Decoupling control system and method for harmonic current of salient pole synchronous motor

Abstract

A decoupling control system for a salient pole synchronous motor that includes a harmonic current detection module, configured to acquire 6k±1 harmonic current feedback; a linear transformation module, configured to perform linear transformation on 6k±1 harmonic current references and 6k±1 harmonic current feedback in a harmonic reference frame separately to acquire new harmonic currents; and a harmonic current decoupling control module, configured to make adjustment according to an error between a harmonic current reference subjected to the linear transformation and harmonic current feedback subjected to the linear transformation, and perform independent decoupling control over each of the harmonic currents.

Claims

1. A decoupling control system for a harmonic current of a salient pole synchronous motor, comprising: a harmonic current detection module (1), configured to detect and acquire 6k±1 harmonic currents and take the same as harmonic current feedback, wherein k is a positive integer; a linear transformation module (2), configured to perform linear transformation on 6k±1 harmonic current references and the detected 6k±1 harmonic current feedback to acquire new harmonic currents in a harmonic reference frame separately; a harmonic current decoupling control module (3), configured to adjust an output voltage according to an error between a harmonic current reference subjected to the linear transformation and harmonic current feedback subjected to the linear transformation, and perform independent decoupling control over each of the harmonic currents; an inversely linear transformation module (4), configured to perform inversely linear transformation on the output voltage of the harmonic current decoupling control module (3) to acquire a control output voltage in the harmonic reference frame; and a motor control module (6), configured to take the control output voltage as a part of output voltage reference of the inverter for controlling operation of the salient pole synchronous motor.

2. The decoupling control system for the harmonic current of the salient pole synchronous motor of claim 1, wherein a particular manner in which the linear transformation module (2) performs the linear transformation is $[\begin{matrix} i_{d 6 k 1 - ref} \\ i_{q 6 k 1 - ref} \\ i_{q 6 k 2 - ref} \\ i_{d 6 k 2 - ref} \end{matrix}] = T [\begin{matrix} i_{d (6 k - 1)_ref}^{6 k - 1} \\ i_{q (6 k - 1)_ref}^{6 k - 1} \\ i_{d (6 k + 1)_ref}^{6 k + 1} \\ i_{q (6 k + 1)_ref}^{6 k + 1} \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = T [\begin{matrix} i_{d (6 k - 1)}^{6 k - 1} \\ i_{q (6 k - 1)}^{6 k - 1} \\ i_{d (6 k + 1)}^{6 k + 1} \\ i_{q (6 k + 1)}^{6 k + 1} \end{matrix}], T = [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}],$ wherein i.sub.d(6k−1)_ref.sup.6k−1 and i.sub.q(6k−1)_ref.sup.6k−1 are 6k−1 harmonic current references in the harmonic reference frame, i.sub.d(6k+1)_ref.sup.6k+1 and i.sub.q(6k+1)_ref.sup.6k+1 are 6k+1 harmonic current references in the harmonic reference frame, i.sub.d6k1−ref, i.sub.q6k1−ref, i.sub.q6k2−ref and i.sub.d6k2−ref are harmonic current references subjected to the linear transformation, i.sub.d(6k−1).sup.6k−1 and i.sub.q(6k−1).sup.6k−1 are 6k−1 harmonic current feedback in the harmonic reference frame, i.sub.d(6k+1).sup.6k+1 and i.sub.q(6k+1).sup.6k+1 are 6k+1 harmonic current feedback in the harmonic reference frame, i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, subscripts d and q being an axis d and an axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

3. The decoupling control system for the harmonic current of the salient pole synchronous motor of claim 2, wherein the harmonic current decoupling control module (3) comprises a plurality of decoupling branches for separately performing independent decoupling control over each of the harmonic currents subjected to the linear transformation, wherein the decoupling branch comprises a harmonic controller (31) and a decoupling voltage compensation unit (32) which are sequentially connected, the harmonic controller (31) being configured to adjust a first output voltage according to the error between the harmonic current reference and harmonic current feedback, and the decoupling voltage compensation unit (32) being configured to compensate for the first voltage output by the harmonic controller (31) to acquire the output voltage.

