Zero phase shift angle dual three-phase permanent magnet synchronous motor control method

Abstract

The invention discloses a zero-phase-shift-angle dual three-phase permanent magnet synchronous motor control method, solves the problem that DTP-PMSM current reconstruction control needs a single current sensor to perforate more than three branches, and belongs to the field of motor driving. According to a sampling mode and a modulation mode of ISAMPLE of a sum of current between A and B two-phase lower bridge arms of a first set of three-phase windings of a motor and current between X and Y two-phase upper bridge arms of a second set of three-phase windings, and spatial distribution characteristics of the two sets of windings of the motor, a reconstruction region is constructed; constructing a motor six-phase current reconstruction expression of each reconstruction region; selecting a corresponding six-phase current reconstruction expression according to the reconstruction area where the reference voltage vector is located and the ISAMPLE collected in real time, and reconstructing the six-phase current; and controlling the motor according to the reconstructed six-phase current. Unification of current reconstruction, torque ripple suppression and dual three-phase resolver delay compensation can be realized.

Description

Technical Field

[0001] The invention relates to a zero phase shift angle dual three-phase permanent magnet synchronous motor control method based on current reconstruction, and belongs to the field of motor drive. Background Art

[0002] High-power applications require power devices to withstand high voltage and current, high electromagnetic vibration and noise, and large weight and volume. Dual three-phase permanent magnet synchronous motor (DTP-PMSM) can be the preferred solution to the above problems due to its high efficiency, low noise, high reliability, and high power density. There is no phase shift angle between the two sets of three-phase windings in the dual three-phase permanent magnet synchronous motor without phase shift, so the structural design is simple and the manufacturing complexity is low, which occupies a dominant position in the field of dual three-phase permanent magnet synchronous motor.

[0003] In motor control, in order to achieve precise control, it is necessary to collect the phase current information of the motor. For DTP-PMSM, six phase current information needs to be collected. The traditional method of collecting phase current information is usually to insert current sensors between the corresponding phase lines, but this method not only increases the hardware cost, but also increases the volume of the driver itself and the complexity of the hardware structure. In order to reduce hardware costs and improve system reliability, researchers began to explore the use of a single current sensor to reconstruct the phase current of a multi-phase motor. At the same time, there is room for further optimization of the number of perforated branches in the DTP-PMSM drive system that completes phase current reconstruction through a single current sensor.

[0004] With the advancement of technology, electric drive systems are no longer limited to functional requirements, and the requirements for motor vibration and noise are becoming higher and higher. In recent years, domestic and foreign scholars have conducted extensive research on high-frequency PWM harmonic suppression technology. The main methods include: pre-stage DC conversion bus voltage regulation, hardware filtering, random frequency pulse width modulation algorithm, carrier phase shift technology, etc. The traditional DTP-PMSM electromagnetic vibration noise suppression solution does not take into account current reconstruction, and it is difficult to cooperate with current reconstruction to form a complete drive system, and there is room for further optimization.

[0005] The original intention of the electric drive system design is to use as little phase current and output power as possible to achieve the motor output. However, in practical applications, due to the delay characteristics of the motor angular position acquisition system, the position information used for transformation in the control loop is biased, which in turn leads to an increase in reactive voltage and an increase in current under the same torque output. To this end, domestic and foreign scholars have proposed a variety of compensation methods. However, due to the deviation in the winding positions of the two sets of three-phase windings in the actual zero-phase-shift DTP-PMSM, new challenges have been brought to the DTP-PMSM resolver delay compensation.

[0006] Defects of existing technologies: The DTP-PMSM current reconstruction control system requires a single current sensor to penetrate more than three branches; there are differences between the two sets of three-phase windings of the zero-phase-shift DTP-PMSM, and the delay of the resolver is difficult to uniformly plan and compensate; the vibration suppression of the traditional zero-phase-shift DTP-PMSM drive system is difficult to be compatible with the current reconstruction strategy.

[0007] DTP-PMSM current reconstruction control requires a single current sensor to penetrate more than three branches; there are differences between the two sets of three-phase windings of the zero-phase-shift DTP-PMSM, and the delay of the resolver is difficult to uniformly plan and compensate; the vibration suppression of the traditional zero-phase-shift DTP-PMSM drive system is difficult to be compatible with the current reconstruction strategy. Summary of the invention

[0008] In view of the problem that DTP-PMSM current reconstruction control requires a single current sensor to pierce more than three branches, the present invention provides a current reconstruction-based zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method with two branches pierced.

[0009] A zero phase shift angle dual three-phase permanent magnet synchronous motor control method of the present invention comprises:

[0010] According to the use of a single current Hall sensor to collect the current between the A and B phase lower bridge arms of the first three-phase winding of the zero-shift angle dual three-phase permanent magnet synchronous motor and the current between the X and Y phase upper bridge arms of the second three-phase winding, the sum of the current I SAMPLE The sampling mode, modulation mode and spatial distribution characteristics of the two sets of windings of the zero phase-shift dual three-phase motor are used to construct the reconstruction region, and the six-phase current reconstruction expression of the zero phase-shift dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed;

[0011] According to the reconstruction area where the reference voltage vector is located and the real-time acquisition of I SAMPLE , select the corresponding six-phase current reconstruction expression and reconstruct the six-phase current;

[0012] The zero phase-shift dual three-phase permanent magnet synchronous motor is controlled according to the reconstructed six-phase current.

