CN102969931A - Control method for PWM (Pulse Width Modulation) rectification type energy feedback device of single resistance current sample - Google Patents
Control method for PWM (Pulse Width Modulation) rectification type energy feedback device of single resistance current sample Download PDFInfo
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Abstract
The invention discloses an energy feedback method based on a single resistance current sample. The method comprises the following steps of: (1) obtaining a current on a direct current bus; (2) reconstructing a three-phase current according to the relationship among the current on the direct current bus, the current sector of a voltage vector and a phase current; (3) obtaining a phase position of a three-phase network voltage; (4) carrying out coordinate transformation and decoupling on the three-phase current to obtain an active component of the current and a reactive component of the current; (5) sampling an actual voltage of the direct current bus, carrying out PID (Proportion Integration Differentiation) adjustment and calculation on an error between the actual voltage and an instruction voltage and taking the result as an instruction of the active component of the current; and (6) carrying out the PID adjustment and calculation on the error between the instruction of the active component of the current and the active component of the current, carrying out coordinate transformation on the result, and generating PWM (Pulse-Width Modulation) pulse according to the transformed voltage instruction to realize input/output of dynamically-adjusted current. The method provided by the invention is used for simplifying a sampling circuit, keeping a system structure simple, reducing the cost and ensuring the accuracy and the stability of a system current sample.
Description
Technical field
The invention belongs to the energy back feed device field, specifically a kind of control method of the energy back feed device based on the PWM rectification type.
Background technology
In recent years, AC servo motor is extensive use in industrial automation, and the control of AC servo motor need to be used AC servo driver.In general AC servo driver, the general structure that adopts interchange-AC/DC, namely AC-input voltage is not controlled rectifying device through diode and is changed into direct current, then by inverter direct current is converted to exchange to drive AC servo motor, sees Fig. 1.Diode is not controlled rectifying device two shortcomings: the one, can cause the distortion of line voltage and electric current, and cause serious harmonic pollution; But energy can only one-way flow, and the frequent braking of AC servo motor produces a large amount of regenerative electric energies, and electric energy can not feed back to electrical network, can only change into thermal energy consumption by resistance and fall, and causes efficiency of energy utilization low.
In order to reduce that the harmonic current of electrical network is polluted and puies forward high-octane utilization ratio, the PWM rectifier is widely used in to exchange and converts DC link to.Adopt the energy back feed device of PWM controlled rectification power supply technology, mainly contain three advantages: the one, current on line side sineization, but the operation of unit power factor, the harmonic reduction electric current pollutes; But energy can two-way flow, and the regenerated energy that AC servo motor is frequently braked generation can feed back on the electrical network, puies forward high-octane utilization ratio.The PWM rectification type energy feedback device has been applied to energy regeneration is had the industrial applications of requirement.For example Chinese patent literature 200810144730.3 is mentioned a kind of PWM rectification type energy feedback device, sees Fig. 2, can be used in the new energy grid-connected power field.Chinese patent literature 201110327903.7 is mentioned a kind of PWM rectification type energy feedback device that improves filtering mode.But this class PWM rectification type energy feedback device generally needs to use the electric current of three current Hall sensor sample three-phases, has complex structure, shortcoming that cost is high.
Summary of the invention
The control method that the purpose of this invention is to provide a kind of PWM type energy back feed device based on the sampling of single resistor current, adopt the transient current of single resistance detection dc bus, relation according to dc bus current and phase current, the three-phase current that reconstruct PWM rectification control is required, the dynamic adjustments of realization electric current input and output.