4. The decoupling control system for the harmonic current of the salient pole synchronous motor of claim 3, wherein the harmonic controller (31) is designed with an open-loop transfer function of the harmonic current to meet the following equation: $[\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = [\begin{matrix} \frac{1}{R_{s} + L_{d} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{d} s} \end{matrix}] [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k2} \end{matrix}],$ wherein i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, u.sub.c−d6k1, u.sub.c−q6k1, u.sub.c−q6k2 and u.sub.c−d6k2 are first voltages, R.sub.s is a stator resistance, L.sub.q is a q-axis inductance, L.sub.d is a d-axis inductance and s is a Laplace operator; a compensation voltage of the decoupling voltage compensation unit (32) is $[\begin{matrix} u_{c o m d 6 k 1} \\ u_{c o m q 6 k 1} \\ u_{c o m q 6 k 2} \\ u_{c o m d 6 k 2} \end{matrix}] = [\begin{matrix} 0 & - ω_{r} L_{q} & 0 & 6 k ω_{r} L_{d} \\ ω_{r} L_{d} & 0 & - 6 k ω_{r} L_{q} & 0 \\ 0 & 6 k ω_{r} L_{q} & 0 & - ω_{r} L_{d} \\ - 6 k ω_{r} L_{d} & 0 & ω_{r} L_{q} & 0 \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}],$ so as to acquire the compensated output voltage: $[\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k 2} \end{matrix}] + [\begin{matrix} u_{com - d 6 k 1} \\ u_{com - q 6 k 1} \\ u_{com - q 6 k 2} \\ u_{com - d 6 k 2} \end{matrix}],$ wherein u.sub.com−d6k1, u.sub.com−q6k1, u.sub.com−q6k2 and u.sub.com−d6k2 are compensation voltages, ω.sub.r is an electric angular velocity of the motor, and u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages.

5. The decoupling control system for the harmonic current of the salient pole synchronous motor of claim 1, wherein a particular manner in which the inversely linear transformation module (4) performs the inversely linear transformation is $[\begin{matrix} u_{d (6 k - 1)}^{6 k - 1} \\ u_{q (6 k - 1)}^{6 k - 1} \\ u_{d (6 k + 1)}^{6 k + 1} \\ u_{q (6 k + 1)}^{6 k + 1} \end{matrix}] = T^{- 1} [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = \frac{1}{2} [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}] [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}],$ wherein u.sub.d(6k−1).sup.6k−1 and u.sub.q(6k−1).sup.6k−1 are 6k−1 control output voltages in the harmonic reference frame, u.sub.d(6k+1).sup.6k+1 and u.sub.q(6k+1).sup.6k+1 are 6k+1 control output voltages in the harmonic reference frame, u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages, subscripts d and q being an axis d and an axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

6. A decoupling control method for a harmonic current for a control unit of a salient pole synchronous motor, comprising the following steps: S1. detecting 6k±1 harmonic currents using a harmonic current detector in a harmonic reference frame which are treated as harmonic current feedback, wherein k is a positive integer; S2. separately performing, in the control unit, linear transformation on 6k±1 harmonic current references and the detected 6k±1 harmonic current feedback in a harmonic reference frame to acquire new harmonic currents; S3. adjusting, in the control unit, an output voltage according to an error between a harmonic current reference subjected to the linear transformation and harmonic current feedback subjected to the linear transformation, and performing independent decoupling control over each of the harmonic currents; S4. performing, in the control unit, inversely linear transformation on the output voltage to acquire a control output voltage in the harmonic reference frame; and S5. taking the control output voltage as a part of output voltage reference of an inverter for controlling operation of the salient pole synchronous motor by the control unit.

7. The decoupling control method for the harmonic current of the salient pole synchronous motor of claim 6, wherein a particular manner of acquiring the new harmonic currents through the linear transformation in step S2 is $[\begin{matrix} i_{d 6 k 1 - ref} \\ i_{q 6 k 1 - ref} \\ i_{q 6 k 2 - ref} \\ i_{d 6 k 2 - ref} \end{matrix}] = T [\begin{matrix} i_{d (6 k - 1)_ref}^{6 k - 1} \\ i_{q (6 k - 1)_ref}^{6 k - 1} \\ i_{d (6 k + 1)_ref}^{6 k + 1} \\ i_{q (6 k + 1)_ref}^{6 k + 1} \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = T [\begin{matrix} i_{d (6 k - 1)}^{6 k - 1} \\ i_{q (6 k - 1)}^{6 k - 1} \\ i_{d (6 k + 1)}^{6 k + 1} \\ i_{q (6 k + 1)}^{6 k + 1} \end{matrix}], T = [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}],$ wherein i.sub.d(6k−1)_ref.sup.6k−1 and i.sub.q(6k−1)_ref.sup.6k−1 are harmonic current references 6k−1 in the harmonic reference frame, i.sub.d(6k+1)_ref.sup.6k+1 and i.sub.q(6k+1)_ref.sup.6k+1 are 6k+1 harmonic current references in the harmonic reference frame, i.sub.d6k1−ref, i.sub.q6k1−ref, i.sub.q6k2−ref and i.sub.d6k2−ref are harmonic current references subjected to the linear transformation, i.sub.d(6k−1).sup.6k−1 and i.sub.q(6k−1).sup.6k−1 are 6k−1 harmonic current feedback in the harmonic reference frame, and i.sub.d(6k+1).sup.6k+1 and i.sub.q(6k+1).sup.6k+1 are 6k+1 harmonic current feedback in the harmonic reference frame, i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, subscripts d and q being an axis d and an axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