[0013] Preferably, constructing the reconstruction region includes:

[0014] S A , S B , S C , S X , S Y , S Z They are the six-phase bridge arm switching functions of the zero phase shift angle dual three-phase permanent magnet synchronous motor, where a value of 0 represents that the lower tube of the bridge arm is turned on, and a value of 1 represents that the upper tube of the bridge arm is turned on;

[0015] S A =0, S B =0, SC =0 or S X =0, S Y =0, S Z =0 corresponds to voltage vector U0;

[0016] When S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z =0 corresponds to voltage vector U1;

[0017] When S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z =0 corresponds to voltage vector U2;

[0018] When S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z =0 corresponds to voltage vector U3;

[0019] When S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z =1 corresponds to voltage vector U4;

[0020] When S A =0, S B =0, S C =1 or S X =0, S Y =0, S Z =1 corresponds to voltage vector U5;

[0021] When S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z =1 corresponds to voltage vector U6;

[0022] When S A =1, S B =1, S C =1 or S X =1, SY =1, S Z =1 corresponds to voltage vector U7;

[0023] The area enclosed by U1 and U2 in space is sector I;

[0024] The area enclosed by U2 and U3 in space is sector II;

[0025] The area enclosed by U3 and U4 in space is sector III;

[0026] The area enclosed by U4 and U5 in space is sector IV;

[0027] The area enclosed by U5 and U6 in space is sector V;

[0028] The area enclosed by U6 and U1 in space is sector VI;

[0029] Take the median lines within sectors Ⅰ to VI respectively;

[0030] The area enclosed by the midline of sector I and the midline of sector VI is the reconstruction area G1;

[0031] The area enclosed by the midline of sector II and the midline of sector I is the reconstruction area G2;

[0032] The area enclosed by the midline of sector II and the midline of sector III is the reconstruction area G3;

[0033] The area surrounded by the midline of sector III and the midline of sector IV is the reconstruction area G4;

[0034] The area enclosed by the midline of sector IV and the midline of sector V is the reconstruction area G5;

[0035] The area enclosed by the midline of sector V and the midline of sector VI is the reconstruction area G6;

[0036] The reconstructed area G1 includes G1-Ⅰ and G1-Ⅱ. The area surrounded by the bisection line of sector VI and the voltage vector U1 is G1-Ⅰ, and the area surrounded by the bisection line of sector Ⅰ and the voltage vector U1 is G1-Ⅱ.

[0037] The reconstructed area G4 includes G4-Ⅰ and G4-Ⅱ. The area surrounded by the center line of sector III and the voltage vector U4 is G4-Ⅰ, and the area surrounded by the center line of sector IV and the voltage vector U4 is G4-Ⅱ.

[0038] As a preference, the six-phase current reconstruction expression of the zero phase shift angle dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed as follows:

[0039]

[0040]

[0041]

[0042] Among them, ABC-U i XYZ-U j Indicates that the voltage vector corresponding to the first three-phase winding ABC in the switching cycle is U i ; The voltage vector corresponding to the first three-phase winding XYZ in the switching cycle is U j , i=0,1,2,3,4,5,6, j=0,1,2,3,4,5,6;

[0043] I1, I2, I3, and I4 represent the currents sampled by the four sampling vector combinations respectively;

[0044] i A It represents the current of phase A in the first three-phase winding ABC;

[0045] i B It represents the current of phase B in the first three-phase winding ABC;

[0046] i C It represents the current of phase C in the first three-phase winding ABC;

[0047] i X Indicates the current of phase X in the second three-phase winding XYZ;

[0048] i Y Indicates the current of the Y phase in the second three-phase winding XYZ

[0049] i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

[0050] Preferably, S3 includes:

[0051] According to the working condition of the zero phase-shift dual three-phase permanent magnet synchronous motor, the motor's initial position angle θ0 is subjected to resolver compensation to obtain the actual speed after resolver compensation;

[0052] The motor given speed and the actual speed after compensation ω m The difference is sent to the speed controller ASR-PI to obtain the motor torque current given value;

[0053] The reconstructed six-phase current is subjected to two sets of Clark-Park transformation to obtain the current feedback value in the dual dq coordinate system, including the motor torque current feedback value i q1 、i q2 , motor flux current feedback value i d1 、i d2;

[0054] The difference between the motor torque current set value and the current feedback value is sent to the current loop controller ACR-PI, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q1 、u q2 , flux voltage given value u d1 、u d2 ;

[0055] The hybrid pulse width modulation RHPWM is reconstructed according to the obtained voltage given value, and then the driving signals of two sets of three-phase windings are generated to complete the driving control.

