30° phase shift angle dual three-phase permanent magnet synchronous motor control method

Abstract

A control method for a 30° phase-shifting dual three-phase permanent magnet synchronous motor solves the problem of existing DTP-PMSM current reconfiguration control systems requiring multiple current sensors, belonging to the field of motor drives. This invention includes: based on single-channel acquisition of the sum of the currents of the lower bridge arms B, C, Y, and Z... SAMPLE Based on the sampling method and the spatial distribution characteristics of the two windings of the 30° phase-shifted dual three-phase motor, carrier phase shifting is combined with AZSPWM to construct the reconfiguration region, and the six-phase current reconfiguration expression of the motor in each reconfiguration region is constructed; according to the reconfiguration 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 uses resolver compensation to eliminate d-axis resolver error, making the acquired rotor position angle more accurate; this invention simplifies the process of outputting the current loop to the pulse width modulation setpoint into a single-step operation through VSD-2dq equivalent transformation.

Description

Technical Field

[0001] This invention relates to a control method for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle based on single-channel sampling, belonging to the field of motor drive. Background Technology

[0002] In industrial production, the quality of a motor drive system is determined by multiple performance indicators. This is especially true in applications such as aerospace, shipbuilding, and electric vehicles, where stringent requirements exist for torque ripple, power density, and efficiency. Low torque ripple and high power density integrated design are therefore crucial. Compared to traditional motors, the Dual-Three Phase Permanent Magnet Synchronous Motor (DTP-PMSM) effectively achieves power integration, and its unique winding structure with a 30° phase shift angle significantly reduces torque ripple, giving it a distinct advantage.

[0003] In a DTP-PMSM dual-loop control system, six-phase current sampling is required to regulate current and speed. Since both windings are Y-connected and isolated, at least four current sensors are needed for sampling, significantly increasing the system's weight and size, making it unsuitable for applications requiring high power density integration. Current reconfiguration technology is currently a hot research topic for reducing the number of sensors. However, because DTP-PMSM drive circuits typically consist of two three-phase full-bridge inverter circuits, traditional phase current reconfiguration methods still primarily rely on three phases, with independent sampling for the two windings. Therefore, the position and number of current sensors require further optimization.

[0004] Due to its unique spatial winding structure, the 30° phase-shifting DTP-PMSM exhibits 2 6 =64 possible combinations of voltage space vectors, high degree of freedom, but difficult to plan the reconstructed region. Furthermore, the current flows through different paths under different voltage vectors, and the sampling branches corresponding to the current sensor have different phase current information under different paths. Single-resistor sampling will limit the phase current information. To address this, some researchers have used dynamic zero-state PWM to construct reconstructed conditions, which can achieve complete current reconstruction relatively well. However, some sector PWMs are no longer symmetrical, leading to the generation of even-order switching harmonics. Therefore, there is still room for optimization in the pulse modulation method.

[0005] To further suppress system harmonics, some scholars have proposed Vector Space Decomposition (VSD) control based on the characteristics of 30° phase-shifted DTP-PMSM. This control can separate the harmonic plane through coordinate transformation, and has a suppressive effect on specific harmonics. Currently, in practical engineering applications, 30° phase-shifted DTP-PMSM still mainly uses three-phase independent SVM. The reference voltage vector obtained from the current loop in the dq-z1z2 coordinate system needs to be equivalently converted to the abc-xyz coordinate system first, and then the two three-phase systems are transformed to the dq coordinate system for independent SVM. The transformation calculation process can be simplified.

[0006] In practical engineering applications, position sensors composed of resolver chips are often used to acquire the rotor position angle of a motor. The main principle of resolver is to transfer the voltage on the primary side of the rotating rotor to two mutually perpendicular secondary coils through electromagnetic induction. The secondary voltage and the primary voltage have a sine-cosine relationship, and the position angle is derived from a specific algorithm. During motor operation, the presence of back electromotive force on the d-axis indicates a certain error between the rotor position angle obtained by resolver and the actual rotor position angle. This error significantly affects subsequent coordinate changes and control adjustments, thus requiring research into methods to eliminate the error.

[0007] Deficiencies of existing technology:

[0008] The DTP-PMSM current reconfiguration control system requires multiple current sensors; the 30° phase-shifting angle DTP-PMSM spatial vector combination has high degrees of freedom, making reconfiguration region planning difficult; modifying the PWM reconfiguration conditions can lead to problems such as even-order harmonics; the calculation of the reference voltage vector to two sets of SVM modulation in the VSD coordinate system is complex; and there are errors in the rotor position angle collected by the position sensor. Summary of the Invention

[0009] To address the issue that existing DTP-PMSM current reconfiguration control systems require multiple current sensors, this invention provides a 30° phase-shift angle dual three-phase permanent magnet synchronous motor control method.

