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

Abstract

This invention relates to a zero-phase-shift dual three-phase permanent magnet synchronous motor control method, which solves the problem of requiring a single current sensor to be inserted through three or more branches in DTP-PMSM current reconfiguration control, and belongs to the field of motor drive. The invention utilizes a single current Hall sensor to collect the sum of the current between the lower arms of phases A and B of the first three-phase winding and the current between the upper arms of phases X and Y of the second three-phase winding. SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two sets of motor windings, a reconstructed region is constructed, and the reconstructed expression for the six-phase current of the motor in each reconstructed region is generated; according to the reconstructed region where the reference voltage vector is located and the real-time acquired I... SAMPLE The appropriate six-phase current reconstruction expression is selected to reconstruct the six-phase current; the motor is then controlled based on the reconstructed six-phase current. This invention achieves a unified approach to current reconstruction, torque ripple suppression, and dual three-phase resolver delay compensation.

Description

Technical Field

[0001] This invention relates to a control method for a zero-phase-shift dual three-phase permanent magnet synchronous motor based on current reconstruction, belonging to the field of motor drive. Background Technology

[0002] High-power applications face challenges such as high voltage and current withstand capabilities of power devices, significant electromagnetic vibration and noise, and large weight and size. Dual Three-Phase Permanent Magnet Synchronous Motors (DTP-PMSMs) offer a superior solution due to their high efficiency, low noise, high reliability, and high power density. Phase-shift-free dual three-phase permanent magnet synchronous motors, with no phase shift between the two sets of three-phase windings, boast a simple structure and low manufacturing complexity, making them dominant in the dual three-phase permanent magnet synchronous motor field.

[0003] In motor control, precise control requires the acquisition of phase current information. For DTP-PMSM, six phase current information needs to be acquired. Traditional methods for acquiring phase current information typically involve inserting current sensors between corresponding phase lines. However, this method not only increases hardware costs but also the size of the driver itself and the complexity of the hardware structure. To reduce hardware costs and improve system reliability, researchers have begun exploring the use of a single current sensor to reconstruct the phase currents of multi-phase motors. Furthermore, there is room for optimization in the number of through-branch connections used in DTP-PMSM drive systems to reconstruct phase currents using a single current sensor.

[0004] With technological advancements, electric drive systems are no longer limited to functional requirements; increasingly stringent requirements exist for motor vibration and noise reduction. In recent years, domestic and international scholars have conducted extensive research on high-frequency PWM harmonic suppression technology, with main methods including: pre-conversion bus voltage regulation, hardware filtering, random frequency pulse width modulation algorithms, and carrier phase-shifting techniques. Traditional DTP-PMSM electromagnetic vibration and noise suppression schemes do not consider current reconstruction, making it difficult to integrate with current reconstruction to form a complete drive system, thus leaving room for further optimization.

[0005] The initial design goal of electric drive systems is to achieve motor output using as little phase current and output power as possible. However, in practical applications, the delay characteristics of the motor rotation position acquisition system cause deviations in the position information used for transformation in the control loop, leading to increased reactive voltage and increased current for the same torque output. To address this, scholars both domestically and internationally have proposed various compensation methods. However, the deviation in the winding positions of the two sets of three-phase windings in a zero-phase-shift DTP-PMSM presents a new challenge to the delay compensation of the DTP-PMSM resolver.

[0006] The shortcomings of existing technologies are: the DTP-PMSM current reconfiguration control system requires a single current sensor to be through three or more branches; the two sets of three-phase windings of the zero-phase-shift DTP-PMSM have differences, and it is difficult to uniformly plan and compensate for the resolver delay; the vibration suppression of the traditional zero-phase-shift DTP-PMSM drive system is difficult to be compatible with the current reconfiguration strategy.

