Motor electrolytic-capacitor-free driving system and method and storage medium

Abstract

The invention relates to a battery active equalization control system and a control method thereof. In the system, a current adjusting module is connected with a synchronous motor; the phase-locked loop module is connected with a power supply grid; the pulse width modulation module is connected with the inversion module which is connected with the synchronous motor. The control module is connected with the synchronous motor, the phase-locked loop module, the current adjusting module and the pulse width modulation module. The control module processes the obtained electric signal characteristic information of the motor side, the electric signal characteristic information of the power grid side and the actual current signal to obtain an actual voltage signal; and the pulse width modulation module processes the actual voltage signal to obtain a target driving signal, and transmits the target driving signal to the inversion module, so that the inversion module controls the synchronous motor to work according to the target driving signal, and non-electrolytic capacitor driving control of the synchronous motor is realized. The power quality of the power grid side is improved, the pulsation of the rotating speed and torque of the motor side can be reduced, the control performance of the motor side is improved, and the stability of the driving system is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a motor electrolytic capacitor-free driving system, method and storage medium. BACKGROUND

[0002] Permanent magnet synchronous motor (PMSM) is widely used in industrial transmission, electric vehicles, household appliances and other fields due to its high efficiency, high torque density and high power density. As the intermediate link connecting the grid side and the motor side in the PMSM driving system, the service life of the electrolytic capacitor is easily affected by the environmental temperature, which becomes the key failure point of the driving system and seriously restricts the reliability and stability of the motor product.

[0003] Thin film capacitors have the advantages of long service life, environmental friendliness and low price, so it has become an important development trend of motor driving system to replace large-capacity electrolytic capacitors with small-capacity thin film capacitors, which is called "electrolytic capacitor-free driving system". However, due to the relatively low energy storage density of thin film capacitors, the direct current bus voltage presents periodic large fluctuations, causing distortion of the grid input current. Especially when the voltage drops suddenly, the driving system needs to increase the input current to maintain constant output power, resulting in a large number of harmonic components in the grid input current and motor phase current, causing speed and torque pulsation and reducing power factor, further limiting the application scenarios of PMSM.

[0004] To solve the above problems, in the existing driving mode, the electrolytic capacitor-free driving system is controlled by indirectly adjusting the power based on vector control, using the output of the speed loop and the phase of the grid voltage extracted by the phase-locked loop as the reference value of the quadrature axis current, so that the waveform of the quadrature axis current follows the waveform of the grid input power. This scheme can improve the power factor of the driving system to a certain extent and reduce the current harmonic content; but the optimization effect on the motor performance is limited, and it cannot reduce the speed and torque pulsation, which is not conducive to the application of the motor in high-precision occasions. SUMMARY

[0005] Therefore, the present application provides a motor electrolytic capacitor-free driving system and method for improving the power quality of the grid side and the control performance of the motor side.

[0006] In a first aspect, the present application provides a motor electrolytic capacitor-free driving system, comprising:

[0007] A current regulating module is used to connect the synchronous motor, and the current regulating module is configured to regulate the input current of the synchronous motor to obtain an actual current signal.

[0008] A phase-locked loop module, the phase-locked loop module is connected to the power supply network, and the phase-locked loop module is configured to process an input voltage of the power supply network to obtain grid-side electrical signal characteristic information;

[0009] A pulse width modulation module, the pulse width modulation module is connected to an inverter module, and the inverter module is connected to the synchronous motor;

[0010] A control module, the control module is connected to the synchronous motor, the phase-locked loop module, the current regulation module and the pulse width modulation module respectively;

[0011] The control module is configured to obtain motor-side electrical signal characteristic information, grid-side electrical signal characteristic information and an actual current signal, process the motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information and the actual current signal to obtain an actual voltage signal, and transmit the actual voltage signal to the pulse width modulation module; the pulse width modulation module is configured to obtain the actual voltage signal, process the actual voltage signal to obtain a target driving signal, and transmit the target driving signal to the inverter module, so that the inverter module controls the synchronous motor to work according to the target driving signal.

[0012] In one of the embodiments, the control module includes a speed loop control module and a current loop control module;

[0013] The speed loop control module is connected to the phase-locked loop module and the current loop control module respectively, and the speed loop control module is connected to the current regulation module and the pulse width modulation module respectively;

[0014] The speed loop control module is configured to process the motor-side electrical signal characteristic information and the grid-side electrical signal characteristic information to obtain a reference current signal; the current loop control module is configured to obtain an actual voltage signal according to the reference current signal and the actual current signal.

[0015] In one of the embodiments, the current loop control module includes a direct-axis ADRC current loop regulator and a quadrature-axis ADRC current loop regulator; the actual current signal includes a direct-axis actual current signal and a quadrature-axis actual current signal;

[0016] The direct-axis ADRC current loop regulator is connected to the current regulation module and the pulse width modulation module respectively; the quadrature-axis ADRC current loop regulator is connected to the speed loop control module, the current regulation module and the pulse width modulation module respectively;

[0017] The direct-axis ADRC current loop regulator is configured to process a preset direct-axis current signal and the direct-axis actual current signal to obtain a direct-axis actual voltage signal; the quadrature-axis ADRC current loop regulator is configured to process the reference current signal and the quadrature-axis actual current signal to obtain a quadrature-axis actual voltage signal; the pulse width modulation module obtains the target driving signal according to the direct-axis actual voltage signal and the quadrature-axis actual voltage signal.

[0018] In one of the embodiments, the direct-axis ADRC current loop regulator comprises a first extended state observer and a first linear feedback control law module; the quadrature-axis ADRC current loop regulator comprises a second extended state observer and a second linear feedback control law module;

[0019] The first linear feedback control law module is connected with the first extended state observer and the pulse width modulation module respectively; and the first extended state observer is connected with the current regulation module.

