CN112653361B - High-frequency injection observation method, device and equipment - Google Patents
High-frequency injection observation method, device and equipment Download PDFInfo
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- CN112653361B CN112653361B CN202011487225.6A CN202011487225A CN112653361B CN 112653361 B CN112653361 B CN 112653361B CN 202011487225 A CN202011487225 A CN 202011487225A CN 112653361 B CN112653361 B CN 112653361B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- 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
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
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- Control Of Electric Motors In General (AREA)
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Abstract
The application discloses a high-frequency injection observation method, which considers that the larger the load carried by a motor is, the larger the amplitude of a commutation ripple in phase current of the motor is and the signal-to-noise ratio of the phase current is improved, so that the amplitude of an injection pulse can be adjusted according to the load size in a negative correlation corresponding relation, namely the amplitude of the injection pulse is reduced under the condition that the amplitude of the commutation ripple is higher, so that the signal-to-noise ratio of the phase current of the motor is inhibited from exceeding the requirement of observing the signal-to-noise ratio under the premise of ensuring reliable observation, the high-frequency vibration intensity of a target motor in the running process is reduced, the electromagnetic noise is reduced, and the high-frequency loss of the motor is reduced and the user experience is improved. The application also discloses a high-frequency injection observation device and equipment, which have the same beneficial effects as the high-frequency injection observation method.
Description
Technical Field
The application relates to the field of motor control, in particular to a high-frequency injection observation method, and also relates to a high-frequency injection observation device and equipment.
Background
In some synchronous motors (such as permanent magnet synchronous motors or synchronous reluctance motors) with a certain salient pole rate, the motor rotating speed and the position can be observed by injecting high-frequency pulses, so that a motor control system can conveniently control the motor according to the observed rotating speed and position data, the effectiveness of zero low-speed observation of the motor can be ensured by injecting the high-frequency pulses, but the high-frequency vibration and the electromagnetic noise in the motor operation process can be increased, the high-frequency loss of the motor is increased, and the user experience is reduced.
Therefore, how to provide a solution to the above technical problem is a problem that a person skilled in the art needs to solve at present.
Disclosure of Invention
The application aims to provide a high-frequency injection observation method which can reduce the high-frequency vibration intensity of a target motor in the running process and reduce electromagnetic noise, thereby being beneficial to reducing the high-frequency loss of the motor and improving the user experience; the application further aims to provide a high-frequency injection observation device and equipment, which can reduce the high-frequency vibration intensity of a target motor in the operation process and reduce electromagnetic noise, and are beneficial to reducing the high-frequency loss of the motor and improving the user experience.
In order to solve the technical problems, the present application provides a high-frequency injection observation method, which includes:
acquiring a torque value of a target motor for representing the load;
determining a target proportion corresponding to the torque value according to a negative correlation corresponding relation between a preset load size and the target proportion;
taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;
injecting the injection pulse with the amplitude being the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;
wherein the target ratio is not greater than 1.
Preferably, the acquiring the torque value of the target motor for representing the load size specifically includes:
acquiring a torque current detection value of the target motor, wherein the torque current detection value is used for representing the load;
the negative correlation corresponding relation between the preset load size and the target proportion is specifically:
and a correspondence relationship of negative correlation between a preset torque current detection value and a target proportion.
Preferably, after the obtaining the torque current detection value of the target motor for representing the load size, before determining the target proportion corresponding to the torque value according to the negative correlation correspondence between the preset torque current detection value and the target proportion, the method further includes:
and carrying out low-pass filtering on the torque current detection value.
Preferably, the correspondence of the negative correlation between the preset torque current detection value and the target proportion is specifically:
when the torque current detection value is smaller than or equal to a light load set threshold value, the target proportion is 1;
when the torque current detection value is larger than the light load set threshold value and smaller than the heavy load set threshold value, the target proportion and the torque current detection value are in inverse proportion linear relation;
and when the torque current detection value is greater than or equal to the heavy load set threshold value, the target proportion is a preset proportion minimum value.
