Method and system for simultaneously achieving current sampling gain and delay compensation - Patents.com

Abstract

The present invention provides a method and system for simultaneously achieving current sampling gain and delay compensation. [Solution] The present invention forms a pseudo load by connecting three-phase inductance in star shape instead of the motor load, and generates a virtual rotation angle by software. In calibration mode, a standard current sampling element is used to perform current sampling, and the relevant calibration parameters in the stable state are stored. Then, in regulation control mode, another current sampling element that is offline in large quantities is used to perform current sampling, and the delay compensation coefficient and gain compensation coefficient of the sampling current are respectively generated by two voltage closed-loop feedbacks, and the two compensation processes are decoupled and do not affect each other. The present invention effectively ensures the accuracy and consistency of current sampling.

Description

[Technical Field]

[0001] The present invention relates to a compensation method and system for a three-phase current sensor, in particular to a method and system for simultaneously realizing current sampling gain and delay compensation, which can obtain current regulation gain parameters of a three-phase current sensor. [Background technology]

[0002] Compared with other motors, permanent magnet synchronous motors have relatively high advantages in terms of reliability, power density, efficiency cost, etc., and with the continuous and repeated updates of power electronics technology, they have already become one of the important components of electric vehicles. Vector control is one of the control methods commonly used for permanent magnet synchronous motors, and its main gist is to decouple the AC current in the three-phase stationary coordinate system through coordinate transformation and decompose it into the Q-axis current and the D-axis current in the two-phase rotating coordinate system, and then control these AC and D-axis components respectively, and in cooperation with the inverter, the permanent magnet synchronous motor can be controlled equivalent to a DC motor, resulting in better dynamic performance.

[0003] Because the control algorithm is implemented in a discrete digital system, the A / D conversion process, hardware filtering process, and current sensor signal conversion process are unavoidable. Therefore, the sampled current has a certain phase delay compared to the actual current, further affecting the actual accuracy of the sampled current. Furthermore, the three-phase current sensors assembled into mass-produced electric drive integrated controllers have a certain gain deviation during use, which requires fine-tuning to reduce the impact on sampling accuracy during actual operation. Current sampling accuracy directly affects the stability, control accuracy, and efficiency of permanent magnet synchronous motors, further affecting their performance range at high rotational speeds. Therefore, the sampling delay and gain of the three-phase current sensors must be compensated for during the mass offline process of the electric drive integrated controller. In the prior art, the following method is generally used:

[0004] The first is to fine-tune the current sampling gain, typically by sending a current command of a specified amplitude to the motor, detecting and comparing the amplitude of the actual feedback current command, and then fine-tuning the actual sampling gain.

[0005] Second, current sampling delay compensation is performed using high frequency injection techniques.

[0006] The load is a permanent magnet synchronous motor, and a typical closed-loop current loop is used as the basic control architecture. A high-frequency voltage signal is injected into the d-axis to obtain the high-frequency current signal formula. The delay time of the phase current sampling process is comprehensively considered to correct the high-frequency current sampling signal formula, and the phase delay of the current sampling is extracted using a phase-locked loop. The control structure is shown in Figure 1.

[0007] A literature search revealed that, except for the high-frequency injection method, most other current sampling delay compensation policies all require the permanent magnet synchronous motor load to be directly mounted for calibration experiments, which incurs relatively high power, time, bench loss, and space costs in the massive offline process of the electric drive integrated controller. Summary of the Invention [Problem to be solved by the invention]

[0008] The objective of the present invention is to provide a method and system for simultaneously achieving current sampling delay and gain compensation. The present invention creates a pseudo load by connecting three-phase inductances in a star configuration instead of a motor load, and generates a virtual rotation angle through software. In calibration mode, a standard current sampling element is used to perform current sampling and store the associated calibration parameters in a stable state. Then, in regulation control mode, another three-phase current sensor that is largely offline is used to perform current sampling, and two voltage closed-loop feedback circuits are used to generate delay compensation coefficients and gain compensation coefficients for the sampled current, respectively. The two compensation processes are decoupled and do not affect each other. The present invention effectively ensures the accuracy and consistency of current sampling. [Means for solving the problem]

