Harmonic suppression method, device and system

Abstract

The embodiment of the invention belongs to the motor control technology, and provides a harmonic suppression method, device and system, and the method comprises the steps: obtaining a d-axis component and a q-axis component of a three-phase current outputted to a permanent magnet synchronous motor by an inverter circuit in a dq coordinate system in real time; according to the d-axis component and the q-axis component of the three-phase current, harmonic suppression processing is executed, and a d-axis component and a q-axis component of the compensation current are obtained; wherein the harmonic suppression processing comprises the following steps: respectively carrying out high-pass filtering processing on a d-axis component and a q-axis component of the three-phase current to obtain a d-axis component and a q-axis component of the harmonic current; respectively inputting the d-axis component and the q-axis component of the harmonic current into a controller to obtain the d-axis component and the q-axis component of the compensation current; and according to the d-axis component and the q-axis component of the compensation current, the three-phase current output to the permanent magnet synchronous motor by the inverter circuit is adjusted. The harmonic current can be effectively suppressed, and the motor control performance is optimized.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to motor control technology. More particularly, it relates to a harmonic suppression method, device and system. BACKGROUND

[0002] Permanent magnet synchronous motor generates electricity by the interaction of stator coil and permanent magnet material on the rotor, which is composed of core components such as rotor, stator, shell, bearing, etc. Due to the advantages of simple structure, small size, high efficiency, high power factor, high control accuracy, high torque density, etc., permanent magnet synchronous motor is gradually becoming one of the mainstream motors in the fields of industrial automation, new energy vehicles, household appliances, etc.

[0003] However, due to factors such as uneven external load of motor, eccentricity of part of motor structure, nonlinearity of electrical equipment, and non-sine distortion of motor rotor magnetic field, harmonic current will be introduced in the motor driving current, resulting in torque ripple and vibration noise of motor, increasing motor loss, and deteriorating motor control performance.

[0004] Therefore, how to effectively suppress harmonic current is a problem to be solved. SUMMARY

[0005] Embodiments of the present application provide a harmonic suppression method, device and system, which can effectively suppress harmonic current and optimize motor control performance.

[0006] In a first aspect, embodiments of the present application provide a harmonic suppression method, comprising:

[0007] Real-time acquisition of d-axis component and q-axis component of three-phase current output by inverter circuit to permanent magnet synchronous motor in dq coordinate system;

[0008] According to the d-axis component and q-axis component of the three-phase current, performing harmonic suppression processing to obtain the d-axis component and q-axis component of the compensation current; wherein the harmonic suppression processing comprises: performing high-pass filtering processing on the d-axis component and q-axis component of the three-phase current respectively to obtain the d-axis component and q-axis component of the harmonic current; inputting the d-axis component and q-axis component of the harmonic current into the controller respectively to obtain the d-axis component and q-axis component of the compensation current;

[0009] According to the d-axis component and q-axis component of the compensation current, adjusting the three-phase current output by the inverter circuit to the permanent magnet synchronous motor.

[0010] In some embodiments of the present application, the inputting the d-axis component and q-axis component of the harmonic current into the controller respectively to obtain the d-axis component and q-axis component of the compensation current comprises:

[0011] The difference between the preset reference value and the d-axis component and q-axis component of the harmonic current is obtained by subtracting them from the preset reference value.

[0012] The d-axis component and q-axis component of the compensation current are obtained by summing the product of the d-axis difference / q-axis difference of the harmonic current and the product of the product of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

[0013] In some embodiments of this application, the number of preset resonant points is multiple. The step of summing the product of the d-axis difference / q-axis difference of the harmonic current with a preset scaling factor and the product of the d-axis difference / q-axis difference of the harmonic current with the resonance coefficient corresponding to the preset resonant point to obtain the d-axis / q-axis component of the compensation current includes:

[0014] The product of the d-axis difference / q-axis difference of the harmonic current and the proportional coefficient corresponding to each preset resonance point is added together to obtain the product of the d-axis difference / q-axis difference of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

[0015] In some embodiments of this application, obtaining the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system includes:

[0016] The three-phase current output from the inverter circuit to the permanent magnet synchronous motor is converted to the αβ coordinate system to obtain the α-axis component and β-axis component of the three-phase current in the αβ coordinate system.

[0017] The α-axis and β-axis components of the three-phase current in the αβ coordinate system are transformed to the dq coordinate system to obtain the d-axis and q-axis components of the three-phase current in the dq coordinate system.

[0018] In some embodiments of this application, adjusting the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the compensation current includes:

[0019] The d-axis component of the predetermined current and the d-axis component of the compensation current are summed to obtain the d-axis component of the reference current; the q-axis component of the predetermined current and the q-axis component of the compensation current are summed to obtain the q-axis component of the reference current.

[0020] The three-phase current output from the inverter circuit to the permanent magnet synchronous motor is adjusted based on the d-axis and q-axis components of the reference current and the d-axis and q-axis components of the three-phase current.