8. The decoupling control method for the harmonic current of the salient pole synchronous motor of claim 7, wherein step 3 particularly comprises: separately inputting each of the harmonic currents subjected to the linear transformation into an independent decoupling branch, wherein the decoupling branch comprises a harmonic controller (31) and a decoupling voltage compensation unit (32) which are sequentially connected, firstly, the harmonic controller (31) adjusting a first output voltage according to the error between the harmonic current reference and the harmonic current feedback, and then the decoupling voltage compensation unit (32) compensating for the first voltage output by the harmonic controller (31) to acquire the output voltage.

9. The decoupling control method for the harmonic current of the salient pole synchronous motor of claim 8, wherein the harmonic controller (31) in step S3 is designed with an open-loop transfer function of the harmonic current to meet the following equation: $[\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = [\begin{matrix} \frac{1}{R_{s} + L_{d} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{d} s} \end{matrix}] [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k 2} \end{matrix}],$ wherein i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, u.sub.c−d6k1, u.sub.c−q6k1, u.sub.c−q6k2 and u.sub.c−d6k2 are first voltages, R.sub.s is a stator resistance, L.sub.q is a q-axis inductance, L.sub.d is a d-axis inductance and s is a Laplace operator; a compensation voltage of the decoupling voltage compensation unit (32) is $[\begin{matrix} u_{c o m d 6 k 1} \\ u_{c o m q 6 k 1} \\ u_{c o m q 6 k 2} \\ u_{c o m d 6 k 2} \end{matrix}] = [\begin{matrix} 0 & - ω_{r} L_{q} & 0 & 6 k ω_{r} L_{d} \\ ω_{r} L_{d} & 0 & - 6 k ω_{r} L_{q} & 0 \\ 0 & 6 k ω_{r} L_{q} & 0 & - ω_{r} L_{d} \\ - 6 k ω_{r} L_{d} & 0 & ω_{r} L_{q} & 0 \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}],$ so as to acquire the compensated output voltage: $[\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k 2} \end{matrix}] + [\begin{matrix} u_{com - d 6 k 1} \\ u_{com - q 6 k 1} \\ u_{com - q 6 k 2} \\ u_{com - d 6 k 2} \end{matrix}],$ wherein u.sub.com−d6k1, u.sub.com−q6k1, u.sub.com−q6k2 and u.sub.com−d6k2 are compensation voltages, ω.sub.r is an electric angular velocity of the motor, and u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages.

10. The decoupling control method for the harmonic current of the salient pole synchronous motor of claim 6, wherein a particular manner of acquiring the control output voltage in the harmonic reference frame through the inversely linear transformation in step S4 is $[\begin{matrix} u_{d (6 k - 1)}^{6 k - 1} \\ u_{q (6 k - 1)}^{6 k - 1} \\ u_{d (6 k + 1)}^{6 k + 1} \\ u_{q (6 k + 1)}^{6 k + 1} \end{matrix}] = T^{- 1} [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = \frac{1}{2} [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}] [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}],$ wherein u.sub.d(6k−1).sup.6k−1 and u.sub.q(6k−1).sup.6k−1 are 6k−1 control output voltages in the harmonic reference frame, u.sub.d(6k+1).sup.6k+1 and u.sub.q(6k+1).sup.6k+1 are 6k+1 control output voltages in the harmonic reference frame, u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages, subscripts d and q being an axis d and an axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a structural block diagram of a decoupling control system for a harmonic current of a salient pole synchronous motor of the present invention;

(2) FIG. 2 is a control block diagram of a decoupling control module for the harmonic current of the present invention;

(3) FIG. 3 is a schematic diagram of a harmonic reference frame used by the present invention; and

(4) FIG. 4 is a flow block diagram of a decoupling control method for harmonic current of a salient pole synchronous motor of the present invention.