[0020] The second linear feedback control law module is connected with the speed loop control module, the second extended state observer and the pulse width modulation module respectively; and the second extended state observer is connected with the current regulation module.

[0021] In one of the embodiments, the quadrature-axis ADRC current loop regulator further comprises a tracking differentiator; and the tracking differentiator is connected with the second linear feedback control law module.

[0022] In one of the embodiments, the speed loop control module comprises an ADRC speed loop regulator and a multiplier;

[0023] The ADRC speed loop regulator is connected with the phase-locked loop module and the multiplier respectively; and the multiplier is connected with the phase-locked loop module and the quadrature-axis ADRC current loop regulator respectively.

[0024] In one of the embodiments, the ADRC speed loop regulator comprises a third extended state observer and a third linear feedback control law module;

[0025] The third linear feedback control law module is connected with the third extended state observer and the quadrature-axis ADRC current loop regulator respectively; and the third extended state observer is connected with the phase-locked loop module.

[0026] In one of the embodiments, the method further comprises a back electromotive force compensation module;

[0027] The back electromotive force compensation module is connected with the current regulation module and the control module respectively.

[0028] The back electromotive force compensation module is configured to process the actual current signal to obtain a compensation voltage signal.

[0029] The control module is further configured to process the compensation voltage signal and the actual voltage signal to obtain a target voltage signal, and transmit the target voltage signal to the pulse width modulation module, so that the pulse width modulation module obtains a target driving signal according to the target voltage signal.

[0030] In a second aspect, the application further provides a motor electrolytic capacitor-free driving method, which is applied to the motor electrolytic capacitor-free driving system as described in any one of the above embodiments; the motor electrolytic capacitor-free driving method comprises the following steps:

[0031] The motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information and the actual current signal of the synchronous motor are acquired; the actual current signal is obtained by adjusting the input current of the synchronous motor by the current adjusting module; the grid-side electrical signal characteristic information is obtained by processing the input voltage of the power supply grid by the phase-locked loop module;

[0032] The motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information and the actual current signal are processed to obtain an actual voltage signal, and the actual voltage signal is transmitted to the pulse width modulation module; so that the pulse width modulation module obtains a target driving signal according to the actual voltage signal, and transmits the target driving signal to the inverter module; the target driving signal is used to instruct the inverter module to control the synchronous motor to work.

[0033] In a third aspect, the present application also provides a computer storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the motor electrolytic capacitor-free driving method.

[0034] One of the above technical solutions has the following advantages and beneficial effects:

[0035] The motor electrolytic capacitor-free driving system includes a current adjusting module, a phase-locked loop module, a pulse width modulation module and a control module; the current adjusting module is connected to the synchronous motor, and is configured to adjust the input current of the synchronous motor to obtain an actual current signal; the phase-locked loop module is connected to the power supply grid, and is configured to process the input voltage of the power supply grid to obtain grid-side electrical signal characteristic information; the pulse width modulation module is connected to the inverter module, and the inverter module is connected to the synchronous motor; the control module is connected to the synchronous motor, the phase-locked loop module, the current adjusting module and the pulse width modulation module; the control module is configured to acquire the motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information and the actual current signal, and process the motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information and the actual current signal to obtain an actual voltage signal, and transmit the actual voltage signal to the pulse width modulation module; the pulse width modulation module is configured to acquire the actual voltage signal, process the actual voltage signal to obtain a target driving signal, and transmit the target driving signal to the inverter module, so that the inverter module controls the synchronous motor to work according to the target driving signal, and realizes electrolytic capacitor-free driving control of the synchronous motor. The control loop of the electrolytic capacitor-free driving system is optimized, the adverse effects caused by the DC bus voltage fluctuation are weakened, the power quality at the grid side is improved, the motor-side speed and torque pulsation are reduced, the motor-side control performance is improved, and the stability of the driving system is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a circuit schematic diagram of the motor electrolytic capacitor-free driving system in the embodiments of the present application.

[0037] Figure 2 Fig. 4 is a structural schematic diagram of a direct-axis ADRC current loop regulator in an embodiment of the present application;

[0038] Figure 3 Fig. 5 is a structural schematic diagram of a quadrature-axis ADRC current loop regulator in an embodiment of the present application;

[0039] Figure 4 Fig. 6 is a structural schematic diagram of an ADRC speed loop regulator in an embodiment of the present application;

[0040] Figure 5 Fig. 7 is a comparison simulation diagram of motor speed under the action of an ADRC regulator and a PI regulator in an embodiment of the present application;

[0041] Figure 6 Fig. 8 is a comparison simulation diagram of electromagnetic torque under the action of an ADRC regulator and a PI regulator in an embodiment of the present application;

[0042] Figure 7 Fig. 9 is a flow schematic diagram of a motor electrolytic capacitor-free driving method in an embodiment of the present application.

[0043] Reference signs:

[0044] 10, current regulation module; 20, phase-locked loop module; 30, pulse width modulation module; 40, control module; 410, speed loop control module; 412, ADRC speed loop regulator; 4122, third extended state observer; 4124, third linear feedback control law module; 414, multiplier; 420, current loop control module; 422, direct-axis ADRC current loop regulator; 4222, first extended state observer; 4224, first linear feedback control law module; 424, quadrature-axis ADRC current loop regulator; 4242, second extended state observer; 4244, second linear feedback control law module; 426, tracking differentiator; 50, inverter module; 60, back electromotive force compensation module; 70, power supply grid; 80, synchronous motor. DETAILED DESCRIPTION

[0045] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the protection scope of the present application.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0047] In addition, the term "a plurality of" should mean two and more than two.