[0009] The technical solutions used in the present invention are specifically as follows:

[0010] 1. A method for simultaneously achieving current sampling gain and delay compensation, comprising sequentially performing a calibration mode and a regulation control mode, wherein in the calibration mode: Calculate and generate a reference AC / DC axis current and three-phase drive voltage in a synchronous rotating coordinate system based on a virtual angle of a predetermined frequency and an amplitude and angle of a predetermined current command. Specifically, obtain the virtual angle of a predetermined frequency and the amplitude and angle of a predetermined current command to calculate and generate a reference AC / DC axis current in a synchronous rotating coordinate system. Detect the deviation between the reference AC / DC axis current and a feedback AC / DC axis current signal to output a d-axis control voltage and a q-axis control voltage, respectively, and generate a three-phase drive voltage in combination with the virtual angle. The three-phase driving voltage drives the pseudo load module to generate three-phase current, and the three-phase current sensor samples and detects the three-phase current generated by the pseudo load module in real time. The three-phase current is mathematically converted into the virtual angle, and a feedback AC / DC axis current signal in the synchronous rotating coordinate system is generated and output to form a feedback for real-time adjustment. After reaching a stable state, the d-axis control voltage V is output. d and q-axis control voltage vq Detects the d-axis control voltage v in the stable state d is extracted as the calibrated d-axis voltage, and the amplitude of the calibrated voltage is calculated. The dummy load module consists of three-phase symmetrical inductors connected in a star configuration, In the adjustment control mode, a reference AC / DC axis current and a three-phase drive voltage are calculated and generated in a synchronous rotating coordinate system based on an actual virtual angle and an amplitude and angle of an actual current command. Specifically, the actual virtual angle and an amplitude and angle of an actual current command are obtained to calculate and generate a reference AC / DC axis current in a synchronous rotating coordinate system. A deviation between the reference AC / DC axis current and a feedback AC / DC axis current signal is detected, and a d-axis control voltage and a q-axis control voltage are respectively output, and a three-phase drive voltage is generated in combination with the virtual angle. A three-phase driving voltage drives a pseudo load module to generate a three-phase current, and a compensated three-phase current sensor samples and detects the three-phase current generated by the pseudo load module in real time, and mathematically converts the three-phase current and the virtual angle, and outputs a feedback AC / DC axis current signal in a synchronous rotating coordinate system to form a feedback and perform real-time adjustment; After reaching a steady state, the current regulation gain parameter K comp and sampling delay compensation angle θ comp to complete the current sampling gain and delay compensation of the three-phase current sensor to be compensated.

[0011] Actual virtual angle θ eadj , the amplitude of the actual current command I sadj is obtained by real-time feedback compensation using the methods of the following Equations 4 and 5:

number

number

[0012] Furthermore, the amplitude u of the calibration voltage scali The calculation method is shown in the following Equation 3:

number

[0013] Furthermore, K comp The calculation method is shown in the following Equation 6:

number

[0014] A system for simultaneously realizing current sampling gain and delay compensation, for realizing a method for simultaneously realizing the current sampling gain and delay compensation, a current command generating module for calculating and generating a reference AC / DC axis current in a synchronous rotating coordinate system based on the amplitude and angle of a predetermined current command; a virtual angle generation module for generating a virtual angle of a predetermined frequency; a pseudo load module including three-phase symmetrical inductors connected in a star configuration, the three-phase symmetrical inductors being driven by three-phase driving voltages to generate three-phase currents; a current detection module including a three-phase current sensor for detecting the three-phase current generated by the dummy load module; a three-phase drive voltage generating module for generating a three-phase drive voltage; In regulation control mode, the current regulation gain parameter Kcomp and sampling delay compensation angle θ comp and a sampling delay and gain compensation module for storing the current sampling gain and delay compensation of the three-phase current sensors waiting for current compensation.