(5) In the figures: 1 harmonic current detection module, 2 linear transformation module, 3 harmonic current decoupling control module, 4 inversely linear transformation module, 5 coordinate transformation module, 6 motor control module, 31 harmonic controller, and 32 decoupling voltage compensation unit.

DESCRIPTION OF THE EMBODIMENTS

(6) Hereinafter, the present invention will be described in details with reference to accompanying drawings and particular embodiments. It should be noted that description of the following embodiments is merely exemplary substantially, the present invention does not intend to limit an applicable object or a purpose thereof, and the present invention is not limited to the following embodiments.

Embodiments

(7) As shown in FIG. 1, a decoupling control system for a harmonic current of a salient pole synchronous electric includes:

(8) a harmonic current detection module 1, configured to detect and acquire 6k±1 harmonic currents and take the same as harmonic current feedback, wherein k is a positive integer;

(9) a linear transformation module 2, configured to perform linear transformation on 6k±1 harmonic current references and detected 6k±1 harmonic current feedback to acquire new harmonic currents in a harmonic reference frame separately;

(10) a harmonic current decoupling control module 3, configured to adjust an output voltage according to an error between a harmonic current reference subjected to the linear transformation and harmonic current feedback subjected to the linear transformation, and perform independent decoupling control over each of the harmonic currents;

(11) an inversely linear transformation module 4, configured to perform inversely linear transformation on the output voltage of the harmonic current decoupling control module 3 to acquire a control output voltage in the harmonic reference frame; and

(12) a motor control module 6, configured to take the control output voltage as a part of output voltage reference of the inverter for controlling operation of the salient pole synchronous motor.

(13) A coordinate transformation module 5 is further included before the motor control module 6, and the control output voltage may be transformed, by the coordinate transformation module 5, to a d,q rotating frame or a two-phase rest frame through rotating coordinate transformation, so as to be input into the motor control module 6 for control over the salient pole synchronous motor.

(14) A particular manner in which the linear transformation module 2 performs the linear transformation is

(15) $\begin{matrix} [\begin{matrix} i_{d 6 k 1 - ref} \\ i_{q 6 k 1 - ref} \\ i_{q 6 k 2 - ref} \\ i_{d 6 k 2 - ref} \end{matrix}] = T □ [\begin{matrix} i_{d (6 k - 1)_ref}^{6 k - 1} \\ i_{q (6 k - 1)_ref}^{6 k - 1} \\ i_{d (6 k + 1)_ref}^{6 k + 1} \\ i_{q (6 k + 1)_ref}^{6 k + 1} \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = T □ [\begin{matrix} u_{d (6 k - 1)}^{6 k - 1} \\ u_{q (6 k - 1)}^{6 k - 1} \\ u_{d (6 k + 1)}^{6 k + 1} \\ u_{q (6 k + 1)}^{6 k + 1} \end{matrix}], T = [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}], & (1) \end{matrix}$

(16) wherein i.sub.d(6k−1)_ref.sup.6k−1 and i.sub.q(6k−1)_ref.sup.6k−1 are 6k−1 harmonic current references in the harmonic reference frame, i.sub.d(6k+1)_ref.sup.6k+1 and i.sub.q(6k+1)_ref.sup.6k+1 are 6k+1 harmonic current references in the harmonic reference frame, i.sub.d6k1−ref, i.sub.q6k1−ref, i.sub.q6k2−ref and i.sub.d6k2−ref are harmonic current references subjected to the linear transformation, i.sub.d(6k−1).sup.6k−1 and i.sub.q(6k−1).sup.6k−1 are harmonic current feedback 6k−1 in the harmonic reference frame, i.sub.d(6k+1).sup.6k+1 and i.sub.d(6k+1).sup.6k+1 are 6k+1 harmonic current feedback in the harmonic reference frame, i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, subscripts d and q being the axis d and the axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