[0010] The present invention provides a control method for a 30° phase-shift angle dual three-phase permanent magnet synchronous motor, comprising:

[0011] Based on the sum of the currents of the lower bridge arms B, C, Y, and Z collected by a single channel, I SAMPLE Based on the sampling method and the spatial distribution characteristics of the two windings of the 30° phase-shifting double three-phase motor, the carrier phase shifting and AZSPWM are combined to construct the reconstruction region, and the six-phase current reconstruction expression of the 30° phase-shifting double three-phase permanent magnet synchronous motor in each reconstruction region is constructed.

[0012] 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;

[0013] The reconstructed six-phase current is used to control a 30° phase-shifted dual three-phase permanent magnet synchronous motor.

[0014] Preferred methods for constructing the reconstructed region include:

[0015] Two sets of three-phase SVM strategies are used to plan the voltage space. Based on the spatial distribution characteristics of the two windings of the 30° phase-shifting dual three-phase permanent magnet synchronous motor, and combined with the concept of three-phase independent modulation, the 64-degree-of-freedom switching vector is simplified into two sets of adjacent six-sector vector combinations:

[0016]

[0017] In the formula, U dc Bus voltage; S A S B S C S X S Y S Z These are the switching functions for the six-phase bridge arms, with a value of 0 indicating that the lower bridge arm is conducting and a value of 1 indicating that the upper bridge arm is conducting; U 1k U is the space vector formed by the first set of three-phase windings ABC; 2k The space vector formed by the second set of three-phase windings XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7;

[0018] When S A =0, S B =0, S C When = 0, the corresponding voltage vector U 10 ;

[0019] When S A =1, S B =0, S C When = 0, the corresponding voltage vector U 11 ;

[0020] When S A =1, S B =1, S C When = 0, the corresponding voltage vector U 12 ;

[0021] When S A =0, S B =1, S C When = 0, the corresponding voltage vector U 13 ;

[0022] When S A =0, S B=1, S C When = 1, the corresponding voltage vector U 14 ;

[0023] When S A =0, S B =0, S C When = 1, the corresponding voltage vector U 15 ;

[0024] When S A =1, S B =0, S C When = 1, the corresponding voltage vector U 16 ;

[0025] When S A =1, S B =1, S C When = 1, the corresponding voltage vector U 17 ;

[0026] When S X =0, S Y =0, S Z When = 0, the corresponding voltage vector U 20 ;

[0027] When S X =1, S Y =0, S Z When = 0, the corresponding voltage vector U 21 ;

[0028] When S X =1, S Y =1, S Z When = 0, the corresponding voltage vector U 22 ;

[0029] When S X =0, S Y =1, S Z When = 0, the corresponding voltage vector U 23 ;

[0030] When S X =0, S Y =1, S Z When = 1, the corresponding voltage vector U 24 ;

[0031] When S X =0, S Y =0, S Z When = 1, the corresponding voltage vector U 25 ;

[0032] When S X =1, S Y =0, SZ When = 1, the corresponding voltage vector U 26 ;

[0033] When S X =1, S Y =1, S Z When = 1, the corresponding voltage vector U 27 ;

[0034] By integrating the space vectors of the two three-phase windings into the same phase space plane, and simplifying the process, 12 sets of reconfigured regions in the phase space are obtained:

[0035] The reconstructed region G1 is composed of the spatial vector U 11 with U 21 Enclosed;

[0036] The reconstructed region G2 is composed of the spatial vector U 12 with U 21 Enclosed;

[0037] The reconstructed region G3 is composed of the spatial vector U 12 with U 22 Enclosed;

[0038] The reconstructed region G4 is composed of the spatial vector U 13 with U 22 Enclosed;

[0039] The reconstructed region G5 is composed of the spatial vector U 13 with U 23 Enclosed;

[0040] The reconstructed region G6 is composed of the spatial vector U 14 with U 23 Enclosed;

[0041] The reconstructed region G7 is composed of the spatial vector U 14 with U 24 Enclosed;

[0042] The reconstructed region G8 is composed of the spatial vector U 15 with U 24 Enclosed;

[0043] The reconstructed region G9 is composed of the spatial vector U 15 with U 25 Enclosed;

[0044] The reconstructed region G10 is composed of the spatial vector U 16 with U 25 Enclosed;

[0045] The reconstructed region G11 is composed of the spatial vector U 16 with U 26 Enclosed;

[0046] The reconstructed region G12 is composed of the spatial vector U 11 with U 26 It is surrounded by.

[0047] As a preferred embodiment, the six-phase current reconstruction expression for the 30° phase-shift angle dual three-phase permanent magnet synchronous motor in each reconstruction region is as follows:

[0048]

[0049]

[0050]

[0051] Among them, U 1i U 2j This represents the switch combination corresponding to the two sets of three-phase windings, i = 0, 1, 2, 3, 4, 5, 6, 7, j = 0, 1, 2, 3, 4, 5, 6, 7;

[0052] I1, I2, I3, and I4 represent the currents sampled by the combination of four sampling vectors, respectively.

[0053] i A This represents the current in phase A of the first three-phase winding ABC;

[0054] i B This represents the current in phase B of the first three-phase winding ABC;

[0055] i C This represents the current in phase C of the first three-phase winding ABC;

[0056] i X This represents the current in phase X of the second three-phase winding XYZ;

[0057] i Y This represents the current in the Y phase of the second three-phase winding XYZ.