Preferably, before the product of the target proportion and a preset calibration amplitude is taken as the final amplitude of the injection pulse, the high-frequency injection observation method further comprises:
acquiring the transient regulation amplitude of the torque current of the target motor;
determining a compensation proportion corresponding to the transient adjustment amplitude according to a positive correlation corresponding relation between the preset transient adjustment amplitude and the compensation proportion;
the product of the target proportion and a preset calibration amplitude is taken as the final amplitude of the injection pulse, and the final amplitude is specifically:
taking the product of the sum of the target proportion and the compensation proportion and a preset calibration amplitude as the final amplitude of the injection pulse;
wherein the final amplitude is not greater than the preset calibrated amplitude.
Preferably, the obtaining the transient adjustment amplitude of the torque current of the target motor specifically includes:
acquiring the target motorControl error of shaft current;
the compensation proportion corresponding to the transient adjustment amplitude is determined according to the positive correlation corresponding relation between the preset transient adjustment amplitude and the compensation proportion, and the specific method is as follows:
and determining the compensation proportion corresponding to the control error according to a positive correlation corresponding relation between the preset control error and the compensation proportion.
Preferably, the correspondence of positive correlation between the preset control error and the compensation proportion is specifically:
when the control error is smaller than or equal to a steady-state threshold value, the compensation proportion is 0;
when the control error is greater than the steady-state threshold and less than a transient threshold, the compensation ratio and the torque current detection value are in a direct-proportion linear relation;
and when the control error is greater than or equal to the transient threshold, the compensation proportion is a preset proportion maximum value.
Preferably, the preset ratio is a maximum of 1.
In order to solve the technical problem, the present application further provides a high-frequency injection observation device, including:
the acquisition module is used for acquiring a torque value of the target motor for representing the load;
the determining module is used for determining a target proportion corresponding to the torque value according to a corresponding relationship of negative correlation between a preset load size and the target proportion;
the calculation module is used for taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;
the action module is used for injecting the injection pulse with the amplitude being the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;
wherein the target ratio is not greater than 1.
In order to solve the technical problem, the present application further provides a high-frequency injection observation device, including:
a memory for storing a computer program;
a processor for implementing the steps of the high frequency injection observation method as described above when executing the computer program.
The application provides a high-frequency injection observation method, which considers that the larger the load carried by a motor is, the larger the amplitude of a commutation ripple in phase current of the motor is and the signal-to-noise ratio of the phase current is improved, so that the amplitude of an injection pulse can be adjusted according to the load size in a negative correlation corresponding relation, namely the amplitude of the injection pulse is reduced under the condition that the amplitude of the commutation ripple is higher, so that the signal-to-noise ratio of the phase current of the motor is inhibited from exceeding the requirement of observing the signal-to-noise ratio under the premise of ensuring reliable observation, the high-frequency vibration intensity of a target motor in the running process is reduced, the electromagnetic noise is reduced, and the high-frequency loss of the motor is reduced and the user experience is improved.
The application also provides a high-frequency injection observation device and equipment, which have the same beneficial effects as the high-frequency injection observation method.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a high-frequency injection observation method provided by the application;
fig. 2 is a block diagram of a permanent magnet synchronous motor sensorless vector control system based on high-frequency injection;
FIG. 3 is a functional block diagram of an implementation of a signal demodulation and phase-locked loop in high frequency injection observations;
FIG. 4 is a schematic flow chart of another method for observing high frequency injection according to the present application;
FIG. 5 is a schematic block diagram of a high frequency injection observation method provided by the present application;
FIG. 6 is a comparison chart of rotation speed signal observation compared with conventional high-frequency injection observation provided by the application;
FIG. 7 is a comparison of the position signal observations provided by the present application with conventional high frequency injection observations;
FIG. 8 shows the V-phase current i of the high-frequency injection observation method according to the present application v Is provided;
FIG. 9a is a schematic diagram of the amplitude of injection frequency current harmonics in phase current at full load operation using conventional high frequency injection observation methods;
FIG. 9b is a schematic diagram of the amplitude of the injection frequency current harmonic in the phase current at full load operation using the high frequency injection observation method of the present application;
fig. 10 is a schematic structural diagram of a high-frequency injection observation device provided by the application;
fig. 11 is a schematic structural diagram of a high-frequency injection observation device provided by the application.