[0021] In some embodiments of this application, adjusting the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the reference current and the d-axis and q-axis components of the three-phase current includes:

[0022] The difference between the d-axis component of the reference current and the d-axis component of the three-phase current is calculated to obtain the d-axis current deviation value; the difference between the q-axis component of the reference current and the q-axis component of the three-phase current is calculated to obtain the q-axis current deviation value.

[0023] The d-axis current deviation value and the q-axis current deviation value are respectively processed by proportional-integral processing to obtain the d-axis component and q-axis component of the target voltage;

[0024] The d-axis and q-axis components of the target voltage are transformed to obtain the α-axis and β-axis components of the target voltage in the αβ coordinate system.

[0025] The target voltage is modulated using SVM based on the α-axis and β-axis components in the αβ coordinate system to obtain an SVM signal. The SVM signal is then output to the inverter circuit so that the inverter circuit outputs the target three-phase current corresponding to the target voltage to the permanent magnet synchronous motor.

[0026] Secondly, embodiments of this application provide a harmonic suppression device, comprising:

[0027] The conversion module is used to acquire in real time the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system;

[0028] The harmonic suppression module is used to perform harmonic suppression processing based on the d-axis and q-axis components of the three-phase current to obtain the d-axis and q-axis components of the compensation current; wherein, the harmonic suppression processing includes: performing high-pass filtering processing on the d-axis and q-axis components of the three-phase current respectively through a high-pass filter to obtain the d-axis and q-axis components of the harmonic current; and calculating the d-axis and q-axis components of the compensation current based on the d-axis and q-axis components of the harmonic current through a controller;

[0029] The adjustment module is used to adjust the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the compensation current.

[0030] In some embodiments of this application, the controller is used for:

[0031] The difference between the preset reference value and the d-axis component and q-axis component of the harmonic current is obtained by subtracting them from the preset reference value.

[0032] The d-axis component and q-axis component of the compensation current are obtained by summing the product of the d-axis difference / q-axis difference of the harmonic current and the product of the product of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

[0033] In some embodiments of this application, the number of preset resonant points is multiple, and the controller is specifically used for:

[0034] The product of the d-axis difference / q-axis difference of the harmonic current and the proportional coefficient corresponding to each preset resonance point is added together to obtain the product of the d-axis difference / q-axis difference of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

[0035] In some embodiments of this application, the conversion module includes:

[0036] The first conversion unit is used to convert the three-phase current output from the inverter circuit to the permanent magnet synchronous motor into the αβ coordinate system, so as to obtain the α-axis component and β-axis component of the three-phase current in the αβ coordinate system.

[0037] The second conversion unit is used to convert the α-axis and β-axis components of the three-phase current in the αβ coordinate system to the dq coordinate system, so as to obtain the d-axis and q-axis components of the three-phase current in the dq coordinate system.

[0038] In some embodiments of this application, the adjustment module includes:

[0039] The reference module is used to sum the d-axis component of the predetermined current and the d-axis component of the compensation current to obtain the d-axis component of the reference current; and to sum the q-axis component of the predetermined current and the q-axis component of the compensation current to obtain the q-axis component of the reference current.

[0040] The adjustment unit is used to adjust the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the reference current and the d-axis and q-axis components of the three-phase current.

[0041] In some embodiments of this application, the adjustment unit includes:

[0042] The first processing unit is used to calculate the difference between the d-axis component of the reference current and the d-axis component of the three-phase current to obtain the d-axis current deviation value; and to perform proportional-integral processing on the d-axis current deviation value to obtain the d-axis component of the target voltage.

[0043] The second processing unit is used to calculate the difference between the q-axis component of the reference current and the q-axis component of the three-phase current to obtain the q-axis current deviation value; and to perform proportional-integral processing on the q-axis current deviation value to obtain the q-axis component of the target voltage.

[0044] The third conversion unit is used to perform coordinate transformation on the d-axis component and q-axis component of the target voltage to obtain the α-axis component and β-axis component of the target voltage in the αβ coordinate system.

[0045] The modulation unit is used to perform SVM modulation on the α-axis component and β-axis component of the target voltage in the αβ coordinate system to obtain an SVM signal, and output the SVM signal to the inverter circuit so that the inverter circuit outputs the target three-phase current corresponding to the target voltage to the permanent magnet synchronous motor.

[0046] Thirdly, embodiments of this application provide a motor control system, including: an inverter circuit, a permanent magnet synchronous motor, and a harmonic suppression device as described above; wherein...

[0047] The inverter circuit is used to output three-phase current to the permanent magnet synchronous motor to drive the permanent magnet synchronous motor to run;

[0048] The harmonic suppression device is used to suppress harmonics in the current output from the inverter circuit to the permanent magnet synchronous motor.

[0049] Fourthly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method described above.

[0050] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described above.

[0051] Sixthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0052] The harmonic suppression method, apparatus, and system provided in this application perform high-pass filtering on the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor, which can accurately calculate the d-axis and q-axis components of the harmonic current. The d-axis and q-axis components of the harmonic current are then input into the controller to obtain the d-axis and q-axis components of the compensation current. The d-axis and q-axis components of the compensation current are used to compensate for the adjustment process of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor, which can effectively suppress the harmonic current components in the three-phase current, thereby improving the control performance of the motor. Attached Figure Description

[0053] To more clearly illustrate the implementation methods in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0054] Figure 1 A schematic flowchart illustrating a harmonic suppression method provided in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the process for obtaining the d-axis and q-axis components of three-phase current according to an embodiment of this application.