[0015] The apparatus further includes a parameter storage module for storing the amplitude of the calibration voltage and the calibration d-axis voltage.

[0016] Furthermore, the current detection module further includes a Clark-Park converter for mathematically converting the three-phase current and the virtual angle generated by the virtual angle generation module to output a feedback AC / DC axis current signal in a synchronous rotating coordinate system.

[0017] Furthermore, the three-phase drive voltage generation module includes a voltage control module for detecting a deviation between the reference AC / DC axis current signal and the feedback AC / DC axis current signal generated by the current command generation module, and outputting a d-axis control voltage and a q-axis control voltage, respectively; The inverter drive module receives the d-axis control voltage and q-axis control voltage output from the voltage control module and the virtual angle output from the virtual angle generation module, and generates a three-phase drive voltage.

[0018] Furthermore, the voltage control module controls the q-axis reference current i generated by the current command generation module. qref and the q-axis feedback current i output from the current detection module q and detects the deviation between the q-axis voltage and the q-axis control voltage v q and the d-axis reference current i generated by the current command generation module. dref and the d-axis feedback current i output from the current detection module d and detects the deviation between the d-axis and the d-axis control voltage V d and a d-axis voltage controller for outputting:

[0019] Furthermore, the inverter driving module is composed of an inverse Park converter, an SVPWM modulator and an inverter; The inverse Park converter converts the d-axis control voltage v output from the voltage control module. d , q-axis control voltage v q and the virtual angle θ output from the virtual angle generation module e and perform the inverse Park mathematical transformation to obtain the voltage v in the two-phase stationary coordinate system. α , v β and The SVPWM modulator regulates the voltage v in the two-phase stationary reference frame. α , v β and performing space vector pulse width modulation to generate a pulse wave; The inverter is for generating a three-phase driving voltage based on a pulse wave.

[0020] Additionally, in calibration mode, the three-phase current sensor uses standard current sampling elements.

[0021] Furthermore, the sampling delay and gain compensation module includes a voltage detection and calculation device for detecting in real time the d-axis control voltage and the q-axis control voltage output from the voltage control module, a current amplitude regulator for obtaining current command amplitude compensation based on the deviation between the amplitude of the calibrated voltage stored in the parameter storage module in the calibration mode and the voltage amplitude calculated in real time by the voltage detection and calculation device, and a delay compensation regulator for obtaining virtual angle compensation based on the deviation between the calibrated d-axis voltage stored in the parameter storage module in the calibration mode and the d-axis voltage detected in real time by the voltage detection and calculation device.

[0022] Furthermore, in the calibration mode, the output channels to the outside of the current amplitude regulator and the delay compensation regulator in the sampling delay and gain compensation module are cut off. [Effects of the Invention]

[0023] The beneficial effects of the present invention are as follows: The present invention forms a dummy load by connecting three-phase inductances in a star configuration, generates a virtual rotation angle through software, and improves on the traditional current loop control architecture to achieve current sampling compensation. Since the inductive load does not generate active power, power costs are significantly reduced; the load volume is small, saving space costs; the dynamic response is faster, saving time costs; and the motor load is not directly pulled, reducing bench losses. At the same time, compared to the above-described methods, the present method not only considers the sampling delay factor in the current sampling process, but also the impact of sampling gain deviation on sampling accuracy, and uses a dual closed-loop adjustment method to simultaneously obtain the gain compensation coefficient and the delay compensation coefficient. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 1 is a control structure diagram of current sampling delay compensation in the prior art. [Figure 2] FIG. 2 is a control structure diagram for simultaneously implementing the current sampling delay and gain compensation method according to the present invention. [Figure 3] FIG. 3 is a diagram showing a current command in a synchronous rotating coordinate system according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0025] The present invention will be described in more detail below by way of specific examples with reference to the drawings.