[0056] Preferably, the method for performing resolver compensation comprises:

[0057] The theoretical estimate of the direct-axis voltage output by the current loop controller ACR-PI is:

[0058]

[0059] Where: is the theoretical estimated value of the direct-axis voltage of the first set of three-phase windings; is the direct-axis voltage of the second three-phase winding; i d1 is the theoretical estimated value of the direct-axis current of the first three-phase winding; i d2 is the direct-axis current of the second three-phase winding; i q1 is the theoretical estimated value of the first set of three-phase winding quadrature-axis current; i q2 is the quadrature-axis current of the second three-phase winding; L d is the direct axis inductance of the rotating coordinate system; L q is the quadrature axis inductance of the rotating coordinate system; L m is the stator excitation inductance; ω is the electrical angle; R s is the stator resistance;

[0060] For a given value of flux voltage u d1 、u d2 Filter and get the filtered voltage u d1-LPF 、u d2-LPF ;

[0061] The voltage error is obtained:

[0062]

[0063] Sum the direct-axis voltage errors of the two sets of three-phase windings to obtain u d-error , as the basis for resolver compensation:

[0064] u d-error =|u d1-error +u d2-error |

[0065] According to the magnitude of the direct axis voltage, the initial position angle θ0 is adjusted so that the error and u d-error When the minimum value is reached, the compensated position angle θ is saved, and the actual speed after resolver compensation is obtained according to the position angle θ.

[0066] Preferably, reconstructing the hybrid pulse width modulation RHPWM comprises:

[0067] In the reconstruction area where the reference voltage vector is located, carrier phase shift PWM is used. According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the phase of the carrier group of the second set of three-phase winding XYZ is overall delayed by 90° to construct the switch-level current ripple, so that the current ripples of the two sets of three-phase windings are opposite;

[0068] When the reference voltage is located in the reconstruction area G1-Ⅰ, G4-Ⅰ, the reconstruction area G1-Ⅱ and G4-Ⅱ are modulated by dynamic zero-state PWM;

[0069] When the reference voltage is located in the reconstruction areas G2, G3, G5, and G6, SVPWM is used for modulation.

[0070] As a preferred method, the reconstructed six-phase current is subjected to two sets of Clark-Park transformations to obtain the current feedback value in the dual dq coordinate system:

[0071]

[0072] Where θ represents the position angle, i A represents the current of phase A in the first three-phase winding ABC; i B represents the current of phase B in the first three-phase winding ABC; i C represents the current of phase C in the first three-phase winding ABC; i X represents the current of phase X in the second three-phase winding XYZ; i Y represents the current of the Y phase in the second three-phase winding XYZ, i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

[0073] The beneficial effects of the present invention are as follows: the present invention only needs a single current sensor to perforate two independent branches to complete six-phase current reconstruction; the present invention can effectively suppress the electromagnetic torque vibration of the motor while realizing current reconstruction; the present invention designs a resolver delay compensation method for the zero phase shift angle DTP-PMSM characteristics, and uniformly plans two sets of three-phase windings for compensation; a control system is provided to achieve the unification of current reconstruction, torque pulsation suppression, and dual three-phase resolver delay compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1The principle block diagram of the zero phase shift angle dual three-phase permanent magnet synchronous motor control method based on current reconstruction;

[0075] Figure 2 It is the current reconstruction topology diagram of the zero phase shift angle dual three-phase permanent magnet synchronous motor;

[0076] Figure 3 Reconstruct the regional distribution map for the zero phase shift angle dual three-phase permanent magnet synchronous motor;

[0077] FIG4( a ) is a schematic diagram of normal area sampling of the reconstruction area G3;

[0078] Figure 4(b) is a schematic diagram of the sampling of the G1-II zero vector modification area;

[0079] Figure 5 This is the sampling current waveform of a single current Hall sensor;

[0080] FIG6( a ) is a diagram showing the waveforms of the real phase current and the reconstructed current of the first set of three-phase windings ABC;

[0081] FIG6( b ) is a diagram showing the real phase current and reconstructed current waveforms of the second set of three-phase windings XYZ;

[0082] Figure 7 is the error between the real current and the reconstructed current of phase A;

[0083] Figure 8 It is the waveform diagram of the six-phase real current and speed;

[0084] Figure 9 (a) A-phase and X-phase currents and their ripple waveforms before carrier phase shift;

[0085] Figure 9(b) A-phase and X-phase currents and their ripple waveforms after carrier phase shift;

[0086] Figure 9(c) shows the motor output electromagnetic torque before and after carrier phase shift;

[0087] Fig.10 This is the quadrature-axis voltage waveform before and after resolver compensation. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0089] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0090] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0091] The zero phase shift angle dual three-phase permanent magnet synchronous motor control method of this embodiment includes:

[0092] Step 1: collect the current between the lower bridge arms of the A and B phases of the first three-phase winding of the zero-phase dual three-phase permanent magnet synchronous motor and the current between the upper bridge arms of the X and Y phases of the second three-phase winding using a single current Hall sensor. SAMPLE The sampling mode, modulation mode and spatial distribution characteristics of the two sets of windings of the zero phase-shift dual three-phase motor are used to construct the reconstruction region, and the six-phase current reconstruction expression of the zero phase-shift dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed;

[0093] In step 1 of this embodiment, the sampling topology is modified, and a single current Hall sensor is used to penetrate the double branch to sample the rotation angle and speed of the motor: the sum of the current between the lower bridge arms of the A and B phases and the current between the upper bridge arms of the X and Y phases I is collected by using a single current Hall sensor. SAMPLE .

