A method and device for suppressing motor dead-time effect in a rotating coordinate system

Abstract

The application relates to the technical field of motor driving control, and discloses a motor dead-time effect suppression method and device in a rotating coordinate system, which comprises the following steps: obtaining d-axis current and q-axis current in a rotating coordinate system of a motor control system; filtering the d-axis current and the q-axis current in the rotating coordinate system; transforming the filtered d-axis current and the filtered q-axis current to a stationary coordinate system, and reconstructing three-phase reconstructed currents according to the transformed current components; determining the sector in which the three-phase reconstructed currents are currently located in the stationary coordinate system according to the polarity of the three-phase reconstructed currents; and outputting corresponding voltage compensation amounts according to the sector to suppress the dead-time effect in the motor control system. The application filters the current in the rotating coordinate system, makes the polarity judgment of the three-phase current near the zero point smooth and stable, ensures the accuracy of the dead-time compensation direction, and improves the starting success rate of the motor under harsh working conditions such as adverse wind starting.

Description

Technical Field

[0001] This invention relates to the field of motor drive control technology, specifically to a method and apparatus for suppressing motor dead zone effect in a rotating coordinate system. Background Technology

[0002] In permanent magnet synchronous motor and asynchronous motor drive systems, dead time must be set for the upper and lower power switches of the same bridge arm of the three-phase voltage source inverter during commutation to prevent shoot-through short circuits. However, the introduction of dead time causes the actual output voltage of the bridge arm to deviate from the pulse width modulation (PWM) command. This voltage deviation introduces low-order current harmonics during motor operation, causing torque pulsation and reduced control accuracy. Especially under harsh conditions such as high-headwind start-up without position sensor control, this deviation couples into the flux linkage observer, causing estimation errors and leading to start-up failure. To address these issues, the existing six-sector vector compensation method directly samples the polarity of the three-phase current through an analog-to-digital converter (ADC) to determine the sector and superimpose the compensation vector. However, due to high-frequency switching noise and zero-current clamping effect near the zero-crossing point of the three-phase current, frequent polarity jumps lead to sector misjudgment, resulting in incorrect compensation direction. This not only fails to eliminate dead time errors but also introduces additional disturbances, which can directly lead to system instability in severe cases. Summary of the Invention

[0003] In view of this, the present invention provides a method and apparatus for suppressing the dead zone effect of a motor in a rotating coordinate system, so as to solve the problem in the prior art that the frequent jumps in the polarity of the three-phase current at the zero crossing point lead to misjudgment of the sector and thus cause the error in the compensation direction.

[0004] In a first aspect, the present invention provides a method for suppressing dead-zone effect in a motor in a rotating coordinate system, comprising: acquiring the d-axis current and q-axis current in the rotating coordinate system of the motor control system; filtering the d-axis current and q-axis current in the rotating coordinate system; transforming the filtered d-axis current and q-axis current to a stationary coordinate system, and reconstructing the three-phase reconstructed current based on the transformed current components; determining the sector in the stationary coordinate system where the three-phase reconstructed current is currently located based on the polarity of the three-phase reconstructed current; and outputting the corresponding voltage compensation amount according to the sector to suppress the dead-zone effect in the motor control system.

[0005] The method for suppressing motor dead zone effect in a rotating coordinate system provided by this invention filters the current in the rotating coordinate system, making the polarity transition of the three-phase current near the zero-crossing point smooth and stable. This solves the problem of frequent polarity jumps caused by high-frequency switching noise and zero-current clamping effect in traditional solutions, and ensures accurate output of the dead zone compensation direction. At the same time, since the d-axis current and q-axis current in the rotating coordinate system in steady state are DC, the filtering process does not introduce amplitude attenuation and phase lag. Therefore, the reconstructed three-phase current has high sinusoidality and strong anti-interference ability, effectively suppressing low-order current harmonics introduced by the dead zone effect, reducing torque pulsation and voltage phase shift, and significantly improving the starting success rate and operating stability of the motor under harsh conditions such as high-speed headwind starting.

[0006] In one optional implementation, the process of filtering the d-axis current and q-axis current in a rotating coordinate system includes: using a Kalman filter to filter the d-axis current and q-axis current respectively; wherein the filtering gain of the Kalman filter is dynamically adjusted according to the sampling noise and the rate of change of current.