(17) The linear transformation module 2 is configured to perform linear transformation on a voltage, a current, etc. in a frame of the 6k±1 harmonic currents. i.sub.dq(6k±1).sup.6k±1 is a harmonic current in a multiple synchronous reference frame, the superscript indicates the harmonic reference frame, the subscript 6k±1 indicates harmonic current order in the stationary frame, of a harmonic wave, and d,q are the axis d and the axis q in the harmonic reference frame. The harmonic reference frame is shown in FIG. 3, and a coordinate transformation matrix between the frame of the harmonic current 6k±1 and the fundamental d,q rotating frame is

(18) $\begin{matrix} T_{dq - dq (6 k - 1)} = [\begin{matrix} \cos (- 6 k θ_{e}) & \sin (- 6 k θ_{e}) \\ - \sin (- 6 k θ_{e}) & \cos (- 6 k θ_{e}) \end{matrix}], T_{dq - dq (6 k + 1)} [\begin{matrix} \cos (6 k θ_{e}) & \sin (6 k θ_{e}) \\ - \sin (6 k θ_{e}) & \cos (6 k θ_{e}) \end{matrix}], & (2) \end{matrix}$

(19) wherein θ.sub.e is an electric angle of a rotor position.

(20) As shown in FIG. 2, the harmonic current decoupling control module 3 includes a plurality of decoupling branches for separately performing independent decoupling control over each of the harmonic currents subjected to the linear transformation, wherein the decoupling branch includes a harmonic controller 31 and a decoupling voltage compensation unit 32 which are sequentially connected, the harmonic controller 31 being configured to adjust a first output voltage according to the error between the harmonic current reference and harmonic current feedback, and the decoupling voltage compensation unit 32 being configured to compensate for the first voltage output by the harmonic controller 31 to acquire the output voltage. In FIG. 2, each decoupling branch separately performs decoupling control over harmonic currents of the axis d and the axis q.

(21) The harmonic controller 31 is designed with an open-loop transfer function of the harmonic current to meet the following equation:

(22) $\begin{matrix} [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = [\begin{matrix} \frac{1}{R_{s} + L_{d} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{d} s} \end{matrix}] [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k 2} \end{matrix}], & (3) \end{matrix}$

(23) wherein i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, u.sub.c−d6k1, u.sub.c−q6k1, u.sub.c−q6k2 and u.sub.c−d6k2 are first voltages, R.sub.s is a stator resistance, L.sub.q is a q-axis inductance, L.sub.d is a d-axis inductance and s is a Laplace operator;

(24) a compensation voltage of the decoupling voltage compensation unit 32 is

(25) $\begin{matrix} [\begin{matrix} u_{com - d 6 k 1} \\ u_{com - q 6 k 1} \\ u_{com - q 6 k 2} \\ u_{com - d 6 k 2} \end{matrix}] = [\begin{matrix} 0 & - ω_{r} L_{q} & 0 & 6 k ω_{r} L_{d} \\ ω_{r} L_{d} & 0 & - 6 k ω_{r} L_{q} & 0 \\ 0 & 6 k ω_{r} L_{q} & 0 & - ω_{r} L_{d} \\ - 6 k ω_{r} L_{d} & 0 & ω_{r} L_{q} & 0 \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}], & (4) \end{matrix}$

(26) so as to acquire the compensated output voltage:

(27) $\begin{matrix} [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k 2} \end{matrix}] + [\begin{matrix} u_{com - d 6 k 1} \\ u_{com - q 6 k 1} \\ u_{com - q 6 k 2} \\ u_{com - d 6 k 2} \end{matrix}], & (5) \end{matrix}$

(28) wherein u.sub.com−d6k1, u.sub.com−q6k1, u.sub.com−q6k2 and u.sub.com−d6k2 are compensation voltages, ω.sub.r is an electric angular velocity of the motor, and u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages.

(29) A particular manner in which the inversely linear transformation module 4 performs the inversely linear transformation is

(30) $\begin{matrix} [\begin{matrix} u_{d (6 k - 1)}^{6 k - 1} \\ u_{q (6 k - 1)}^{6 k - 1} \\ u_{d (6 k + 1)}^{6 k + 1} \\ u_{q (6 k + 1)}^{6 k + 1} \end{matrix}] = T^{- 1} □ [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = \frac{1}{2} [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}] □ [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}], & (6) \end{matrix}$

(31) wherein u.sub.d(6k−1).sup.6k−1 and u.sub.q(6k−1).sup.6k−1 are 6k−1 control output voltages in the harmonic reference frame, u.sub.d(6k+1).sup.6k+1 and u.sub.q(6k+1).sup.6k−1 are 6k+1 control output voltages in the harmonic reference frame, u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages, subscripts d and q being the axis d and the axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

(32) A current differential equation, in its respective harmonic reference frame, of the harmonic current is shown in the following equation.