[0056] Figure 3 A schematic diagram of the process for obtaining the d-axis and q-axis components of the compensation current provided in an embodiment of this application;

[0057] Figure 4 This is a schematic diagram of the controller provided in an embodiment of this application;

[0058] Figure 5 This is a schematic diagram of the proportional resonant controller provided in an embodiment of this application;

[0059] Figure 6 This is a schematic diagram of another proportional resonant controller provided in an embodiment of this application;

[0060] Figure 7 A schematic flowchart of another harmonic suppression method provided in an embodiment of this application;

[0061] Figure 8 This is a schematic diagram of a harmonic suppression scenario provided in an embodiment of this application;

[0062] Figure 9 This is a schematic diagram of the structure of the harmonic suppression device provided in the embodiments of this application;

[0063] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0064] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only some embodiments of this application, and not all embodiments.

[0065] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0066] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those that are explicitly listed, but may include other components that are not explicitly listed or that are inherent to such product or device.

[0067] First, let me explain the terms used in this application:

[0068] PI controller: A linear controller that uses the control deviation between the given value and the actual output value to form the control quantity by linearly combining the proportional and integral of the deviation, thereby controlling the controlled object.

[0069] Space Vector Pulse Width Modulation (SVPWM or SVM) is a pulse width modulation wave (SVPWM signal or SVM signal) generated by a specific switching mode composed of six power switching elements of a three-phase power inverter circuit. This pulse width modulation wave controls the switching of the inverter circuit, thereby enabling the inverter circuit to generate the required modulated voltage to drive the motor at the required speed or torque.

[0070] ABC coordinate system: refers to a three-phase stationary natural coordinate system.

[0071] αβ coordinate system: refers to a two-phase stationary coordinate system.

[0072] The dq coordinate system refers to the rotor geometric coordinate system (d-axis is the rotor excitation direction), also known as the synchronous rotating coordinate system.

[0073] Permanent magnet synchronous motors generate electricity through the interaction between the stator coils and the permanent magnet material on the rotor. They consist of core components such as the rotor, stator, housing, and bearings. Due to their advantages such as simple structure, small size, high efficiency, high power factor, high control precision, and high torque density, permanent magnet synchronous motors are gradually becoming one of the mainstream motors in fields such as industrial automation, new energy vehicles, and home appliances.

[0074] However, due to factors such as uneven external load on the motor, eccentricity of some motor structures, nonlinearity of electrical equipment, and non-sinusoidal distortion of the motor rotor magnetic field, harmonic currents are introduced into the motor drive current, causing torque pulsation and vibration noise, increasing motor losses, and deteriorating motor control performance.

[0075] Therefore, how to effectively suppress harmonic currents is an urgent problem to be solved.

[0076] The technical solutions of this application will be described in detail below with reference to specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0077] Figure 1 This is a schematic flowchart illustrating a harmonic suppression method provided in this application. The main implementer of this method is a harmonic suppression device. Figure 1 As shown, the method includes the following steps:

[0078] S101. Real-time acquisition of the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system.

[0079] Specifically, the three-phase current output from the inverter circuit to the permanent magnet synchronous motor may introduce harmonic currents. By measuring the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in real time and extracting and analyzing the harmonic currents, harmonic currents can be suppressed. After transforming the electrical signal to the dq coordinate system, the harmonic signal will exhibit obvious oscillating characteristics on the dq axis. Therefore, by transforming the three-phase current to the dq coordinate system and filtering or performing spectral analysis on the d-axis and q-axis components of the three-phase current in the dq coordinate system, the harmonic currents can be accurately extracted.

[0080] In one possible implementation, obtaining the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system includes:

[0081] Transform the three-phase current to the αβ coordinate system to obtain the α-axis and β-axis components of the three-phase current in the αβ coordinate system.

[0082] Transform the α-axis and β-axis components of the three-phase current in the αβ coordinate system to the dq coordinate system to obtain the d-axis and q-axis components of the three-phase current in the dq coordinate system.

[0083] Figure 2 The flowchart illustrating the process of obtaining the d-axis and q-axis components of three-phase current provided in this application embodiment is shown below. Figure 2 As shown, the three-phase currents iu, iv, and iw output from the inverter circuit to the permanent magnet synchronous motor belong to the abc coordinate system. The α-axis component i of the three-phase currents in the αβ coordinate system can be calculated using the Clark transformation (also known as the 3s / 2s coordinate transformation) based on the three-phase currents in the abc coordinate system. α With β-axis component i β Furthermore, through the Park transformation (also known as the 2s / 2r coordinate transformation), based on the α-axis component i corresponding to the three-phase current in the αβ coordinate system... α With β-axis component iβ The d-axis components i of the three-phase current in the dq coordinate system were calculated. d With q-axis component i q .