Detailed Description
The core of the application is to provide a high-frequency injection observation method, which can reduce the high-frequency vibration intensity of a target motor in the running process and reduce electromagnetic noise, thereby being beneficial to reducing the high-frequency loss of the motor and improving the user experience; the application further provides a high-frequency injection observation device and equipment, which can reduce the high-frequency vibration intensity of a target motor in the running process and electromagnetic noise, and are beneficial to reducing the maintenance cost of the motor and improving the user experience.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a flow chart of a high-frequency injection observation method according to the present application, where the high-frequency injection observation method includes:
step S1: acquiring a torque value of a target motor for representing the load;
specifically, considering the technical problems in the background art, and considering that the larger the load carried by the motor is, the larger the amplitude of the commutation ripple in the phase current of the motor is and the amplitude of the high-frequency current component is increased, at the moment, the amplitude of the high-frequency current component exceeds the requirement of the observed signal-to-noise ratio and the aggravation of the high-frequency vibration of the motor and the increase of electromagnetic noise are caused; in the prior art, the factor is not fully considered, so that the amplitude of the high-frequency current component in the phase current is detected in real time and kept within a reasonable range through adjustment of the injection pulse amplitude, and the amplitude of the high-frequency vibration and the electromagnetic noise is kept controllable on the premise that the observation signal-to-noise ratio meets the requirement. In order to control the signal-to-noise ratio, one of the factors that leads to the improvement of the signal-to-noise ratio needs to be: the torque value used for representing the load size is monitored, so that the signal-to-noise ratio of the phase current is conveniently controlled in a coordination mode in the follow-up step.
Specifically, for better explaining the embodiments of the present application, please refer to fig. 2, fig. 2 is a block diagram of a vector control system without position sensor for a permanent magnet synchronous motor based on high frequency injection, where the rotation speed and position observation based on high frequency injection are implemented by 5 parts, namely pulse injection, signal demodulation, phase-locked loop, current feedback filtering and rotation speed feedback filtering. Square wave voltage pulses can be injected at the estimated magnetic pole axis during pulse injectionOn the axis, the amplitude and period of the pulse are V respectively pul And T pul This injection mode is also called pulse-shake injectionMode(s). Fig. 3 is a schematic block diagram of an implementation of a signal demodulation and phase-locked loop due to pulse injection at the phase current i of the motor v ，i w Generates a high-frequency current signal, which is applied to the estimated rotor coordinate system +.>After extraction in the coordinate system, an error signal ε (Δθ) that is positively correlated with the rotor position estimation error Δθ can be obtained. After an error signal epsilon (delta theta) is sent into a phase-locked loop, the epsilon (delta theta) is regulated to 0 by the closed-loop regulation function of the phase-locked loop, so that the estimation of the rotating speed and the position of a rotor is realized, and the estimation results are respectively +.>
Specifically, the amplitude I of a high-frequency current (hereinafter referred to as injection frequency current) having a frequency similar to the injection pulse frequency in the phase current hf The signal to noise ratio in the observation process of the motor speed and the position is directly influenced, as shown in the formula (1). In the formula (1), I hf Is thatAnd the amplitude value of the injection frequency current obtained under the coordinate system, and ζ is the inductance salient pole ratio of the motor. Most of the literature analyzing the signal-to-noise ratio of high frequency injection is based on equation (1), considering only the injection pulse amplitude V pul And the salient pole ratio xi of the motor, namely V pul Or the greater the ζ, the higher the signal-to-noise ratio.