[0094] The corresponding relationship between the sampling result of the single current Hall sensor and the phase current under different voltage vectors is:

[0095] I SAMPLE =(1-S B )i B +(1-S C )i C +S Y i Y +S Z i Z (1)

[0096] In the formula, S A , S B , S C , S X , S Y , S Z are the switching functions of the six-phase bridge arms, respectively. A value of 0 means that the lower tube of the bridge arm is turned on, and a value of 1 means that the upper tube of the bridge arm is turned on; i A represents the current of phase A in the first three-phase winding ABC; i B represents the current of phase B in the first three-phase winding ABC; i C represents the current of phase C in the first three-phase winding ABC; i X represents the current of phase X in the second three-phase winding XYZ; i Y represents the current of phase Y in the second three-phase winding XYZ; i Z Indicates the current of phase Z in the second three-phase winding XYZ; I SAMPLE is the current sensor sampling value.

[0097] During modulation, carrier phase-shift PWM is used in all reference voltage regions. According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the phase of the carrier group of the second set of three-phase winding XYZ is overall delayed by 90° to construct a switch-level current ripple, so that the current ripples of the two sets of three-phase windings are reversed.

[0098] The reference voltage vector and reconstruction region are defined as follows:

[0099] S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z =0 corresponds to voltage vector U0;

[0100] When S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z =0 corresponds to voltage vector U1;

[0101] When S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z =0 corresponds to voltage vector U2;

[0102] When S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z =0 corresponds to voltage vector U3;

[0103] When S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z =1 corresponds to voltage vector U4;

[0104] When S A =0, S B =0, S C =1 or S X =0, S Y =0, S Z =1 corresponds to voltage vector U5;

[0105] When S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z =1 corresponds to voltage vector U6;

[0106] When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z =1 corresponds to voltage vector U7;

[0107] The area surrounded by U1 and U2 in space is sector I; the area surrounded by U2 and U3 in space is sector II; the area surrounded by U3 and U4 in space is sector III; the area surrounded by U4 and U5 in space is sector IV; the area surrounded by U5 and U6 in space is sector V; the area surrounded by U6 and U1 in space is sector VI;

[0108] The reconstruction area of ​​this embodiment is as follows Figure 3 As shown in the figure, the normal areas G2, G3, G5, G6 and the zero vector modification areas G1 and G4 are included. The zero vector modification area modifies the zero vector into an effective vector with the opposite effect. According to the different modified zero vectors, G1 and G4 are further divided into G1-Ⅰ, G1-Ⅱ and G4-Ⅰ, G4-Ⅱ. Take the midpoints within sectors I to VI respectively; the area surrounded by the midpoint of sector I and the midpoint of sector VI is the reconstruction area G1; the area surrounded by the midpoint of sector II and the midpoint of sector I is the reconstruction area G2; the area surrounded by the midpoint of sector II and the midpoint of sector III is the reconstruction area G3; the area surrounded by the midpoint of sector III and the midpoint of sector IV is the reconstruction area G4; the area surrounded by the midpoint of sector IV and the midpoint of sector V is the reconstruction area G5; the area surrounded by the midpoint of sector V and the midpoint of sector VI is the reconstruction area G6;

[0109] The reconstructed regions G1 and G4 are zero vector modification regions, and the reconstructed regions G1 and G4 are further divided according to different effective vectors modified by the zero vector.

[0110] The reconstructed area G1 includes G1-Ⅰ and G1-Ⅱ. The area surrounded by the bisection line of sector VI and the voltage vector U1 is G1-Ⅰ, and the area surrounded by the bisection line of sector Ⅰ and the voltage vector U1 is G1-Ⅱ.

[0111] The reconstructed area G4 includes G4-Ⅰ and G4-Ⅱ. The area surrounded by the center line of sector III and the voltage vector U4 is G4-Ⅰ, and the area surrounded by the center line of sector IV and the voltage vector U4 is G4-Ⅱ.

[0112] This embodiment combines SVPWM and AZSPWM to construct reconstruction conditions. During modulation, dynamic zero-state PWM is applied in the reconstruction regions G1-I and G4-I to replace the zero vectors U0 and U7 with opposite effective vectors U2 and U5, respectively;

[0113] In the reconstruction areas G1-Ⅱ and G4-Ⅱ, dynamic zero-state PWM is applied to replace the zero vectors U0 and U7 with opposite effective vectors U6 and U3 respectively.

[0114] SVPWM is used for modulation in the reconstruction areas G2, G3, G5 and G6.

[0115] According to the reconstruction area where the reference voltage is located, sampling is performed at the corresponding switch vector combination of the two sets of three-phase windings in combination with Table 1 to obtain the sampled current. The sampled current is substituted into the current reconstruction expression to complete the six-phase current reconstruction.

