WO2014026331A1 - 一种相电流重构方法及其装置 - Google Patents

一种相电流重构方法及其装置 Download PDF

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Publication number
WO2014026331A1
WO2014026331A1 PCT/CN2012/080149 CN2012080149W WO2014026331A1 WO 2014026331 A1 WO2014026331 A1 WO 2014026331A1 CN 2012080149 W CN2012080149 W CN 2012080149W WO 2014026331 A1 WO2014026331 A1 WO 2014026331A1
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Prior art keywords
current
vector
phase
pulse width
motor
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Ceased
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PCT/CN2012/080149
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English (en)
French (fr)
Inventor
张东花
徐铁柱
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Shenzhen Invt Electric Co Ltd
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Shenzhen Invt Electric Co Ltd
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Priority to CN201280042655.4A priority Critical patent/CN103765757B/zh
Priority to EP12883018.9A priority patent/EP2852047A4/en
Priority to PCT/CN2012/080149 priority patent/WO2014026331A1/zh
Publication of WO2014026331A1 publication Critical patent/WO2014026331A1/zh
Anticipated expiration legal-status Critical
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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H02M7/53875—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
    • H02M7/53876—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output based on synthesising a desired voltage vector via the selection of appropriate fundamental voltage vectors, and corresponding dwelling times
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/0092—Measuring current only

Definitions

  • the invention relates to the technical field of motor control, and in particular to a phase current reconstruction method and a device thereof.
  • phase current sensing of the motor is a critical step that directly affects the performance of the entire control system.
  • the sampling part of the current is the burden of the system cost.
  • the current current sampling method is to detect the phase current of the motor by DC bus current sampling. Single current sampling method.
  • the basic principle of the method is to reconstruct the phase current by using the information of the phase current contained in the DC bus current during the effective vector action.
  • the relationship between the DC bus current and the motor current is determined by the switching state of the inverter.
  • the inverter produces a pulse width modulation (Pulse Width Modulation) signal, and selectively switches a plurality of switching elements by the generated PWM signal.
  • PWM pulse width modulation
  • the bus DC power is converted into an AC power source, and the converted AC power source is supplied to the motor to drive the motor.
  • the structure of the three-phase inverter is shown in Figure 1.
  • the switching states of the upper arm of the three-phase inverter are defined as Sa, Sb, and Sc, respectively.
  • embodiments of the present invention provide a method and apparatus for phase current reconstruction, in order to reduce the error of single current sampling and improve the performance of single current sampling.
  • a phase current reconstruction method is applied to a motor driven by a space voltage vector pulse width modulation method, including:
  • the DC bus current is sampled twice during the pulse width modulated carrier period, and the phase difference is compensated for the second sample of the DC bus current, the first time from the DC bus current.
  • the sampled value and the second sampled value after the phase difference compensation obtain a two-phase current of the motor;
  • the step of calculating the duty ratio of the pulse width modulation according to the space voltage vector of the motor comprises: calculating a spatial voltage vector angle and a spatial voltage vector magnitude according to the space voltage vector of the motor; The obtained spatial voltage vector angle and the spatial voltage vector magnitude calculate a pulse width modulation duty cycle.
  • the phase current reconstruction method further includes:
  • a phase current of the motor is obtained according to the sector number where the modulation vector is located and the sampling of the DC bus current;
  • a corrected current vector is calculated from the amplitude and the current vector angle, and the obtained corrected current vector is converted to obtain a corrected three-phase current of the motor.
  • the specific step of calculating the magnitude of the power factor angle and the current vector of the motor according to the three-phase current of the motor obtained when the modulation vector is in the observable region comprises: three of the obtained motor Phase current is subjected to coordinate transformation based on the orientation of the motor space voltage vector to obtain an active component and a reactive component of the three-phase current; filtering the active component and the higher harmonic component of the reactive component; The active component and the reactive component of the three-phase current after the higher harmonic component calculate the magnitude of the power factor angle and the current vector of the motor.
  • the step of separately sampling the DC bus current in the pulse width modulation carrier period and performing phase difference compensation on the second sampling value of the DC bus current comprises: calculating the current pulse width modulation carrier period The sampling time difference ⁇ of the DC bus current is sampled twice; the second sampling time T1 and the sampling value Idcl of the DC bus current in the current pulse width modulation carrier period are counted, and the last pulse of the current pulse width modulation carrier period is counted.
  • a phase current reconstruction device is in communication with a motor driven by a space voltage vector pulse width modulation method, and includes: a space voltage vector pulse width modulation module, a pulse width modulation phase shift processing module, and a DC bus.
  • the space voltage vector pulse width modulation module is configured to calculate a pulse width modulated duty cycle according to a space voltage vector of the motor, and transmit the pulse width modulated duty cycle to the pulse width modulation phase shift processing module ;
  • the pulse width modulation phase shift processing module is configured to perform pulse width modulation phase shift according to the obtained duty ratio of the pulse width modulation and a preset minimum sampling time, and generate a switch that controls the inverter module to be closed or broken. a first control signal that is turned on and a second control signal that controls the DC bus current sampling module to sample the DC bus current, and sends a first reconstructed signal to the AC current reconstruction module when the modulation vector is in the observable region;
  • the inverter module is configured to perform opening or closing of the switch according to the received first control signal, and convert the bus DC voltage into an AC voltage for driving the motor;
  • the DC bus current sampling module is configured to DC the DC according to the received second control signal Line current is sampled, and a sample value of the DC bus current is transmitted to the AC current reconstruction module; the AC current reconstruction module is configured to transmit a pulse width modulated carrier when the first reconstructed signal is received Receiving two sampling values of the DC bus current sent by the DC bus current sampling module during the period, and performing phase difference compensation on the second sampling value of the DC bus current, thereby the first sampling value and the passing of the DC bus current The second sampling value after the phase difference compensation obtains the two-phase current of the motor, and calculates the third phase current of the motor according to the obtained two-phase current.
  • the space voltage vector pulse width modulation module calculates a space voltage vector angle and a space voltage vector magnitude according to a space voltage vector of the motor, and obtains the space voltage vector angle and the space voltage vector according to the obtained space voltage vector The amplitude calculates the duty cycle of the pulse width modulation.