[0048] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0049] In one embodiment, as shown in Figure 1 An electrolytic capacitor-free motor driving system is provided, including a current regulating module 10, a phase-locked loop module 20, a pulse width modulation module 30 and a control module 40. The current regulating module 10 is used to connect a synchronous motor 80. The current regulating module 10 is configured to regulate the input current of the synchronous motor 80 to obtain an actual current signal. The phase-locked loop module 20 is connected to a power supply grid 70. The phase-locked loop module 20 is configured to process the input voltage of the power supply grid 70 to obtain grid-side electrical signal characteristic information. The pulse width modulation module 30 is used to connect an inverter module 50, and the inverter module 50 is connected to the synchronous motor 80. The control module 40 is connected to the synchronous motor 80, the phase-locked loop module 20, the current regulating module 10 and the pulse width modulation module 30, respectively. The control module 40 is configured to obtain motor-side electrical signal characteristic information, grid-side electrical signal characteristic information and the actual current signal of the synchronous motor 80, and process the motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information and the actual current signal to obtain an actual voltage signal, and transmit the actual voltage signal to the pulse width modulation module 30. The pulse width modulation module 30 is configured to obtain the actual voltage signal, process the actual voltage signal to obtain a target driving signal, and transmit the target driving signal to the inverter module 50, so that the inverter module 50 controls the synchronous motor 80 to work according to the target driving signal.

[0050] Among them, the synchronous motor 80 refers to a permanent magnet synchronous motor 80 (PMSM).

[0051] The power grid 70 is a commercial power grid. For example, the power grid 70 may have a power frequency of 50 Hz. The inverter module 50 is used to convert the direct current transmitted by the power grid 70 into three-phase alternating current to drive the synchronous motor 80. For example, the inverter module 50 may be a three-phase full-bridge inverter module 50. Exemplarily, the inverter module 50 may include a thin-film capacitor, a diode assembly, and a switch assembly. The diode assembly is connected between the power grid 70 and the thin-film capacitor, the switch assembly is connected between the thin-film capacitor and the synchronous motor 80, and the switch assembly is connected to the pulse width modulation module 30.

[0052] The input current of the synchronous motor 80 refers to the three-phase stator current of the synchronous motor 80; the current regulation module 10 can be a coordinate transformation module, which is used to process the three-phase stator current of the synchronous motor 80 and output an actual current signal. The phase-locked loop module 20 is used to process the grid voltage of the power supply grid 70 and obtain grid-side electrical signal characteristic information corresponding to the grid voltage. For example, the grid-side electrical signal characteristic information may include grid-side corresponding information and grid-side frequency information. The control module 40 is used to regulate the speed loop and current loop of the synchronous motor 80 and output an actual voltage signal. The pulse width modulation module 30 is a space vector pulse width modulation (SVPWM) module; the pulse width modulation module 30 is used to process the actual voltage signal and output a target drive signal. The target drive signal is used by the inverter to modulate the voltage vector, thereby controlling the speed and torque of the synchronous motor 80. It should be noted that the target drive signal is a PWM drive signal.

[0053] After the system is powered on and started, the phase-locked loop module 20 processes the input voltage of the power supply grid 70 to obtain the grid-side electrical signal characteristic information; the current regulation module 10 regulates the input current of the synchronous motor 80 to obtain the actual current signal; the control module 40 performs speed loop and current loop optimization processing on the acquired motor-side electrical signal characteristic information, grid-side electrical signal characteristic information and actual current signal of the synchronous motor 80, thereby obtaining the actual voltage signal, and transmits the actual voltage signal to the pulse width modulation module 30, so that the pulse width modulation module 30 processes the acquired actual voltage signal to obtain the target drive signal, and transmits the target drive signal to the inverter module 50, so that the inverter module 50 adjusts the speed and torque of the synchronous motor 80 according to the target drive signal, thereby realizing electrolytic capacitor-free drive control of the synchronous motor 80.

[0054] In the above embodiment, the current regulation module 10 is connected to the synchronous motor 80, the phase-locked loop module 20 is connected to the power supply grid 70, the pulse width modulation module 30 is connected to the inverter module 50, the inverter module 50 is connected to the synchronous motor 80, and the control module 40 is connected to the synchronous motor 80, the phase-locked loop module 20, the current regulation module 10, and the pulse width modulation module 30, respectively; the current regulation module 10 adjusts the input current of the synchronous motor 80 to obtain an actual current signal; the phase-locked loop module 20 processes the input voltage of the power supply grid 70 to obtain grid-side electrical signal characteristic information; the control module 40 acquires motor-side electrical signal characteristic information, grid-side electrical signal characteristic information, and the actual current signal, and processes the motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information, and the actual current signal to obtain an actual voltage signal, and transmits the actual voltage signal to the pulse width modulation module 30; the pulse width modulation module 30 is configured to acquire the actual voltage signal, process the actual voltage signal to obtain a target driving signal, and transmit the target driving signal to the inverter module 50, so that the inverter module 50 controls the synchronous motor 80 to work according to the target driving signal, and realizes the electrolytic capacitor-free driving control of the synchronous motor 80. The control loop of the electrolytic capacitor-free driving system is optimized in the application, the adverse effects of the DC bus voltage fluctuation are weakened, the power quality at the grid side is improved, the motor-side speed and torque pulsation are reduced, the motor-side control performance is improved, and the stability of the driving system is enhanced.

[0055] In one embodiment, as shown in FIG. 4, the control module 40 includes a speed loop control module 410 and a current loop control module 420; the speed loop control module 410 is connected to the phase-locked loop module 20 and the current loop control module 420, respectively, and the speed loop control module 410 is connected to the current regulation module 10 and the pulse width modulation module 30, respectively; the speed loop control module 410 is configured to process the motor-side electrical signal characteristic information and the grid-side electrical signal characteristic information to obtain a reference current signal; and the current loop control module 420 is configured to obtain an actual voltage signal according to the reference current signal and the actual current signal. Figure 1

[0056] In one embodiment, as shown in FIG. 4, the control module 40 includes a speed loop control module 410 and a current loop control module 420; the speed loop control module 410 is connected to the phase-locked loop module 20 and the current loop control module 420, respectively, and the speed loop control module 410 is connected to the current regulation module 10 and the pulse width modulation module 30, respectively; the speed loop control module 410 is configured to process the motor-side electrical signal characteristic information and the grid-side electrical signal characteristic information to obtain a reference current signal; and the current loop control module 420 is configured to obtain an actual voltage signal according to the reference current signal and the actual current signal.