In fact, during the actual operation of the motor, I is affected hf Another factor in amplitude is the high frequency current harmonics produced by PWM modulation. Studies have shown that in the spectral distribution of the phase current under the motor-carrying operation, there are significant harmonic peaks around 0.5 times the carrier frequency and 0.25 times the carrier frequency, which are generated by discontinuous commutation behavior of the inverter, whose frequency is in phase with the injection frequency (1000 hz,2000 hz) that is usually chosenNear its amplitude is equal to the amplitude ΔI of the commutation ripple in the phase current h Proportional to the ratio. From ΔI in formula (2) h As can be seen from the analysis of (a), the dc bus voltage V dc And carrier frequency f c In the fixed case, either the increase in the modulation ratio M or the decrease in the winding inductance L increases ΔI h . When the load of the motor increases, the increase of the resistance-inductance voltage drop and the deepening of the magnetic saturation degree lead to the simultaneous occurrence of the increase of the modulation ratio M and the decrease of the winding inductance L, correspondingly, the amplitude of the high-frequency current harmonic wave of the frequency near the injection frequency also increases, and the electromagnetic noise of the same frequency band increases, which is particularly obvious in the motor with smaller stator inductance.
Step S2: determining a target proportion corresponding to the torque value according to a negative correlation corresponding relation between a preset load size and the target proportion; specifically, since the increase of the load of the motor increases the amplitude of the injection frequency current component in the phase current so as to exceed the requirement of observing the signal-to-noise ratio, the amplitude of the injection frequency current component can be properly reduced, so that the signal-to-noise ratio is prevented from being too high.
Of course, besides determining the target ratio by using the preset corresponding relationship, the corresponding relationship between the load size and the injection pulse amplitude may be designed to determine the final amplitude (the final amplitude is not greater than the preset calibration amplitude) so as to directly determine the final amplitude, which is not limited in the embodiment of the present application.
Step S3: taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;
specifically, because the target proportion determined in the above step, that is, the proportion of the final amplitude and the preset calibration amplitude, in this step, the product of the target proportion and the preset calibration amplitude may be used as the final amplitude of the injection pulse, the final amplitude and the torque value of the load also have a negative correlation, and the final amplitude may be used as the data base of the subsequent step.
Step S4: injecting the injection pulse with the amplitude being the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;
wherein the target ratio is not greater than 1.
Specifically, the amplitude of the injection pulse can be adjusted to be the final amplitude and then is injected into the power supply loop of the target motor, namely, the amplitude of the injection pulse is reduced under the condition of higher amplitude of the commutation ripple, so that the signal-to-noise ratio of the phase current is kept at a certain level through the adjustment of the controllable factor of the amplitude of the injection pulse, the signal-to-noise ratio is mainly ensured not to be suddenly increased due to the increase of the load, the signal-to-noise ratio of the phase current of the motor is inhibited from exceeding the requirement of observing the signal-to-noise ratio on the premise of ensuring reliable observation, the vibration intensity of the target motor in the operation process is reduced, the electromagnetic noise is reduced, the maintenance cost of the motor is reduced, and the user experience is improved.
The injection method of the injection pulse in the embodiment of the present application may be any of various injection methods, for example, a pulse oscillation square wave injection method, a pulse oscillation sinusoidal injection method, and a rotation sinusoidal injection method, which are not limited herein.
The application provides a high-frequency injection observation method, which considers that the larger the load carried by a motor is, the larger the amplitude of a commutation ripple in phase current of the motor is and the signal-to-noise ratio of the phase current is improved, so that the amplitude of an injection pulse can be adjusted according to the load size in a negative correlation corresponding relation, namely the amplitude of the injection pulse is reduced under the condition that the amplitude of the commutation ripple is higher, so that the signal-to-noise ratio of the phase current of the motor is inhibited from exceeding the requirement of observing the signal-to-noise ratio under the premise of ensuring reliable observation, the high-frequency vibration intensity of a target motor in the running process is reduced, the electromagnetic noise is reduced, and the high-frequency loss of the motor is reduced and the user experience is improved.