  • the alternating current reconstruction module further includes a calculating unit, configured to calculate a power factor angle and a magnitude of the current vector of the motor according to the three-phase current of the motor obtained when the first reconstructed signal is received
  • the space voltage vector pulse width modulation module is further configured to detect a sector number where the modulation vector is currently located, and transmit the sector number to the alternating current reconstruction module;
  • the pulse width modulation phase shift processing module is further used to Transmitting a second reconstructed signal to the alternating current reconstruction module when the modulation vector is in the non-observation region;
  • the alternating current reconstruction module is further configured to: when receiving the second reconstructed signal, according to the spatial voltage vector Calculating a current vector angle according to an angle and a power factor angle, calculating a current vector according to the current vector angle and an amplitude of the current vector, and converting the current vector to obtain an initial three-phase current of the motor;
  • the AC current reconstruction module is further configured to: when receiving the second reconstructed signal, the DC bus current sampling module
  • the calculating unit performs coordinate transformation based on the spatial voltage vector orientation on the obtained three-phase current of the motor to obtain an active component and a reactive component of the three-phase current, and filters out the active component and the The higher harmonic component of the reactive component is described, and the power factor angle and the current vector of the motor are calculated based on the active component and the reactive component of the three-phase current after filtering the higher harmonic component.
  • the AC current reconstruction module calculates the current time in the pulse width modulation carrier cycle twice The sampling time difference AT of the DC bus current is sampled, and the second sampling time T1 and the sampled value Idcl of the DC bus current in the current pulse width modulation carrier period are counted, and the last pulse of the current pulse width modulated carrier period is counted.
  • the second sampling time T2 and the sampling value Idc2 of the DC bus current in the width modulation carrier period, and the phase difference compensation of the second sampling value Idcl of the DC bus current in the current pulse width modulation carrier period, wherein the compensation amount ( Idcl- Idc2 ) * ⁇ / ( T1- T2 ).
  • the PWM phase shifting process is first performed according to the calculated PWM duty ratio and the preset minimum sampling time.
  • the DC bus current is sampled twice in the PWM carrier cycle.
  • the phase difference compensation is performed on the second sampling value, so that the two-phase current of the motor is obtained from the first sampling value and the second sampling value after the phase difference compensation, and then the motor is third by the sum of the three-phase currents being equal to zero.
  • the phase current is compensated by the phase difference of the second sampling value of the DC bus current, thereby reducing the error caused by the sampling of the two DC bus currents at different times, and improving the accuracy of the phase current reconstruction.
  • FIG. 1 is a structural schematic diagram of a conventional single current sampling inverter circuit
  • FIG. 2 is a schematic flow chart of a phase current reconstruction method according to an embodiment of the present invention.
  • Figure 3 is a schematic diagram of space voltage vector pulse width modulation
  • FIG. 4 is a schematic diagram of a non-zero basic space vector synthesis modulation vector
  • Figure 5 is a schematic diagram of a non-observed region in spatial voltage vector pulse width modulation
  • FIG. 6 is a schematic flow chart of another phase current reconstruction method according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of a non-observation region of a space voltage vector pulse width modulation after pulse width modulation phase shifting
  • FIG. 8 is a schematic structural diagram of a phase current reconstruction apparatus according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of another phase current reconstruction device according to an embodiment of the present invention.
  • the embodiment of the present invention provides a method and a device for reconstructing a phase current.
  • the technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the specific drawings. It is apparent that the described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. Based on the embodiments of the present invention, one of ordinary skill in the art does not create All other embodiments obtained under the premise of sexual labor are within the scope of protection of the present invention. First, a method for phase current reconstruction provided by an embodiment of the present invention will be described.
  • Embodiments of the present invention provide a method for phase current reconstruction, which is applied to a motor driven by a space voltage vector pulse width modulation method, including:
  • the DC bus current is sampled twice during the pulse width modulated carrier period, and the phase difference is compensated for the second sample of the DC bus current, the first time from the DC bus current.
  • the sampled value and the second sampled value after the phase difference compensation obtain a two-phase current of the motor;
  • the embodiment of the present invention first performs PWM phase shift processing according to the calculated PWM duty ratio and the preset minimum sampling time.
  • the DC bus current is performed twice in the PWM carrier period. Sampling, and performing phase difference compensation on the second sampling value, so that the two-phase current of the motor is obtained from the first sampling value and the second sampling value after the phase difference compensation, and then the motor is obtained by the sum of the three-phase currents being equal to zero.
  • the third phase current is compensated by the phase difference of the second sampled value of the DC bus current, thereby reducing the error caused by the sampling of the two DC bus currents at different times.
  • FIG. 2 Another embodiment of the present invention provides a method for phase current reconstruction, which is applied to a motor driven by a space voltage vector pulse width modulation method.
  • the flow of the method is shown in FIG. 2, and includes:
  • the above-mentioned space voltage vector is obtained by the control algorithm of the motor, and the control algorithm of the motor is mainly obtained based on the control method adopted by the motor.
  • the motor adopts a space voltage vector pulse width modulation control mode, thereby obtaining a space voltage vector of the motor, and obtaining a spatial voltage vector angle and a magnitude of the space voltage vector from the space voltage vector, thereby obtaining a space voltage vector
  • the amplitude of the angular and spatial voltage vectors is calculated to obtain the duty cycle of the pulse width modulation.
  • the pulse width modulation phase shift is to shift the pulse width modulated wave back and forth, so that the vector is decomposed and compensated, and the action time of the non-zero basic space vector whose action time is less than the minimum sampling time is increased to achieve effective current sampling.
  • the DC bus current is sampled twice in the pulse width modulated carrier cycle, and the phase difference compensation is performed on the second sampling value of the DC bus current, and the DC bus current is The two-phase current of the motor is obtained from the sampled value and the second sampled value after the phase difference compensation;
  • the above modulation vector is synthesized by a voltage vector pulse width modulated non-zero basic space vector, and the non-zero basic space vector is determined by the switching state of the inverter.
  • a pulse width modulation carrier period when two non-zero basic space vectors are applied, the corresponding DC bus currents are respectively detected.
  • the two-phase current of the motor can be obtained, but due to the two DC bus currents
  • the sub-sampled values are not obtained at the same time.
  • the third phase current cannot be obtained by the sum of the three-phase currents being equal to zero. Therefore, the embodiment of the present invention compensates the second sampling value of the DC bus current by using the phase difference compensation method. , the error caused by the phase difference of the sampling point is reduced, and the following methods can be used:
  • the second sampling time T1 and the sampling value Idc1 of the DC bus current sampling in the current pulse width modulation carrier period are counted, and the DC bus current sampling is counted in the last pulse width modulation carrier period of the current pulse width modulation period.
  • the embodiment of the present invention adopts phase shift processing on the pulse width modulated carrier, increases the action time of the non-zero basic space vector, reduces the area of the non-observed area, and thus improves the current by detecting the DC bus current.
  • the success rate of the motor phase current is configured, and after obtaining the two sampling values of the DC bus current in the carrier cycle of the pulse width modulation, the phase difference compensation is performed on the second sampling value, and the two sampling is reduced.
  • the error caused by the phase difference is improved by the DC mother Line current reconstructs the accuracy of the phase current.
  • the space vector pulse Width Modulation (S VP WM) used in the motor in the embodiment of the present invention is mainly described below.