[0057] ​After the system is powered on and started, the speed loop control module 410 processes the acquired motor-side electrical signal characteristic information and the grid-side electrical signal characteristic information to obtain a reference current signal, and transmits the reference current signal to the current loop control module 420; the current loop control module 420 obtains the actual current signal, and processes the actual current signal and the reference current signal to obtain an actual voltage signal, and transmits the actual voltage signal to the pulse width modulation module 30, so that the pulse width modulation module 30 processes the acquired actual voltage signal to obtain a target drive signal, and transmits the target drive signal to the inverter module 50, so that the inverter module 50 adjusts the speed and torque of the synchronous motor 80 according to the target drive signal, thereby realizing electrolytic capacitor-free drive control of the synchronous motor 80, by setting up the current loop control module 420 and the speed loop control module 410. Compared with the current loop and speed loop based on proportional integral (PI) control in traditional solutions, the dynamic performance, anti-interference performance and tracking performance of the drive system are comprehensively improved, the application scenarios of the synchronous motor 80 are expanded, the adverse effects of DC bus voltage fluctuations are weakened, and while improving the power quality on the grid side, the pulsation of motor side speed and torque can also be reduced, thereby improving the control performance on the motor side and enhancing the stability of the drive system.

[0058] In one embodiment, Figure 1 As shown, the current loop control module 420 includes a direct-axis ADRC current loop regulator 422 and a quadrature-axis ADRC current loop regulator 424; the actual current signal includes a direct-axis actual current signal and a quadrature-axis actual current signal; the direct-axis ADRC current loop regulator 422 is respectively connected to the current regulation module 10 and the pulse width modulation module 30; the quadrature-axis ADRC current loop regulator 424 is respectively connected to the speed loop control module 410, the current regulation module 10 and the pulse width modulation module 30; the direct-axis ADRC current loop regulator 422 is configured to process the preset direct-axis current signal and the direct-axis actual current signal to obtain a direct-axis actual voltage signal; the quadrature-axis ADRC current loop regulator 424 is configured to process the reference current signal and the quadrature-axis actual current signal to obtain a quadrature-axis actual voltage signal; the pulse width modulation module 30 obtains the target drive signal according to the direct-axis actual voltage signal and the quadrature-axis actual voltage signal.

[0059] The current value of the preset direct-axis current signal can be set to 0.

[0060] The input terminal of the direct-axis ADRC (Active Disturbance Rejection Control) current loop regulator is used to input a preset direct-axis current signal and a direct-axis actual current signal, and the output terminal is used to output a direct-axis actual voltage signal to the pulse width modulation module 30. The input terminal of the quadrature-axis ADRC current loop regulator 424 is used to input a reference current signal and a quadrature-axis actual current signal, and the output terminal is used to output a quadrature-axis actual voltage signal to the pulse width modulation module 30.

[0061] In one example, if Figure 1 As shown, the speed loop control module 410 includes an ADRC speed loop regulator 412 and a multiplier 414; the ADRC speed loop regulator 412 is respectively connected to the phase-locked loop module 20 and the multiplier 414; the multiplier 414 is respectively connected to the phase-locked loop module 20 and the quadrature-axis ADRC current loop regulator 424.

[0062] The motor-side electrical signal characteristic information may include motor-side phase information and motor-side frequency information; the grid-side electrical signal characteristic information may include grid-side phase information and grid-side frequency information. The input of ADRC speed loop regulator 412 is used to input motor-side frequency information and grid-side frequency information, and the output is used to output the quadrature-axis initial current value to multiplier 414. The input of multiplier 414 is used to input the quadrature-axis initial current value and grid-side phase information, and the output is used to output the quadrature-axis reference current signal to quadrature-axis ADRC current loop regulator 424.

[0063] For example, after the system is powered on and started, the ADRC speed loop regulator 412 processes the acquired motor-side frequency information and grid-side frequency information to obtain the quadrature-axis initial current value, and transmits the quadrature-axis initial current value to the multiplier 414; the multiplier 414 multiplies the acquired quadrature-axis initial current value and the grid-side phase information to obtain a quadrature-axis reference current signal, and transmits the quadrature-axis reference current signal to the quadrature-axis ADRC current loop regulator 424. The quadrature-axis ADRC current loop regulator 424 obtains the quadrature-axis reference current signal and the quadrature-axis actual current signal for processing to obtain a quadrature-axis actual voltage signal, and transmits the quadrature-axis actual voltage signal to the pulse width modulation module 30; in addition, the direct-axis ADRC current loop regulator 422 obtains the preset direct-axis current signal and the direct-axis actual current signal for processing to obtain a direct-axis actual voltage signal, and transmits the direct-axis actual voltage signal to the pulse width modulation module 30, so that the pulse width modulation module 30 processes the obtained direct-axis actual voltage signal and the quadrature-axis actual voltage signal to obtain a target drive signal, and transmits the target drive signal to the inverter module 50, so that the inverter module 50 adjusts the speed and torque of the synchronous motor 80 according to the target drive signal, realizes electrolytic capacitor-free drive control of the synchronous motor 80, improves the dynamic performance, anti-interference performance and tracking performance of the drive system, weakens the adverse effects of DC bus voltage fluctuations, improves the power quality on the grid side, and can also reduce the pulsation of the motor side speed and torque, improves the motor side control performance, and enhances the stability of the drive system.