[0007] In one optional implementation, the process of transforming the filtered d-axis current and the filtered q-axis current to the stationary coordinate system and reconstructing the three-phase reconstructed current based on the transformed current components includes: performing an inverse Park transformation on the filtered d-axis current and the filtered q-axis current to obtain the α-axis current component and the β-axis current component in the stationary coordinate system; and performing an inverse Clark transformation on the α-axis current component and the β-axis current component to reconstruct the three-phase reconstructed current.

[0008] In one optional implementation, the process of determining the sector in the stationary coordinate system where the three-phase reconfigured current is currently located based on the polarity of the three-phase reconfigured current includes: obtaining the positive and negative polarities of each phase in the three-phase reconfigured current; matching the positive and negative combinations of the three phases with six preset effective polarity combinations; and determining the current sector based on the matching results; wherein the six effective polarity combinations correspond to six sectors in the stationary coordinate system.

[0009] In one optional implementation, the process of outputting the corresponding voltage compensation amount according to the sector includes: outputting a preset α-axis compensation voltage and β-axis compensation voltage corresponding to the sector in a stationary coordinate system according to the sector.

[0010] In an optional implementation, the method further includes: transforming the α-axis compensation voltage and β-axis compensation voltage to a rotating coordinate system via Park transformation to obtain the d-axis compensation voltage and q-axis compensation voltage.

[0011] In one alternative implementation, the method further includes inputting the d-axis compensation voltage and the q-axis compensation voltage to the flux linkage observation module of the motor control system to reduce harmonic pulsations in flux linkage estimation.

[0012] Secondly, the present invention provides a motor dead-zone effect suppression device in a rotating coordinate system, comprising: an acquisition module for acquiring the d-axis current and q-axis current in the rotating coordinate system of the motor control system; a filtering module for filtering the d-axis current and q-axis current in the rotating coordinate system; a reconstruction module for transforming the filtered d-axis current and q-axis current to a stationary coordinate system, and reconstructing the three-phase reconstructed current based on the transformed current components; a sector determination module for determining the sector in the stationary coordinate system where the three-phase reconstructed current is currently located based on the polarity of the three-phase reconstructed current; and a compensation output module for outputting a corresponding voltage compensation amount based on the sector to suppress the dead-zone effect in the motor control system.

[0013] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating the even-order harmonic compensation method for an electricity meter according to an embodiment of the present invention. Figure 2 This is a detailed flowchart of the even-order harmonic compensation method for electricity meters according to an embodiment of the present invention; Figure 3 This is a structural block diagram of an even-order harmonic compensation device for an electricity meter according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0019] This embodiment provides a method for suppressing the dead-time effect of a motor in a rotating coordinate system, such as... Figure 1 As shown, it includes: Step S1: Obtain the d-axis current and q-axis current in the rotating coordinate system of the motor control system.

[0020] Specifically, the d-axis current and q-axis current are current feedback values ​​in a rotating coordinate system obtained by the motor control system after Clark and Park transformations. The d-axis current reflects the excitation component of the motor, and the q-axis current reflects the torque component. During motor operation, the three-phase current is sampled by current sensors, and then the d-axis and q-axis currents are obtained through coordinate transformation, providing input data for subsequent filtering and dead-time compensation.

[0021] Step S2: Filter the d-axis current and q-axis current in the rotating coordinate system.

[0022] Specifically, since the d-axis and q-axis currents are DC components in steady state, filtering them in a rotating coordinate system effectively removes high-frequency switching noise and sampling interference superimposed on the DC component, without introducing amplitude attenuation or phase lag. In contrast, filtering a sinusoidal AC current in a stationary coordinate system inevitably introduces phase delay and amplitude changes, requiring additional phase compensation. Therefore, filtering in a rotating coordinate system ensures the purity of the current signal while avoiding the control accuracy loss associated with traditional filtering methods.

[0023] The process of filtering the d-axis current and q-axis current in the rotating coordinate system includes: using a Kalman filter to filter the d-axis current and q-axis current respectively; wherein the filtering gain of the Kalman filter is dynamically adjusted according to the sampling noise and the rate of change of current.