[0116] Table 1 Correspondence between current sensor sampling results and phase current under different voltage vectors

[0117]

[0118]

[0119] Among them, ABC-U i XYZ-U j Indicates that the voltage vector corresponding to the first three-phase winding ABC in the switching cycle is U i ; The voltage vector corresponding to the first three-phase winding XYZ in the switching cycle is U j , i=0,1,2,3,4,5,6, j=0,1,2,3,4,5,6;

[0120] I1, I2, I3, and I4 represent the currents sampled by the four sampling vector combinations respectively;

[0121] i A represents the current of phase A in the first three-phase winding ABC; i B represents the current of phase B in the first three-phase winding ABC; i C represents the current of phase C in the first three-phase winding ABC; i X represents the current of phase X in the second three-phase winding XYZ; i Y represents the current of phase Y in the second three-phase winding XYZ; i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

[0122] Step 2: Based on the reconstruction area where the reference voltage vector is located and the real-time collected I SAMPLE , select the corresponding six-phase current reconstruction expression and reconstruct the six-phase current;

[0123] The speed and initial position angle θ0 required for the motor to run are sampled. After the current reconstruction, step 3 of this embodiment controls the zero phase shift angle dual three-phase permanent magnet synchronous motor according to the reconstructed six-phase current, and the process includes:

[0124] According to the working condition of the zero phase-shift dual three-phase permanent magnet synchronous motor, the motor's initial position angle θ0 is subjected to resolver compensation to obtain the actual speed after resolver compensation. The specific process of resolver compensation includes:

[0125] According to the direct-axis voltage equation in the dual dq coordinate system of formula (2), combined with the current DTP-PMSM operating conditions, the direct-axis voltage output by the current loop controller ACR-PI is estimated.

[0126]

[0127] Where: is the theoretical estimated value of the direct-axis voltage of the first set of three-phase windings; is the direct-axis voltage of the second three-phase winding; i d1 is the theoretical estimated value of the direct-axis current of the first three-phase winding; i d2 is the direct-axis current of the second three-phase winding; L d is the direct axis inductance of the rotating coordinate system; L q is the quadrature axis inductance of the rotating coordinate system; L m is the stator excitation inductance; ω is the electrical angle; R s is the stator resistance.

[0128] i q1 is the theoretical estimated value of the first set of three-phase winding quadrature-axis current; i q2 is the quadrature-axis current of the second three-phase winding;

[0129] The actual direct axis voltage u d1 、u d2 Perform filtering to prevent excessive jitter during parameter debugging and obtain the filtered voltage u d1-LPF 、u d2-LPF .

[0130] The voltage error is obtained by subtracting the theoretical estimated value of the direct axis voltage from the filtered value using equation (3):

[0131]

[0132] The equation (4) is used to sum the direct-axis voltage errors of the two sets of three-phase windings as the basis for resolver compensation.

[0133] u d-error =|u d1-error +u d2-error | (4)

[0134] According to the magnitude of the direct axis voltage, the initial position angle θ0 is adjusted so that the error and u d-error When the minimum value is reached, the machine stops and the compensated position angle θ is saved. Based on the position angle θ, the actual speed after resolver compensation is obtained.

[0135] The motor given speed and the actual speed after compensation ω m The difference is sent to the speed controller ASR-PI to obtain the motor torque current given value;

[0136] The reconstructed six-phase current is subjected to two sets of Clark-Park transformation to obtain the current feedback value in the dual dq coordinate system, including the motor torque current feedback value i q1 、i q2 , motor flux current feedback value i d1 、i d2 Specifically, the reconstructed six-phase current is subjected to two sets of Clark-Park transformations to obtain the current feedback value in the dual dq coordinate system:

[0137]

[0138] Where θ represents the position angle, i A represents the current of phase A in the first three-phase winding ABC; i B represents the current of phase B in the first three-phase winding ABC; i C represents the current of phase C in the first three-phase winding ABC; i X represents the current of phase X in the second three-phase winding XYZ; i Y represents the current of the Y phase in the second three-phase winding XYZ, i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

[0139] The difference between the motor torque current set value and the current feedback value is sent to the current loop controller ACR-PI, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q1 、u q2 , flux voltage given value u d1 、u d2 ;

[0140] The hybrid pulse width modulation RHPWM is reconstructed according to the obtained voltage given value, and then the driving signals of two sets of three-phase windings are generated to complete the driving control.

[0141] Reconstructed hybrid pulse width modulation RHPWM includes:

[0142] Carrier phase-shifted PWM is used in the reconstruction area where the reference voltage vector is located. According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the phase of the carrier group of the second set of three-phase winding XYZ is overall delayed by 90° to construct a switching-level current ripple, so that the current ripples of the two sets of three-phase windings are opposite; after the phase shift, the current ripples of the two sets of three-phase windings fluctuate in opposite directions, which can generate opposite quadrature-axis current fluctuations and ultimately suppress torque pulsation.

[0143] When the reference voltage is located in the reconstruction area G1-Ⅰ, G4-Ⅰ, the reconstruction area G1-Ⅱ and G4-Ⅱ are modulated by dynamic zero-state PWM;

[0144] When the reference voltage is located in the reconstruction areas G2, G3, G5, and G6, SVPWM is used for modulation.