[0064] In one embodiment, Figure 2 and Figure 3 As shown, the direct-axis ADRC current loop regulator 422 includes a first extended state observer 4222 and a first linear feedback control law module 4224; the quadrature-axis ADRC current loop regulator 424 includes a second extended state observer 4242 and a second linear feedback control law module 4244; the first linear feedback control law module 4224 is respectively connected to the first extended state observer 4222 and the pulse width modulation module 30; the first extended state observer 4222 is connected to the current regulation module 10; the second linear feedback control law module 4244 is respectively connected to the speed loop control module 410, the second extended state observer 4242 and the pulse width modulation module 30; the second extended state observer 4242 is connected to the current regulation module 10.

[0065] The first extended state observer 4222 is configured to estimate and compensate the disturbance of the corresponding input signal, so as to realize closed-loop control of the current and the speed. For example, the first extended state observer 4222 establishes an extended state space expression according to the voltage equation and the mechanical equation of the synchronous motor 80, and then obtains the estimated disturbance of the corresponding input signal through an observation error. The first linear state error feedback control law module 4224 can convert the nonlinear system of the synchronous motor 80 into a linear subsystem through feedback linearization control, realize decoupling control of the speed and the direct-axis current, eliminate the coupling problem between the current loop and the speed loop in the traditional vector control, and improve the dynamic response accuracy.

[0066] The second extended state observer 4242 is configured to estimate and compensate the disturbance of the corresponding input signal, so as to realize closed-loop control of the current and the speed. For example, the second extended state observer 4242 establishes an extended state space expression according to the voltage equation and the mechanical equation of the synchronous motor 80, and then obtains the estimated disturbance of the corresponding input signal through an observation error. The second linear state error feedback control law module 4244 can convert the nonlinear system of the synchronous motor 80 into a linear subsystem through feedback linearization control, realize decoupling control of the speed and the direct-axis current, eliminate the coupling problem between the current loop and the speed loop in the traditional vector control, and improve the dynamic response accuracy.

[0067] In the above embodiment, the first extended state observer 4222 and the first linear state error feedback control law module 4224 are arranged in the direct-axis ADRC current loop regulator 422, and the second extended state observer 4242 and the second linear state error feedback control law module 4244 are arranged in the quadrature-axis ADRC current loop regulator 424, so that the speed and torque pulsation caused by the bus voltage fluctuation is classified as an external disturbance, and the disturbance of a specific frequency is eliminated.

[0068] In one embodiment, as shown in FIG. 4B, the quadrature-axis ADRC current loop regulator 424 further includes a tracking differentiator 426. Figure 3 The tracking differentiator 426 is connected to the second linear state error feedback control law module 4244.

[0069] The tracking differentiator 426 (TD) can adaptively track the signal change by adjusting its parameters, thereby avoiding the performance degradation of the traditional differentiator due to the fixed bandwidth.

[0070] The second linear feedback control law module 4244 is connected to the tracking differentiator 426, and a transition process is constructed through the tracking differentiator 426 to obtain more accurate dynamic information of the reference signal for the quadrature axis ADRC current loop regulator 424 by smoothing the reference signal and its derivative, so as to ensure that the tracking speed of the second extended state observer 4242 is synchronized with the change of the reference signal and avoid control oscillation caused by signal mutation or high-frequency components.

[0071] In one embodiment, as shown in FIG. 4, the ADRC speed loop regulator 412 includes a third extended state observer 4122 and a third linear feedback control law module 4124; the third linear feedback control law module 4124 is connected to the third extended state observer 4122 and the quadrature axis ADRC current loop regulator 424 respectively; and the third extended state observer 4122 is connected to the phase-locked loop module 20. Figure 4

[0072] The third extended state observer 4122 is used to estimate and compensate the disturbance of the corresponding input signal to realize closed-loop control of the current and the speed. For example, the third extended state observer 4122 establishes an extended state space expression according to the voltage equation and the mechanical equation of the synchronous motor 80, and then obtains the estimated disturbance of the corresponding input signal through the observation error. The third linear feedback control law module 4124 can convert the nonlinear system of the synchronous motor 80 into a linear subsystem through feedback linearization control, process the phase and the frequency, and obtain the reference current signal.

[0073] In the above embodiment, the third extended state observer 4122 and the third linear feedback control law module 4124 are arranged in the ADRC speed loop regulator 412, the first extended state observer 4222 and the first linear feedback control law module 4224 are arranged in the direct-axis ADRC current loop regulator 422, and the second extended state observer 4242 and the second linear feedback control law module 4244 are arranged in the quadrature axis ADRC current loop regulator 424, so that the speed and torque pulsation caused by the bus voltage fluctuation are attributed to external disturbance, and the disturbance of a specific frequency is eliminated.

[0074] In one embodiment, as shown in FIG. 4, the motor electrolytic capacitor-free driving system further includes a back electromotive force compensation module 60; the back electromotive force compensation module 60 is connected to the current regulation module 10 and the control module 40 respectively; the back electromotive force compensation module 60 is configured to process the actual current signal to obtain a compensation voltage signal; the control module 40 is further configured to process the compensation voltage signal and the actual voltage signal to obtain a target voltage signal, and transmit the target voltage signal to the pulse width modulation module 30, so that the pulse width modulation module 30 obtains a target driving signal according to the target voltage signal. Figure 1

[0075] ​​The input end of the back electromotive force compensation module 60 is used to input the actual current signal, and the output end of the back electromotive force compensation module 60 is used to output the compensation voltage signal.