[0026] The method for simultaneously realizing current sampling gain and delay compensation according to the present invention includes a calibration mode and an adjustment control mode that are executed sequentially, and the calibration mode is specifically: The virtual angle of a predetermined frequency, the amplitude and angle of a predetermined current command are obtained to calculate and generate a reference AC / DC axis current in a synchronous rotating coordinate system; the deviation between the reference AC / DC axis current and the feedback AC / DC axis current signal is detected to output a d-axis control voltage and a q-axis control voltage, which are combined with the virtual angle to generate a three-phase driving voltage; the three-phase driving voltage drives a pseudo load module to generate a three-phase current; the three-phase current sensor samples and detects the three-phase current generated by the pseudo load module in real time, and mathematically converts the three-phase current and the virtual angle; and outputs a feedback AC / DC axis current signal in a synchronous rotating coordinate system to form a feedback and perform real-time adjustment; and after reaching a stable state, the d-axis control voltage v is output. d and q-axis control voltage v q Detects the d-axis control voltage v in the stable state d is extracted as the calibrated d-axis voltage and the amplitude of the calibrated voltage is calculated.

[0027] The dummy load module consists of three-phase symmetrical inductors connected in a star configuration, Specifically, the adjustment control mode obtains the actual virtual angle, the amplitude and angle of the actual current command, and calculates and generates a reference AC / DC axis current in the synchronous rotating coordinate system, and the actual virtual angle θ eadj and the amplitude of the actual current command I sadj is obtained by feedback compensation in real time, and the compensated current value I scomp is obtained based on the deviation between the amplitude of the calibration voltage obtained in the calibration mode and the voltage amplitude calculated in real time by the voltage detection and calculation device, and the virtual angle θ to be compensated comp is obtained based on the deviation between the calibrated d-axis voltage obtained in the calibration mode and the d-axis voltage detected in real time by the voltage detection and calculation device.

[0028] Furthermore, the deviation between the reference AC / DC axis current and the feedback AC / DC axis current signal is detected, and a d-axis control voltage and a q-axis control voltage are respectively output, and are combined with the virtual angle to generate a three-phase driving voltage. The three-phase driving voltage drives the pseudo load module to generate a three-phase current. The three-phase current sensor samples and detects the three-phase current generated by the pseudo load module in real time, and mathematically converts the three-phase current and the virtual angle. The feedback AC / DC axis current signal in the synchronous rotating coordinate system is output to form a feedback for real-time adjustment. After reaching a steady state, the current regulation gain parameter K comp and sampling delay compensation angle θ comp to complete the current sampling gain and delay compensation of the three-phase current sensor.

[0029] FIG. 2 shows the control structure of the method for simultaneously realizing current sampling delay and gain compensation according to the present invention. This is realized by a system for simultaneously realizing current sampling delay and gain compensation. The system mainly comprises a parameter storage module, a current command generation module, a voltage control module, an inverter driving module, a dummy load module, a current detection module, a virtual angle generation module, and a sampling delay and gain compensation module. Here, the voltage control module comprises a q-axis voltage controller and a d-axis voltage controller, the inverter driving module comprises an inverse Park converter, an SVPWM modulator, and an inverter, the dummy load module comprises three-phase symmetrical inductors connected in a star configuration, the current detection module mainly comprises a three-phase current sensor to be compensated and a Clark-Park converter, and the sampling delay and gain compensation module mainly comprises a current amplitude regulator, a voltage detection and calculation device, and a delay compensation regulator.

[0030] In this control structure, the final sampling delay and gain compensation function is completed by sequentially executing the following two operation modes, namely, the calibration mode and the adjustment control mode, which are as follows:

[0031] (1) Regarding the calibration mode, In the calibration mode, the external output channels of the current amplitude regulator and delay compensation regulator in the sampling delay and gain compensation module are cut off, and the standard current sampling element is used as the reference test element for subsequent operation.