[0058] i Z This represents the current in phase Z of the second three-phase winding XYZ.

[0059] Preferably, when controlling a 30° phase-shifted dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current, reconstructed hybrid pulse width modulation (RHPWM) is used for modulation, including:

[0060] CPS-PWM is used in all reconfiguration regions to lag the carrier phase of the second three-phase winding XYZ by T. s / 4,T s Indicates the carrier period;

[0061] The reference voltage vector is modulated using AZSPWM in the reconstruction regions G1, G2, G6, G7, G8, and G12.

[0062] The reference voltage vector is modulated using SVPWM in the reconstruction regions G3, G4, G5, G9, G10, and G11.

[0063] As a preferred method, the method for controlling a 30° phase-shifted dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current includes:

[0064] Based on the operating conditions of a 30° phase-shift angle dual three-phase permanent magnet synchronous motor, resolver compensation is applied to the initial position angle θ0 of the motor to obtain the actual speed after resolver compensation.

[0065] The difference between the given motor speed and the actual speed after resolver compensation is fed into the speed controller ASR-PI to obtain the motor torque current setpoint. The reconstructed six-phase current is transformed using VSD coordinates to obtain the motor current feedback value, including the torque current feedback value i. q Magnetic flux current feedback value i d The feedback values ​​of mutually orthogonal harmonic currents i Z1 i Z2 ;

[0066] The difference between the motor torque current setpoint and the motor current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoints for the two sets of three-phase windings, including the torque voltage setpoint u. q Magnetic flux voltage setpoint u d Orthogonal harmonic voltage setpoint u z1 u z2 ;

[0067] The obtained voltage setpoint is converted into two sets of three-phase SVM setpoints, and then reconstructed into hybrid pulse width modulation (RHPWM) to generate two sets of drive signals for the three-phase windings, thus completing the drive control.

[0068] Preferred methods for performing resolve compensation include:

[0069] Calculate the back electromotive force e of the two sets of three-phase windings output on the d-axis of the current loop controller ACR-PI. d1 e d2 And sum e ds-err :

[0070]

[0071] In the formula, K i1 K i2 The proportional gain of the ACR-PI current loop controller. For the d-axis current calibration values ​​of two sets of three-phase windings, id1 i d2 d represents the actual d-axis current value of the two sets of three-phase windings, and dt is the integral calculation period;

[0072] Based on the back electromotive force e of the two sets of three-phase windings d1 e d2 The initial position angle θ0 of the motor is adjusted accordingly to make the error and e ds-err 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.

[0073] Preferably, the voltage setpoint is subjected to a VSD-2DQ equivalent transformation to obtain two sets of three-phase SVM setpoints u. d1 u q1 u d2 u q2 :

[0074]

[0075] Where θ represents the electrical angle of a 30° phase-shifting dual three-phase permanent magnet synchronous motor.

[0076] The beneficial effects of this invention are as follows: This invention only requires a single current sensor or a single impedance sampling independent branch to achieve six-phase current reconstruction; this invention combines the structural characteristics of a 30° phase-shifting angle DTP-PMSM to re-divide the reconstruction region into 12 groups, and uses various PWM combinations to construct the six-phase current reconstruction conditions; this invention uses resolver compensation to eliminate d-axis resolver error, making the acquired rotor position angle more accurate; this invention simplifies the process of outputting the current loop to the pulse width modulation given by the VSD-2dq equivalent transformation into a single-step operation. Attached Figure Description

[0077] Figure 1 The topology diagram for current reconfiguration of a 30° phase-shifted DTP-PMSM is shown.

[0078] Figure 2 A simplified diagram of the space voltage vector for a 30° phase-shifted DTP-PMSM.

[0079] Figure 3 The reconstructed sector distribution diagram is a simplified version of the 30° phase-shifted DTP-PMSM.

[0080] Figure 4 The control block diagram for the 30° phase-shifted DTP-PMSM current reconfiguration method is shown.

[0081] Figure 5(a) is a schematic diagram of the sampling of the G1 zero vector reconstruction region.

[0082] Figure 5(b) is a schematic diagram of the sampling in the normal reconstruction region of G3.

[0083] Figure 6(a) shows the sampling current waveform of a single current sensor.

[0084] Figure 6(b) shows the current sampling diagram of a single current sensor four times per switching cycle.

[0085] Figure 7 The waveforms of the actual phase current and the reconstructed current for phases ABC and XYZ are shown.

[0086] Figure 8 The error between the actual current and the reconstructed current of phase A. Detailed Implementation

[0087] 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.

[0088] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0089] 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.