(33) $\begin{matrix} [\begin{matrix} \frac{d}{dt} i_{d (6 k - 1)}^{6 k - 1} \\ \frac{d}{dt} i_{q (6 k - 1)}^{6 k - 1} \\ \frac{d}{dt} i_{d (6 k + 1)}^{6 k + 1} \\ \frac{d}{dt} i_{q (6 k + 1)}^{6 k + 1} \end{matrix}] = \frac{1}{2 L_{d} L_{q}} [\begin{matrix} (L_{d} + L_{q}) & 0 & - (L_{d} - L_{q}) & 0 \\ 0 & (L_{d} + L_{q}) & 0 & (L_{d} - L_{q}) \\ - (L_{d} - L_{q}) & 0 & (L_{d} + L_{q}) & 0 \\ 0 & (L_{d} - L_{q}) & 0 & (L_{d} + L_{q}) \end{matrix}] [\begin{matrix} u_{d (6 k - 1)}^{6 k - 1} \\ u_{q (6 k - 1)}^{6 k - 1} \\ u_{d (6 k + 1)}^{6 k + 1} \\ u_{q (6 k + 1)}^{6 k + 1} \end{matrix}] - \frac{1}{2 L_{d} L_{q}} [\begin{matrix} (L_{d} + L_{q}) R_{s} & - ω_{r} (L_{d}^{2} - 12 {kL}_{d} L_{q} + L_{q}^{2}) & - (L_{d} - L_{q}) R_{s} & ω_{r} (L_{d}^{2} - L_{q}^{2}) \\ ω_{r} (L_{d}^{2} - 12 {kL}_{d} L_{q} + L_{q}^{2}) & (L_{d} + L_{q}) R_{s} & ω_{r} (L_{d}^{2} - L_{q}^{2}) & (L_{d} - L_{q}) R_{s} \\ - (L_{d} - L_{q}) R_{s} & ω_{r} (L_{d}^{2} - L_{q}^{2}) & (L_{d} + L_{q}) R_{s} & - ω_{r} (L_{d}^{2} + 12 {kL}_{d} L_{q} + L_{q}^{2}) \\ ω_{r} (L_{d}^{2} - L_{q}^{2}) & (L_{d} - L_{q}) R_{s} & ω_{r} (L_{d}^{2} + 12 {kL}_{d} L_{q} + L_{q}^{2}) & (L_{d} + L_{q}) R_{s} \end{matrix}] [\begin{matrix} i_{d (6 k - 1)}^{6 k - 1} \\ i_{q (6 k - 1)}^{6 k - 1} \\ i_{d (6 k + 1)}^{6 k + 1} \\ i_{q (6 k + 1)}^{6 k + 1} \end{matrix}], & (7) \end{matrix}$

(34) For the salient pole synchronous motor, L.sub.d≠L.sub.g. It can be seen that in the harmonic reference frame, a complex coupling relationship exists among the harmonic currents. Therefore, it is difficult for the case of traditional harmonic current performed in this frame to achieve decoupling of and high-performance control over the harmonic current. According to equations (1) and (7), a new dynamic equation of the harmonic current in linear space is

(35) $\begin{matrix} [\begin{matrix} \frac{d}{dt} i_{d 6 k 1} \\ \frac{d}{dt} i_{q 6 k 1} \\ \frac{d}{dt} i_{q 6 k 2} \\ \frac{d}{dt} i_{d 6 k 2} \end{matrix}] = [\begin{matrix} \frac{1}{L_{d}} & 0 & 0 & 0 \\ 0 & \frac{1}{L_{q}} & 0 & 0 \\ 0 & 0 & \frac{1}{L_{q}} & 0 \\ 0 & 0 & 0 & \frac{1}{L_{d}} \end{matrix}] [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] - [\begin{matrix} \frac{R_{s}}{L_{d}} & - ω_{r} \frac{L_{q}}{L_{d}} & 0 & 6 k ω_{r} \\ ω_{r} \frac{L_{d}}{L_{q}} & \frac{R_{s}}{L_{q}} & - 6 k ω_{r} & 0 \\ 0 & 6 k ω_{r} & \frac{R_{s}}{L_{q}} & - ω_{r} \frac{L_{d}}{L_{q}} \\ - 6 k ω_{r} & 0 & ω_{r} \frac{L_{q}}{L_{d}} & \frac{R_{s}}{L_{d}} \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}], & (8) \end{matrix}$