Realize that the concrete technical scheme that purpose of the present invention adopts is:
A kind of control method of the PWM rectification type energy feedback device based on the sampling of single resistor current by single resistance is set at dc bus, thereby realizes the dynamic adjustments of electric current input and output, and the method comprises the steps:
(1) voltage of the above single resistance of sampling dc bus is according to the electric current on this voltage and the resistance acquisition dc bus;
(2) according to the relation of dc bus current, the current sector of voltage vector and phase current, the reconstruct three-phase current;
(3) three-phase voltage signal of the electrical network that links to each other with described energy back feed device of sampling, the phase place of acquisition line voltage;
(4) utilize the phase place of described phase current and line voltage, described three-phase current is carried out the coordinate transform decoupling zero, obtain the active component of current and the reactive component of current;
(5) virtual voltage of sampling dc bus carries out PID to the error between this virtual voltage of dc bus and the command voltage and regulates calculating, and with the instruction of result of calculation as the active component of current;
(6) instruction of the described active component of current and the error between the active component of current described in the step (4) are carried out PID and regulate and calculate, and result of calculation is carried out coordinate transform, obtain the voltage instruction after the conversion;
Utilize space vector pulse width modulation to generate pwm pulse according to the voltage instruction after this conversion, can realize the input and output of dynamic adjustments electric current.
In the described step (3), by the phase place of the phase-locked acquisition line voltage of DQ.
In the described step (6), described coordinate transform is the iPark coordinate transform.
In the described step (2), if be in change district or the low modulation district of voltage vector SVPWM ripple sector, can not sample dc bus current in the cycle at a PWM, adopt the method for PWM phase shift, guarantee enough sampling times, after sampling dc bus current, according to the relation of dc bus current, the current sector of voltage vector and phase current, reconstruct three-phase current.
The present invention includes energy feedback system main circuit, energy feedback system control circuit and three-phase filter inductance.The method that the energy feedback system main circuit adopts single resistor current to adopt, energy feedback system control circuit adopt ARM control to realize, comprise electric current and voltage sampling and conditioning, electric current reconstructing algorithm, adaptive digital PID.
The energy back feed device and the control method that the present invention is based on single resistor current sampling have characteristics simple in structure, low-cost, that reliability is high.Simultaneously, proposition can realize the method for region-wide current sample in sector change district and low modulation district.
The present invention is based on the single resistance that arranges on the dc bus and carry out current sample, this PWM type energy feedback method has been simplified sample circuit, makes system configuration simple, reduces cost, according to the sampling algorithm that single resistance sampling circuit proposes, guarantee the Stability and veracity of system power sampling.The method can be generalized on frequency converter, the AC servo driver.
Description of drawings
The present invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the main circuit topological structure schematic diagram that general purpose diode is not controlled rectifying device in the prior art.D1, D2, D3, D4, D5, D6 are the diodes on the main circuit.
Fig. 2 is the main circuit topological structure schematic diagram of PWM type energy back feed device in the prior art.S1, S2, S3, S4, S5, S6 are the IGBT on the main circuit, and H1, H2, H3 are the three-phase current samplings, generally are Hall elements.
Fig. 3 is the main circuit topological structure schematic diagram based on the PWM type energy back feed device of single resistor current sampling of the embodiment of the invention.S1, S2, S3, S4, S5, S6 are the IGBT on the main circuit, and H1 is the dc bus current sampling resistor, generally are Hall elements.
Fig. 4 is the system configuration schematic diagram based on the PWM type energy back feed device of single resistor current sampling of the embodiment of the invention.
Fig. 5 is that the embodiment of the invention represents the flow through schematic diagram of shunt resistance of current sector no current.
Fig. 6 is that the embodiment of the invention represents current sector electric current I
AThe flow through schematic diagram of shunt resistance.
Fig. 7 is that the embodiment of the invention represents current sector electric current-I
BThe shunt resistance of flowing through.
Fig. 8 is that the expression current system of the embodiment of the invention is in alternate district or low modulation district, and t1 and t2 are too little, can not sample dc bus current in the cycle at a PWM.
Fig. 9 is that the current system that shows of the table embodiment of the invention is in alternate district or low modulation district, adopts the method for PWM phase shift, the time t1 and t2 enough large, guarantee enough sampling times, after using dc bus current, according to the relation of dc bus current and phase current, the reconstruct three-phase current.
Figure 10 is the principle that obtains the film voltage-phase with the phase-locked method of DQ.
Figure 11 is the control algolithm of using the phase shift SVPWM algorithm of electric current reconstructing algorithm and electric current reconstructing control.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.Following embodiment only is illustrative, and one-tenth is limitation of the invention not.