[0084] For example, the formulas for calculating the α-axis and β-axis components of the three-phase current in the αβ coordinate system, based on the three-phase current in the abc coordinate system, are as follows:

[0085] iu+iv+iw=0

[0086] i α =iu

[0087]

[0088] The formulas for calculating the d-axis and q-axis components of the three-phase current in the dq coordinate system, based on the α-axis and β-axis components of the three-phase current in the αβ coordinate system, are as follows:

[0089] i d =i α *cos(θ)+i β *sin(θ)

[0090] i q =i α *sin(θ)+i β *cos(θ)

[0091] Where θ is the current angle of the motor rotor.

[0092] In one possible implementation, the current angle θ of the motor rotor can be calculated using a position observer.

[0093] In this embodiment, the three-phase current is first converted to the αβ coordinate system and then to the dq coordinate system, so as to accurately obtain the d-axis component and q-axis component of the three-phase current in the dq coordinate system.

[0094] S102. Based on the d-axis and q-axis components of the three-phase current, perform harmonic suppression processing to obtain the d-axis and q-axis components of the compensation current; wherein, the harmonic suppression processing includes: performing high-pass filtering on the d-axis and q-axis components of the three-phase current respectively to obtain the d-axis and q-axis components of the harmonic current; inputting the d-axis and q-axis components of the harmonic current into the controller respectively to obtain the d-axis and q-axis components of the compensation current.

[0095] Figure 3 The flowchart illustrating the process of obtaining the d-axis and q-axis components of the compensation current provided in this application embodiment is shown below. Figure 3 As shown, the d-axis component i of the three-phase current can be... d With q-axis component iq The inputs are respectively fed into high-pass filters, thereby reducing the d-axis components i of the three-phase currents. d With q-axis component i q High-pass filtering is performed to obtain the d-axis component i of the harmonic current output by the high-pass filter. dh With q-axis component i qh ; the d-axis component i of the harmonic current dh With q-axis component i qh The d-axis component I of the compensation current is obtained by inputting the data into the controller. d-comp With q-axis component I q-comp .

[0096] For example, the transfer function H(s) of a high-pass filter is:

[0097]

[0098] Among them, f c The cutoff frequency of the high-pass filter is given. After high-pass filtering, the d-axis component i of the three-phase current is... d With q-axis component i q Mid-frequency below f c The signal will be filtered out, thus obtaining the d-axis component i of the harmonic current. dh With q-axis component i qh .

[0099] In one possible implementation, the d-axis and q-axis components of the harmonic current are input to the controller to obtain the d-axis and q-axis components of the compensation current, including:

[0100] The difference between the preset reference value and the d-axis component and q-axis component of the harmonic current is obtained by subtracting them from the preset reference value.

[0101] The product K of the d-axis difference / q-axis difference of the harmonic current and the preset scaling factor. P The summation of the products of the resonance coefficients corresponding to the preset resonance points yields the d-axis component I of the compensation current. d-comp / q-axis component I q-comp .

[0102] Figure 4 This is a schematic diagram of the controller provided in the embodiments of this application, such as... Figure 4 As shown, inputting the d-axis and q-axis components of the harmonic current into the controller may include inputting a preset reference value 0 and the d-axis component i of the harmonic current respectively. dh With q-axis component i qhThe difference is calculated to obtain the d-axis difference and q-axis difference of the harmonic current. These differences are then input into a proportional resonant controller (PR) to obtain the d-axis component I of the compensation current. d-comp / q-axis component I q-comp .

[0103] Figure 5 This is a schematic diagram of the proportional resonant controller provided in the embodiments of this application, as shown below. Figure 5 As shown, inputting the d-axis difference and q-axis difference of the harmonic current into the proportional resonant controller may include inputting the d-axis difference i of the harmonic current... dh- / q axis difference i qh- The product K with the preset proportionality coefficient P The summation of the products of the resonance coefficients corresponding to the preset resonance points yields the d-axis component I of the compensation current. d-comp / q-axis component I q-comp .

[0104] The resonance coefficient is:

[0105]

[0106] K r ω is the resonant gain, ω is the resonant point, ω c The resonant frequency bandwidth is ω±ω. c Signals within range will be responded to.

[0107] The formula for calculating the d-axis component of the compensation current is as follows:

[0108]

[0109] The formula for calculating the q-axis component of the compensation current is as follows:

[0110]

[0111] In one possible implementation, the number of preset resonant points is multiple, and the method may also include:

[0112] The summation of the products of the d-axis difference / q-axis difference of the harmonic current and the proportional coefficients corresponding to each preset resonance point is taken as the product of the d-axis difference / q-axis difference of the harmonic current and the resonance coefficients corresponding to the preset resonance points.

[0113] Figure 6 This is a schematic diagram of another proportional resonant controller provided in an embodiment of this application, as shown below. Figure 6As shown, multiple resonant points ω0, ω1, ω2... can be set. The product of the d-axis difference of the harmonic current and the resonant coefficient corresponding to the preset resonant point is calculated as follows:

[0114]

[0115] S103. Adjust the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the compensation current.