[0007] DTP-PMSM current reconfiguration control requires a single current sensor to be perforated through three or more branches; the two sets of three-phase windings of zero-phase-shift DTP-PMSM have differences, and it is difficult to uniformly plan and compensate for resolver delay; the vibration suppression of traditional zero-phase-shift DTP-PMSM drive systems is difficult to be compatible with current reconfiguration strategies. Summary of the Invention

[0008] To address the issue that DTP-PMSM current reconfiguration control requires a single current sensor to be punched through three or more branches, this invention provides a zero-phase-shift dual three-phase permanent magnet synchronous motor control method based on current reconfiguration with two punched branches.

[0009] The present invention provides a zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method, comprising:

[0010] The sum of the currents between the lower arms of phases A and B of the first three-phase winding of the zero-phase-shift dual three-phase permanent magnet synchronous motor and the currents between the upper arms of phases X and Y of the second three-phase winding is collected using a single-current Hall sensor. SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two sets of windings of the zero-phase-shift angle dual three-phase motor, a reconstruction region is constructed, and 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.

[0011] Based on the reconstruction region where the reference voltage vector is located and the real-time acquired I... SAMPLE Select the appropriate six-phase current reconstruction expression to reconstruct the six-phase current;

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

[0013] As a preferred option, the reconstruction region includes:

[0014] S A S B S C S X S Y S Z These are the six-phase bridge arm switching functions of a zero-phase-shift dual three-phase permanent magnet synchronous motor. A value of 0 indicates that the lower bridge arm is conducting, and a value of 1 indicates that the upper bridge arm is conducting.

[0015] S A =0, S B =0, SC =0 or S X =0, S Y =0, S Z When = 0, the corresponding voltage vector is U0;

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

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

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

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

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

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

[0022] When S A =1, S B =1, S C =1 or S X =1, SY =1, S Z When = 1, the corresponding voltage vector is 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 midpoint lines within sectors I to VI respectively;

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

[0031] The region enclosed by the midpoint of sector II and the midpoint of sector I is the reconstructed region G2;

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

[0033] The region enclosed by the midpoint of sector III and the midpoint of sector IV is the reconstruction region G4;

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

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

[0036] The reconstructed region G1 includes G1-Ⅰ and G1-Ⅱ. The region enclosed by the midpoint of sector VI and voltage vector U1 is G1-Ⅰ, and the region enclosed by the midpoint of sector Ⅰ and voltage vector U1 is G1-Ⅱ.

[0037] The reconstructed region G4 includes G4-Ⅰ and G4-Ⅱ. The region enclosed by the midpoint of sector Ⅲ and voltage vector U4 is G4-Ⅰ, and the region enclosed by the midpoint of sector Ⅳ and voltage vector U4 is G4-Ⅱ.

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

[0039]

[0040]

[0041]

[0042] Among them, ABC-U i XYZ-U j This indicates that the voltage vector corresponding to the first three-phase winding ABC within the switching cycle is U. i The voltage vector corresponding to the first set of three-phase windings XYZ during 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 combination of four sampling vectors, respectively.

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

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

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

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

[0048] i Y This represents the current in the Y phase of the second three-phase winding XYZ.

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

[0050] Preferably, S3 includes:

[0051] Based on the operating conditions of the zero-phase-shift angle dual three-phase permanent magnet synchronous motor, resolver compensation is performed on the initial position angle θ0 of the motor to obtain the actual speed after resolver compensation;

[0052] Compare the motor's set speed with the compensated actual speed ω m The difference is fed into the speed controller ASR-PI to obtain the motor torque current setpoint;

[0053] The reconstructed six-phase currents are subjected to two sets of Clark-Park transformations to obtain the current feedback values ​​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 setpoint and the current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoint values ​​for the two sets of three-phase windings, including the torque voltage setpoint u. q1 u q2 Magnetic flux voltage setpoint u d1 u d2 ;

[0055] Based on the obtained voltage setpoint, the hybrid pulse width modulation (RHPWM) is reconstructed, thereby generating two sets of drive signals for the three-phase windings to complete the drive control.