[0090] The 30° phase-shift angle dual three-phase permanent magnet synchronous motor control method of this embodiment includes:

[0091] Step 1: Based on the sum of the currents of the lower bridge arms B, C, Y, and Z, I is collected from a single channel. SAMPLE Based on the sampling method and the spatial distribution characteristics of the two windings of the 30° phase-shifted dual three-phase motor, carrier phase shifting is combined with AZSPWM to construct the reconstruction region, and the six-phase current reconstruction expression of the 30° phase-shifted dual three-phase permanent magnet synchronous motor in each reconstruction region is constructed; specifically:

[0092] Modify the current sampling topology by moving the X-phase bridge arm between phases A and B, and use a single current Hall sensor or a single resistor to collect the sum of the currents in the upper bridge arms B, C, Y, and Z. The correspondence between the current sensor sampling results and the phase currents under different voltage vectors is as follows:

[0093] I SAMPLE =I sum-ABC +I sum-XYZ =S B i B +S C i C +S Y i Y +S Z i Z (1)

[0094] 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, with a value of 0 representing the lower bridge arm being on and a value of 1 representing the upper bridge arm being on; 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; I sum-ABC The current sensor sampling results for the three phases A, B, and C under different voltage vectors; I sum-XYZ The current sensor sampling results for the XYZ three phases under different voltage vectors are shown.

[0095] The voltage space is replanned using two sets of three-phase SVM strategies. Based on the spatial distribution characteristics of the 30° phase-shifting DTP-PMSM winding, and combined with the concept of three-phase independent modulation, the 64-degree-of-freedom switching vector is simplified into two sets of adjacent six-sector vector combinations.

[0096]

[0097] In the formula, U dc U is the bus voltage; 1k U is the space vector formed by the first set of three-phase windings ABC; 2k The space vector formed by the second set of three-phase windings XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7;

[0098] When S A =0, S B =0, S C When = 0, the corresponding voltage vector U 10 When S A =1, S B =0, S C When = 0, the corresponding voltage vector U 11 When S A =1, S B =1, S C When = 0, the corresponding voltage vector U 12 When S A =0, S B =1, S CWhen = 0, the corresponding voltage vector U 13 When S A =0, S B =1, S C When = 1, the corresponding voltage vector U 14 When S A =0, S B =0, S C When = 1, the corresponding voltage vector U 15 When S A =1, S B =0, S C When = 1, the corresponding voltage vector U 16 When S A =1, S B =1, S C When = 1, the corresponding voltage vector U 17 When S X =0, S Y =0, S Z When = 0, the corresponding voltage vector U 20 When S X =1, S Y =0, S Z When = 0, the corresponding voltage vector U 21 When S X =1, S Y =1, S Z When = 0, the corresponding voltage vector U 22 When S X =0, S Y =1, S Z When = 0, the corresponding voltage vector U 23 When S X =0, S Y =1, S Z When = 1, the corresponding voltage vector U 24 When S X =0, S Y =0, S Z When = 1, the corresponding voltage vector U 25 When S X =1, S Y =0, S Z When = 1, the corresponding voltage vector U 26 When S X =1, S Y =1, S Z When = 1, the corresponding voltage vector U 27 .

[0099] According to equation (2), the space vectors of the two sets of three-phase windings are integrated into the same phase space plane. After simplification, 12 sets of reconfiguration regions are obtained in the phase space, and each current reconfiguration region is surrounded by two space vectors.

[0100] The reconstructed region G1 is composed of the spatial vector U 11 with U 21 Enclosed by; the reconstructed region G2 is composed of the spatial vector U 12 with U 21 Enclosed by; the reconstructed region G3 is composed of the spatial vector U 12 with U 22 Enclosed by; the reconstructed region G4 is composed of the spatial vector U 13 with U 22 Enclosed by; the reconstructed region G5 is composed of the spatial vector U 13 with U 23 Enclosed by, the reconstructed region G6 is composed of the spatial vector U 14 with U 23 Enclosed by; the reconstructed region G7 is composed of the spatial vector U 14 with U 24 Enclosed by; the reconstructed region G8 is composed of the spatial vector U 15 with U 24 Enclosed by; the reconstructed region G9 is composed of the spatial vector U 15 with U 25 Enclosed by; the reconstructed region G10 is composed of the spatial vector U 16 with U 25 Enclosed by; the reconstructed region G11 is formed by the spatial vector U 16 with U 26 Enclosed by; the reconstructed region G12 is composed of the spatial vector U 11 with U 26 It is surrounded by.

[0101] A three-phase independent SVM strategy is adopted to construct reconstruction conditions by flexibly allocating three modulation methods, namely CPS-PWM, AZSPWM, and SVPWM, according to the reconstruction region of the reference voltage.

[0102] CPS-PWM is used in all reconfiguration regions to lag the XYZ winding carrier phase by T / 4.

[0103] Applying AZSPWM to the reconstructed region G1 will reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 16 U 13 U 22 U 25 .

[0104] Applying AZSPWM to the reconstructed region G2 will reduce the zero vector U.10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 16 U 13 U 26 U 23 .

[0105] AZSPWM is applied to the reconstructed region G6 to reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 12 U 15 U 22 U 25 .

[0106] Applying AZSPWM to the reconstructed region G7 will reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 16 U 13 U 22 U 25 .

[0107] AZSPWM is applied to the reconstructed region G8 to reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 16 U 13 U 26 U 23 .