[0032] First, the parameter memory module stores the amplitude I scali and angle θ cali and transmits the predetermined current command amplitude I scali and angle θ cali The current command generation module calculates the reference AC / DC axis current i in the synchronous rotating coordinate system based on the following equation: dref , i qref is calculated and generated.

number

[0033] The relationship of the above signals in a synchronous rotating coordinate system is shown in FIG.

[0034] The virtual angle generation module calculates the virtual angle θ of a given frequency f based on the following formula: e Generate.

number

[0035] t is the sampling time.

[0036] The three-phase inductance in the dummy load module is driven by the PWM wave generated by the inverter drive module, and the three-phase current sensor in the current detection module detects the current i in the three-phase inductance. a , i b , i c and converts them into a virtual angle θ generated by the virtual angle generation module. e and then input to the Clark-Park converter to perform mathematical transformation to obtain the feedback AC / DC axis current signal i in the synchronous rotating coordinate system. d , i q Output.

[0037] The voltage control module controls the q-axis voltage controller to generate the q-axis reference current i qref and the q-axis feedback current i output from the current detection module q and detects the deviation between the q-axis voltage and the q-axis control voltage v q The d-axis voltage controller outputs the d-axis reference current i generated by the current command generation module. dref and d-axis feedback current i d and detects the deviation between the d-axis and the d-axis control voltage V d Output.

[0038] The inverse Park converter in the inverter drive module controls the d-axis control voltage v output from the voltage control module. d , q-axis control voltage v q and the virtual angle θ output from the virtual angle generation module e and perform the inverse Park mathematical transformation to obtain the voltage v in the two-phase stationary coordinate system. α , v β These are then input to the SVPWM regulator to perform space vector pulse width modulation, and the resulting pulse waves act on the inverter to generate the three-phase drive voltage v a , v b , v c The three-phase voltage acts on the three-phase symmetrical inductor to generate three-phase current. Since the pseudo load module uses an inductive load to connect, there is almost no active power loss during the entire operation process.

[0039] After the system is in a stable state, the voltage detection and calculation device in the sampling delay and gain compensation module detects the d-axis control voltage v output from the voltage control module. d and q-axis control voltage v q Detects the d-axis control voltage v in the stable state d Calibrate the d-axis voltage V dcali and the amplitude of the calibration voltage u is calculated based on the following formula: scali Calculate.

number

[0040] Finally, the calibrated d-axis voltage v dcali and the amplitude of the calibration voltage u scali is sent to the parameter storage module and stored.

[0041] (2) Regarding the adjustment control mode, In the adjustment control mode, the current amplitude regulator and the delay compensation regulator in the sampling delay and gain compensation module are activated to output external channels to perform sampling delay and gain compensation for the three-phase current sensors in other electric drive integrated controllers that are offline in the same lot. At this time, in the calibration mode, the current amplitude regulator in the sampling delay and gain compensation module performs current command amplitude compensation I scomp and the actual current amplitude I sadj is as follows:

number

[0042] The delay compensation regulator in the sampling delay and gain compensation module is a virtual angle compensation θ comp At this time, the actual virtual angle θ eadj is as follows:

number

[0043] Specifically, current command amplitude compensation I scomp is the amplitude u of the calibration voltage stored in the parameter storage module in the calibration mode. scali and the voltage amplitude u calculated in real time by the voltage detection and calculation device. sThe deviation is compared with the virtual angle compensation θ and the deviation is generated as an input to the current amplitude regulator. comp is the calibration d-axis voltage v stored in the parameter storage module in calibration mode. dcali and the d-axis voltage v that was actually detected by the voltage detection and calculation device. d and the deviation is generated as an input to the delay compensation regulator. In the present invention, the current amplitude regulator and the delay compensation regulator use PI controllers.

