrying out PI control to obtain a q-axis current initial value;
the q-axis given current value operation unit is used for adding the q-axis current compensation quantity and the q-axis current initial value to obtain a q-axis given current value;
the d-axis given current value operation unit is used for calculating a d-axis given current value according to the direct-current bus voltage value and the output voltage amplitude of the inverter;
the dq-axis current operation unit is used for carrying out coordinate transformation on the three-phase current to obtain a d-axis actual current value and a q-axis actual current value;
the dq-axis voltage operation unit is used for calculating a d-axis given current value and a d-axis actual current value as well as a q-axis given current value and a q-axis actual current value respectively to obtain a d-axis given voltage value and a q-axis given voltage value;
and the PWM operation unit is used for generating PWM control signals according to the d-axis given voltage value, the q-axis given voltage value, the direct-current bus voltage value and the motor rotor angle estimation value to control the inverter.
6. The control device of a motor drive system according to claim 5, wherein the q-axis current compensation calculation unit is further configured to:
and performing PI control according to the voltage fluctuation quantity to obtain a q-axis current compensation quantity.
7. The control device of a motor drive system according to claim 5, wherein the d-axis given current value arithmetic unit specifically includes:
the voltage amplitude value calculation operator unit is used for calculating the output voltage amplitude value of the inverter according to the previous d-axis given voltage value and the previous q-axis given voltage value;
the maximum output voltage value calculating operator unit is used for calculating the maximum output voltage value of the inverter according to the voltage value of the direct-current bus;
the flux-weakening control subunit is used for calculating to obtain a d-axis current initial value according to the maximum output voltage of the inverter and the output voltage amplitude of the inverter;
and the amplitude limiting subunit is used for carrying out amplitude limiting processing on the d-axis current initial value to obtain the d-axis given current value.
8. An inverter air conditioner, characterized in that it comprises a control device of the motor drive system according to any one of claims 5 to 7.
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| CN201611088247.9A CN106559026B (en) | 2016-11-30 | 2016-11-30 | A kind of control method of motor driven systems, control device and transducer air conditioning |
| PCT/CN2017/105300 WO2018099187A1 (en) | 2016-11-30 | 2017-10-09 | Control method and control device for motor drive system and variable-frequency air conditioner |
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