Based on the above embodiments:
as a preferred embodiment, the obtaining of the torque value of the target motor for representing the load size is specifically:
acquiring a torque current detection value of a target motor, wherein the torque current detection value is used for representing the load;
the negative correlation corresponding relation between the preset load size and the target proportion is specifically:
and a correspondence relationship of negative correlation between a preset torque current detection value and a target proportion.
Specifically, the magnitude of the load can be conveniently and accurately represented through the torque current detection value of the motor.
Of course, the torque value of the load may be obtained by various other means besides the torque value of the load obtained by the torque current detection value of the motor, and the embodiment of the present application is not limited herein.
As a preferred embodiment, after obtaining the torque current detection value of the target motor for representing the load size, before determining the target proportion corresponding to the torque value according to the negative correlation corresponding relation between the preset torque current detection value and the target proportion, the method further includes:
the torque current detection value is low-pass filtered.
Specifically, in order to avoid error judgment of the torque value of the load caused by current transient state and measurement noise, the low-pass filtering processing can be performed on the torque current detection value first, and then the target proportion corresponding to the torque value is determined according to the preset corresponding relationship between the torque current detection value and the target proportion.
As a preferred embodiment, the correspondence of the negative correlation between the preset torque current detection value and the target ratio is specifically:
when the torque current detection value is smaller than or equal to the light load set threshold value, the target proportion is 1;
when the torque current detection value is larger than the light load set threshold value and smaller than the heavy load set threshold value, the target proportion and the torque current detection value are in inverse proportion linear relation;
when the torque current detection value is greater than or equal to the heavy load set threshold, the target proportion is the preset proportion minimum value.
Specifically, considering that the signal-to-noise ratio of the phase current is not very high under the light load condition, the electromagnetic noise of the motor is not obvious, and meanwhile, in order to ensure the reliability of rotation speed and position observation, the embodiment of the application sets the light load setting threshold, when the torque current detection value is smaller than or equal to the light load setting threshold, the target proportion is 1, namely, the amplitude of the injected pulse is the preset calibration amplitude under the condition, thereby ensuring the reliability of observation and not causing overlarge electromagnetic noise.
Specifically, when the torque current detection value is greater than the light load setting threshold and less than the heavy load setting threshold, the target proportion and the torque current detection value are in inverse proportion linear relation, the setting of the linear relation basically corresponds to the relation between the load size and the signal-to-noise ratio, and the signal-to-noise ratio improvement caused by the load size improvement can be well overcome.
Of course, in addition to the linear negative correlation provided in the present application, the injection pulse amplitude ratio under different torque current levels may also be determined by other types of negative correlation (such as inverse ratio functions, etc.), and the embodiment of the present application is not limited herein.
Specifically, in order to ensure reliable observation of the rotation speed and the position of the motor, in the embodiment of the application, when the torque current detection value is greater than or equal to the heavy load set threshold, the target proportion is the minimum value of the preset proportion, so that the reliable observation effect is ensured.
For better explaining the embodiments of the present application, please refer to fig. 4 and fig. 5, fig. 4 is a schematic flow chart of another high-frequency injection observing method provided by the present application, and fig. 5 is a schematic block diagram of a high-frequency injection observing method provided by the present application, as a preferred embodiment, before taking the product of the target proportion and the preset calibration amplitude as the final amplitude of the injection pulse, the high-frequency injection observing method further includes:
step S203: acquiring the transient regulation amplitude of the torque current of the target motor;
step S204: determining a compensation proportion corresponding to the transient adjustment amplitude according to a positive correlation corresponding relation between the preset transient adjustment amplitude and the compensation proportion;
the product of the target proportion and the preset calibration amplitude is taken as the final amplitude of the injection pulse, and the final amplitude is specifically:
step S205: taking the product of the sum of the target proportion and the compensation proportion and the preset calibration amplitude as the final amplitude of the injection pulse;
wherein the final amplitude is not greater than a preset calibrated amplitude.