[0076] For example, the current regulation module 10 transmits the direct-axis actual current signal and the quadrature-axis actual current signal to the back electromotive force compensation module 60, and then the back electromotive force compensation module 60 processes the direct-axis actual current signal and the quadrature-axis actual current signal to obtain the direct-axis compensation voltage signal and the quadrature-axis compensation voltage signal. The control module 40 processes the direct-axis compensation voltage signal and the direct-axis actual voltage signal to obtain the direct-axis target voltage signal, and processes the quadrature-axis compensation voltage signal and the quadrature-axis actual voltage signal to obtain the quadrature-axis target voltage signal, and transmits the direct-axis target voltage signal and the quadrature-axis target voltage signal to the pulse width modulation module 30, so that the pulse width modulation module 30 processes the direct-axis target voltage signal and the quadrature-axis target voltage signal to obtain the target driving signal, and transmits the target driving signal to the inverter module 50, so that the inverter module 50 controls the synchronous motor 80 to work according to the target driving signal, realizes the electrolytic capacitor-free driving control of the synchronous motor 80, improves the power quality of the power grid side, reduces the pulsation of the motor side speed and torque, improves the motor side control performance, and enhances the stability of the driving system.

[0077] In one embodiment, the specific working process of the current loop control module and the speed loop control module is as follows: the synchronous motor is a permanent magnet synchronous motor, and the voltage equation and the flux linkage equation of the permanent magnet synchronous motor in the synchronous rotating coordinate system can be expressed as:

[0078]

[0079] wherein, u d , u q respectively represent the direct-axis voltage and the quadrature-axis voltage; i d , i q respectively represent the direct-axis current and the quadrature-axis current; L d , L q respectively represent the component of the stator inductance in the direct axis and the component in the quadrature axis; ψ d , ψ q respectively represent the component of the stator flux linkage in the direct axis and the component in the quadrature axis; R s represents the equivalent resistance of the stator; ω e represents the electrical angular velocity of the rotor, and ψ f represents the permanent magnet flux linkage.

[0080] The relationship between the electrical angular velocity ω e of the rotor and the motor speed ω m is as follows:

[0081] ω e = p n ωm

[0082] Among them, p n is the number of pole pairs of the motor.

[0083] The current equation of the permanent magnet synchronous motor can be rewritten as:

[0084]

[0085] The total disturbances of the direct axis and the quadrature axis are defined as d d (t), d q (t), b d =1 / L d , b q =1 / L q , then the above can be further simplified to:

[0086]

[0087] Let i d 、i q As state variables z1, d d (t), d q (t) as state variables z2,u′ q 、u q As the output signal u, the state equations of the direct-axis and quadrature-axis currents can be expressed as:

[0088]

[0089] in, are state variables z 1d 、z 1q estimated value.

[0090] From the above derivation, it can be seen that the voltage and current fluctuations of the direct axis and quadrature axis can be regarded as external disturbances of the drive system. According to the basic framework of active disturbance rejection control, the ESO of the ADRC current loop regulator can be expressed as:

[0091]

[0092] Among them, the observer parameter β1=2ω o 、 ω o is the observer bandwidth, b0 is the disturbance gain coefficient, and e is the state error.

[0093] The system disturbance observed by ESO needs to be compensated by LSEF. The LSEF of ADRC current loop regulator is designed as:

[0094]

[0095] Where K is the control law gain, is the reference value of the input signal.

[0096] In order to eliminate the harmonics of a specific frequency, a resonant controller is introduced into the ESO. The transfer function of the resonant controller can be expressed as:

[0097]

[0098] Among them, K r is the resonant gain, ω c is the cutoff frequency, ω r is the resonant frequency.

[0099] When the power frequency of the grid is 50Hz, the DC bus voltage output by the full-bridge rectifier is an unfiltered pulsating waveform with a pulsating frequency of 100Hz. Let ω r =200π(rad / s).

[0100] The ESO expression after the introduction of the resonant controller is:

[0101]

[0102] So far, the basic structure of the direct-axis ADRC current loop regulator can be obtained, as shown in Figure 2 As shown, the following relationship is satisfied:

[0103]

[0104] Since the reference signal of the quadrature-axis current is an AC signal, which changes continuously over time, its rate of change directly affects the dynamic response of the controller. Designing TD to construct a transition process can be expressed as:

[0105]

[0106] Among them, ω t is the bandwidth of TD, which usually needs to be higher than the frequency of the reference signal to avoid phase delay.

[0107] So far, the basic structure of the quadrature-axis ADRC current loop regulator can be obtained, as shown in Figure 3 As shown, the following relationship is satisfied:

[0108]

[0109] The mechanical equation of the permanent magnet synchronous motor can be expressed as:

[0110]

[0111] Among them, J m is the moment of inertia, T e is the electromagnetic torque, TL is the load torque, and B is the damping coefficient.

[0112] Rewriting the above formula yields:

[0113]

[0114] Definition d ω (t) is the total disturbance of the speed loop, b ω =1 / J m is the actual gain of the moment of inertia, which can be further simplified as:

[0115]

[0116] Let the motor speed ω m As the state variable z 1ω , the disturbance d ω (t) is expanded to the new state variable z 2ω , the state equation of the motor speed can be expressed as:

[0117]

[0118] like Figure 4 As shown in the figure, the basic structure of the ADRC speed loop regulator can be obtained. Since the actual value of the quadrature axis current can be obtained by coordinate transformation through sampling the phase current, the ADRC speed loop regulator adopts i q Participate in the calculation process of ESO, and its expression is:

[0119]

[0120] The above-mentioned embodiments collaboratively address issues such as reduced grid-side power factor, increased harmonic content, and severe motor-side speed and torque fluctuations caused by large fluctuations in DC bus voltage. Based on the fundamental principles of disturbance estimation and compensation in active disturbance rejection control, improvements have been made to the speed and current loop controllers, improving power quality, enhancing motor performance, and enhancing the stability of the drive system.