[0108] Applying AZSPWM to the reconstructed region G12 will reduce the zero vector U. 10 U 17 U 20 U 27 Replace the opposite effective vector U respectively 12 U 15 U 22 U 25 .

[0109] The reconstruction regions G1, G2, G6, G7, G8, and G12 of AZSPWM are collectively referred to as the zero vector reconstruction region; the normal reconstruction regions G3, G4, G5, G9, G10, and G11 are modulated using traditional SVPWM.

[0110] Four sampled currents were obtained by using a single resistor at the switch combinations corresponding to different voltage vectors.

[0111] The sampling switch combination corresponding to group G1 is U. 16 U 21 U 13 U 21 U 11 U 22 U 11 U 25 ;

[0112] The sampling switch combination corresponding to group G2 is U. 16 U 21 U 13 U 21 U 12 U 26 U 12 U 23 ;

[0113] The sampling switch combination corresponding to group G3 is U. 10 U 22 U 17 U 22 U 12 U 20 U 12 U 27 ;

[0114] The sampling switch combination corresponding to group G4 is U. 10 U 22 U 17 U 22 U 13 U 20 U 13 U 27 ;

[0115] The sampling switch combination corresponding to group G5 is U. 10 U 23 U 17 U 23 U 13 U 20 U 13 U 27 ;

[0116] The sampling switch combination corresponding to group G6 is U. 12 U 23 U 15 U 23 U 14 U 22 U 14 U 25 ;

[0117] The sampling switch combination for group G7 is U. 16 U 24 U 13 U24 U 14 U 22 U 14 U 25 ;

[0118] The sampling switch combination corresponding to group G8 is U. 16 U 24 U 13 U 24 U 15 U 26 U 15 U 23 ;

[0119] The sampling switch combination corresponding to group G9 is U. 10 U 25 U 17 U 25 U 15 U 20 U 15 U 27 ;

[0120] The sampling switch combination corresponding to group G10 is U. 10 U 25 U 17 U 25 U 16 U 20 U 16 U 27 ;

[0121] The sampling switch combination corresponding to group G11 is U. 10 U 26 U 17 U 26 U 16 U 20 U 16 U 27 ;

[0122] The sampling switch combination corresponding to group G12 is U. 12 U 26 U 15 U 26 U 11 U 22 U 11 U 25 .

[0123] The six-phase currents of the DTP-PMSM are calculated using four sampling currents based on Table 1.

[0124] Table 1. Correspondence between current sensor sampling results and phase current under different voltage vectors.

[0125]

[0126]

[0127]

[0128]

[0129] 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;

[0130] Step 3: Control the 30° phase-shifted dual three-phase permanent magnet synchronous motor according to the reconstructed six-phase current:

[0131] Based on the operating conditions of a 30° phase-shift angle dual three-phase permanent magnet synchronous motor, resolver compensation is applied to the initial position angle θ0 of the motor to obtain the actual speed after resolver compensation.

[0132] In the DTP-PMSM control system, the motor sampled current value is converted into voltage in a dual dq coordinate system through VSD-2DQ transformation. The d-axis of both sets of motor windings will generate back electromotive force (EMF) due to the resolver angle error. The output back EMF e of the current loop controller on the d-axis is calculated separately. d1 e d2 And sum e ds-err :

[0133]

[0134] In the formula, K i1 K i2 The proportional gain of the ACR-PI current loop controller. For the d-axis current calibration values ​​of two sets of three-phase windings, i d1 i d2 d represents the actual d-axis current value of the two sets of three-phase windings, and dt is the integral calculation period.

[0135] Based on the calculated magnitudes of the two d-axis back electromotive forces, the initial identification angle is adjusted accordingly to balance the error and e. ds-err Once the minimum value is reached, the system stops, the identification angle is saved, and it is set as the initial angle of the DTP-PMSM to compensate for the resolver error angle.

[0136] The difference between the given motor speed and the actual speed after resolver compensation is fed into the speed controller ASR-PI to obtain the motor torque current setpoint. The reconstructed six-phase current is transformed using VSD coordinates to obtain the motor current feedback value, including the torque current feedback value i. q Magnetic flux current feedback value i d The feedback values ​​of mutually orthogonal harmonic currents i Z1 iZ2 ;

[0137] The difference between the motor torque current setpoint and the motor current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoints for the two sets of three-phase windings, including the torque voltage setpoint u. q Magnetic flux voltage setpoint u d Orthogonal harmonic voltage setpoint u z1 u z2 ;

[0138] The obtained voltage setpoint is converted into two sets of three-phase SVM setpoints, and then reconstructed into hybrid pulse width modulation (RHPWM) to generate two sets of drive signals for the three-phase windings, thus completing the drive control.

[0139] The voltage reference setpoint in the VSD coordinate system output by the current loop controller is transformed by Equation (4) VSD-2DQ to obtain two sets of three-phase SVM setpoints. Finally, the six-phase bridge arm drive signal is generated through the two sets of three-phase SVM strategies.