[0116] In some technologies, the actual three-phase current output from the inverter circuit to the permanent magnet synchronous motor is collected, and compared with a predetermined current. Based on the deviation of the three-phase current from the predetermined current, the three-phase current output from the inverter circuit to the permanent magnet synchronous motor is controlled. To suppress harmonics, the predetermined current can be compensated based on a calculated compensation current.

[0117] In some possible implementations, adjusting the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the compensation current can include:

[0118] The d-axis component of the predetermined current and the d-axis component of the compensation current are summed to obtain the d-axis component of the reference current; the q-axis component of the predetermined current and the q-axis component of the compensation current are summed to obtain the q-axis component of the reference current.

[0119] The three-phase current output from the inverter circuit to the permanent magnet synchronous motor is adjusted based on the d-axis and q-axis components of the reference current and the three-phase current.

[0120] In this embodiment, the d-axis and q-axis components of the predetermined current and the d-axis and q-axis components of the compensation current are summed to obtain the d-axis and q-axis components of the compensated reference current. Based on the deviation of the d-axis and q-axis components of the three-phase current relative to the d-axis and q-axis components of the reference current, the three-phase current output from the inverter circuit to the permanent magnet synchronous motor can be precisely adjusted, effectively eliminating harmonic currents and thus improving the control performance of the motor.

[0121] In the harmonic suppression method provided in this application embodiment, the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor are subjected to high-pass filtering to accurately calculate the d-axis and q-axis components of the harmonic current. The d-axis and q-axis components of the harmonic current are then input into the proportional resonant controller to obtain the d-axis and q-axis components of the compensation current. The d-axis and q-axis components of the compensation current are used to compensate for the adjustment process of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor, which can effectively suppress the harmonic current components in the three-phase current, thereby improving the control performance of the motor.

[0122] Figure 7 This is a schematic flowchart illustrating another harmonic suppression method provided in an embodiment of this application. The main implementer of this method is a harmonic suppression device. Figure 7 As shown, the method may include:

[0123] S701: Real-time acquisition of the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system.

[0124] S702. Based on the d-axis and q-axis components of the three-phase current, perform harmonic suppression processing to obtain the d-axis and q-axis components of the compensation current; wherein, the harmonic suppression processing includes: performing high-pass filtering on the d-axis and q-axis components of the three-phase current respectively to obtain the d-axis and q-axis components of the harmonic current; inputting the d-axis and q-axis components of the harmonic current respectively into the proportional resonant controller to obtain the d-axis and q-axis components of the compensation current.

[0125] S703. Summing the d-axis component of the predetermined current and the d-axis component of the compensation current yields the d-axis component of the reference current; summing the q-axis component of the predetermined current and the q-axis component of the compensation current yields the q-axis component of the reference current.

[0126] Figure 8 This is a schematic diagram of a harmonic suppression scenario provided in an embodiment of this application, such as... Figure 8 As shown, the three-phase currents iu, iv, and iw output from the inverter circuit to the permanent magnet synchronous motor (PMSM) are obtained. A 3s / 2s coordinate transformation is performed on the three-phase currents iu, iv, and iw to obtain the α-axis component i of the three-phase currents in the αβ coordinate system. α With β-axis component i β For the α-axis component i of the three-phase current in the αβ coordinate system α By performing a 2s / 2r coordinate transformation with the β-axis component, the d-axis component i of the three-phase current in the dq coordinate system is obtained. d With q-axis component i q Based on the d-axis component i of the three-phase current d With q-axis component i q Current harmonic suppression processing is performed to obtain the d-axis component I of the compensation current. d-comp With q-axis component I q-comp The d-axis component I of the reference current. d With the d-axis component I of the compensation current d-comp Summing these components yields the d-axis component I of the reference current. d *;The q-axis component I of the predetermined current q With the q-axis component I of the compensation current q-comp Summing these components yields the q-axis component I of the reference current. q *

[0127] It should be noted that the specific implementation methods of steps S701-S703 are as described above, and will not be repeated here.

[0128] S704. Calculate the difference between the d-axis component of the reference current and the d-axis component of the three-phase current to obtain the d-axis current deviation value; calculate the difference between the q-axis component of the reference current and the q-axis component of the three-phase current to obtain the q-axis current deviation value.

[0129] S705. Perform proportional-integral processing on the d-axis current deviation value and the q-axis current deviation value respectively to obtain the d-axis component and q-axis component of the target voltage.

[0130] like Figure 8 As shown, performing proportional-integral processing on the d-axis current deviation value and the q-axis current deviation value can include inputting the d-axis current deviation value and the q-axis current deviation value into a proportional-integral controller (PI) to obtain the d-axis component V of the target voltage output by the PI. d * With q-axis component V q * .

[0131] S706. Perform coordinate transformation on the d-axis and q-axis components of the target voltage to obtain the α-axis and β-axis components of the target voltage in the αβ coordinate system.