(36) By comparing an equation (5) and the current differential equation (8), the open-loop transfer function of the above harmonic current may be acquired, as particularly shown in an equation (3). Thus, it can be seen that after decoupling voltage compensation is performed, output from a harmonic current controller merely influences this harmonic current component, does not relate to the other harmonic currents. Therefore the decoupling control over the harmonic current is achieved; and meanwhile, after the harmonic current is decoupled, a transfer function of the harmonic current corresponds to an RL series loop, so as to relatively conveniently design the current controller. The harmonic current controller may use a PI controller, etc.

(37) As shown in FIG. 4, a decoupling control method for a harmonic current of a salient pole synchronous motor includes the following steps:

(38) S1. detecting 6k±1 harmonic currents in a harmonic reference frame which are treated as harmonic current feedback, wherein k is a positive integer;

(39) S2. separately performing linear transformation on 6k±1 harmonic current references and the detected 6k±1 harmonic current feedback in a harmonic reference frame to acquire new harmonic currents;

(40) S3. adjusting an output voltage according to an error between a harmonic current reference subjected to the linear transformation and harmonic current feedback subjected to the linear transformation, and performing independent decoupling control over each of the harmonic currents;

(41) S4. performing inversely linear transformation on the output voltage to acquire a control output voltage in the harmonic reference frame; and

(42) S5. taking the control output voltage as a part of output voltage reference of the inverter for controlling operation of the salient pole synchronous motor.

(43) A particular manner of acquiring the new harmonic currents through the linear transformation in step S2 is

(44) $\begin{matrix} [\begin{matrix} i_{d 6 k 1 - ref} \\ i_{q 6 k 1 - ref} \\ i_{q 6 k 2 - ref} \\ i_{d 6 k 2 - ref} \end{matrix}] = T [\begin{matrix} i_{d (6 k - 1)_ref}^{6 k - 1} \\ i_{q (6 k - 1)_ref}^{6 k - 1} \\ i_{d (6 k + 1)_ref}^{6 k + 1} \\ i_{q (6 k + 1)_ref}^{6 k + 1} \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = T [\begin{matrix} i_{d (6 k - 1)}^{6 k - 1} \\ i_{q (6 k - 1)}^{6 k - 1} \\ i_{d (6 k + 1)}^{6 k + 1} \\ i_{q (6 k + 1)}^{6 k + 1} \end{matrix}], & (9) \\ T = [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}], \end{matrix}$

(45) wherein i.sub.d(6k−1)_ref.sup.6k−1 and i.sub.q(6k−1)_ref.sup.6k−1 are 6k−1 harmonic current references in the harmonic reference frame, i.sub.d(6k+1)_ref.sup.6k+1 and i.sub.q(6k+1)_ref.sup.6k+1 are 6k+1 harmonic current references in the harmonic reference frame, i.sub.d6k1−ref, i.sub.q6k1−ref, i.sub.d6k2−ref and i.sub.d6k2−ref are harmonic current references subjected to the linear transformation, i.sub.d(6k−1).sup.6k−1 and i.sub.q(6k−1).sup.6k−1 are 6k−1 harmonic current feedback in the harmonic reference frame, i.sub.d(6k+1).sup.6k+1 and i.sub.q(6k+1).sup.6k+1 are 6k+1 harmonic current feedback in the harmonic reference frame, i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, subscripts d and q being the axis d and the axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

(46) Step 3 particularly includes: separately inputting each of the harmonic currents subjected to the linear transformation into an independent decoupling branch, wherein the decoupling branch includes a harmonic controller 31 and a decoupling voltage compensation unit 32 which are sequentially connected, firstly, the harmonic controller 31 adjusting the error between the harmonic current reference and the harmonic current feedback and output a first voltage, and then the decoupling voltage compensation unit 32 compensating for the first voltage output by the harmonic controller 31 to acquire the output voltage.