[0140]

[0141] The embodiment uses a dual three-phase permanent magnet synchronous motor with 15 pole pairs, a speed of 125 rpm, and a phase shift angle of 30° for simulation experiments. The switching frequency is 25 kHz, and the two sets of three-phase windings are independently Y-connected. Figure 4 As shown, the main control loop adopts vector space decomposition (VSD) dual closed-loop control.

[0142] Modify the current sampling topology. An example illustrates the correspondence between the switching function and the current sampled by the current sensor. When the first winding ABC acts, the switching vector U... 11 At that time, by Figure 2 It can be known that U 11 Corresponding switching function S A =1S B =0S C Substituting =0 into equation (1) yields I sum-ABC =0; if at this time the second set of three-phase windings XYZ acts as the switching vector U 22 With the first set of three-phase winding switch vector U 11 Combining with each other, by Figure 2 It can be known that U 22 Corresponding switching function S X =1S Y =1S Z Substituting =0 into equation (1) yields I sum-XYZ =i Y The sum of the two results gives the current sensor sampling result as I. SAMPLE =0+iY In this way, the DTP-PMSM voltage vector is decomposed into the superposition of two sets of three-phase SVM voltage vectors. The voltage vectors acting on each of the two sets of three-phase SVMs generate corresponding currents in the three-phase windings. The superposition of these vectors produces the sampling current for the current sensor. Simultaneously, the motor's rotation angle and speed are sampled.

[0143] Two sets of three-phase SVM strategies are used to re-plan the voltage space. For example... Figure 2 As shown, based on the spatial distribution characteristics of the 30° phase-shift angle DTP-PMSM winding, and combined with equation (2), the switching vector of the second set of three-phase windings is rotated counterclockwise by 30° relative to the first set of three-phase windings in the phase space, and then the two are combined to form a new spatial vector plan. Each modulation sector is surrounded by two spatial vectors, and sectors I-XII correspond to the reconstruction regions G1-G12 respectively. Finally, 12 sets of reconstruction regions in the phase space are simplified. Each current reconstruction region is surrounded by two spatial vectors, ultimately forming Figure 3 The reconstructed sector distribution diagram after simplification of DTP-PMSM with a 30° phase shift angle.

[0144] To construct the current reconstruction conditions, a three-phase independent modulation strategy is adopted, and RHPWM is used to flexibly allocate four modulation modes, namely CPS-PWM, AZSPWM, and SVPWM, according to the reconstruction region of the reference voltage.

[0145] CPS-PWM is used in all reconstruction regions, with the second winding carrier phase delayed by T / 4. AZSPWM is applied in the zero-vector reconstruction region. SVPWM is applied in the normal reconstruction region.

[0146] The sampled current is obtained by sampling at the four vector combinations.

[0147] The six-phase currents of the DTP-PMSM are calculated using four sampling currents based on Table 1. Taking the normal region, normal boundary blind region, zero vector modification region, and zero vector boundary region as examples, the process of reconstructing the six-phase currents using sampling currents is explained.

[0148] When the reference voltage is in the zero vector reconstruction region G1, the PWM output is as shown in Figure 5(a). At this time, sampling is performed at the vector combination point to obtain the sampling currents I1, I2, I3, and I4.

[0149] From Table 1, we can see the relationship between the sampling current and the phase current:

[0150]

[0151] Based on the reconstruction equations provided in Table 1:

[0152]

[0153] By substituting the sampled current, the six-phase current can be calculated.

[0154] When the reference voltage is in the normal region G3 reconstruction group, the PWM output is as shown in Figure 5(b). At this time, sampling is performed at the vector combination to obtain the sampling currents I1, I2, I3, and I4.

[0155] From Table 1, we can see the relationship between the sampling current and the phase current:

[0156]

[0157] Based on the reconstruction equations provided in Table 1:

[0158]

[0159] By substituting the sampled current, the six-phase current can be calculated.

[0160] The final sampled currents are shown in Figures 6(a) and 6(b), and the current waveforms are consistent with those in Table 1.

[0161] Reconstructed current and actual current are as follows Figure 7 As shown, the actual current and the reconstructed current are in phase and have essentially the same amplitude. Figure 8 The reconstruction error shown is controlled within the allowable range, meeting the reconstruction requirements.

[0162] According to equation (3), the sum of the output back electromotive forces e of the current loop controller on the two d-axis is calculated by integration. ds-err Furthermore, the DTP-PMSM mathematical model yields the following:

[0163] e ds-err =ω e ψsin(θ err (9)

[0164] In the formula, ω e Let θ be the rotational speed, Ψ be the rotor flux linkage, and θ be the rotational speed. err The angle of error of the refractive index is (-π to π).

[0165] When e ds-err When θ > 0, err <0, the recognition angle should be increased; when e ds-err When θ < 0, err If the value is greater than 0, the recognition angle should be reduced. Then determine e. ds-err The determination of whether e is less than a threshold δ is used. If it is less than δ, a delay of 20 calculation cycles is applied before continuing to determine e. ds-err If it is less than δ, then return to continue the integration calculation; if there is a delay, then e ds-errIf the value is less than δ, the shutdown saves the identification angle as the resolver error angle θ, and sets it as the compensated position angle θ of the DTP-PMSM. Based on the position angle θ, the actual rotational speed after resolver compensation is obtained.