[0132] For example, the formulas for calculating the α-axis and β-axis components of the target voltage based on the d-axis and q-axis components of the target voltage are as follows:

[0133] V α =cos(θ)*V d * -sin(θ)*V q *

[0134] V β =sin(θ)*V d * +cos(θ)*V q *

[0135] Among them, V α V is the α-axis component of the target voltage. β V is the β-axis component of the target voltage. d * V is the d-axis component of the target voltage. q * This represents the q-axis component of the target voltage.

[0136] The current angle θ of the motor rotor calculated by the position observer can include the d-axis component V of the current target voltage. d * With q-axis component V q * and the d-axis component i of the three-phase current d With q-axis component i q The current angle θ of the motor rotor is calculated.

[0137] S707. Based on the α-axis component and β-axis component of the target voltage in the αβ coordinate system, SVM modulation is performed to obtain the SVM signal, and the SVM signal is output to the inverter circuit so that the inverter circuit outputs the target three-phase current corresponding to the target voltage to the permanent magnet synchronous motor.

[0138] like Figure 8 As shown, based on the α-axis component V of the target voltage in the αβ coordinate system α With β-axis component V β SVM modulation is performed to obtain an SVM signal. The SVM signal is then output to the inverter circuit, which in turn outputs the target three-phase current or target three-phase voltage corresponding to the target voltage to the permanent magnet synchronous motor.

[0139] It should be noted that steps S701-S707 can be executed multiple times to achieve automatic adjustment of the output current of the inverter circuit to the permanent magnet synchronous motor and effectively suppress harmonic current.

[0140] In the harmonic suppression method provided in this application embodiment, the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor are subjected to high-pass filtering to accurately calculate the d-axis and q-axis components of the harmonic current. The d-axis and q-axis components of the harmonic current are then input into the proportional resonant controller to obtain the d-axis and q-axis components of the compensation current. The d-axis and q-axis components of the compensation current are used to compensate for the adjustment process of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor, which can effectively suppress the harmonic current components in the three-phase current, thereby improving the control performance of the motor.

[0141] This application also provides a harmonic suppression device. This device can be a physical device, or it can be implemented through a computer program, such as application software; alternatively, it can be implemented as a medium storing the relevant computer program, such as a USB flash drive or cloud storage; or it can be implemented through a physical device that integrates or installs the relevant computer program, such as a chip or server. Figure 9 This is a schematic diagram of a harmonic suppression device provided in this application. Figure 9 As shown, the device includes:

[0142] Conversion module 91 is used to acquire in real time the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system;

[0143] The harmonic suppression module 92 is used to perform harmonic suppression processing based on the d-axis and q-axis components of the three-phase current to obtain the d-axis and q-axis components of the compensation current; wherein, the harmonic suppression processing includes: performing high-pass filtering processing on the d-axis and q-axis components of the three-phase current respectively through a high-pass filter to obtain the d-axis and q-axis components of the harmonic current; and calculating the d-axis and q-axis components of the compensation current based on the d-axis and q-axis components of the harmonic current through a controller;

[0144] The adjustment module 93 is used to adjust the three-phase current output from the inverter circuit to the permanent magnet synchronous motor according to the d-axis and q-axis components of the compensation current.

[0145] In some embodiments of this application, the controller is used for:

[0146] The difference between the preset reference value and the d-axis component and q-axis component of the harmonic current is obtained by subtracting them from the preset reference value.

[0147] The d-axis component and q-axis component of the compensation current are obtained by summing the product of the d-axis difference / q-axis difference of the harmonic current and the product of the product of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

[0148] In some embodiments of this application, the number of preset resonant points is multiple, and the controller is specifically used for:

[0149] The product of the d-axis difference / q-axis difference of the harmonic current and the proportional coefficient corresponding to each preset resonance point is added together to obtain the product of the d-axis difference / q-axis difference of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

[0150] In some embodiments of this application, the conversion module includes:

[0151] The first conversion unit is used to convert the three-phase current output from the inverter circuit to the permanent magnet synchronous motor into the αβ coordinate system, so as to obtain the α-axis component and β-axis component of the three-phase current in the αβ coordinate system.

[0152] The second conversion unit is used to convert the α-axis and β-axis components of the three-phase current in the αβ coordinate system to the dq coordinate system, so as to obtain the d-axis and q-axis components of the three-phase current in the dq coordinate system.

[0153] In some embodiments of this application, the adjustment module includes:

[0154] The reference module is used to sum the d-axis component of the predetermined current and the d-axis component of the compensation current to obtain the d-axis component of the reference current; and to sum the q-axis component of the predetermined current and the q-axis component of the compensation current to obtain the q-axis component of the reference current.

[0155] The adjustment unit is used to adjust the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the reference current and the d-axis and q-axis components of the three-phase current.

[0156] In some embodiments of this application, the adjustment unit includes:

[0157] The first processing unit is used to calculate the difference between the d-axis component of the reference current and the d-axis component of the three-phase current to obtain the d-axis current deviation value; and to perform proportional-integral processing on the d-axis current deviation value to obtain the d-axis component of the target voltage.