A kind of energy feedback method based on the sampling of single resistor current of present embodiment by single resistance is set at dc bus, thereby is realized the dynamic adjustments of electric current input and output.
The method at first arranges single resistance at dc bus, and the concrete steps of this method comprise:
The voltage of step 1, sampling direct current bus bar resistance is calculated electric current on the dc bus by potentiometer.Computing formula is
Wherein, R is the resistance on the dc bus, and I flows through ohmically electric current, and U is the voltage at upper these resistance two ends on the dc bus.
Step 2, utilize the relation of dc bus current, voltage vector sector and phase current, the reconstruct three-phase current
Energy back feed device is in different voltage vector sectors, and the electric current correspondence of dc bus specific phase current.When Fig. 5, Fig. 6, Fig. 7 are illustrated in energy back feed device and are in certain sector, according to Kirchhoff's current law (KCL), can calculate by dc bus current the electric current of a certain phase.So, according to difference constantly, the electric current of the dc bus of the residing different voltage vectors of energy back feed device sector and correspondence, energy reconstruct three-phase current, the table of reconstruct three-phase current is as shown in table 1
Three kinds of situations are specifically arranged: the one, current sector, the no current shunt resistance of flowing through is seen Fig. 5; The 2nd, current sector, electric current I
AThe shunt resistance of flowing through is seen Fig. 6.The 3rd, current sector, electric current-I
BThe shunt resistance of flowing through is seen Fig. 7.According to the relation of dc bus current, the current sector of voltage vector and phase current, the reconstruct three-phase current sees Table 1.
Table 1 dc bus current and phase current corresponding relation
If can sample dc bus current in the cycle at a PWM, according to the relation of dc bus current and phase current, the reconstruct three-phase current.
If be in change district or the low modulation district of voltage vector SVPWM ripple sector, see Fig. 8, t1 and t2 are too little, can not sample dc bus current in the cycle at a PWM.Adopt the method for PWM phase shift, see Fig. 9, make t1 and t2 enough large, guarantee enough sampling times, use dc bus current.According to the relation of dc bus current, the current sector of voltage vector and phase current, the reconstruct three-phase current sees Table 1.
Step 3, sampling three-phase voltage signal adopt the phase-locked method of DQ, obtain the phase place of line voltage.
The principle that DQ is phase-locked is seen Figure 10, and the sampling three-phase line voltage is phase-locked by loop filter and voltage controlled oscillator the three phase network voltage decoupling, and in the cycle, the θ of output is with the phase place that frequently in phase traces into line voltage at very short line voltage.
Step 4, three-phase current is carried out the coordinate transform decoupling zero, obtain the real component of electric current and the idle component of electric current.Computing formula is shown below:
The virtual voltage of step 5, sampling dc bus carries out PID to the error between this virtual voltage of dc bus and the command voltage and regulates calculating, and with the instruction of result of calculation as the active component of current.
Step 6, the active component of current error between the two that instruction and the step 4 of the active component of current obtained are carried out PID and are regulated and calculate, and result of calculation is carried out coordinate transform (being preferably the iPark coordinate transform), obtain the voltage instruction after the conversion.
Utilize space vector pulse width modulation to generate pwm pulse according to the voltage instruction after this conversion, can realize the input and output of dynamic adjustments electric current.
Step 5-seven detailed process is seen Figure 11.The control that the result who regulates according to electric current distributes duty ratio and electric current reconstructing to sample, the phase shift SVPWM of electric current reconstructing control dynamically exports the PWM that regulates electric current.When DC bus-bar voltage is higher than command value, the PWM rectification is operated in inverter mode, is 1 electric current toward electrical network injecting power factor, until DC bus-bar voltage is stabilized in command value.When DC bus-bar voltage less than command value, the PWM rectification is operated in motoring condition, is 1 electric current from electrical network absorbed power factor, until DC bus-bar voltage is stabilized in command value.