[0056] As a preferred method, the methods for performing resolve compensation include:

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

[0058]

[0059] In the formula: This is the theoretical estimate of the direct-axis voltage of the first set of three-phase windings; For the direct-axis voltage of the second set of three-phase windings; i d1 This is the theoretical estimate of the direct-axis current of the first set of three-phase windings; i d2 For the direct-axis current of the second set of three-phase windings; i q1 This is the theoretical estimate of the quadrature axis current for the first set of three-phase windings; i q2 For the quadrature axis current of the second set of three-phase windings; L d For a rotating coordinate system, the inductance is a direct-axis inductance; L q For a rotating coordinate system, the quadrature-axis inductance is L; m R is the stator magnetizing inductance; ω is the electrical angle; s Stator resistance;

[0060] For the given value u of the flux linkage voltage d1 u d2 Filtering is performed to obtain the filtered voltage u. d1-LPF u d2-LPF ;

[0061] Voltage error obtained:

[0062]

[0063] Summing the direct-axis voltage errors of the two sets of three-phase windings yields u. d-error As a basis for resolver compensation:

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

[0065] The initial position angle θ0 is adjusted according to the magnitude of the direct-axis voltage to make the error and u d-error Once the minimum value is reached, the compensated position angle θ is saved, and the actual rotational speed after resolver compensation is obtained based on the position angle θ.

[0066] Preferably, reconstructing hybrid pulse width modulation (RHPWM) includes:

[0067] Carrier phase-shifting PWM is used in the reconstruction region where the reference voltage vector is located. According to the electromagnetic torque law of the carriers of the two sets of three-phase windings and their sideband harmonics, the phase of the carrier group of the second set of three-phase windings XYZ is delayed by 90° as a whole to construct the switching stage current ripple, so that the current ripples of the two sets of three-phase windings are reversed.

[0068] When the reference voltage is located in the reconstruction regions G1-Ⅰ, G4-Ⅰ, G1-Ⅱ and G4-Ⅱ, dynamic zero-state PWM is used for modulation.

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

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

[0071]

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

[0073] The beneficial effects of this invention are as follows: this invention only requires a single current sensor to be punched through two independent branches to complete the six-phase current reconstruction; this invention can effectively suppress the electromagnetic torque vibration of the motor while realizing current reconstruction; this 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; the control system provided can realize the unity of current reconstruction, torque ripple suppression, and dual three-phase resolver delay compensation. Attached Figure Description

[0074] Figure 1This is a block diagram illustrating the principle of a zero-phase-shift dual three-phase permanent magnet synchronous motor control method based on current reconstruction.

[0075] Figure 2 The current reconfiguration topology diagram of a zero-phase-shift dual three-phase permanent magnet synchronous motor;

[0076] Figure 3 This is a diagram showing the reconfiguration region distribution of a zero-phase-shift dual three-phase permanent magnet synchronous motor.

[0077] Figure 4(a) is a schematic diagram of the normal region sampling in the reconstructed region G3;

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

[0079] Figure 5 The waveform of the sampled current from a single current Hall sensor;

[0080] Figure 6(a) shows the waveforms of the actual phase current and reconfigured current of the first set of three-phase windings ABC;

[0081] Figure 6(b) shows the waveforms of the actual phase current and reconfiguration current of the second set of three-phase windings XYZ;

[0082] Figure 7 The error between the actual current and the reconstructed current of phase A;

[0083] Figure 8 The waveforms of the actual current and speed for the six phases are shown.

[0084] Figure 9(a) Currents and ripple waveforms of phase A and phase X before carrier phase shift;

[0085] Figure 9(b) shows the currents and ripple waveforms of phase A and phase X after carrier phase shift;

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

[0087] Figure 10 The waveforms of the quadrature-axis voltage before and after resolver compensation are shown. Detailed Implementation

[0088] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0089] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0090] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

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

[0092] Step 1: Based on the sum of the currents between the lower arms of phases A and B of the first three-phase winding of the zero-phase-shift dual three-phase permanent magnet synchronous motor and the currents between the upper arms of phases X and Y of the second three-phase winding, I is collected using a single-current Hall sensor. SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two sets of windings of the zero-phase-shift angle dual three-phase motor, a reconstruction region is constructed, and 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.