  • the S VP WM divides the modulation space into six. a sector and six non-zero elementary space vectors, and two zero vectors, such that the modulation vector is always in one of the sectors and is synthesized by two basic space vectors adjacent to the sector, as shown in Figure 4.
  • the modulation vector should follow the space voltage vector, the space voltage vector is obtained according to the voltage curve and operating frequency of the motor, or obtained according to the control mode of the electronic control unit.
  • Each basic space vector corresponds to the switching state of an inverter module.
  • the application of the basic space vector is realized by changing the conduction state of the six switching tubes, and the basic space vector is controlled by controlling the duration of the conduction state of the switching tube.
  • the action time by the length of time of the adjacent two basic space vectors, can synthesize the modulation space vector of any direction and size to drive the motor.
  • T min is the PWM dead time, the current setup and hold time of the sample MCU
  • T min is the PWM dead time, the current setup and hold time of the sample MCU
  • the area that cannot effectively reconstruct the phase current is called the non-observation area.
  • the area where the sampling time of the two non-zero basic space vectors to the DC bus current meets the minimum sampling time T min in the PWM carrier period is the observable area.
  • the main method to solve the non-observed region problem is the PWM phase shifting method.
  • the basic idea of this method is to realize the effective detection of the bus current by shifting the PWM wave, causing vector decomposition and compensation, and increasing the action time of the non-zero basic vector.
  • the PWM non-zero basic space vector is generated after phase shifting.
  • the compensation vector is decomposed from the zero vector. Therefore, the key factors affecting the technology are the minimum sampling time Tmin and the zero vector action time TO.
  • Tmin is determined by the actual device characteristics. The difference between the ideal characteristics is determined. For the determined system, Tmin is determined, so when the Tmin ⁇ TO/4 condition is met, the method can effectively solve the non-observed area problem.
  • the embodiment of the present invention further provides that single current sampling can also be implemented in a non-observation area, and then completed. As shown in FIG. 6, the method includes the following steps:
  • the above space voltage vector is determined by the control mode of the motor.
  • the space voltage vector can be obtained, thereby obtaining the amplitude of the space voltage vector angle and the space voltage vector, and then the space voltage vector angle and space.
  • the amplitude of the voltage vector is calculated to obtain the duty cycle of Pulse Width Modulation (PWM).
  • PWM Pulse Width Modulation
  • the preset minimum sampling time is a sum of a PWM dead time, a current establishing time, and an MCU sampling and holding time, when the system determines , the minimum sampling time is determined; It should be noted that performing PWM phase shift according to the duty ratio of the PWM and the preset minimum sampling time is substantially increasing the action time of the non-zero basic space vector, and the added action time is provided by the zero vector, and zero. The action time of the vector decreases with the increase of the modulation ratio. Therefore, in the high modulation region, the compensation provided by the zero vector is limited. After the phase shift by the PWM wave, there is a non-observed region that cannot effectively reconstruct the phase current of the motor. As shown in Figure 7.
  • step S630 determining whether the modulation vector is in the observable region, if the modulation vector is in the observable region, proceeding to step S640, if the modulation vector is not in the observable region, that is, the modulation vector is in the non-observation region, proceeding to step S650;
  • the DC bus current is sampled twice in the PWM carrier cycle, and the phase difference compensation is performed on the second sampling value of the DC bus current, and the first sampling value of the DC bus current and the second phase after the phase difference compensation
  • the subsampled value obtains the two-phase current of the motor
  • the d-axis direction can be defined as the spatial voltage vector direction
  • the three-phase current is decomposed on the dq coordinate to obtain the component Id on the d-axis and the component Iq on the q-axis.
  • Id is the active component
  • Iq is the reactive power.
  • the component, the high-order harmonic component of the three-phase current active component and the reactive component is filtered by a low-pass filter, and the power factor angle is calculated from the active component and the reactive component of the three-phase current.
  • the obtained three-phase current is subjected to 3/2 coordinate transformation to obtain current values ⁇ ⁇ and Ip of the ⁇ and ⁇ axes in the two-phase stationary coordinate system.
  • the time of one of the two non-zero basic space vectors that synthesize the modulation vector is too short to meet the minimum sampling time requirement, that is, when The DC bus current cannot be effectively sampled when the non-zero basic space vector is sampled, but the sampling time of another non-zero basic space vector that synthesizes the modulation vector satisfies the requirement of the minimum sampling time, so that the modulation vector can be synthesized at this time and the action time is satisfied.
  • the action of the non-zero elementary space vector of the minimum sampling time samples the DC bus current, thereby obtaining one of the three phase currents of the motor.
  • the space voltage vector angle is calculated according to the space voltage vector, and the current vector angle is obtained according to the space voltage vector angle and the calculated power factor angle, and the magnitude of the calculated current vector is calculated according to the current vector angle. Calculating an initial current vector, converting the initial current vector to obtain an initial three-phase current of the motor;
  • the magnitudes of the above power factor angles and current vectors are calculated based on the three-phase current obtained when the modulation vector is in the most recent observable region.
  • the power factor angle is equal to the angle between the space voltage vector and the current vector
  • the current vector angle can be calculated, and then the current vector is obtained according to the current vector angle and the magnitude of the current vector.
  • the three-phase current of the motor that is, the initial three-phase current described above, can be obtained.
  • Correct the amplitude of the obtained current vector according to a difference between a phase current of the motor obtained in the non-observation region and a corresponding phase current of the initial three-phase current, and the magnitude of the corrected current vector is The current vector angle obtains a corrected current vector, and the obtained corrected current vector is converted to obtain a three-phase current after the motor is clamped.
  • phase current of the three-phase current of the motor can be accurately obtained when the modulation vector is in the non-observation region, the difference between the phase current and the current of the corresponding phase in the obtained initial phase current can be calculated, and then the current is corrected according to the difference.
  • the magnitude of the vector, and then the corrected current vector is retrieved from the magnitude of the corrected current vector and the current vector angle, and the newly obtained corrected current vector is converted to obtain an electrically corrected three-phase current, thereby making a non-observation
  • the region effectively reconstructs the three-phase power of the motor through the sampling of the DC bus current;
  • the embodiment of the present invention drives the motor by using a space voltage vector pulse width modulation method, and performs PWM wave phase shift processing to phase the second sampled value in the PWM carrier period when the modulation vector is in the observable region.
  • Differential compensation thereby obtaining a more accurate three-phase current of the motor, and calculating the magnitude of the power factor angle and the current vector from the three-phase current, when the modulation vector is in the non-observed region, according to the space voltage vector angle, the power factor angle, and The amplitude of the current vector is calculated, and the initial three-phase current of the motor is calculated, and the initial three-phase current is corrected according to the one-phase current value measured in the non-observed region, which solves the limitation that the single current sampling method is applied in the high modulation region.