Specifically, in fig. 4, step S201 is the same as step S1, step 202 is the same as step S2, and step S206 is the same as step S4.
Specifically, in FIG. 5, K 1 For the above target ratio, K 2 For the compensation ratio I thL Setting a threshold value for the light load, I thH Setting a threshold for the heavy load, ΔI thL Is a steady state threshold, deltaI thH Is a transient threshold, i q As the torque current detection value, Δi qc For transient adjustment of amplitude, V adj Is the final amplitude.
Specifically, considering that under the conditions of given rotation speed abrupt change or load abrupt change of the motor, the torque current can undergo transient regulation process with short time and larger amplitude, because the short-time and large-scale change of the torque current can generate larger high-frequency interference in the phase current, the interference can seriously reduce the observed signal-to-noise ratio to cause unreliable observation, the amplitude of the injected pulse needs to be increased under the condition of large-scale transient regulation, namely, the positive correlation relation between the compensation proportion and the transient regulation amplitude is kept, so that the stability of the signal-to-noise ratio under the condition of larger transient regulation amplitude of the torque current is ensured, and the reliability of rotation speed and position observation and the stability of motor operation are ensured.
In order to limit electromagnetic noise of the motor, the final amplitude corresponding to the product of the target proportion and the compensation proportion and the preset calibration amplitude is not larger than the preset calibration amplitude, and the sum of the target proportion and the compensation proportion is not larger than 1.
As a preferred embodiment, the obtaining of the transient adjustment amplitude of the torque current of the target motor is specifically:
obtaining a target motorControl error of shaft current;
the compensation ratio corresponding to the transient adjustment amplitude is determined to be specifically:
and determining the compensation proportion corresponding to the control error according to the positive correlation corresponding relation between the preset control error and the compensation proportion.
Specifically, the transient adjustment amplitude of the torque current through the target motor to characterize the target motorThe control error of the shaft current can quickly and accurately determine the transient regulation amplitude of the torque current of the target motor, and the realization cost is lower.
Of course, in addition to the above manner, the transient adjustment amplitude of the torque current of the target motor may be obtained in various other manners, and the embodiment of the present application is not limited herein.
As a preferred embodiment, the correspondence relationship of positive correlation between the preset control error and the compensation ratio is specifically:
when the control error is smaller than or equal to the steady-state threshold value, the compensation proportion is 0;
when the control error is larger than the steady-state threshold value and smaller than the transient threshold value, the compensation proportion and the torque current detection value are in a direct proportion linear relation;
when the control error is greater than or equal to the transient threshold, the compensation proportion is a preset proportion maximum value.
In particular, considering that the amount of high-frequency interference introduced in the loop is very small and negligible when the amount of load variation is within a certain range of a low degree, it may be unnecessary to compensate the target proportion in this case, and thus the compensation proportion is 0 when the control error is equal to or less than the steady-state threshold.
In particular, considering that the load variation and the degree of high-frequency interference introduced in a loop are basically in a linear relation, when the control error is larger than a steady-state threshold value and smaller than a transient threshold value, the compensation proportion and the torque current detection value are in a direct proportion linear relation, and the high-frequency interference caused by load abrupt change can be well compensated, so that the observation reliability and the running stability of the motor are ensured.
Of course, in addition to the linear positive correlation provided in the present application, the injection pulse amplitude ratio under different input deviations of the torque current regulator may also be determined by other types of positive correlation (such as quadratic function, etc.), and the embodiment of the present application is not limited herein.
In the embodiment of the application, the preset proportion maximum value is set in consideration of the fact that the signal to noise ratio is directly high when the amplitude of the injection pulse is too high, and when the control error is greater than or equal to the transient threshold value, the compensation proportion is the preset proportion maximum value so as to ensure that the motor vibration is not aggravated and the noise is not increased because of the injection pulse.