[0093] In this implementation method, step 1 modifies the sampling topology, employing a single-current Hall sensor with a through-hole dual-branch configuration to sample the motor's rotation angle and speed: The single-current Hall sensor is used to collect the sum of the currents between the lower arms of phases A and B and the upper arms of phases X and Y, I. SAMPLE .

[0094] The correspondence between the sampling results of a single current Hall sensor and the phase current under different voltage vectors is as follows:

[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 These are the switching functions for the six-phase bridge arms. A value of 0 indicates that the lower tube of the bridge arm is on, and a value of 1 indicates that the upper tube of the bridge arm is on. A This represents the current in phase A of the first three-phase winding ABC; i B This represents the current in phase B of the first three-phase winding ABC; i C This represents the current in phase C of the first three-phase winding ABC; i X This represents the current in phase X of the second three-phase winding XYZ; i Y This represents the current in the Y phase of the second three-phase winding XYZ; i Z This represents the current in phase Z of the second three-phase winding XYZ; I SAMPLE This is the sampled value from the current sensor.

[0097] During modulation, carrier phase-shifted PWM is used in all regions where the reference voltage is located. Based on the electromagnetic torque law of the carriers of the two sets of three-phase windings and their sideband harmonics, the phase of the carrier group of the second set of three-phase windings XYZ is delayed by 90° as a whole to construct the switching stage current ripple, so that the current ripples of the two sets of three-phase windings are reversed.

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

[0099] S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z When = 0, the corresponding voltage vector is U0;

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

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

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

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

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

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

[0106] When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z When = 1, the corresponding voltage vector is U7;

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

[0108] The reconstructed region in this embodiment is as follows: Figure 3 As shown, the figure includes normal regions G2, G3, G5, and G6; and zero vector modification regions G1 and G4. The zero vector modification regions modify the zero vector into an effective vector with the opposite effect. Based on the different zero vectors modified, G1 and G4 are further divided into G1-Ⅰ, G1-Ⅱ and G4-Ⅰ, G4-Ⅱ. Take the midpoint lines of sectors I to VI respectively; the area enclosed by the midpoint line of sector I and the midpoint line of sector VI is the reconstruction region G1; the area enclosed by the midpoint line of sector II and the midpoint line of sector I is the reconstruction region G2; the area enclosed by the midpoint line of sector II and the midpoint line of sector III is the reconstruction region G3; the area enclosed by the midpoint line of sector III and the midpoint line of sector IV is the reconstruction region G4; the area enclosed by the midpoint line of sector IV and the midpoint line of sector V is the reconstruction region G5; the area enclosed by the midpoint line of sector V and the midpoint line of sector VI is the reconstruction region G6.

[0109] Among them, the reconstruction regions G1 and G4 are zero vector modification regions. Based on the different effective vectors of the zero vector modification, the reconstruction regions G1 and G4 are further divided.

[0110] The reconstructed region G1 includes G1-Ⅰ and G1-Ⅱ. The region enclosed by the midpoint of sector VI and voltage vector U1 is G1-Ⅰ, and the region enclosed by the midpoint of sector Ⅰ and voltage vector U1 is G1-Ⅱ.

[0111] The reconstructed region G4 includes G4-Ⅰ and G4-Ⅱ. The region enclosed by the midpoint of sector Ⅲ and voltage vector U4 is G4-Ⅰ, and the region enclosed by the midpoint of sector Ⅳ and voltage vector U4 is G4-Ⅱ.

[0112] This implementation combines SVPWM and AZSPWM to construct the 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 the opposite effective vectors U2 and U5, respectively.

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

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

[0115] Based on the reconstruction region where the reference voltage is located, and referring to Table 1, sampling currents are obtained at the corresponding switch vector combinations of the two sets of three-phase windings. The sampled currents are then 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 This indicates that the voltage vector corresponding to the first three-phase winding ABC within the switching cycle is U. i The voltage vector corresponding to the first set of three-phase windings XYZ during 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 combination of four sampling vectors, respectively.