[0145] This embodiment uses a 15-pole motor with a rotation speed of 125rpm, a motor flux of 0.89Wb, a DC axis inductance of 7.1mH, and a stator excitation inductance of 5.1mH. A dual three-phase permanent magnet synchronous motor with a phase shift angle of 0° is used for simulation experiments. The switching frequency is 25kHz, and two sets of three-phase windings are independently connected in star shape. Figure 1 As shown, the main control loop adopts vector dual dq closed-loop control, compensates the resolver according to the filtered direct-axis voltage, and realizes six-phase current reconstruction through RHPWM combined with sampling topology.

[0146] Modify the current sampling topology. Use a single current Hall sensor to collect the sum of the current between the lower bridge arms of phases A and B and the current between the upper bridge arms of phases X and Y. Figure 2 It can be known that the positive direction of the perforation current, equation (1) can obtain the sampling current under different voltage vectors.

[0147] For example, the corresponding relationship between the switching function and the current sensor sampling current is shown. When the first set of windings ABC acting on the switching vector U6 is combined with the second set of windings XYZ acting on the switching vector U0, the first set of windings ABC voltage vector U6 corresponds to the switching function S A =1S B =0S C =1, the second set of winding XYZ voltage vector U0 corresponds to the switching function S X =0S Y =0S Z =0 Substituting it into formula (1), we can get I SAMPLE =i B +0.

[0148] The speed required for the motor to run m And the initial position angle θ0 is sampled.

[0149] When the DTP-PMSM operates at a speed of 125rpm and an electromagnetic torque of 1069N.m, the theoretical value of the direct-axis current is:

[0150]

[0151] According to the direct axis voltage equation in the dual dq coordinate system of formula (2), ignoring the differential component and the stator resistance voltage drop, the output back electromotive force of the current loop controller on the d axis is estimated:

[0152]

[0153] The actual direct-axis voltage is filtered to obtain a filtered direct-axis voltage.

[0154] Since the estimated direct-axis voltage is small, the errors of the two sets of actual direct-axis voltages after filtering are directly summed:

[0155] u d-error =|u d1-LPF +u d2-LPF | (8)

[0156] The summed direct-axis filter voltage is used as the basis for resolver compensation. According to its size, the position compensation angle is adjusted to minimize the error sum.

[0157] like Fig.10 As shown, the value of the six-phase d-axis voltage after compensation is close to 0, and the compensation effect is good.

[0158] According to the reconstruction area where the reference voltage is located, combined with Table 1, sampling is performed at the corresponding switch vector combination of the two sets of three-phase windings to obtain the following Figure 5 The sampled current is shown. Substituting the sampled current into the current reconstruction expression completes the six-phase current reconstruction.

[0159] The following takes the G3 normal area as an example to explain the current reconstruction and sampling process:

[0160] As shown in Figure 4(a), from the sampling vector combination query table 1, it can be seen that the voltage vector combinations should be: the voltage vector of the ABC three-phase winding is U0 and the voltage vector of the XYZ three-phase winding is U3 to obtain the sampling current I1; the vector combination of the ABC three-phase winding U7 and the XYZ three-phase winding U3 to obtain the sampling current I2; the vector combination of the ABC three-phase winding U3 and the XYZ three-phase winding U0 to obtain the sampling current I3; the vector combination of the ABC three-phase winding U3 and the XYZ three-phase winding U7 to obtain the sampling current I4.

[0161] According to Table 1, the relationship between the sampling current and the phase current is:

[0162]

[0163] According to Table 1, the phase current reconstruction equation is:

[0164]

[0165] By bringing the sampled current into the reconstruction equation, the six-phase currents can be calculated based on the sampled current.

[0166] The following takes the G1-Ⅱ zero vector modification area as an example to explain the current reconstruction and sampling process:

[0167] As shown in Figure 4(b), from the sampling vector combination query table 1, it can be seen that the voltage vector combinations should be respectively: the vector combination composed of the ABC three-phase winding U6 and the XYZ three-phase winding U1 is sampled to obtain the sampling current I1; the vector combination composed of the ABC three-phase winding U3 and the XYZ three-phase winding U1 is sampled to obtain the sampling current I2; the vector combination composed of the ABC three-phase winding U1 and the XYZ three-phase winding U6 is sampled to obtain the sampling current I3; the vector combination composed of the ABC three-phase winding U1 and the XYZ three-phase winding U3 is sampled to obtain the sampling current I4.

[0168] According to Table 1, the relationship between the sampling current and the phase current is:

[0169]

[0170] According to Table 1, the phase current reconstruction equation is:

[0171]

[0172] By bringing the sampled current into the reconstruction equation, the six-phase currents can be calculated based on the sampled current.

[0173] The current reconstruction and the actual current are shown in Figure 6(a) and Figure 6(b). The actual current and the reconstructed current have the same phase and amplitude. Figure 7 The reconstruction error is controlled within the allowable range and meets the reconstruction requirements.