Claims (3)
1. control method based on the PWM rectification type energy feedback device of single resistor current sampling, it is by arranging single resistance at dc bus, thereby realizes the dynamic adjustments of electric current input and output, and the method comprises the steps:
(1) voltage of the above single resistance of sampling dc bus is according to the electric current on this voltage and the resistance acquisition dc bus;
(2) according to the relation of dc bus current, the current sector of voltage vector and phase current, the reconstruct three-phase current;
(3) three-phase voltage signal of the electrical network that links to each other with described energy back feed device of sampling, the phase place of acquisition line voltage;
(4) utilize the phase place of described phase current and line voltage, described three-phase current is carried out the coordinate transform decoupling zero, obtain the active component of current and the reactive component of current;
(5) virtual voltage of sampling dc bus carries out PID to the error between this virtual voltage of dc bus and the command voltage and regulates calculating, and with the instruction of result of calculation as the active component of current;
(6) instruction of the described active component of current and the error between the active component of current described in the step (4) are carried out PID and regulate and calculate, and result of calculation is carried out coordinate transform, obtain the voltage instruction after the conversion;
Utilize space vector pulse width modulation to generate pwm pulse according to the voltage instruction after this conversion, can realize the input and output of dynamic adjustments electric current.
2. the control method of a kind of PWM rectification type energy feedback device based on the sampling of single resistor current according to claim 1 is characterized in that, in the described step (3), by the phase place of the phase-locked acquisition line voltage of DQ.
According to claim 1 with the control method of 2 described a kind of PWM rectification type energy feedback devices based on the sampling of single resistor current, it is characterized in that in the described step (6), described coordinate transform is the iPark coordinate transform.
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Cited By (7)
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| CN105024559A (en) * | 2014-04-30 | 2015-11-04 | 博世力士乐(西安)电子传动与控制有限公司 | Frequency conversion apparatus and frequency conversion method |
| CN105450093A (en) * | 2015-12-16 | 2016-03-30 | 四川长虹电器股份有限公司 | Direct current motor phase current sampling method and electronic equipment |
| CN106936346A (en) * | 2015-12-28 | 2017-07-07 | 联创汽车电子有限公司 | The method that permanent magnet DC motor list resistance sampling reconstructs current of electric |
| CN107565833A (en) * | 2017-09-11 | 2018-01-09 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of controlled rectification method, apparatus and power electronic equipment |
| CN108288910A (en) * | 2018-04-04 | 2018-07-17 | 奥克斯空调股份有限公司 | Correcting circuit, method and the air conditioner of three-phase APFC |
| CN108288911A (en) * | 2018-04-04 | 2018-07-17 | 奥克斯空调股份有限公司 | Correcting circuit, method and the air conditioner of three-phase APFC |
| CN114104870A (en) * | 2021-11-22 | 2022-03-01 | 上海中车艾森迪海洋装备有限公司 | Electric control system of ocean laying and recycling system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105024559A (en) * | 2014-04-30 | 2015-11-04 | 博世力士乐(西安)电子传动与控制有限公司 | Frequency conversion apparatus and frequency conversion method |
| CN105450093A (en) * | 2015-12-16 | 2016-03-30 | 四川长虹电器股份有限公司 | Direct current motor phase current sampling method and electronic equipment |
| CN106936346A (en) * | 2015-12-28 | 2017-07-07 | 联创汽车电子有限公司 | The method that permanent magnet DC motor list resistance sampling reconstructs current of electric |
| CN107565833A (en) * | 2017-09-11 | 2018-01-09 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of controlled rectification method, apparatus and power electronic equipment |
| CN108288910A (en) * | 2018-04-04 | 2018-07-17 | 奥克斯空调股份有限公司 | Correcting circuit, method and the air conditioner of three-phase APFC |
| CN108288911A (en) * | 2018-04-04 | 2018-07-17 | 奥克斯空调股份有限公司 | Correcting circuit, method and the air conditioner of three-phase APFC |
| CN114104870A (en) * | 2021-11-22 | 2022-03-01 | 上海中车艾森迪海洋装备有限公司 | Electric control system of ocean laying and recycling system |
| CN114104870B (en) * | 2021-11-22 | 2024-01-26 | 上海中车艾森迪海洋装备有限公司 | Electric control system of ocean cloth recycling system |
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Application publication date: 20130313 |