  • the problem of improved single-current sampling performance makes the single-current method better suited for AC motor speed control systems.
  • the embodiment of the present invention adopts a sampling point phase difference compensation method to solve the error caused by the phase difference of the sampling point. The problem is to improve the accuracy of phase current reconstruction.
  • the embodiment of the invention further provides a phase current reconstruction device, which is connected with a motor driven by a space voltage vector pulse width modulation method, and includes:
  • Space voltage vector pulse width modulation module pulse width modulation phase shift processing module, DC bus current sampling module, AC current reconstruction module, and inverter module;
  • the space voltage vector pulse width modulation module is configured to calculate a pulse width modulated duty cycle according to a space voltage vector of the motor, and transmit the pulse width modulated duty cycle to the pulse width modulation phase shift processing module ;
  • the pulse width modulation phase shift processing module is configured to perform pulse width modulation phase shift according to the obtained duty ratio of the pulse width modulation and a preset minimum sampling time, and generate a switch that controls the inverter module to be closed or broken. a first control signal that is turned on and a second control signal that controls the DC bus current sampling module to sample the DC bus current, and sends a first reconstructed signal to the AC current reconstruction module when the modulation vector is in the observable region;
  • the inverter module is configured to perform opening or closing of the switch according to the received first control signal, and convert the bus DC voltage into an AC voltage for driving the motor;
  • the DC bus current sampling module is configured to sample the DC bus current according to the received second control signal, and transmit the sample value of the DC bus current to the AC current reconstruction module; the AC current reconstruction module And receiving, when receiving the first reconstructed signal, two samples of the DC bus current sent by the DC bus current sampling module in a pulse width modulated carrier cycle, and the second time of the DC bus current
  • the sampled value is phase-compensated, so that the two-phase current of the motor is obtained from the first sampling value of the DC bus current and the second sampling value after the phase difference compensation, and is calculated according to the obtained two-phase current.
  • the third phase current of the motor is configured to sample the DC bus current according to the received second control signal, and transmit the sample value of the DC bus current to the AC current reconstruction module; the AC current reconstruction module And receiving, when receiving the first reconstructed signal, two samples of the DC bus current sent by the DC bus current sampling module in a pulse width modulated carrier cycle, and the second time of the DC bus current
  • the sampled value is phase-compensated,
  • the space voltage vector pulse width modulation module in the phase current reconstruction device provides a space voltage vector pulse width mode driving to the motor, and generates a pulse width modulation duty ratio, thereby pulse width modulation.
  • the phase shift processing module performs pulse width phase shift according to the duty ratio and the preset minimum sampling time, and the alternating current reconstruction module obtains two sample values from the DC bus current sampling module according to the modulation vector in the observable region, and
  • the second sampling value in the carrier cycle performs phase difference compensation, which reduces the error caused by the difference of two sampling times in the pulse width modulation carrier period, and improves the accuracy of phase current reconstruction.
  • An embodiment of the present invention provides another apparatus for phase current reconstruction, which is applied to a motor driven by a space voltage vector pulse width modulation method. Referring to FIG. 8, the method includes:
  • the space voltage vector pulse width modulation module 801 is configured to calculate the duty cycle of the pulse width modulation according to the space voltage vector, and transfer the duty cycle to the pulse width modulation phase shift processing module 802;
  • the space voltage vector is obtained by a control algorithm of the space voltage vector pulse width modulation module 801.
  • the space voltage vector is also determined.
  • the amplitude of the space voltage vector angle and the space voltage vector can be obtained from the space voltage vector, and the duty ratio of the pulse width modulation is calculated from the amplitude of the space voltage vector angle and the space voltage vector.
  • the pulse width modulation phase shift processing module 802 is configured to perform pulse width modulation phase shift according to the obtained duty ratio and a preset minimum sampling time, and generate a first control signal and control for controlling the inverter module 805 to switch closed or open.
  • the DC bus current sampling module 803 samples the second control signal of the DC bus current, and sends the first reconstructed signal to the AC current reconstruction module 804 when the modulation vector is in the observable region;
  • the minimum sampling time is the sum of the dead time of the pulse width modulation, the current establishing time and the MCU sampling and holding time, and when the system determines, the minimum sampling time is also determined;
  • the pulse width modulation phase shift processing module 802 performs phase shifting according to the duty ratio and the minimum sampling time so that the pulse width modulated wave is translated back and forth, so that the space vector is decomposed and compensated, and the non-zero basic space vector whose acting time is less than the minimum sampling time is increased. Time of action to achieve efficient sampling of the DC bus current.
  • the inverter module 805 is configured to perform switching off or closing according to the received first control signal, and convert the bus DC voltage into an AC voltage of the driving motor;
  • the inverter module 805 may specifically be an inverter.
  • the DC bus current sampling module 803 is configured to sample the DC bus current according to the received second control signal, and transmit the sample value of the DC bus current to the AC current reconstruction module 804;
  • the DC bus current sampling module 803 samples the DC bus current twice during each pulse width modulated carrier cycle.
  • the AC current reconstruction module 804 is configured to be pulse width modulated when the first reconstructed signal is received Receiving two samples of the DC bus current sent by the DC bus current sampling module 803 during the carrier cycle, and performing phase difference compensation on the second sampling value of the DC bus current, thereby the first sampling value and the passing of the DC bus current.
  • the second sampling value after the phase difference compensation obtains the two-phase current of the motor, and the third phase current of the motor is calculated according to the obtained two-phase current.
  • the DC bus current sampling module 803 respectively detects the corresponding DC bus current, and according to the correspondence relationship of Table 1, the motor can be obtained. Two-phase current, but since the two samples of the DC bus current sampling module 803 for the DC bus current are not obtained at the same time, the third phase current cannot be obtained by the sum of the three-phase currents being equal to zero, so the AC current is reconstructed.
  • the module 804 compensates the second sampling value of the DC bus current by using the difference compensation method, and reduces the error caused by the phase difference of the sampling point. Specifically, the following method can be used:
  • the second sampling time T1 and the sampling value Idc1 of the DC bus current in the current pulse width modulation carrier period are counted, and the second sampling time T2 of the DC bus current in the previous pulse width modulation carrier period of the current pulse width modulation period is counted.
  • the pulse width modulation phase shift processing module 802 in the embodiment of the present invention performs phase shifting of the pulse width modulation according to the duty ratio of the pulse width modulation and the preset minimum sampling time, and increases the non-zero basic space vector.
  • the action time reduces the non-observed region of the pulse width modulation, thereby improving the success rate of reconstructing the phase current of the motor by detecting the DC bus current; and the second sampling value of the AC current reconstruction module 804 for the pulse width modulation carrier period
  • the phase difference compensation is performed, which reduces the error caused by the phase difference between the two samples, and improves the accuracy of reconstructing the phase current through the DC bus current.