[0174] In all reference voltage regions, carrier phase-shifted PWM is used. According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the phase of the carrier group of the second set of three-phase windings XYZ is overall delayed by 90° to construct the switch-level current ripple, so that the current ripples of the two sets of three-phase windings are opposite. As shown in Figure 9(a), Figure 9(b), and Figure 9(c), after the phase shift, the current ripples of the two sets of three-phase windings fluctuate in the opposite direction, which can generate opposite quadrature-axis current fluctuations and ultimately suppress torque pulsation.

[0175] This implementation method modifies the sampling topology, adopts a single current Hall sensor to perforate dual branches, and samples the rotation angle and speed of the motor; sends the given reference voltage under the dual dq coordinates to the resolver compensation unit to generate a compensation angle, and compensates the resolver angle; shifts the phase of the second set of three-phase winding carriers, and determines the reconstruction conditions using dynamic zero state PWM (Active Zero State PWM, AZSPWM) or SVPWM according to the spatial region where the reference voltage is located, collects current information at a specific vector combination, and reconstructs the actual phase current of the motor through the sampled current; the difference between the actual speed and the given speed is sent to the speed controller to obtain the torque current given, and the reconstructed current is sent to the dual dq control loop to generate a given reference voltage output, completing the zero phase shift angle DTP-PMSM drive control.

[0176] Since the reconstruction method of the present invention only involves reconstruction topology, modulation mode, and angle compensation method, this implementation has no constraints on the controller. This implementation is also applicable to applications where the speed loop controller uses an auto-disturbance rejection controller and the current loop controller uses a proportional resonant controller.

[0177] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A zero phase shift angle dual three-phase permanent magnet synchronous motor control method, characterized in that: The method comprises: According to the use of a single current Hall sensor to collect the current between the A and B phase lower bridge arms of the first three-phase winding of the zero-shift angle dual three-phase permanent magnet synchronous motor and the current between the X and Y phase upper bridge arms of the second three-phase winding, the sum of the current I SAMPLE The sampling mode, modulation mode and spatial distribution characteristics of the two sets of windings of the zero phase-shift dual three-phase motor are used to construct the reconstruction region, and the six-phase current reconstruction expression of the zero phase-shift dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed; According to the reconstruction area where the reference voltage vector is located and the real-time acquisition of I SAMPLE , select the corresponding six-phase current reconstruction expression and reconstruct the six-phase current; The zero phase-shift dual three-phase permanent magnet synchronous motor is controlled according to the reconstructed six-phase current.

2. The zero phase shift angle dual three-phase permanent magnet synchronous motor control method according to claim 1 is characterized in that: The build refactoring areas include: S A , S B , S C , S X , S Y , S Z They are the six-phase bridge arm switching functions of the zero phase shift angle dual three-phase permanent magnet synchronous motor, where a value of 0 represents that the lower tube of the bridge arm is turned on, and a value of 1 represents that the upper tube of the bridge arm is turned on; S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z =0 corresponds to voltage vector U0; When S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z =0 corresponds to voltage vector U1; When S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z =0 corresponds to voltage vector U2; When S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z =0 corresponds to voltage vector U3; When S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z =1 corresponds to voltage vector U4; When S A =0, S B =0, S C =1 or S X =0, S Y =0, S Z =1 corresponds to voltage vector U5; When S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z =1 corresponds to voltage vector U6; When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z =1 corresponds to voltage vector U7; The area enclosed by U1 and U2 in space is sector I; The area enclosed by U2 and U3 in space is sector II; The area enclosed by U3 and U4 in space is sector III; The area enclosed by U4 and U5 in space is sector IV; The area enclosed by U5 and U6 in space is sector V; The area enclosed by U6 and U1 in space is sector VI; Take the median lines within sectors Ⅰ to VI respectively; The area enclosed by the midline of sector I and the midline of sector VI is the reconstruction area G1; The area enclosed by the midline of sector II and the midline of sector I is the reconstruction area G2; The area enclosed by the midline of sector II and the midline of sector III is the reconstruction area G3; The area surrounded by the midline of sector III and the midline of sector IV is the reconstruction area G4; The area enclosed by the midline of sector IV and the midline of sector V is the reconstruction area G5; The area enclosed by the midline of sector V and the midline of sector VI is the reconstruction area G6; The reconstructed area G1 includes G1-Ⅰ and G1-Ⅱ. The area surrounded by the bisection line of sector VI and the voltage vector U1 is G1-Ⅰ, and the area surrounded by the bisection line of sector Ⅰ and the voltage vector U1 is G1-Ⅱ. The reconstructed area G4 includes G4-Ⅰ and G4-Ⅱ. The area surrounded by the center line of sector III and the voltage vector U4 is G4-Ⅰ, and the area surrounded by the center line of sector IV and the voltage vector U4 is G4-Ⅱ.