[0121] In one embodiment, Figure 7 As shown, a motor driving method without electrolytic capacitor is also provided, which is applied to any of the motor driving systems without electrolytic capacitor as described above; the motor driving method without electrolytic capacitor comprises the following steps:

[0122] Step S710, obtain the motor-side electrical signal characteristic information, grid-side electrical signal characteristic information and actual current signal of the synchronous motor; the actual current signal is obtained by the current regulation module regulating the input current of the synchronous motor; the grid-side electrical signal characteristic information is obtained by the phase-locked loop module processing the input voltage of the power supply grid.

[0123] Step S720, the motor side electrical signal characteristic information, power grid side electrical signal characteristic information and actual current signal are processed to obtain an actual voltage signal, and the actual voltage signal is transmitted to the pulse width modulation module; so that the pulse width modulation module obtains a target driving signal according to the actual voltage signal, and transmits the target driving signal to the inverter module; the target driving signal is used to instruct the inverter module to control the synchronous motor to work.

[0124] After the system is powered on, the phase-locked loop module processes the input voltage of the power supply grid to obtain the power grid side electrical signal characteristic information; the current regulation module adjusts the input current of the synchronous motor to obtain the actual current signal; the control module optimizes the motor side electrical signal characteristic information, the power grid side electrical signal characteristic information and the actual current signal of the synchronous motor obtained to obtain an actual voltage signal, and transmits the actual voltage signal to the pulse width modulation module, so that the pulse width modulation module processes the actual voltage signal obtained to obtain a target driving signal, and transmits the target driving signal to the inverter module, so that the inverter module adjusts the speed and torque of the synchronous motor according to the target driving signal, to realize the electrolytic capacitor-free driving control of the synchronous motor.

[0125] In the above embodiments, the control loop of the electrolytic capacitor-free driving system is optimized, the adverse effects of the DC bus voltage fluctuation are weakened, the power quality of the power grid side is improved, the speed and torque pulsation of the motor side are reduced, the motor side control performance is improved, and the stability of the driving system is enhanced.

[0126] In one embodiment, a motor electrolytic capacitor-free driving method is also provided, applied to the motor electrolytic capacitor-free driving system of any one of the above embodiments; the motor electrolytic capacitor-free driving method comprises the following steps:

[0127] Step 1, inputting the difference between the motor speed reference value ω m and the actual value ω m to the speed loop control module, wherein the actual value ω grid of the speed can be obtained by an encoder or a position sensorless control algorithm. After ADRC regulator calculation, the average reference value of the quadrature axis current i is outputted to realize closed-loop control of the speed.

[0128] Step 2, inputting the power grid voltage u g to the phase-locked loop module to output the phase θ 2 of the power grid voltage. Multiply the average reference value of the quadrature axis current i g by sin a θ b to obtain the given value of the quadrature axis current i Let the reference value of the direct axis current i

[0129] Step 3, collect the three-phase winding current i of the motor a b c The actual values of the direct-axis and quadrature-axis currents i d q The reference values of the direct-axis and quadrature-axis currents are subtracted from the actual values and input to the current loop control module, and the reference values of the direct-axis and quadrature-axis voltages u d q are calculated by the ADRC regulator to realize closed-loop control of the current.

[0130] Step 4, input the actual values of the direct-axis and quadrature-axis currents i d q to the back-EMF compensation module for calculation to output the compensation voltage Δu d q , which is added to the output signal u d q of the current loop control module to obtain the actual values of the direct-axis and quadrature-axis voltages u' d q .

[0131] Step 5, input the actual values of the direct-axis and quadrature-axis voltages to the SVPWM module for space voltage vector modulation to output PWM signals to control the three-phase full-bridge inverter, thereby regulating the speed and torque of the permanent magnet synchronous motor.

[0132] In the above embodiment, the control loop of the electrolytic capacitor-free driving system is optimized to weaken the adverse effects of DC bus voltage fluctuations, improve power quality at the grid side, reduce motor speed and torque pulsations, expand the application scenarios of the permanent magnet synchronous motor, and comprehensively improve the dynamic performance, disturbance rejection performance, and tracking performance of the driving system compared to the current loop and speed loop based on proportional integral control in the traditional scheme.

[0133] As shown in Figure 5 and Figure 6 , the simulation results of the self-disturbance control module in the embodiment are shown. As can be seen from the figures, compared to the traditional PI current loop regulator and PI speed loop regulator, the combination of the direct-axis ADRC current loop regulator, the quadrature-axis ADRC current loop regulator, and the ADRC speed loop regulator not only maintains a high power factor and low current harmonic content, but also significantly reduces the degree of motor speed and torque pulsation, optimizes the tracking performance, disturbance rejection performance, and steady-state performance, and expands the application scenarios.

[0134] It should be understood that, although Figure 7 ​​​​​​​​The steps in the flowcharts are shown in sequence according to the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the steps are not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, Figure 7 At least one of the steps in the flowcharts can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the sub-steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least one part of other steps or sub-steps or stages of other steps.

[0135] In one embodiment, the present application also provides a computer storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the motor electrolytic capacitor-free driving method described above.

[0136] For example, the computer program is executed by the processor to implement the following steps:

[0137] Obtaining motor-side electrical signal feature information, power grid-side electrical signal feature information, and an actual current signal of the synchronous motor; the actual current signal is obtained by adjusting the input current of the synchronous motor by a current regulating module; the power grid-side electrical signal feature information is obtained by processing the input voltage of the power supply grid by a phase-locked loop module; processing the motor-side electrical signal feature information, the power grid-side electrical signal feature information, and the actual current signal to obtain an actual voltage signal, and transmitting the actual voltage signal to a pulse width modulation module; so that the pulse width modulation module obtains a target driving signal according to the actual voltage signal, and transmits the target driving signal to an inverter module; the target driving signal is used to instruct the inverter module to control the synchronous motor to work.

[0138] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments of each division method. Any reference to memory, storage, databases, or other media in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0139] The technical features of the above embodiments can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered within the scope of the present disclosure.