[0166] The difference between the given motor speed and the actual speed is sent to the speed controller to obtain the motor torque current command.

[0167] The six-phase current is fed into equation (10) and VSD transformation is performed to obtain the torque current feedback value, flux current feedback value, and harmonic current feedback value in the VSD coordinate system.

[0168]

[0169] The difference between the feedback current and the given current is fed into the current loop controller to obtain the torque reference voltage, flux linkage reference voltage, and harmonic reference voltage in the VSD coordinate system.

[0170] Using the equivalent transformation of VSD-2DQ in equation (4), the reference voltage in the VSD coordinate system is transformed into two sets of three-phase reference voltages, which are then fed into the three-phase SVM. Finally, the six-phase bridge arm drive signal is generated through the two sets of three-phase SVM strategies to complete the DTP-PMSM motor drive.

[0171] This embodiment presents a single-current sensor sampling current reconstruction scheme and control system for a 30° phase-shift angle dual three-phase permanent magnet synchronous motor based on multiple pulse width modulation methods. The sampling topology is modified by using a single-current sensor through a perforated independent branch and a single sampling resistor to obtain the correspondence between the sensor sampling current and the phase current. Simultaneously, the motor's rotation angle and speed are sampled. An algorithm is used to adjust the initial identification angle of the resolver, controlling the d-axis back EMF to zero, thus obtaining the precise rotor position angle. A three-phase independent SVM strategy is employed, and based on the spatial vector characteristics of the 30° phase-shift angle DTP-PMSM, the phase space is replanned to obtain the reconstruction region. Carrier phase-shifted PWM (CPS-PWM) is used to lag the XYZ carrier phase of the second set of three-phase windings by a quarter-cycle, while dynamic zero-state PWM (Active Zero) is used in specific reconstruction regions. StatePWM (AZSPWM) constructs reconfiguration conditions; six-phase current reconfiguration is completed based on the current reconfiguration expression under different reconfiguration regions; the reconfigured current is sent into the VSD control loop to generate a given reference voltage output in the VSD coordinate system; through VSD-2DQ equivalent transformation, two sets of three-phase SVM given values ​​are obtained by single-step calculation, and finally a 30° phase shift angle DTP-PMSM drive control system is formed.

[0172] Since the reconstruction method of this invention only involves reconstructing the topology, modulation scheme, control variables, and reconstruction 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.

[0173] 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

A control method for a 1.30° phase-shifting angle dual three-phase permanent magnet synchronous motor, characterized in that, include: Based on single-channel acquisition of the sum of the upper arm currents of phases B, C, Y, and Z, I SAMPLE Based on the sampling method and the spatial distribution characteristics of the two windings of the 30° phase-shifting double three-phase motor, the carrier phase shifting and AZSPWM are combined to construct the reconstruction region, and the six-phase current reconstruction expression of the 30° phase-shifting double 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 reconstructed six-phase current is used to control a 30° phase-shifted dual three-phase permanent magnet synchronous motor. Methods for constructing reconstructed regions include: Two sets of three-phase SVM strategies are used to plan the voltage space. Based on the spatial distribution characteristics of the two windings of the 30° phase-shifting dual three-phase permanent magnet synchronous motor, and combined with the concept of three-phase independent modulation, the 64-degree-of-freedom switching vector is simplified into two sets of adjacent six-sector vector combinations: In the formula, U dc Bus voltage; S A S B S C S X S Y S Z These are the switching functions for the six-phase bridge arms, with a value of 0 indicating that the lower bridge arm is conducting and a value of 1 indicating that the upper bridge arm is conducting; U 1k U is the space vector formed by the first set of three-phase windings ABC; 2k The space vector formed by the second set of three-phase windings XYZ, k = 0, 1, 2, 3, 4, 5, 6, 7; When S A =0, S B =0, S C When = 0, the corresponding voltage vector U 10 ; When S A =1, S B =0, S C When = 0, the corresponding voltage vector U 11 ; When S A =1, S B =1, S C When = 0, the corresponding voltage vector U 12 ; When S A =0, S B =1, S C When = 0, the corresponding voltage vector U 13 ; When S A =0, S B =1, S C When = 1, the corresponding voltage vector U 14 ; When S A =0, S B =0, S C When = 1, the corresponding voltage vector U 15 ; When S A =1, S B =0, S C When = 1, the corresponding voltage vector U 16 ; When S A =1, S B =1, S C When = 1, the corresponding voltage vector U 17 ; When S X =0, S Y =0, S Z When = 0, the corresponding voltage vector U 20 ; When S X =1, S Y =0, S Z When = 0, the corresponding voltage vector U 21 ; When S X =1, S Y =1, S Z When = 0, the corresponding voltage vector U 22 ; When S X =0, S Y =1, S Z When = 0, the corresponding voltage vector U 23 ; When S X =0, S Y =1, S Z When = 1, the corresponding voltage vector U 24 ; When S X =0, S Y =0, S Z When = 1, the corresponding voltage vector U 25 ; When S X =1, S Y =0, S Z When = 1, the corresponding voltage vector U 26 ; When S X =1, S Y =1, S Z When = 1, the corresponding voltage vector U 27 ; By integrating the space vectors of the two three-phase windings into the same phase space plane, and simplifying the process, 12 sets of reconfigured regions in the phase space are obtained: The reconstructed region G1 is composed of the spatial vector U 11 with U 21 Enclosed; The reconstructed region G2 is composed of the spatial vector U 12 with U 21 Enclosed; The reconstructed region G3 is composed of the spatial vector U 12 with U 22 Enclosed; The reconstructed region G4 is composed of the spatial vector U 13 with U 22 Enclosed; The reconstructed region G5 is composed of the spatial vector U 13 with U 23 Enclosed; The reconstructed region G6 is composed of the spatial vector U 14 with U 23 Enclosed; The reconstructed region G7 is composed of the spatial vector U 14 with U 24 Enclosed; The reconstructed region G8 is composed of the spatial vector U 15 with U 24 Enclosed; The reconstructed region G9 is composed of the spatial vector U 15 with U 25 Enclosed; The reconstructed region G10 is composed of the spatial vector U 16 with U 25 Enclosed; The reconstructed region G11 is composed of the spatial vector U 16 with U 26 Enclosed; The reconstructed region G12 is composed of the spatial vector U 11 with U 26 Enclosed; The six-phase current reconstruction expression for a dual three-phase permanent magnet synchronous motor with a 30° phase shift angle in each reconstruction region is as follows: Among them, U 1i U 2j This represents the switch combination corresponding to the two sets of three-phase windings, 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 control method for a 30° phase-shifting dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that, When controlling a 30° phase-shifted dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current, reconstructed hybrid pulse width modulation (RHPWM) is used for modulation, including: CPS-PWM is used in all reconfiguration regions to lag the carrier phase of the second three-phase winding XYZ by T. s / 4,T s Indicates the carrier period; The reference voltage vector is modulated using AZSPWM in the reconstruction regions G1, G2, G6, G7, G8, and G12. The reference voltage vector is modulated using SVPWM in the reconstruction regions G3, G4, G5, G9, G10, and G11.