  • the embodiment of the present invention provides another phase current reconfiguration device, which is in communication connection with a motor driven by the S VP WM method.
  • the method includes:
  • the space voltage vector pulse width modulation module 801 is configured to calculate the duty cycle of the pulse width modulation according to the space voltage vector, and transfer the duty cycle to the pulse width modulation phase shift processing module 802;
  • the space voltage vector pulse width modulation module 801 is further configured to detect the sector number where the modulation vector is currently located, and transmit the sector number to the alternating current reconstruction module 804;
  • the pulse width modulation phase shift processing module 802 is configured to perform pulse width modulation phase shift according to the obtained duty ratio and a preset minimum sampling time, and generate a first control signal and control for controlling the inverter module 805 to switch closed or open.
  • the DC bus current sampling module 803 samples the second control signal of the DC bus current, and when the modulation vector is in the observable region, sends the first reconstructed signal to the AC current reconstruction module 804, when the modulation vector is in the non-observation region. Transmitting, to the alternating current reconstruction module 804, a second reconstructed signal;
  • the inverter module 805 is configured to perform switching off or closing according to the received first control signal, and convert the bus DC voltage into an AC voltage of the driving motor;
  • the DC bus current sampling module 803 is configured to sample the DC bus current according to the received second control signal, and transmit the sample value of the DC bus current to the AC current reconstruction module 804;
  • the DC bus current sampling module 803 cannot sample the DC bus current through this non-zero basic space vector, but the active time of another non-zero basic space vector that synthesizes the modulation vector satisfies the minimum sampling time, so the DC bus current sampling module 803 can pass the non-zero basic space.
  • the vector samples the DC bus current to obtain a phase current in the three-phase current of the motor.
  • the AC current reconstruction module 804 is configured to receive, when the first reconstructed signal is received, two samples of the DC bus current sent by the DC bus current sampling module 803 during a pulse width modulated carrier cycle, and the DC bus current is The second sampled value is phase-compensated, so that the two-phase current of the motor is obtained from the first sampled value of the DC bus current and the second sampled value after the phase difference compensation, and the motor is calculated according to the obtained two-phase current.
  • the calculation unit 804a in the alternating current reconstruction module 804 is configured to calculate the power factor angle and the magnitude of the current vector of the motor according to the three-phase current of the motor obtained by the alternating current reconstruction module 804 when the first reconstructed signal is received, and Calculating a spatial voltage vector angle according to a space voltage vector;
  • calculation unit 804a calculates the power factor angle and current according to the obtained three-phase current.
  • the magnitude of the vector can be as follows:
  • the calculating unit 804a performs coordinate transformation based on the spatial voltage vector orientation on the obtained three-phase current of the motor to obtain an active component and a reactive component of the three-phase current;
  • the power factor angle and the magnitude of the current vector of the motor are calculated based on the active component and the reactive component of the three-phase current after filtering the higher harmonic component.
  • the AC current reconstruction module 804 is further configured to: when receiving the second reconstructed signal, obtain a current vector angle according to the calculated space voltage vector angle and the power factor angle calculated by the calculating unit 804a, and calculate according to the current vector angle and the magnitude of the current vector. Obtaining an initial current vector, converting the initial current vector to obtain an initial three-phase current of the motor;
  • the AC current reconstruction module 804 is further configured to: when receiving the second reconstructed signal, acquire a phase current of the motor from the DC bus current sampling module 803 according to the received sector number, according to the phase current and the initial three-phase current of the motor. The difference between the corresponding phase currents is used to correct the magnitude of the current vector, and the corrected current vector is calculated from the amplitude and current vector angle of the corrected current vector, and the obtained corrected current vector is converted to obtain the motor.
  • the corrected three-phase current is such that the three-phase current of the motor is effectively reconstructed by sampling the DC bus current in the non-observation area.
  • the motor is driven by the space voltage vector provided by the space voltage vector pulse width modulation module 801, and the pulse width modulation phase shift processing module shifts the pulse width modulation according to the minimum sampling time and the duty ratio.
  • Phase processing; the AC current reconstruction module 804 performs phase difference compensation on the second sampling value in the pulse width modulation carrier period to obtain a more accurate three-phase current, and the calculation unit in the AC current reconstruction module 804 is based on the three-phase The current is calculated to obtain the power factor angle of the motor and the magnitude of the current vector.
  • the alternating current reconstruction module 804 obtains the initial three of the motor according to the magnitude of the space voltage vector angle, the power factor angle, and the current vector.
  • the phase current is corrected according to the phase current value measured in the non-observed region, and the initial three-phase current is corrected, which solves the problem that the single current sampling method is limited in the high modulation region, and improves the performance of the single current sampling.
  • Single current method can be applied to AC motor speed control system System.
  • the AC current reconstruction module of the embodiment of the present invention adopts a sampling point phase difference compensation method, which solves the error problem caused by the phase difference of the sampling points and improves the precision of the phase current reconstruction.
  • phase current reconstruction method and apparatus provided by the embodiments of the present invention are described in detail above. The description is only for helping to understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in specific embodiments and application scopes. The contents of this specification are not to be construed as limiting the invention.