As a preferred embodiment, the preset ratio maximum is 1.
Specifically, for convenience of setting, the maximum value of the preset proportion can be set to be 1, and since the final amplitude is set to be not greater than the preset calibration amplitude, even if the sum of the compensation proportion and the target proportion is greater than 1, the final amplitude obtained finally is not higher than the preset calibration amplitude, and the signal to noise ratio is not directly caused to be too high.
In addition, for better explaining the embodiments of the present application, please refer to fig. 6 to 9, fig. 6 is a comparison chart of rotation speed signal observation with conventional high-frequency injection observation provided by the present application; FIG. 7 is a comparison of the position signal observations provided by the present application with conventional high frequency injection observations; FIG. 8 is a feedback waveform of V-phase current iv of a high frequency injection observation method according to the present application; FIG. 9a is a schematic diagram of the amplitude of injection frequency current harmonics in phase current at full load operation using conventional high frequency injection observation methods; FIG. 9b is a schematic diagram of the amplitude of the injection frequency current harmonic in the phase current at full load operation using the high frequency injection observation method of the present application; fig. 6-9 show vector control results obtained according to the high-frequency injection observation method, wherein the injection pulse frequency is 1000Hz, the motor undergoes no-load-60% rated load-100% rated load-20% rated load-no-load change, through reasonable adjustment of relevant parameters in the scheme, the rotation speed observation result (fig. 6) and the position observation result (fig. 7) are always reliable, the frequency spectrum analysis of the V-phase current in the 100% rated load section in fig. 8 is carried out to obtain fig. 9 (b), and the frequency spectrum of the full-load V-phase current under constant injection pulse (fig. 9 (a)) is compared, and the comparison result shows that the amplitude of the injection frequency current is reduced by more than 2 times when the full-load operation is carried out after pulse adjustment, and the generated electromagnetic noise is obviously reduced.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a high-frequency injection observation device according to the present application, where the high-frequency injection observation device includes:
the acquisition module 1 is used for acquiring a torque value of the target motor for representing the load;
the determining module 2 is used for determining a target proportion corresponding to the torque value according to a corresponding relationship of negative correlation between a preset load size and the target proportion;
the calculating module 3 is used for taking the product of the target proportion and the preset calibration amplitude as the final amplitude of the injection pulse;
the action module 4 is used for injecting the injection pulse with the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;
wherein the target ratio is not greater than 1.
For the description of the high-frequency injection observation device provided by the present application, reference is made to the foregoing embodiment of the high-frequency injection observation method, and the description of the embodiment of the present application is omitted herein.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a high-frequency injection observation device according to the present application, where the high-frequency injection observation device includes:
a memory 5 for storing a computer program;
a processor 6 for implementing the steps of the high frequency injection observation method in the previous embodiment when executing the computer program.
For the description of the high-frequency injection observation device provided by the present application, reference is made to the foregoing embodiment of the high-frequency injection observation method, and the embodiment of the present application is not repeated herein.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should also be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A high frequency injection observation method, comprising:
acquiring a torque value of a target motor for representing the load;
determining a target proportion corresponding to the torque value according to a negative correlation corresponding relation between a preset load size and the target proportion;
taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;
injecting the injection pulse with the amplitude being the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;
wherein the target ratio is not greater than 1;
the torque value for representing the load of the target motor is specifically:
acquiring a torque current detection value of the target motor, wherein the torque current detection value is used for representing the load;
the negative correlation corresponding relation between the preset load size and the target proportion is specifically:
a negative correlation corresponding relation between a preset torque current detection value and a target proportion;
after the torque current detection value of the target motor for representing the load is obtained, and before the target proportion corresponding to the torque value is determined according to the corresponding relation of the negative correlation between the preset torque current detection value and the target proportion, the method further comprises the following steps:
low-pass filtering the torque current detection value;
the negative correlation corresponding relation between the preset torque current detection value and the target proportion is specifically as follows:
when the torque current detection value is smaller than or equal to a light load set threshold value, the target proportion is 1;
when the torque current detection value is larger than the light load set threshold value and smaller than the heavy load set threshold value, the target proportion and the torque current detection value are in inverse proportion linear relation;
and when the torque current detection value is greater than or equal to the heavy load set threshold value, the target proportion is a preset proportion minimum value.