3. The zero phase shift angle dual three-phase permanent magnet synchronous motor control method according to claim 2 is characterized in that: The six-phase current reconstruction expression of the dual three-phase permanent magnet synchronous motor with zero phase shift angle in each reconstruction area is constructed as follows: Among them, ABC-U i XYZ-U j Indicates that the voltage vector corresponding to the first three-phase winding ABC in the switching cycle is U i ; The voltage vector corresponding to the first three-phase winding XYZ in the switching cycle is U j , i=0,1,2,3,4,5,6, j=0,1,2,3,4,5,6; I1, I2, I3, and I4 represent the currents sampled by the four sampling vector combinations respectively; i A It represents the current of phase A in the first three-phase winding ABC; i B It represents the current of phase B in the first three-phase winding ABC; i C It represents the current of phase C in the first three-phase winding ABC; i X It represents the current of phase X in the second three-phase winding XYZ; i Y Indicates the current of the Y phase in the second three-phase winding XYZ i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

4. The zero phase shift angle dual three-phase permanent magnet synchronous motor control method according to claim 1, characterized in that: The method for controlling a zero-phase-shift dual three-phase permanent magnet synchronous motor according to a reconstructed six-phase current includes: According to the working condition of the zero phase-shift dual three-phase permanent magnet synchronous motor, the motor's initial position angle θ0 is subjected to resolver compensation to obtain the actual speed after resolver compensation; The motor given speed and the actual speed after compensation ω m The difference is sent to the speed controller ASR-PI to obtain the motor torque current given value; The reconstructed six-phase current is subjected to two sets of Clark-Park transformation to obtain the current feedback value in the dual dq coordinate system, including the motor torque current feedback value i q1 、i q2 , motor flux current feedback value i d1 、i d2 ; The difference between the motor torque current set value and the current feedback value is sent to the current loop controller ACR-PI, and then the voltage set values ​​of the two sets of three-phase windings are obtained, including the torque voltage set value u q1 、u q2 , flux voltage given value u d1 、u d2 ; The hybrid pulse width modulation RHPWM is reconstructed according to the obtained voltage given value, and then the driving signals of two sets of three-phase windings are generated to complete the driving control.

5. The zero phase shift angle dual three-phase permanent magnet synchronous motor control method according to claim 4 is characterized in that: The method for performing resolver compensation includes: The theoretical estimate of the direct-axis voltage output by the current loop controller ACR-PI is: Where: is the theoretical estimated value of the direct-axis voltage of the first set of three-phase windings; is the direct-axis voltage of the second three-phase winding; i d1 is the theoretical estimated value of the direct-axis current of the first three-phase winding; i d2 is the direct-axis current of the second three-phase winding; i q1 is the theoretical estimated value of the first set of three-phase winding quadrature-axis current; i q2 is the quadrature-axis current of the second three-phase winding; L d is the direct axis inductance of the rotating coordinate system; L q is the quadrature axis inductance of the rotating coordinate system; L m is the stator excitation inductance; ω is the electrical angle; R s is the stator resistance; For a given value of flux linkage voltage u d1 、u d2 Filter and get the filtered voltage u d1-LPF 、u d2-LPF ; The voltage error is obtained: Sum the direct-axis voltage errors of the two sets of three-phase windings to obtain u d-error , as the basis for resolver compensation: in d-error =|in d1-error +in d2-error | According to the magnitude of the direct axis voltage, the initial position angle θ0 is adjusted so that the error and u d-error When the minimum value is reached, the compensated position angle θ is saved, and the actual speed after resolver compensation is obtained according to the position angle θ.

6. The zero phase shift angle dual three-phase permanent magnet synchronous motor control method according to claim 5, characterized in that: Reconstructed hybrid pulse width modulation RHPWM includes: In the reconstruction area where the reference voltage vector is located, carrier phase shift PWM is used. According to the electromagnetic torque law of the two sets of three-phase winding carriers and their sideband harmonics, the phase of the carrier group of the second set of three-phase winding XYZ is overall delayed by 90° to construct the switch-level current ripple, so that the current ripples of the two sets of three-phase windings are opposite; When the reference voltage is located in the reconstruction area G1-Ⅰ, G4-Ⅰ, the reconstruction area G1-Ⅱ and G4-Ⅱ are modulated by dynamic zero-state PWM; When the reference voltage is located in the reconstruction areas G2, G3, G5, and G6, SVPWM is used for modulation.

7. The zero phase shift angle dual three-phase permanent magnet synchronous motor control method according to claim 6, characterized in that: The reconstructed six-phase current is subjected to two sets of Clark-Park transformations to obtain the current feedback value in the dual dq coordinate system: Where θ represents the position angle, i A represents the current of phase A in the first three-phase winding ABC; i B represents the current of phase B in the first three-phase winding ABC; i C represents the current of phase C in the first three-phase winding ABC; i X represents the current of phase X in the second three-phase winding XYZ; i Y represents the current of the Y phase in the second three-phase winding XYZ, i Z Represents the current of phase Z in the second set of three-phase winding XYZ.

8. A computer-readable storage device storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the zero phase shift angle dual three-phase permanent magnet synchronous motor control method as claimed in any one of claims 1 to 7 are implemented.

9. A zero phase shift angle dual three-phase permanent magnet synchronous motor control device, comprising a storage device, a processor, and a computer program stored in the storage device and executable on the processor, characterized in that: The processor executes the computer program to implement the steps of the zero phase shift angle dual three-phase permanent magnet synchronous motor control method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the zero phase shift angle dual three-phase permanent magnet synchronous motor control method as claimed in any one of claims 1 to 7 are implemented.

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