3. The control method for a 30° phase-shifting dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that, The methods for controlling a 30° phase-shifted dual three-phase permanent magnet synchronous motor based on the reconstructed six-phase current include: Based on the operating conditions of a 30° phase-shift angle dual three-phase permanent magnet synchronous motor, resolver compensation is applied to the initial position angle θ0 of the motor to obtain the actual speed after resolver compensation. The difference between the given motor speed and the actual speed after resolver compensation is fed into the speed controller ASR-PI to obtain the motor torque current setpoint. The reconstructed six-phase current is transformed using VSD coordinates to obtain the motor current feedback value, including the torque current feedback value i. q Magnetic flux current feedback value i d The feedback values ​​of mutually orthogonal harmonic currents i Z1 i Z2 ; The difference between the motor current setpoint and the motor current feedback value is sent to the current loop controller ACR-PI, thereby obtaining the voltage setpoints for the two sets of three-phase windings, including the torque voltage setpoint u. q Magnetic flux voltage setpoint u d Orthogonal harmonic voltage setpoint u z1 u z2 ; The obtained voltage setpoint is converted into two sets of three-phase SVM setpoints, and then reconstructed into hybrid pulse width modulation (RHPWM) to generate two sets of drive signals for the three-phase windings, thus completing the drive control.

4. The control method for a 30° phase-shifting dual three-phase permanent magnet synchronous motor according to claim 3, characterized in that, Methods for performing resolver compensation include: Calculate the back electromotive force e of the two sets of three-phase windings output on the d-axis of the current loop controller ACR-PI. d1 e d2 And sum e ds-err : In the formula, K i1 K i2 The proportional gain of the ACR-PI current loop controller. For the d-axis current calibration values ​​of two sets of three-phase windings, i d1 i d2 d represents the actual d-axis current value of the two sets of three-phase windings, and dt is the integral calculation period; Based on the back electromotive force e of the two sets of three-phase windings d1 e d2 The initial position angle θ0 of the motor is adjusted accordingly to make the error and e ds-err 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.

5. The control method for a 30° phase-shifting dual three-phase permanent magnet synchronous motor according to claim 3, characterized in that, Performing a VSD-2DQ equivalent transformation on the voltage setpoint yields two sets of three-phase SVM setpoints u. d1 u q1 u d2 u q2 : Where θ represents the electrical angle of a 30° phase-shifting dual three-phase permanent magnet synchronous motor.

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 30° phase-shift angle dual three-phase permanent magnet synchronous motor control method as described in any one of claims 1 to 5.

7. A control device for a 30° phase-shifting dual three-phase permanent magnet synchronous motor, 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 30° 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 30° 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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