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

[0122] Step 2: Based on the reconstruction region where the reference voltage vector is located and the real-time acquired I... SAMPLE Select the appropriate six-phase current reconstruction expression to reconstruct the six-phase current;

[0123] The required operating speed and initial position angle θ0 of the motor are sampled. After 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. The process includes:

[0124] Based on the operating conditions of the zero-phase-shift dual three-phase permanent magnet synchronous motor, resolver compensation is performed on the initial position angle θ0 of the motor to obtain the actual speed after resolver compensation; the specific process of resolver compensation includes:

[0125] Based on the direct-axis voltage equation in the dual dq coordinate system (2), and combined with the current DTP-PMSM operating condition, the direct-axis voltage output by the current loop controller ACR-PI is estimated.

[0126]

[0127] In the formula: This is the theoretical estimate of the direct-axis voltage of the first set of three-phase windings; For the direct-axis voltage of the second set of three-phase windings; i d1 This is the theoretical estimate of the direct-axis current of the first set of three-phase windings; i d2 For the direct-axis current of the second set of three-phase windings; L d For a rotating coordinate system, the inductance is a direct-axis inductance; L q For a rotating coordinate system, the quadrature-axis inductance is L; m R is the stator magnetizing inductance; ω is the electrical angle; s This is the stator resistance.

[0128] i q1 This is the theoretical estimate of the quadrature axis current for the first set of three-phase windings; i q2 For the quadrature axis current of the second set of three-phase windings;

[0129] For the actual direct-axis voltage u d1 u d2 Filtering is performed to prevent excessive jitter during parameter adjustment, resulting in the filtered voltage u. d1-LPF u d2-LPF .

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

[0131]

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

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

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

[0135] Compare the motor's set speed with the compensated actual speed ω m The difference is fed into the speed controller ASR-PI to obtain the motor torque current setpoint;

[0136] The reconstructed six-phase currents are subjected to two sets of Clark-Park transformations to obtain the current feedback values ​​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 currents are subjected to two sets of Clark-Park transformations to obtain the current feedback values ​​in the dual dq coordinate system:

[0137]

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

[0139] The difference between the motor torque current setpoint and the current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoint values ​​for the two sets of three-phase windings, including the torque voltage setpoint u. q1 u q2 Magnetic flux voltage setpoint u d1 u d2 ;

[0140] Based on the obtained voltage setpoint, the hybrid pulse width modulation (RHPWM) is reconstructed, thereby generating two sets of drive signals for the three-phase windings to complete the drive control.

[0141] Reconstructed hybrid pulse width modulation (RHPWM) includes:

[0142] Carrier phase-shifted PWM is used in the reconstruction region where the reference voltage vector is located. Based on the electromagnetic torque law of the carrier waves of the two sets of three-phase windings and their sideband harmonics, the phase of the carrier group of the second set of three-phase windings XYZ is delayed by 90° as a whole to construct the switching stage current ripple, so that the current ripples of the two sets of three-phase windings are opposite. After 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 finally suppress torque pulsation.

[0143] When the reference voltage is located in the reconstruction regions G1-Ⅰ, G4-Ⅰ, G1-Ⅱ and G4-Ⅱ, dynamic zero-state PWM is used for modulation.

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

[0145] This embodiment uses a 15-pole, 125 rpm motor with a flux linkage of 0.89 Wb, a direct-axis and quadrature-axis inductance of 7.1 mH, and a stator excitation inductance of 5.1 mH. A simulation experiment was conducted using a dual three-phase permanent magnet synchronous motor with a 0° phase shift angle, a switching frequency of 25 kHz, and two sets of three-phase windings connected in an independent star configuration. Figure 1 As shown, the main control loop adopts vector dual dq closed-loop control, and the resolver is compensated according to the filtered direct-axis voltage. The six-phase current reconstruction is achieved by combining RHPWM with sampling topology.