[0024] Specifically, Kalman filtering is a dynamic weighted filtering algorithm. Its core idea is that the optimal estimate equals the predicted value plus the Kalman gain multiplied by the difference between the sampled value and the predicted value, i.e., optimal estimate = predicted value + K(k) × (sampled value - predicted value). In this embodiment, the filtering gain K(k) of the Kalman filter is dynamically calculated based on the current operating conditions. When the ADC sampling noise is large, K(k) automatically decreases, and the system trusts the historical predicted value more, achieving strong filtering to suppress noise. When the actual motor current changes drastically, K(k) automatically increases, and the system trusts the new sampled value more, achieving rapid tracking of the real current change. Since K(k) is dynamically updated with each frame of sampling data, the Kalman filter can effectively filter out high-frequency switching noise and sampling interference in the dq-axis sampled current, and maintain a fast response speed under dynamic motor operating conditions, ensuring that the filtered current is both smooth and stable and truly reflects the current change trend. Through the above dynamic filtering mechanism, the problem of traditional fixed-coefficient filters being unable to balance noise suppression and fast response can be avoided, providing accurate and reliable d-axis and q-axis current inputs for subsequent three-phase current reconstruction.

[0025] Step S3: Transform the filtered d-axis current and filtered q-axis current to the stationary coordinate system, and reconstruct the three-phase reconstructed current based on the transformed current components.

[0026] Specifically, the filtered d-axis and q-axis currents are transformed to a stationary coordinate system via an inverse Park transform to obtain the α-axis and β-axis current components, which are then reconstructed using an inverse Clark transform to obtain the three-phase currents. Since the filtering is performed in a rotating coordinate system, the reconstructed three-phase currents have a smooth transition near the zero-crossing point, avoiding frequent polarity jumps caused by high-frequency noise, thus providing an accurate and reliable basis for subsequent sector determination of the current polarity.

[0027] The process of transforming the filtered d-axis current and filtered q-axis current to a stationary coordinate system, and reconstructing the three-phase reconstructed current based on the transformed current components, includes: Step S31: After performing an inverse Park transformation on the filtered d-axis current and the filtered q-axis current, the α-axis current component and β-axis current component in the stationary coordinate system are obtained.

[0028] Specifically, the inverse Park transformation is a mathematical transformation that converts variables in a rotating coordinate system to a stationary coordinate system. Its transformation formula is as follows: iα=id·cosθ-iq·sinθ (1) iβ=iq·sinθ+iq·cosθ(2) Where θ is the current rotor electrical angle, id is the filtered d-axis current, iq is the filtered q-axis current, iα is the α-axis current component in the stationary coordinate system, and iβ is the β-axis current component in the stationary coordinate system. This transformation achieves the inverse conversion from the rotating coordinate system to the stationary coordinate system, converting the filtered DC current signal back into a sinusoidal AC signal containing rotor position information, providing α-axis and β-axis components for subsequent three-phase current reconstruction. Since the input d-axis and q-axis currents from the inverse Park transform have already been filtered, the resulting α-axis and β-axis current components are also smooth and stable, free from high-frequency noise interference.

[0029] Step S32: After performing Clark inverse transform on the α-axis current component and the β-axis current component, the three-phase reconstructed current is obtained.

[0030] Specifically, the Clark inverse transformation is a mathematical transformation that converts variables in a two-phase stationary coordinate system into variables in a three-phase stationary coordinate system. Its transformation formula is as follows: ia=iα(3) ib=( ·iβ-iα) / 2(4) ic=(- ·iβ-iα) / 2(5) The three-phase currents A, B, and C are ia, ib, and ic, respectively. The three-phase currents ia, ib, and ic can be reconstructed by performing an inverse Clark transform on the α-axis and β-axis current components obtained in step S31. Since the inputs to the inverse Clark transform—the α-axis and β-axis current components—are obtained from the filtered d-axis and q-axis currents through an inverse Park transform, the reconstructed three-phase currents have a smooth transition near the zero-crossing point, without frequent polarity jumps caused by high-frequency switching noise, ensuring the accuracy and reliability of subsequent sector determination.

[0031] Step S4: Determine the sector where the three-phase reconfiguration current is currently located in the stationary coordinate system based on the polarity of the three-phase reconfiguration current.