[0158] The second processing unit is used to calculate the difference between the q-axis component of the reference current and the q-axis component of the three-phase current to obtain the q-axis current deviation value; and to perform proportional-integral processing on the q-axis current deviation value to obtain the q-axis component of the target voltage.

[0159] The third conversion unit is used to perform coordinate transformation on the d-axis component and q-axis component of the target voltage to obtain the α-axis component and β-axis component of the target voltage in the αβ coordinate system.

[0160] The modulation unit is used to perform SVM modulation on the α-axis component and β-axis component of the target voltage in the αβ coordinate system to obtain an SVM signal, and output the SVM signal to the inverter circuit so that the inverter circuit outputs the target three-phase current corresponding to the target voltage to the permanent magnet synchronous motor.

[0161] The harmonic suppression device provided in this application embodiment can perform the harmonic suppression method in the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here. It should be noted that the above... Figure 9 The division of modules shown is merely illustrative. This application does not limit the division of modules or the naming of modules.

[0162] This application also provides a motor control system, including: an inverter circuit, a permanent magnet synchronous motor, and a harmonic suppression device as described above; wherein...

[0163] The inverter circuit is used to output three-phase current to the permanent magnet synchronous motor to drive the permanent magnet synchronous motor to run;

[0164] The harmonic suppression device is used to suppress harmonics in the current output from the inverter circuit to the permanent magnet synchronous motor. The harmonic suppression system provided in this application embodiment can perform the harmonic suppression method in the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0165] This application also provides a schematic diagram of the structure of an electronic device, such as... Figure 10 As shown, the electronic device includes:

[0166] The electronic device includes a processor 291 and a memory 292; it may also include a communication interface 293 and a bus 294. The processor 291, memory 292, and communication interface 293 can communicate with each other via the bus 294. The communication interface 293 can be used for information transmission. The processor 291 can invoke logical instructions stored in the memory 292 to execute the methods of the above embodiments.

[0167] Furthermore, the logic instructions in the aforementioned memory 292 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0168] The memory 292, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this application. The processor 291 executes functional applications and data processing by running the software programs, instructions, and modules stored in the memory 292, thereby implementing the methods in the above-described method embodiments.

[0169] The memory 292 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 292 may include high-speed random access memory and may also include non-volatile memory.

[0170] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used in the methods described in the above embodiments.

[0171] This application also provides a program product including execution instructions stored in a readable storage medium. At least one control module of a display device can read the execution instructions from the readable storage medium, and the at least one control module executes the execution instructions to cause the display device to implement the handwriting erasure methods provided in the various embodiments described above.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0173] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

Claims

1. A harmonic suppression method, characterized in that, include: Real-time acquisition of the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system; Based on the d-axis and q-axis components of the three-phase current, harmonic suppression processing is performed to obtain the d-axis and q-axis components of the compensation current; wherein, the harmonic suppression processing includes: performing high-pass filtering on the d-axis and q-axis components of the three-phase current respectively to obtain the d-axis and q-axis components of the harmonic current; and inputting the d-axis and q-axis components of the harmonic current respectively into the controller to obtain the d-axis and q-axis components of the compensation current. The three-phase current output from the inverter circuit to the permanent magnet synchronous motor is adjusted based on the d-axis and q-axis components of the compensation current.

2. The method according to claim 1, characterized in that, The step of inputting the d-axis and q-axis components of the harmonic current into the controller to obtain the d-axis and q-axis components of the compensation current includes: The difference between the preset reference value and the d-axis component and q-axis component of the harmonic current is obtained by subtracting them from the preset reference value. The d-axis component and q-axis component of the compensation current are obtained by summing the product of the d-axis difference / q-axis difference of the harmonic current with the preset proportional coefficient and the product of the resonance coefficient corresponding to the preset resonance point.

3. The method according to claim 2, characterized in that, The number of preset resonant points is multiple. The summation of the product of the d-axis difference / q-axis difference of the harmonic current and a preset scaling factor, and the product of the d-axis difference / q-axis difference of the harmonic current and the resonance coefficient corresponding to the preset resonant point, yields the d-axis / q-axis components of the compensation current. This includes: The product of the d-axis difference / q-axis difference of the harmonic current and the proportional coefficient corresponding to each preset resonance point is added together to obtain the product of the d-axis difference / q-axis difference of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

4. The method according to claim 1, characterized in that, The acquisition of the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system includes: The three-phase current output from the inverter circuit to the permanent magnet synchronous motor is converted to the αβ coordinate system to obtain the α-axis component and β-axis component of the three-phase current in the αβ coordinate system. The α-axis and β-axis components of the three-phase current in the αβ coordinate system are transformed to the dq coordinate system to obtain the d-axis and q-axis components of the three-phase current in the dq coordinate system.

5. The method according to any one of claims 1-4, characterized in that, The adjustment of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the compensation current includes: The d-axis component of the predetermined current and the d-axis component of the compensation current are summed to obtain the d-axis component of the reference current; the q-axis component of the predetermined current and the q-axis component of the compensation current are summed to obtain the q-axis component of the reference current. The three-phase current output from the inverter circuit to the permanent magnet synchronous motor is adjusted based on the d-axis and q-axis components of the reference current and the d-axis and q-axis components of the three-phase current.