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

[0147] For example, to illustrate the correspondence between the switching function and the current sampled by the current sensor, when the switching vector U6 of the first winding ABC is combined with the switching vector U0 of the second winding XYZ, the switching function S corresponding to the voltage vector U6 of the first winding ABC is... A =1S B =0S C =1, the switching function S corresponding to the XYZ voltage vector U0 of the second winding. X =0S Y =0S Z Substituting =0 into equation (1), we get I SAMPLE =i B +0.

[0148] The required operating speed ω of the motor m And the initial position angle θ0 is sampled.

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

[0150]

[0151] Based on the direct-axis voltage equation in the dual dq coordinate system (2), neglecting differential components and stator resistance voltage drop, the output back electromotive force of the current loop controller on the d-axis is estimated as follows:

[0152]

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

[0154] Since the estimated direct-axis voltage is relatively small, the error between the two sets of actual direct-axis voltages after filtering is 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. Based on its magnitude, the position compensation angle is adjusted to minimize the error.

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

[0158] Based on the reconstruction region where the reference voltage is located, and in conjunction with Table 1, sampling is performed at the corresponding switch vector combinations 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 explanation uses the normal region of G3 as an example to illustrate the current reconstruction and sampling process:

[0160] As shown in Figure 4(a), according to Table 1, the sampling vector combination should be sampled separately for the following voltage vector combinations: 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; and 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 as follows:

[0162]

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

[0164]

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

[0166] The following explanation uses the G1-Ⅱ zero vector modification region as an example to illustrate the current reconstruction and sampling process:

[0167] As shown in Figure 4(b), according to Table 1, the sampling vector combination should be sampled to obtain the sampling current I1 in the following ways: the vector combination composed of the ABC three-phase winding U6 and the XYZ three-phase winding U1; the vector combination composed of the ABC three-phase winding U3 and the XYZ three-phase winding U1; the vector combination composed of the ABC three-phase winding U1 and the XYZ three-phase winding U6; and the vector combination composed of the ABC three-phase winding U1 and the XYZ three-phase winding U3.

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

[0169]

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

[0171]

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

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

[0174] Carrier phase-shifted PWM is used in all regions where the reference voltage is located. Based on the electromagnetic torque law of the carrier waves of the two sets of three-phase windings and their sideband harmonics, the phase of the carrier group of the second set of three-phase windings XYZ is delayed by 90° to construct the switching stage current ripple, so that the current ripples of the two sets of three-phase windings are opposite. As shown in Figures 9(a), 9(b), and 9(c), after phase shifting, the current ripples of the two sets of three-phase windings fluctuate in opposite directions, which can generate opposite quadrature-axis current fluctuations, ultimately suppressing torque pulsation.

[0175] This implementation modifies the sampling topology, employing a single-current Hall sensor with a perforated dual-branch design to sample the motor's rotation angle and speed. A given reference voltage in dual dq coordinates is fed into the resolver compensation unit to generate a compensation angle, compensating for the resolver angle. The second set of three-phase winding carrier waves is phase-shifted, and the reconstruction conditions are determined based on the spatial region of the reference voltage, using either Active Zero State PWM (AZSPWM) or SVPWM. Current information is collected at specific vector combinations, and the actual phase current of the motor is reconstructed through the sampled current. The difference between the actual speed and the given speed is fed into the speed controller to obtain the torque current setpoint. The reconstructed current is then fed into 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 this invention only involves reconstructing the topology, modulation method, and angle compensation method, this embodiment does not impose constraints on the controller. This embodiment is also applicable to applications where the speed loop controller uses an active disturbance rejection controller, and the current loop controller uses a proportional resonant controller.