[0044] After the system is in a stable state, the parameter storage module stores the current adjustment gain parameter K comp and sampling delay compensation angle θ comp Remember, K comp satisfies the following formula:

number

[0045] Finally, the current I sampled by the three-phase current sensor after sampling delay and gain compensation is correct is shown in the following formula:

number

[0046] where t is the sampling time and I measure is the current actually sampled by the three-phase current sensor.

[0047] Obviously, the above examples are merely examples for clarity and explanation, and are not intended to limit the embodiments. Those skilled in the art can make other various changes and modifications based on the above description. It is not necessary to, and cannot, cover all embodiments herein. Any obvious changes and modifications derived therefrom still fall within the scope of protection of the present invention.

Claims

1. 1. A method for simultaneously achieving current sampling gain and delay compensation, comprising sequentially performing a calibration mode and a regulation control mode; In the calibration mode, A reference AC / DC axis current and a three-phase driving voltage are calculated and generated in a synchronous rotating coordinate system based on a virtual angle of a predetermined frequency and a predetermined amplitude and angle of a current command. The three-phase driving voltage drives a pseudo load module to generate a three-phase current. The three-phase current sensor samples and detects the three-phase current generated by the pseudo load module in real time. A feedback AC / DC axis current signal is generated and output in a synchronous rotating coordinate system to form a feedback signal for real-time adjustment. After a stable state is reached, a d-axis control voltage v in the stable state is calculated. ｄ is extracted as the calibrated d-axis voltage, wherein the dummy load module is configured by connecting three-phase symmetrical inductors in a star configuration; In the adjustment control mode, Based on the actual virtual angle, the amplitude and angle of the actual current command, a reference AC / DC axis current and a three-phase driving voltage are calculated and generated in the synchronous rotating coordinate system. The three-phase driving voltage drives the pseudo load module to generate a three-phase current. The three-phase current sensor to be compensated samples and detects the three-phase current generated by the pseudo load module in real time. A feedback AC / DC axis current signal is generated and output in the synchronous rotating coordinate system to form a feedback for real-time adjustment. After a stable state is reached, a current adjustment gain parameter K ｃｏｍｐ and sampling delay compensation angle θ ｃｏｍｐ and completes the current sampling gain and delay compensation of the three-phase current sensor waiting for current compensation. The actual virtual angle θ eadj is obtained by feedback compensation in real time using the method of the following equation 5: [Equation 5] θ e is a virtual angle of a predetermined frequency, θ comp is a virtual angle compensation obtained based on the deviation between the calibrated d-axis voltage obtained in the calibration mode and the d-axis voltage detected in real time by the voltage detection and calculation device, The virtual angle θ e for a given frequency f is generated by the following equation 2: [Equation 2] t is the sampling time 10. A method for simultaneously achieving current sampling gain and delay compensation, comprising:

2. Actual current command amplitude I ｓａｄｊ is obtained by feedback compensation in real time using the method of the following equation 4, [Equation 4] In the formula, I ｓｃａｌｉ is the amplitude of the predetermined current command, and I ｓｃｏｍｐ is the current command amplitude compensation obtained based on the deviation between the amplitude of the calibration voltage obtained in the calibration mode and the voltage amplitude calculated in real time by the voltage detection and calculation device.

2. The method for simultaneously achieving current sampling gain and delay compensation as claimed in claim 1.

3. Amplitude of calibration voltage u ｓｃａｌｉ The calculation method is shown in the following formula 3: [Equation 3] In the formula, v ｄ is the d-axis control voltage, and v ｑ is the q-axis voltage amplitude 3. The method for simultaneously achieving current sampling gain and delay compensation as claimed in claim 2.

4. Current adjustment gain parameter K ｃｏｍｐ The calculation method is shown in the following formula 6: [Equation 6] is 3. The method for simultaneously achieving current sampling gain and delay compensation as claimed in claim 2.