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Description

一种相电流重构方法及其装置
技术领域
本发明涉及电动机控制技术领域， 具体涉及一种相电流重构方法及其装 置。
背景技术
在高性能的变频控制系统中， 电动机的相电流检测是一个关键的环节， 直 接影响到整个控制系统的性能。 在对成本较注重的变频器调速的民用产品中， 电流的采样部件是系统成本中较中的负担，目前较常用到的电流采样方法为通 过直流母线电流采样来检测获得电动机相电流， 即单电流采样方法。
该方法的基本原理为：利用有效矢量作用期间直流母线电流所蕴含的相电 流的信息， 进行相电流重构。 直流母线电流和电机电流的关系由逆变器的开关 状态决定，逆变器生产脉沖宽度调制 (Pulse Width Modulation,筒称 PWM)信号， 以及通过所生成的 PWM信号有选择地开关多个开关元件，根据开关元件的开 关状态，将母线直流电源转换成交流电源， 以及将所转换的交流电源提供给电 动机， 从而驱动电动机。 三相逆变器结构如图 1所示， 定义三相逆变器的上桥 臂的开关状态分別为 Sa、 Sb、 Sc, 开关管导通时定义为 "1", 断开时定义为 状态" 0", 从而可以形成 8 个基本空间矢量， 其中 6 个非零基本空间矢量为 Ul(001)、 U2 ( 110 )、 U3 ( 010 )、 U4 ( 011 )、 U5 ( 001 )、 U6 ( 101 ), 2 个零 矢量为 U0 ( 000 )、 U7 ( 111 )。 直流母线电流与相电流之间的关系如表 1所示。
表 1、 直流母线电流与相电流之间的关系
Figure imgf000003_0001
在每个 PWM载波周期内，相邻的两个非零基本空间矢量和零矢量交替作 用，在两个非零基本空间矢量作用时采样母线电流可获得两相电流值， 并通过 Iu+ Iv+ lw=0计算得到第三相的电流值。
在对此方法的研究和实践过程中， 本发明的发明人发现， 在一个 PWM载 波周期内分別在两个不同非零基本空间矢量作用时检测母线电流，获得两相电 流值， 但两相电流值并不是在同一时刻获得， 实际上不能满足 Iu+Iv+Iw=0的 条件， 由此重构得到的电动机的相电流并不精确， 有较大的误差。 发明内容
有鉴于此， 本发明实施例提供一种相电流重构的方法和装置， 以期降低单 电流采样的误差以及改善单电流采样的性能。
本发明实施例提供的一种相电流重构方法，应用于采用空间电压矢量脉沖 宽度调制方式进行驱动的电动机， 包括：
根据所述电动机的空间电压矢量计算脉沖宽度调制的占空比；
由获得的脉沖宽度调制的占空比以及预设的最小采样时间进行脉沖宽度 调制移相；
当调制矢量在可观测区域时，在脉沖宽度调制的载波周期内对直流母线电 流进行两次采样， 并且对直流母线电流的第二次采样值进行相位差补偿， 由直 流母线电流的第一次采样值和经过相位差补偿后的第二次采样值得到所述电 动机的两相电流;
根据所述电动机的两相电流计算出所述电动机的第三相电流。
优选的，所述根据所述电动机的空间电压矢量计算脉沖宽度调制的占空比 的具体步骤包括：根据所述电动机的空间电压矢量计算空间电压矢量角和空间 电压矢量幅值；以及才艮据获得的所述空间电压矢量角和所述空间电压矢量幅值 计算脉沖宽度调制占空比。
优选的， 所述相电流重构方法还包括：
根据调制矢量在可观测区域时所获得的所述电动机的三相电流计算所述 电动机的功率因数角和电流矢量的幅值；
当调制矢量在非观测区域时，根据调制矢量所在的扇区号和对直流母线电 流的采样获得所述电动机的一相电流；
根据所述空间电压矢量角和所述功率因数角计算得到电流矢量角，根据获 得的电流矢量角和所述电流矢量的幅值计算得到电流矢量，并对所述电流矢量 进行转换得到所述电动机的初始三相电流；
根据调制矢量在所述非观测区域获得的电动机的一相电流与所述初始三 相电流中对应的相电流之间的差值来修正所述电流矢量的幅值，由修正后的电 流矢量的幅值和所述电流矢量角计算得到修正电流矢量，对得到的所述修正电 流矢量进行转换得到所述电动机的修正后的三相电流。 优选的，所述根据调制矢量在可观测区域时所获得的所述电动机的三相电 流计算所述电动机的功率因数角和电流矢量的幅值的具体步骤包括：对获得的 所述电动机的三相电流进行基于所述电动机空间电压矢量定向的坐标变换，以 得到三相电流的有功分量和无功分量；滤除所述有功分量和所述无功分量的高 次谐波成分；根据滤除高次谐波成分后的三相电流的有功分量和无功分量计算 所述电动机的功率因数角和电流矢量的幅值。
优选的， 所述在脉沖宽度调制载波周期内对直流母线电流进行两次采样， 并且对直流母线电流的第二次采样值进行相位差补偿的具体步骤包括：计算当 前在脉沖宽度调制载波周期内两次对直流母线电流进行采样的采样时间差 ΔΤ; 统计在当前脉沖宽度调制载波周期内对直流母线电流的第二次采样时间 T1和采样值 Idcl ,统计在当前脉沖宽度调制载波周期的上一个脉沖宽度调制载 波周期内对直流母线电流的第二次采样时间 T2和采样值 Idc2 ,对当前脉沖宽度 调制载波周期内的直流母线电流的第二次采样值 Idcl进行相位差补偿， 补偿量 = ( Idcl- Idc2 ) *ΔΤ/ ( Tl- T2 )。
本发明实施例提供的一种相电流重构装置，与采用空间电压矢量脉沖宽度 调制方式进行驱动的电动机通信连接， 包括： 空间电压矢量脉宽调制模块、 脉 沖宽度调制移相处理模块、 直流母线电流采样模块、 交流电流重构模块、 逆变 模块；
所述空间电压矢量脉宽调制模块用于根据所述电动机的空间电压矢量计 算脉沖宽度调制的占空比，并将所述脉沖宽度调制的占空比传送给所述脉沖宽 度调制移相处理模块；
所述脉沖宽度调制移相处理模块用于根据获得的所述脉沖宽度调制的占 空比以及预设的最小采样时间进行脉沖宽度调制移相，并生成控制所述逆变模 块的开关闭合或者断开的第一控制信号和控制直流母线电流采样模块对直流 母线电流进行采样的第二控制信号， 以及当调制矢量在可观测区域时， 向所述 交流电流重构模块发送第一重构信号；
所述逆变模块用于根据接收的所述第一控制信号进行开关的断开或者闭 合， 将母线直流电压转换为驱动所述电动机的交流电压；
所述直流母线电流采样模块用于根据接收的所述第二控制信号对直流母 线电流进行采样， 并将直流母线电流的采样值传送给所述交流电流重构模块； 所述交流电流重构模块用于当接收到所述第一重构信号时，在脉沖宽度调 制的载波周期内接收所述直流母线电流采样模块发送的直流母线电流的两次 采样值， 并且对直流母线电流的第二次采样值进行相位差补偿，从而由直流母 线电流的第一次采样值和经过相位差补偿后的第二次采样值得到所述电动机 的两相电流， 并根据获得的所述两相电流计算得到所述电动机的第三相电流。