[0140] The above embodiments only express several implementation manners of the present application, and the description is specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A motor electrolytic capacitorless drive system, characterized by, The application relates to a synchronous motor control system, which comprises the following modules: a current regulation module for connecting a synchronous motor, the current regulation module being configured to regulate input current of the synchronous motor to obtain an actual current signal; a phase-locked loop module connected to a power supply network, the phase-locked loop module being configured to process input voltage of the power supply network to obtain grid-side electrical signal characteristic information; a pulse width modulation module for connecting an inverter module, the inverter module being connected to the synchronous motor; a control module connected to the synchronous motor, the phase-locked loop module, the current regulation module and the pulse width modulation module respectively; the control module being configured to acquire motor-side electrical signal characteristic information of the synchronous motor, the grid-side electrical signal characteristic information and the actual current signal, process the motor-side electrical signal characteristic information, the grid-side electrical signal characteristic information and the actual current signal to obtain an actual voltage signal, and transmit the actual voltage signal to the pulse width modulation module; the pulse width modulation module being configured to acquire the actual voltage signal, process the actual voltage signal to obtain a target driving signal, and transmit the target driving signal to the inverter module, so that the inverter module controls the synchronous motor to work according to the target driving signal.

2. The motor electrolytic capacitor-less drive system of claim 1, wherein, The control module comprises a speed loop control module and a current loop control module; the speed loop control module being connected to the phase-locked loop module and the current loop control module respectively, and connected to the current regulation module and the pulse width modulation module respectively; the speed loop control module being configured to process the motor-side electrical signal characteristic information and the grid-side electrical signal characteristic information to obtain a reference current signal; the current loop control module being configured to obtain the actual voltage signal according to the reference current signal and the actual current signal.

3. The motor electrolytic capacitor-less drive system of claim 2, wherein, The current loop control module comprises a direct-axis ADRC current loop regulator and a quadrature-axis ADRC current loop regulator; the actual current signal comprises a direct-axis actual current signal and a quadrature-axis actual current signal; the direct-axis ADRC current loop regulator being connected to the current regulation module and the pulse width modulation module respectively; the quadrature-axis ADRC current loop regulator being connected to the speed loop control module, the current regulation module and the pulse width modulation module respectively; the direct-axis ADRC current loop regulator being configured to process a preset direct-axis current signal and the direct-axis actual current signal to obtain a direct-axis actual voltage signal; the quadrature-axis ADRC current loop regulator being configured to process the reference current signal and the quadrature-axis actual current signal to obtain a quadrature-axis actual voltage signal; the pulse width modulation module obtaining the target driving signal according to the direct-axis actual voltage signal and the quadrature-axis actual voltage signal.

4. The motor electrolytic capacitor-less drive system of claim 3, wherein, The direct-axis ADRC current loop regulator comprises a first extended state observer and a first linear feedback control law module; the quadrature-axis ADRC current loop regulator comprises a second extended state observer and a second linear feedback control law module. The first linear feedback control law module is connected with the first extended state observer and the pulse width modulation module respectively; and the first extended state observer is connected with the current regulation module. The second linear feedback control law module is connected with the speed loop control module, the second extended state observer and the pulse width modulation module respectively; and the second extended state observer is connected with the current regulation module.

5. The motor electrolytic capacitor-less drive system of claim 4, wherein, The cross-axis ADRC current loop regulator further comprises a tracking differentiator; and the tracking differentiator is connected with the second linear feedback control law module.

6. The motor electrolytic capacitor-less drive system of claim 3, wherein, The speed loop control module comprises an ADRC speed loop regulator and a multiplier; The ADRC speed loop regulator is connected with the phase-locked loop module and the multiplier respectively; and the multiplier is connected with the phase-locked loop module and the cross-axis ADRC current loop regulator respectively.

7. The motor electrolytic capacitor-less drive system of claim 6, wherein, The ADRC speed loop regulator comprises a third extended state observer and a third linear feedback control law module; The third linear feedback control law module is connected with the third extended state observer and the cross-axis ADRC current loop regulator respectively; and the third extended state observer is connected with the phase-locked loop module.

8. The motor electrolytic capacitor-less driving system according to any one of claims 1 to 7, characterized in that, Further comprising a back electromotive force compensation module; The back electromotive force compensation module is connected with the current regulation module and the control module respectively; The back electromotive force compensation module is configured to process the actual current signal to obtain a compensation voltage signal; The control module is further configured to process the compensation voltage signal and the actual voltage signal to obtain a target voltage signal, and transmit the target voltage signal to the pulse width modulation module, so that the pulse width modulation module obtains the target driving signal according to the target voltage signal.

9. A method for driving a motor without an electrolytic capacitor, characterized by, The motor electrolytic capacitor-free driving method is applied to the motor electrolytic capacitor-free driving system as claimed in any one of claims 1 to 8, and comprises the following steps. Obtaining motor-side electrical signal characteristic information, power grid-side electrical signal characteristic information and an actual current signal of a synchronous motor; the actual current signal is obtained by regulating the input current of the synchronous motor by a current regulation module; and the power grid-side electrical signal characteristic information is obtained by processing the input voltage of a power supply grid by a phase-locked loop module; Processing the motor-side electrical signal characteristic information, the power grid-side electrical signal characteristic information and the actual current signal to obtain an actual voltage signal, and transmitting the actual voltage signal to a pulse width modulation module; so that the pulse width modulation module obtains a target driving signal according to the actual voltage signal, and transmits the target driving signal to an inverter module; and the target driving signal is used to instruct the inverter module to control the synchronous motor to work.

10. A computer storage medium having stored thereon a computer program, characterized in that The computer program is executed by a processor to realize the steps of the motor electrolytic capacitor-free driving method as claimed in claim 9.

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