[0032] Specifically, during normal operation, the sum of the instantaneous values ​​of the three-phase currents is zero, and there are only six valid combinations of the positive and negative polarities of the three-phase currents, corresponding to six sectors in the stationary coordinate system. By obtaining the positive and negative polarities of each phase of the reconstructed three-phase current and matching them with the six preset valid polarity combinations, the sector in which the current current vector resides can be determined. Because the polarity of the reconstructed three-phase current is stable and reliable, the sector determination result is accurate, effectively avoiding the problem of misjudging sectors near the current zero-crossing point in traditional schemes.

[0033] The process of determining the sector of the three-phase reconfiguration current in the stationary coordinate system based on the polarity of the three-phase reconfiguration current includes: Step S41: Obtain the positive and negative polarities of each phase in the three-phase reconfiguration current.

[0034] Specifically, in the current sampling architecture of sensorless field-oriented control (FOC), the hardware can often only sample the total current of a single bus and cannot directly and simultaneously acquire the independent phase currents of the three-phase stator. Therefore, it is necessary to rely on the voltage vector action timing to complete the three-phase reconstructed current calculation and restore the instantaneous values ​​of the three-phase stator currents ia, ib, and ic. The reconstructed three-phase currents are then individually determined by sign: whether ia, ib, and ic are greater than 0. Each phase current is quantized into a binary polarity identifier of positive (greater than 0) / negative (less than or equal to 0), stripping away the current amplitude and retaining only the polarity characteristics of the three-phase currents, providing the most basic basis for subsequent sector matching.

[0035] Step S42: Match the three phases with the six preset effective polarity combinations based on their polarity positive and negative combinations.

[0036] Specifically, refer to Figure 2 Each of the three-phase currents has both positive and negative polarities, theoretically generating eight possible polarity combinations. However, considering the Kirchhoff current constraint condition that the three-phase stator currents satisfy ia + ib + ic = 0, two invalid combinations without physical meaning are eliminated. Ultimately, only six effective polarity combinations with practical operating conditions remain. Figure 2 The system uses a matching benchmark library for the three-phase current polarity judgment in six sectors. It takes the Boolean combination of the three polarities ia≥0, ib≥0, and ic≥0 extracted in the previous step and compares them one by one against the six preset sector judgment conditions: Sector 1 corresponds to ia≥0, ib≤0, ic≤0; Sector 2 corresponds to ia≥0, ib≥0, ic≤0; Sector 3 corresponds to ia≤0, ib≥0, ic≤0; Sector 4 corresponds to ia≤0, ib≥0, ic≥0; Sector 5 corresponds to ia≤0, ib≤0, ic≥0; the remaining polarities are uniformly assigned to sector 6, completing the precise matching and binding of the current polarity configuration with the six sector judgment logics.

[0037] Step S43: Determine the current sector based on the matching results; where the six valid polarity combinations correspond to the six sectors in the stationary coordinate system.

[0038] Specifically, Figure 2 In the process, once the polarity combination matches the corresponding sector number, the program directly retrieves the predefined fixed values ​​of the compensation voltages uα and uβ in the stationary α-β coordinate system for that sector. (1) When matching to sector 1, assign the value uα= DZ, uβ=0.

[0039] (2) When matching to sector 2, assign the value uα= DZ_HALF、uβ= DZ_SQRT3_DIV2.

[0040] (3) When matching to sector 3, assign values ​​uα=+DZ_HALF and uβ= DZ_SQRT3_DIV2.

[0041] (4) When matching to sector 4, assign the values ​​uα=+DZ and uβ=0.

[0042] (5) When matching to sector 5, assign the values ​​uα=+DZ_HALF and uβ=+DZ_SQRT3_DIV2.

[0043] (6) The remaining polarity cases are assigned to sector 6 and assigned the value uα= DZ_HALF,uβ=+DZ_SQRT3_DIV2.