5. A system for simultaneously realizing current sampling gain and delay compensation, which is used to realize the method for simultaneously realizing current sampling gain and delay compensation according to claim 1, The system includes a current command generating module, a virtual angle generating module, a pseudo load module, a current detecting module, a three-phase driving voltage generating module, and a sampling delay and gain compensation module; the current command generating module is used to calculate and generate a reference AC / DC axis current in a synchronous rotating coordinate system according to a predetermined current command amplitude and angle; The virtual angle generating module is used to generate a virtual angle of a predetermined frequency; The pseudo load module comprises three-phase symmetrical inductors connected in a star configuration, and the three-phase symmetrical inductors are driven by three-phase driving voltages to generate three-phase currents; The current detection module includes a three-phase current sensor for detecting the three-phase current generated by the pseudo load module; The three-phase driving voltage generating module is used to generate a three-phase driving voltage; The sampling delay and gain compensation module adjusts the current regulation gain parameter K ｃｏｍｐ and sampling delay compensation angle θ ｃｏｍｐ is stored and used to complete the current sampling gain and delay compensation of the three-phase current sensor waiting for current compensation.

1. A system for simultaneously achieving current sampling gain and delay compensation, comprising:

6. the three-phase driving voltage generating module includes a voltage control module and an inverter driving module; The voltage control module is used to detect a deviation between a reference AC / DC axis current signal generated by the current command generating module and a feedback AC / DC axis current signal, and output a d-axis control voltage and a q-axis control voltage, respectively; The inverter driving module receives the d-axis control voltage and the q-axis control voltage output from the voltage control module and the virtual angle output from the virtual angle generating module to generate a three-phase driving voltage.

6. The system for simultaneously achieving current sampling gain and delay compensation according to claim 5.

7. the voltage control module includes a q-axis voltage controller and a d-axis voltage controller; The q-axis voltage controller controls the q-axis reference current i generated by the current command generation module. ｑｒｅｆ and the q-axis feedback current i output from the current detection module. ｑ and detects the deviation from the q-axis voltage and outputs the q-axis control voltage v ｑ It is used to output The d-axis voltage controller is configured to generate a d-axis reference current i ｄｒｅｆ and the d-axis feedback current i output from the current detection module. ｄ and detects the deviation from the d-axis control voltage v ｄ It is used to output 7. The system for simultaneously achieving current sampling gain and delay compensation according to claim 6.

8. The inverter driving module is composed of an inverse Park converter, an SVPWM modulator, and an inverter; The inverse Park converter converts the d-axis control voltage v output from the voltage control module. ｄ , q-axis control voltage v ｑ and the virtual angle θ output from the virtual angle generation module ｅ and perform an inverse Park mathematical transformation to obtain the voltage v in the two-phase stationary coordinate system. α , v β is used to generate The SVPWM modulator calculates a voltage v in a two-phase stationary coordinate system. α , v β and performing space vector pulse width modulation to generate a pulse wave. The inverter is used to generate a three-phase driving voltage based on a pulse wave.

7. The system for simultaneously achieving current sampling gain and delay compensation according to claim 6.

9. Three-phase current sensors use standard current sampling elements in calibration mode 6. The system for simultaneously achieving current sampling gain and delay compensation according to claim 5.

10. The sampling delay and gain compensation module includes a voltage detection and calculation device, a current amplitude regulator, and a delay compensation regulator; The voltage detecting and calculating device is used for detecting the d-axis control voltage and the q-axis control voltage outputted from the voltage control module in real time; The current amplitude regulator is used to obtain a current command amplitude compensation according to the deviation between the amplitude of the calibration voltage and the voltage amplitude calculated in real time by the voltage detection and calculation device; The delay compensation regulator is used to obtain virtual angle compensation based on the deviation between the calibrated d-axis voltage and the d-axis voltage detected in real time by the voltage detection and calculation device.

6. The system for simultaneously achieving current sampling gain and delay compensation according to claim 5.

Images