优选的，所述空间电压矢量脉宽调制模块根据所述电动机的空间电压矢量 计算空间电压矢量角和空间电压矢量幅值，并才艮据获得的所述空间电压矢量角 和所述空间电压矢量幅值计算脉沖宽度调制的占空比。
优选的， 所述交流电流重构模块还包括计算单元， 用于根据在接收到第一 重构信号时得到的所述电动机的三相电流计算所述电动机的功率因数角和电 流矢量的幅值；所述空间电压矢量脉宽调制模块还用于检测调制矢量当前所在 的扇区号， 并将所述扇区号传送给所述交流电流重构模块； 所述脉沖宽度调制 移相处理模块还用于当调制矢量在非观测区域时，向所述交流电流重构模块发 送第二重构信号； 所述交流电流重构模块还用于当接收到第二重构信号时，根 据所述空间电压矢量角和功率因数角计算得到电流矢量角，根据所述电流矢量 角和所述电流矢量的幅值计算得到电流矢量，并对所述电流矢量进行转换得到 所述电动机的初始三相电流；所述交流电流重构模块还用于当接收到第二重构 信号时根据所接收的扇区号从所述直流母线电流采样模块获得所述电动机的 一相电流，根据所述电动机的一相电流与所述电动机的初始三相电流中对应的 相电流之间的差值来修正所述电流矢量的幅值，并由修正后的电流矢量的幅值 和所述电流矢量角计算得到修正电流矢量，对得到的所述修正电流矢量进行转 换得到所述电动机的修正后的三相电流。
优选的，所述计算单元对获得的所述电动机的三相电流进行基于所述空间 电压矢量定向的坐标变换以得到三相电流的有功分量和无功分量，并滤除所述 有功分量和所述无功分量的高次谐波成分，以及才艮据滤除高次谐波成分后的三 相电流的有功分量和无功分量计算所述电动机的功率因数角和电流矢量的幅 值。
优选的，所述交流电流重构模块计算当前在脉沖宽度调制载波周期内两次 对直流母线电流进行采样的采样时间差 AT, 并统计在当前脉沖宽度调制载波 周期内对直流母线电流的第二次采样时间 T1和采样值 Idcl ,以及统计在当前脉 沖宽度调制载波周期的上一个脉沖宽度调制载波周期内对直流母线电流的第 二次采样时间 T2和采样值 Idc2,并对当前脉沖宽度调制载波周期内的直流母线 电流的第二次采样值 Idcl进行相位差补偿， 其中， 补偿量 = ( Idcl- Idc2 ) *ΔΤ/ ( T1- T2 )。
本发明实施例采用首先按照计算得到的 PWM 占空比和预设的最小采样 时间进行 PWM移相处理， 当调制矢量在可观测区域时， 在 PWM载波周期内 对直流母线电流进行两次采样， 并对第二次采样值进行相位差补偿，从而由第 一次采样值和经过相位差补偿后的第二次采样值得到电动机的两相电流，再由 三相电流之和等于零得到电动机第三相电流，由于对直流母线电流的第二次采 样值进行了相位差补偿，从而降低了因两次直流母线电流在不同时刻采样所带 来的误差， 提高了相电流重构的精度。
附图说明
图 1是现有单电流采样逆变电路的结构原理图；
图 2是本发明实施例提供的一种相电流重构方法流程示意图；
图 3是空间电压矢量脉宽调制示意图；
图 4是非零基本空间矢量合成调制矢量的示意图；
图 5是空间电压矢量脉宽调制时非观测区域的示意图；
图 6是本发明实施例提供的另一种相电流重构方法的流程示意图； 图 7是脉沖宽度调制移相后空间电压矢量脉宽调制的非观测区域的示意 图；
图 8是本发明实施例提供的一种相电流重构装置的结构示意图；
图 9是本发明实施例提供的另一种相电流重构装置的结构示意图。
具体实施方式
本发明实施例提供一种相电流重构的方法及其装置，为使本发明实现的技 术手段易于理解， 下面将结合具体附图，对本发明实施例中的技术方案进行清 楚、 完整地描述， 显然， 所描述的实施例仅仅是本发明一部分实施例， 而不是 全部的实施例。基于本发明中的实施例， 本领域普通技术人员在没有作出创造 性劳动前提下所获得的所有其他实施例， 都属于本发明保护的范围。 首先对本发明实施例提供的一种相电流重构的方法进行说明。
本发明实施例提供一种相电流重构的方法，应用于采用空间电压矢量脉沖 宽度调制方式进行驱动的电动机， 包括：
根据所述电动机的空间电压矢量计算脉沖宽度调制的占空比；
由获得的脉沖宽度调制的占空比以及预设的最小采样时间进行脉沖宽度 调制移相；
当调制矢量在可观测区域时，在脉沖宽度调制的载波周期内对直流母线电 流进行两次采样， 并且对直流母线电流的第二次采样值进行相位差补偿， 由直 流母线电流的第一次采样值和经过相位差补偿后的第二次采样值得到所述电 动机的两相电流;
根据所述电动机的两相电流计算出所述电动机的第三相电流。
由上可见， 本发明实施例首先按照计算得到的 PWM占空比和预设的最小 采样时间进行 PWM移相处理， 当调制矢量在可观测区域， 由 PWM载波周期内 对直流母线电流进行两次采样， 并对第二次采样值进行相位差补偿，从而由第 一次采样值和经过相位差补偿后的第二次采样值得到电动机的两相电流，再由 三相电流之和等于零得到电动机第三相电流，由于对直流母线电流的第二次采 样值进行了相位差补偿，从而降低了因两次直流母线电流在不同时刻采样所带 来的误差。
本发明实施例提供另一种相电流重构的方法，该方法应用于采用空间电压 矢量脉沖宽度调制方式进行驱动的电动机， 该方法流程参见图 2, 包括：
S 101、 根据空间电压矢量计算脉沖宽度调制的占空比；
需要说明的是， 上述空间电压矢量是由电动机的控制算法获得的， 而电动 机的控制算法主要基于电动机所采用的控制方式而获得。本发明实施例中电动 机采用空间电压矢量脉宽调制的控制方式， 由此可得到电动机的空间电压矢 量， 并由空间电压矢量得到空间电压矢量角和空间电压矢量的幅值，从而由空 间电压矢量角和空间电压矢量的幅值计算得到脉沖宽度调制的占空比。
S102、由获得的脉沖宽度调制的占空比以及预设的最小采样时间进行脉沖 宽度调制移相； 脉沖宽度调制移相就是把脉沖宽度调制波进行前后平移，使得矢量分解与 补偿，增大作用时间小于最小采样时间的非零基本空间矢量的作用时间， 以实 现电流有效采样。
5103、 当调制矢量在可观测区域时，在脉沖宽度调制的载波周期内对直流 母线电流进行两次采样， 并且对直流母线电流的第二次采样值进行相位差补 偿，由直流母线电流的第一次采样值和经过相位差补偿后的第二次采样值得到 电动机的两相电流;