[0177] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A control method for a zero-phase-shift dual three-phase permanent magnet synchronous motor, characterized in that, The method includes: The sum of the currents between the lower arms of phases A and B of the first three-phase winding of the zero-phase-shift dual three-phase permanent magnet synchronous motor and the currents between the upper arms of phases X and Y of the second three-phase winding is collected using a single-current Hall sensor. SAMPLE Based on the sampling method, modulation method, and spatial distribution characteristics of the two sets of windings of the zero-phase-shift angle dual three-phase motor, a reconstruction region is constructed, and 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. Based on the reconstruction region where the reference voltage vector is located and the real-time acquired I... SAMPLE Select the appropriate six-phase current reconstruction expression to reconstruct the six-phase current; The zero-phase-shift angle dual three-phase permanent magnet synchronous motor is controlled based on the reconstructed six-phase current. The reconstruction area includes: S A S B S C S X S Y S Z These are the six-phase bridge arm switching functions of a zero-phase-shift dual three-phase permanent magnet synchronous motor. A value of 0 indicates that the lower bridge arm is conducting, and a value of 1 indicates that the upper bridge arm is conducting. S A =0, S B =0, S C =0 or S X =0, S Y =0, S Z When = 0, the corresponding voltage vector is U0; When S A =1, S B =0, S C =0 or S X =1, S Y =0, S Z When = 0, the corresponding voltage vector is U1; When S A =1, S B =1, S C =0 or S X =1, S Y =1, S Z =0 corresponds to the voltage vector U2; When S A =0, S B =1, S C =0 or S X =0, S Y =1, S Z When = 0, the corresponding voltage vector is U3; When S A =0, S B =1, S C =1 or S X =0, S Y =1, S Z When = 1, the corresponding voltage vector is U4; When S A =0, S B =0, S C =1 or S X =0, S Y =0, S Z When = 1, the corresponding voltage vector is U5; When S A =1, S B =0, S C =1 or S X =1, S Y =0, S Z When = 1, the corresponding voltage vector is U6; When S A =1, S B =1, S C =1 or S X =1, S Y =1, S Z When = 1, the corresponding voltage vector is 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 midpoint lines within sectors I to VI respectively; The region enclosed by the midpoint of sector I and the midpoint of sector VI is the reconstruction region G1; The region enclosed by the midpoint of sector II and the midpoint of sector I is the reconstructed region G2; The region enclosed by the midpoint of sector II and the midpoint of sector III is the reconstruction region G3; The region enclosed by the midpoint of sector III and the midpoint of sector IV is the reconstruction region G4; The region enclosed by the midpoint of sector IV and the midpoint of sector V is the reconstruction region G5; The area enclosed by the midpoint of sector V and the midpoint of sector VI is the reconstruction region G6; The reconstructed region G1 includes G1-Ⅰ and G1-Ⅱ. The region enclosed by the midpoint of sector VI and voltage vector U1 is G1-Ⅰ, and the region enclosed by the midpoint of sector Ⅰ and voltage vector U1 is G1-Ⅱ. The reconstructed region G4 includes G4-Ⅰ and G4-Ⅱ. The region enclosed by the midpoint of sector Ⅲ and voltage vector U4 is G4-Ⅰ, and the region enclosed by the midpoint of sector Ⅳ and voltage vector U4 is G4-Ⅱ. The six-phase current reconstruction expression for the zero-phase-shift angle dual three-phase permanent magnet synchronous motor in each reconstruction region is as follows: Among them, ABC-U i XYZ-U j This indicates that the voltage vector corresponding to the first three-phase winding ABC within the switching cycle is U. i The voltage vector corresponding to the XYZ windings of the second three-phase winding during the switching cycle is U. j , i=0,1,2,3,4,5,6,7, j=0,1,2,3,4,5,6,7; I1, I2, I3, and I4 represent the currents sampled by the combination of four sampling vectors, respectively. i A This represents the current in phase A of the first three-phase winding ABC; i B This represents the current in phase B of the first three-phase winding ABC; i C This represents the current in phase C of the first three-phase winding ABC; i X This represents the current in phase X of the second three-phase winding XYZ; i Y This represents the current in the Y phase of the second three-phase winding XYZ. i Z This represents the current in phase Z of the second three-phase winding XYZ.

2. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method according to claim 1, characterized in that, Methods for controlling a zero-phase-shift angle dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current include: Based on the operating conditions of the zero-phase-shift angle dual three-phase permanent magnet synchronous motor, resolver compensation is performed on the initial position angle θ0 of the motor to obtain the actual speed after resolver compensation; Compare the motor's set speed with the compensated actual speed ω m The difference is fed into the speed controller ASR-PI to obtain the motor torque current setpoint; The reconstructed six-phase currents are subjected to two sets of Clark-Park transformations to obtain the current feedback values ​​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 current setpoint and the current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoint values ​​for the two sets of three-phase windings, including the torque voltage setpoint u. q1 u q2 Magnetic flux voltage setpoint u d1 u d2 ; Based on the obtained voltage setpoint, the hybrid pulse width modulation (RHPWM) is reconstructed, thereby generating two sets of drive signals for the three-phase windings to complete the drive control.

3. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method according to claim 2, characterized in that, Methods for performing resolver compensation include: The theoretical estimate of the direct-axis voltage output by the current loop controller ACR-PI is: In the formula: This is the theoretical estimate of the direct-axis voltage of the first set of three-phase windings; This is the theoretical estimate of the direct-axis voltage of the second set of three-phase windings; i d1 For the direct-axis current of the first set of three-phase windings; i d2 For the direct-axis current of the second set of three-phase windings; i q1 For the first set of three-phase winding quadrature axis currents; i q2 For the quadrature axis current of the second set of three-phase windings; L d For a rotating coordinate system, the inductance is a direct-axis inductance; L q For a rotating coordinate system, the quadrature-axis inductance is L; m R is the stator magnetizing inductance; ω is the electrical angle; s Stator resistance; For the given value u of the flux linkage voltage d1 u d2 Filtering is performed to obtain the filtered voltage u. d1-LPF u d2-LPF ; Voltage error obtained: Summing the direct-axis voltage errors of the two sets of three-phase windings yields u. d-error As a basis for resolver compensation: in d-error =|in d1-error +in d2-error | The initial position angle θ0 is adjusted according to the magnitude of the direct-axis voltage to make the error and u d-error Once the minimum value is reached, the compensated position angle θ is saved, and the actual rotational speed after resolver compensation is obtained based on the position angle θ.

4. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method according to claim 3, characterized in that, Reconstructed hybrid pulse width modulation (RHPWM) includes: Carrier phase-shifting PWM is used in the reconstruction region where the reference voltage vector is located. According to the electromagnetic torque law of the carriers of the two sets of three-phase windings and their sideband harmonics, the phase of the carrier group of the second set of three-phase windings XYZ is delayed by 90° as a whole to construct the switching stage current ripple, so that the current ripples of the two sets of three-phase windings are reversed. When the reference voltage is located in the reconstruction regions G1-Ⅰ, G4-Ⅰ, G1-Ⅱ and G4-Ⅱ, dynamic zero-state PWM is used for modulation. When the reference voltage is in the reconstructed region, SVPWM is used for modulation in G2, G3, G5, and G6.

5. The zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method according to claim 4, characterized in that, The reconstructed six-phase currents are subjected to two sets of Clark-Park transformations to obtain the current feedback values ​​in the dual dq coordinate system: Where θ represents the position angle, i A This represents the current in phase A of the first three-phase winding ABC; i B This represents the current in phase B of the first three-phase winding ABC; i C This represents the current in phase C of the first three-phase winding ABC; i X This represents the current in phase X of the second three-phase winding XYZ; i Y i represents the current in the Y phase of the second three-phase winding XYZ. Z This represents the current in phase Z of the second three-phase winding XYZ.

6. A computer-readable storage device storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method as described in any one of claims 1 to 5.

7. A zero-phase-shift 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 as described in any one of claims 1 to 5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the zero-phase-shift angle dual three-phase permanent magnet synchronous motor control method as described in any one of claims 1 to 5.

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