[0044] Wherein, DZ is the basic compensation voltage reference amplitude of the current error compensation algorithm of this sector, DZ_HALF represents half of the reference value DZ, and DZ_SQRT3_DIV2 is DZ multiplied by the square root of 3 and then divided by 2. These two are the standard component coefficients after the orthogonal decomposition of the 60° space vector in the two-phase stationary αβ coordinate system. After the system divides the three-phase reconstructed current into six sectors, it selects the above constants with positive and negative signs to assign α-axis and β-axis compensation voltages according to the corresponding sectors. Finally, the output is sent to the FOC control loop to complete the voltage feedforward compensation, thereby correcting the zero-point offset and detection deviation generated during the single-resistor current sampling and reconstruction process.

[0045] Step S5: Based on the voltage compensation amount corresponding to the sector output, suppress the dead zone effect in the motor control system.

[0046] Specifically, the voltage deviation vector caused by the dead zone effect is in the same direction as the current vector, but the direction of the voltage deviation caused by the dead zone differs in different sectors. Based on the determined current sector, a voltage compensation amount corresponding to that sector is output. The direction of this compensation amount is opposite to the direction of the voltage deviation caused by the dead zone, and the magnitude is equal. When superimposed on the voltage command, it can effectively cancel the voltage error caused by the dead zone effect, thereby suppressing current harmonics, torque pulsation, and voltage phase shift caused by the dead zone, and improving the control performance of the motor.

[0047] The process of outputting the corresponding voltage compensation amount according to the sector includes: outputting the preset α-axis compensation voltage and β-axis compensation voltage corresponding to the sector in the stationary coordinate system according to the sector.

[0048] Specifically, the voltage deviation vector caused by the dead-time effect is in the same direction as the current vector. The current direction differs in different sectors, and therefore the voltage deviation direction caused by the dead-time effect also varies. Based on the current sector determined in step S4, preset α-axis compensation voltage and β-axis compensation voltage corresponding to that sector are output in the stationary coordinate system. Each sector corresponds to a set of preset α-axis voltage compensation values ​​and β-axis voltage compensation values. The directions of these compensation values ​​are opposite to the voltage deviation direction caused by the dead-time effect, and their amplitudes are equal. Superimposing the compensation amount onto the voltage command can accurately offset the voltage error caused by the dead-time effect, thereby suppressing current harmonics and torque ripple introduced by the dead-time effect, and improving the control accuracy and operational stability of the motor.

[0049] The dead-zone effect suppression method for motors in a rotating coordinate system provided in this embodiment filters the current in the rotating coordinate system, making the polarity transition near the zero-crossing point of the three-phase current smooth and stable. This solves the problem of frequent polarity jumps caused by high-frequency switching noise and zero-current clamping effect in traditional solutions, ensuring accurate output of the dead-zone compensation direction. At the same time, since the d-axis current and q-axis current in the rotating coordinate system in steady state are DC, the filtering process does not introduce amplitude attenuation and phase lag. Therefore, the reconstructed three-phase current has high sinusoidal strength and strong anti-interference ability, effectively suppressing low-order current harmonics introduced by the dead-zone effect, reducing torque pulsation and voltage phase shift, and significantly improving the starting success rate and operating stability of the motor under harsh conditions such as high-speed headwind starting.

[0050] In an optional implementation, the method further includes: transforming the α-axis compensation voltage and β-axis compensation voltage to a rotating coordinate system via Park transformation to obtain the d-axis compensation voltage and q-axis compensation voltage.

[0051] Specifically, the Park transformation is a mathematical transformation that converts variables in a stationary coordinate system to a rotating coordinate system. Its transformation formula is as follows: ud=uα·cosθ+uβ·sinθ (6) uq=-uα·sinθ+uβ·cosθ (7) Where θ is the current rotor electrical angle. The α-axis compensation voltage and β-axis compensation voltage output in step S5 are transformed to the rotating coordinate system using Park transformation to obtain the d-axis compensation voltage and q-axis compensation voltage. After the compensation values ​​are transformed to the rotating coordinate system, they can be directly superimposed on the d-axis voltage command and q-axis voltage command in the FOC control loop without additional processing at the end of the control loop, facilitating integration with existing FOC control architectures and adapting to different control requirements.

[0052] In one alternative implementation, the method further includes inputting the d-axis compensation voltage and the q-axis compensation voltage to the flux linkage observation module of the motor control system to reduce harmonic pulsations in flux linkage estimation.