6. The method according to claim 5, characterized in that, The step of adjusting the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the reference current and the d-axis and q-axis components of the three-phase current includes: The difference between the d-axis component of the reference current and the d-axis component of the three-phase current is calculated to obtain the d-axis current deviation value; the difference between the q-axis component of the reference current and the q-axis component of the three-phase current is calculated to obtain the q-axis current deviation value. The d-axis current deviation value and the q-axis current deviation value are respectively processed by proportional-integral processing to obtain the d-axis component and q-axis component of the target voltage; The d-axis and q-axis components of the target voltage are transformed to obtain the α-axis and β-axis components of the target voltage in the αβ coordinate system. The target voltage is modulated using SVM based on the α-axis and β-axis components in the αβ coordinate system to obtain an SVM signal. The SVM signal is then output to the inverter circuit so that the inverter circuit outputs the target three-phase current corresponding to the target voltage to the permanent magnet synchronous motor.

7. A harmonic suppression device, characterized in that, include: The conversion module is used to acquire in real time the d-axis and q-axis components of the three-phase current output from the inverter circuit to the permanent magnet synchronous motor in the dq coordinate system; The harmonic suppression module is used to perform harmonic suppression processing based on the d-axis and q-axis components of the three-phase current to obtain the d-axis and q-axis components of the compensation current; wherein, the harmonic suppression processing includes: performing high-pass filtering processing on the d-axis and q-axis components of the three-phase current respectively through a high-pass filter to obtain the d-axis and q-axis components of the harmonic current; and calculating the d-axis and q-axis components of the compensation current based on the d-axis and q-axis components of the harmonic current through a controller; The adjustment module is used to adjust the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the compensation current.

8. The apparatus according to claim 7, characterized in that, The controller is used for: The difference between the preset reference value and the d-axis component and q-axis component of the harmonic current is obtained by subtracting them from the preset reference value. The d-axis component and q-axis component of the compensation current are obtained by summing the product of the d-axis difference / q-axis difference of the harmonic current with the preset proportional coefficient and the product of the resonance coefficient corresponding to the preset resonance point.

9. The apparatus according to claim 8, characterized in that, The number of preset resonant points is multiple, and the controller is specifically used for: The product of the d-axis difference / q-axis difference of the harmonic current and the proportional coefficient corresponding to each preset resonance point is added together to obtain the product of the d-axis difference / q-axis difference of the harmonic current and the resonance coefficient corresponding to the preset resonance point.

10. The apparatus according to claim 7, characterized in that, The conversion module includes: The first conversion unit is used to convert the three-phase current output from the inverter circuit to the permanent magnet synchronous motor into the αβ coordinate system, so as to obtain the α-axis component and β-axis component of the three-phase current in the αβ coordinate system. The second conversion unit is used to convert the α-axis and β-axis components of the three-phase current in the αβ coordinate system to the dq coordinate system, so as to obtain the d-axis and q-axis components of the three-phase current in the dq coordinate system.

11. The apparatus according to any one of claims 7-10, characterized in that, The adjustment module includes: The reference module is used to sum the d-axis component of the predetermined current and the d-axis component of the compensation current to obtain the d-axis component of the reference current; and to sum the q-axis component of the predetermined current and the q-axis component of the compensation current to obtain the q-axis component of the reference current. The adjustment unit is used to adjust the three-phase current output from the inverter circuit to the permanent magnet synchronous motor based on the d-axis and q-axis components of the reference current and the d-axis and q-axis components of the three-phase current.

12. The apparatus according to claim 11, characterized in that, The adjustment unit includes: The first processing unit is used to calculate the difference between the d-axis component of the reference current and the d-axis component of the three-phase current to obtain the d-axis current deviation value; and to perform proportional-integral processing on the d-axis current deviation value to obtain the d-axis component of the target voltage. The second processing unit is used to calculate the difference between the q-axis component of the reference current and the q-axis component of the three-phase current to obtain the q-axis current deviation value; and to perform proportional-integral processing on the q-axis current deviation value to obtain the q-axis component of the target voltage. The third conversion unit is used to perform coordinate transformation on the d-axis component and q-axis component of the target voltage to obtain the α-axis component and β-axis component of the target voltage in the αβ coordinate system. The modulation unit is used to perform SVM modulation on the α-axis component and β-axis component of the target voltage in the αβ coordinate system to obtain an SVM signal, and output the SVM signal to the inverter circuit so that the inverter circuit outputs the target three-phase current corresponding to the target voltage to the permanent magnet synchronous motor.

13. A motor control system, characterized in that, include: Inverter circuit, permanent magnet synchronous motor, and harmonic suppression device as described in any one of claims 7-12; wherein, The inverter circuit is used to output three-phase current to the permanent magnet synchronous motor to drive the permanent magnet synchronous motor to run; The harmonic suppression device is used to suppress harmonics in the current output from the inverter circuit to the permanent magnet synchronous motor.

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