2. The method according to claim 1, wherein before taking the product of the target ratio and a preset calibration amplitude as the final amplitude of the injection pulse, the method further comprises:
acquiring the transient regulation amplitude of the torque current of the target motor;
determining a compensation proportion corresponding to the transient adjustment amplitude according to a positive correlation corresponding relation between the preset transient adjustment amplitude and the compensation proportion;
the product of the target proportion and the preset calibration amplitude is taken as the final amplitude of the injection pulse, and the method specifically comprises the following steps:
taking the product of the sum of the target proportion and the compensation proportion and a preset calibration amplitude as the final amplitude of the injection pulse;
wherein the final amplitude is not greater than the preset calibrated amplitude.
3. The high-frequency injection observation method according to claim 2, wherein the obtaining the transient adjustment amplitude of the torque current of the target motor is specifically:
acquiring the target motorControl error of shaft current;
the compensation proportion corresponding to the transient adjustment amplitude is determined according to the positive correlation corresponding relation between the preset transient adjustment amplitude and the compensation proportion, and the specific method is as follows:
and determining the compensation proportion corresponding to the control error according to a positive correlation corresponding relation between the preset control error and the compensation proportion.
4. The method of claim 3, wherein the correspondence of positive correlation between the preset control error and the compensation ratio is specifically:
when the control error is smaller than or equal to a steady-state threshold value, the compensation proportion is 0;
when the control error is greater than the steady-state threshold and less than a transient threshold, the compensation ratio and the torque current detection value are in a direct-proportion linear relation;
and when the control error is greater than or equal to the transient threshold, the compensation proportion is a preset proportion maximum value.
5. The high frequency injection observation method according to claim 4, wherein the preset ratio maximum value is 1.
6. A high-frequency injection observation device, comprising:
the acquisition module is used for acquiring a torque value of the target motor for representing the load;
the determining module is used for determining a target proportion corresponding to the torque value according to a corresponding relationship of negative correlation between a preset load size and the target proportion;
the calculation module is used for taking the product of the target proportion and a preset calibration amplitude as the final amplitude of the injection pulse;
the action module is used for injecting the injection pulse with the amplitude being the final amplitude into a power supply loop of the target motor so as to observe the rotating speed and the position;
wherein the target ratio is not greater than 1;
the acquisition module is specifically configured to:
acquiring a torque current detection value of the target motor, wherein the torque current detection value is used for representing the load;
the negative correlation corresponding relation between the preset load size and the target proportion is specifically:
a negative correlation corresponding relation between a preset torque current detection value and a target proportion;
after the torque current detection value of the target motor for representing the load is obtained, and before the target proportion corresponding to the torque value is determined according to the corresponding relation of the negative correlation between the preset torque current detection value and the target proportion, the high-frequency injection observation device further comprises:
low-pass filtering the torque current detection value;
the negative correlation corresponding relation between the preset torque current detection value and the target proportion is specifically as follows:
when the torque current detection value is smaller than or equal to a light load set threshold value, the target proportion is 1;
when the torque current detection value is larger than the light load set threshold value and smaller than the heavy load set threshold value, the target proportion and the torque current detection value are in inverse proportion linear relation;
and when the torque current detection value is greater than or equal to the heavy load set threshold value, the target proportion is a preset proportion minimum value.
7. A high frequency injection observation apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the high frequency injection observation method according to any one of claims 1 to 5 when executing the computer program.
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