[0053] Specifically, the flux linkage observation module is a software functional module in the motor control system. It is used to estimate the motor flux linkage, rotor position, and speed based on voltage commands and current, and is the core algorithm unit for achieving sensorless control. The core equation of the flux linkage observer is: ψ=∫(u R·i)dt(8) That is, the flux linkage estimate ψ is equal to the voltage command u minus the product of resistance R and current i (i.e., the voltage drop across the resistance) integrated over time t. Where u R·i represents the back electromotive force (EMF) of the motor. Integrating the back EMF yields the flux linkage. The voltage error Δu caused by the dead-time effect is directly superimposed on the voltage command u and participates in the flux linkage integration calculation, leading to a deviation in the flux linkage estimation. Due to the dead-time effect, there is a deviation between the actual output voltage and the expected voltage. This voltage error Δu, when not compensated, will directly participate in the flux linkage integration calculation. The dead-time voltage error is square-wave shaped, changing direction with the switching of current polarity, and contains a large number of low-order harmonics such as the 5th, 7th, 11th, and 13th harmonics. After integration, these harmonics will cause periodic pulsations at 6th and 12th harmonic frequencies in the flux linkage estimation.

[0054] In this embodiment, the d-axis compensation voltage and q-axis compensation voltage are input to the flux linkage observation module and superimposed on the voltage command of the flux linkage observation module to participate in the flux linkage integration calculation. This compensates for the voltage error Δu introduced by the dead-zone effect, making the input voltage of the flux linkage observation module more accurate. This brings the following beneficial effects: (1) Improved circularity of flux linkage trajectory. Without compensation, dead zone voltage harmonics cause 6th harmonic distortion in the flux linkage trajectory, and the trajectory is an approximately circular shape with "bristles". After compensation, the flux linkage trajectory is closer to the ideal circle and the "bristles" are greatly reduced.

[0055] (2) Reduced speed estimation pulsation. The flux observation device calculates the speed from the flux phase difference, i.e., ω=dθψ / dt. Flux pulsation causes periodic fluctuations in the phase difference calculation, resulting in 6th and 12th harmonic pulsations in speed estimation; after compensation, the flux phase is smoother, and the amplitude of speed estimation pulsation can be reduced by 50%~70%.

[0056] (3) Improved position estimation accuracy. The flux linkage angle θψ = arctan(ψβ / ψα). Flux linkage pulsation causes periodic errors in angle estimation, especially at low speeds where the angle error can reach 5~10 electrical angles; after compensation, the angle estimation error can be reduced to 1~2 electrical angles, the low-speed steady-state position estimation error is reduced, and the commutation torque pulsation is reduced.

[0057] (4) Improved reliability of headwind start-up. During headwind start-up, the rotor transitions from negative speed to zero speed and then to positive speed. The flux linkage observer needs to accurately track the entire transition process. Without compensation, the current harmonics are severe in the low-speed stage, and the flux linkage estimation pulsation is large. The observer is prone to losing tracking when the speed crosses zero, resulting in start-up failure. After compensation, the flux linkage estimation is smoother at low speed, and the observer can stably track the moment when the speed is zero. The transition to zero speed is smooth and there will be no estimation jump. The switching from negative speed to positive speed is more reliable, and the start-up success rate can be increased from 70%~80% to over 95%.

[0058] This embodiment also provides a motor dead-zone effect suppression device in a rotating coordinate system. This device is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0059] This embodiment provides a device for suppressing the dead-time effect of a motor in a rotating coordinate system, such as... Figure 3 As shown, it includes: The acquisition module 301 is used to acquire the d-axis current and q-axis current in the rotating coordinate system of the motor control system.

[0060] The filtering module 302 is used to filter the d-axis current and q-axis current in a rotating coordinate system.

[0061] The reconstruction module 303 is used to transform the filtered d-axis current and the filtered q-axis current to the stationary coordinate system, and to reconstruct the three-phase reconstructed current based on the transformed current components.

[0062] The sector determination module 304 is used to determine the sector in the stationary coordinate system where the three-phase reconfiguration current is located based on the polarity of the three-phase reconfiguration current.

[0063] The compensation output module 305 is used to output the corresponding voltage compensation amount according to the sector to suppress the dead zone effect in the motor control system.