(47) The harmonic controller 31 in step S3 is designed with an open-loop transfer function of the harmonic current to meet the following equation:

(48) 0 $\begin{matrix} [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}] = [\begin{matrix} \frac{1}{R_{s} + L_{d} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{q} s} \\ \frac{1}{R_{s} + L_{d} s} \end{matrix}] [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k 2} \end{matrix}], & (10) \end{matrix}$

(49) wherein i.sub.d6k1, i.sub.q6k1, i.sub.q6k2 and i.sub.d6k2 are harmonic current feedback subjected to the linear transformation, u.sub.c−d6k1, u.sub.c−q6k1, u.sub.c−q6k1 and u.sub.c−d6k2 are first voltages, R.sub.s is a stator resistance, L.sub.q is a q-axis inductance, L.sub.d is a d-axis inductance and s is a Laplace operator;

(50) A compensation voltage of the decoupling voltage compensation unit 32 is

(51) $\begin{matrix} [\begin{matrix} u_{c o m d 6 k 1} \\ u_{c o m q 6 k 1} \\ u_{c o m q 6 k 2} \\ u_{c o m d 6 k 2} \end{matrix}] = [\begin{matrix} 0 & - ω_{r} L_{q} & 0 & 6 k ω_{r} L_{d} \\ ω_{r} L_{d} & 0 & - 6 k ω_{r} L_{q} & 0 \\ 0 & 6 k ω_{r} L_{q} & 0 & - ω_{r} L_{d} \\ - 6 k ω_{r} L_{d} & 0 & ω_{r} L_{q} & 0 \end{matrix}] [\begin{matrix} i_{d 6 k 1} \\ i_{q 6 k 1} \\ i_{q 6 k 2} \\ i_{d 6 k 2} \end{matrix}], & (11) \end{matrix}$

(52) so as to acquire the compensated output voltage:

(53) $\begin{matrix} [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = [\begin{matrix} u_{c - d 6 k 1} \\ u_{c - q 6 k 1} \\ u_{c - q 6 k 2} \\ u_{c - d 6 k 2} \end{matrix}] + [\begin{matrix} u_{com - d 6 k 1} \\ u_{com - q 6 k 1} \\ u_{com - q 6 k 2} \\ u_{com - d 6 k 2} \end{matrix}], & (12) \end{matrix}$

(54) wherein u.sub.com−d6k1, u.sub.com−q6k1, u.sub.com−d6k2 and u.sub.com−d6k2 are compensation voltages, ω.sub.r is an electric angular velocity of the motor, and u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages.

(55) A particular manner of acquiring the control output voltage in the harmonic reference frame through the inversely linear transformation in step S4 is

(56) $\begin{matrix} [\begin{matrix} u_{d (6 k - 1)}^{6 k - 1} \\ u_{q (6 k - 1)}^{6 k - 1} \\ u_{d (6 k + 1)}^{6 k + 1} \\ u_{q (6 k + 1)}^{6 k + 1} \end{matrix}] = T^{- 1} [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}] = \frac{1}{2} [\begin{matrix} 1 & 0 & 1 & 0 \\ 0 & 1 & 0 & 1 \\ 1 & 0 & - 1 & 0 \\ 0 & 1 & 0 & - 1 \end{matrix}] [\begin{matrix} u_{d 6 k 1} \\ u_{q 6 k 1} \\ u_{q 6 k 2} \\ u_{d 6 k 2} \end{matrix}], & (13) \end{matrix}$

(57) wherein u.sub.d(6k−1).sup.6k−1 and u.sub.q(6k−1).sup.6k−1 are 6k−1 control output voltages in the harmonic reference frame, u.sub.d(6k+1).sup.6k+1 and u.sub.q(6k+1).sup.6k+1 are 6k+1 control output voltages in the harmonic reference frame, u.sub.d6k1, u.sub.q6k1, u.sub.q6k2 and u.sub.d6k2 are output voltages, subscripts d and q being the axis d and the axis q in the harmonic reference frame respectively, and subscript T is a transformational matrix.

(58) The present invention is designed with the harmonic controller 31 and the decoupling voltage compensation unit 32, thereby achieving dynamic decoupling control over the harmonic current, and improving control accuracy and response speed of the harmonic current; and meanwhile, the present invention utilizes linear transformation rather than directly performs decoupling control over the harmonic current in the harmonic reference frame, thereby more conveniently decoupling the harmonic current.

(59) The above embodiments are merely examples, rather than limitation to the scope of the present invention. These embodiments may further be implemented in other various manners, and may be omitted, replaced and changed in various manners without departing from the scope of technical ideas of the present invention.

Decoupling control system and method for harmonic current of salient pole synchronous motor

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