[0064] The even-order harmonic compensation device for electricity meters provided in this embodiment of the invention can execute the method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the various modules and units described above are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0065] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0066] The following is a detailed reference. Figure 4The diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 001, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 002 or a program loaded from memory 008 into random access memory (RAM) 003. The RAM 003 also stores various programs and data required for the operation of the electronic device. The processor 001, ROM 002, and RAM 003 are interconnected via bus 004. An input / output (I / O) interface 005 is also connected to bus 004.

[0067] Typically, the following devices can be connected to I / O interface 005: input devices 006 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 007 including, for example, liquid crystal displays (RCDs), speakers, vibrators, etc.; memory devices 008 including, for example, magnetic tapes, hard disks, etc.; and communication devices 009. Communication device 009 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0068] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 009, or installed from memory 008, or installed from ROM 002. When the computer program is executed by processor 001, it performs the functions defined in the methods of the embodiments of the present invention.

[0069] Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0070] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0071] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0072] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for suppressing the dead-zone effect of a motor in a rotating coordinate system, characterized in that, include: Obtain the d-axis current and q-axis current in the rotating coordinate system of the motor control system; The d-axis current and q-axis current are filtered in a rotating coordinate system; The filtered d-axis current and filtered q-axis current are transformed to the stationary coordinate system, and the three-phase reconstructed current is obtained based on the transformed current components. Based on the polarity of the three-phase reconfiguration current, determine the sector where the three-phase reconfiguration current is currently located in the stationary coordinate system; The dead zone effect in the motor control system is suppressed by the voltage compensation amount corresponding to the sector output.

2. The method according to claim 1, characterized in that, The process of filtering the d-axis current and q-axis current in a rotating coordinate system includes: The d-axis current and q-axis current are filtered using a Kalman filter, and the filtering gain of the Kalman filter is dynamically adjusted according to the sampling noise and the rate of change of current.

3. The method according to claim 1, characterized in that, The process of transforming the filtered d-axis current and filtered q-axis current to a stationary coordinate system, and reconstructing the three-phase reconstructed current based on the transformed current components, includes: After performing an inverse Park transformation on the filtered d-axis current and the filtered q-axis current, the α-axis current component and the β-axis current component in the stationary coordinate system are obtained. After performing Clark inverse transform on the α-axis current component and the β-axis current component, the three-phase reconstructed current is obtained.

4. The method according to claim 1, characterized in that, The process of determining the sector in the stationary coordinate system where the three-phase reconfigured current is currently located based on its polarity includes: Obtain the positive and negative polarities of each phase in the three-phase reconstructed current; Based on the polarity combination of the three phases, it is matched with six preset effective polarity combinations; Based on the matching results, the current sector is determined; wherein, the six effective polarity combinations correspond to the six sectors in the stationary coordinate system.

5. The method according to claim 1, characterized in that, The process of outputting the corresponding voltage compensation amount according to the sector includes: Based on the sector, output the preset α-axis compensation voltage and β-axis compensation voltage corresponding to the sector in the stationary coordinate system.

6. The method according to claim 5, characterized in that, Also includes: The α-axis compensation voltage and β-axis compensation voltage are transformed to a rotating coordinate system using the Park transformation to obtain the d-axis compensation voltage and q-axis compensation voltage.

7. The method according to claim 6, characterized in that, Also includes: The d-axis compensation voltage and the q-axis compensation voltage are input to the flux linkage observation module of the motor control system to reduce harmonic pulsation in flux linkage estimation.

8. A device for suppressing the dead-zone effect of a motor in a rotating coordinate system, characterized in that, include: The acquisition module is used to acquire the d-axis current and q-axis current in the rotating coordinate system of the motor control system; A filtering module is used to filter the d-axis current and q-axis current in a rotating coordinate system; The reconstruction module is used to transform the filtered d-axis current and the filtered q-axis current to the stationary coordinate system, and to reconstruct the three-phase reconstructed current based on the transformed current components. The sector determination module is used to determine the sector in the stationary coordinate system where the three-phase reconstructed current is currently located based on the polarity of the three-phase reconstructed current. The compensation output module is used to output the corresponding voltage compensation amount according to the sector in order to suppress the dead zone effect in the motor control system.

9. An electronic device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 7.

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