上述调制矢量由电压矢量脉沖宽度调制的非零基本空间矢量合成，而非零 基本空间矢量由逆变器的开关状态决定。在一个脉沖宽度调制载波周期内， 两 个非零基本空间矢量作用时， 分別检测出对应的直流母线电流， 结合表 1的对 应关系， 可以得到电动机的两相电流，但是由于直流母线电流的两次采样值并 不是在同一时刻获得的， 第三相电流并不能通过三相电流之和等于零来获得， 因此本发明实施例通过采用相位差补偿法对直流母线电流的第二次采样值进 行补偿， 降低了因采样点相位差带来的误差， 具体可以采用如下方法：
计算在当前脉沖宽度调制载波周期内对两次直流母线电流采样的采样时 间差 ΔΤ;
统计在当前脉沖宽度调制载波周期内对直流母线电流采样的第二次采样 时间 T1和采样值 Idc 1 ,统计在当前脉沖宽度调制周期的上一个脉沖宽度调制载 波周期内对直流母线电流采样的第二次采样时间 T2和采样值 Idc2 ,对当前脉沖 宽度调制载波周期内的直流母线电流的第二次采样值 Idcl进行相位差补偿， 补 偿量 = ( Idcl- Idc2 ) *ΔΤ/ ( Tl- T2 )。
5104、 根据得到的电动机的两相电流计算出电动机的第三相电流。
由于电动机的三相电流之和等于零，所有由得到的电动机的两相电流可以 计算得到电动机的第三相电流。
由上可见， 本发明实施例采用了对脉沖宽度调制的载波进行移相处理，增 大了非零基本空间矢量的作用时间， 降低了非观测区域的面积，从而提高了通 过检测直流母线电流重构电动机相电流的成功率，并且本发明实施例在脉沖宽 度调制的载波周期内获得直流母线电流的两次采样值后，对第二次采样值进行 了相位差补偿， 降低了因两次采样的相位差所带来的误差，提高了通过直流母 线电流重构相电流的精度。
以下重点介绍一下本发明实施例中电动机所采用的空间电压矢量脉宽调 制（ Space Vector Pulse Width Modulation ,筒称 S VP WM ) , 如图 3所示， S VP WM 是将调制空间分为 6个扇区和 6个非零基本空间矢量， 以及两个零矢量， 这样， 调制矢量总是处在其中一个扇区， 并由该扇区相邻的两个基本空间矢量合成， 图 4所示是扇区 1中非零基本空间矢量 U0和 U60的合成调制矢量 U的图， 非零基 本空间矢量 U0和 U60的作用时间分別为 a和 b , 因此当前的调制矢量 U=aU0+bU60。 根据空间控制要求， 调制矢量应跟随空间电压矢量， 空间电压 矢量根据电动机的压频曲线和运行频率获得， 或者根据电控机的控制方式获 得。每个基本空间矢量都对应一种逆变模块的开关状态，基本空间矢量的施加 是通过改变 6个开关管的导通状态来实现的， 通过控制开关管导通状态的持续 时间控制基本空间矢量的作用时间， 由相邻两基本空间矢量作用时间的长短， 即可合成任意方向、 大小的调制空间矢量， 以实现对电动机的驱动。
单电流采样方法中，要使母线直流采样值可以有效重构相电流，对其采样 的时间必须大于一个最小采样时间 Tmin, Tmin是 PWM死区时间、 电流建立时间 和 MCU采样保持时间之和， 电动机采用 S VPWM方式进行驱动时， S VPWM调 制在扇区边界切换或低速控制时， 均会出现在 PWM载波周期内某一个或两个 非零基本空间矢量的作用时间过短而不满足最小采样时间 Tmin (即非零基本空 间矢量作用时间的 1/2小于最小采样时间 Tmin ), PWM载波周期内任一非零基本 空间矢量作用时间过短而不能满足最小采样时间 Tmin而造成不能有效重构相电 流的区域称为非观测区域， 相反 PWM载波周期内两个非零基本空间矢量对直 流母线电流的采样时间都满足最小采样时间 Tmin的区域为可观测区域。
参见图 5 , 电动机采用 SVPWM方式进行驱动时， SVPWM调制在扇区边界 (图中斜线部分）切换时， 例如在扇区 1接近空间矢量 VI的区域进行切换时， 基本空间矢量 V2在一个 PWM载波周期内的作用时间将过短， 以致于基本空间 矢量 V2在一个 PWM载波周期内的作用时间无法满足最小采样时间 （即基本空 间矢量 V2在一个 PWM载波周期内的作用时间的 1/2小于最小作用时间）， 这样 便不能完成直流母线电流的采用， 同理， 在扇区 1接近基本空间矢量 V2的区域 进行切换时， 基本空间矢量 VI在一个 PWM载波周期内的作用时间将过短而无 法满足直流母线电流的采样。对于其他的扇区的边界区域， 总有一个非零基本 空间矢量在一个 PWM载波周期内的作用时间无法满足要求， 由于基本原理是 相同的， 在此就不——进行分析。
除了在扇区边界切换时，一个非零基本空间矢量的作用时间无法满足直流 母线电流采样外， 当电动机低速控制时，在某些区域甚至同一扇区中两个相邻 非零基本空间矢量的作用时间都无法满足直流母线电流的采样。上述无法完成 通过采用的直流母线电流重构电动机相电流的区域都称为非观测区域，非观测 区域将严重阻碍单电流采用的实现。
目前解决非观测区域问题的主要方法是 PWM移相方法， 该方法的基本思 想就是通过 PWM波平移， 使得矢量分解和补偿， 增大非零基本矢量的作用时 间， 以实现母线电流的有效检测。 PWM移相后会产生补偿的非零基本空间矢 量， 补偿矢量是从零矢量分解出来的， 故影响该技术的关键因数是最小采样时 间 Tmin和零矢量作用时间 TO , Tmin是由实际器件特性与理想特性之间存在的 差別决定的， 对于确定的系统， Tmin是确定的， 因此在满足 Tmin^ TO/4条件 时， 该方法就可以有效解决非观测区域问题。 但是， 在高调制区域， 由于零矢 量的作用时间随调制比的增加而减小，故该方法在高调制区域的应用受到一定 的限制， 当零矢量的作用时间 ^艮短时就不能通过 PWM移相的方法解决非观测 区域问题。
本发明实施例还提供一种在非观测区域也能够实现单电流采样，进而完成 图 6所示， 该方法包括以下步骤：
S610、 根据空间电压矢量计算 PWM的占空比；
上述空间电压矢量是由电动机的控制方式决定的，当电动机的控制方式确 定后， 即可以获得空间电压矢量，从而得到空间电压矢量角和空间电压矢量的 幅值， 再由空间电压矢量角和空间电压矢量的幅值计算得到脉沖宽度调制 ( Pulse Width Modulation,筒称 PWM ) 的占空比。
S620、 由获得的 PWM占空比以及预设的最小采样时间进行 PWM的移相； 上述预设的最小采样时间为 PWM死区时间、 电流建立时间和 MCU采样保 持时间之和， 当系统确定后， 最小采样时间即确定； 需要说明的是，根据 PWM的占空比和预设的最小采样时间进行 PWM移相 实质上是增大非零基本空间矢量的作用时间，而增加的作用时间是由零矢量提 供的， 而零矢量的作用时间随调制比的增加会减小， 所以在高调制区域， 由零 矢量提供补偿受到一定的限制， 通过 PWM波移相后还会存在不能有效重构电 动机相电流的非观测区域， 如图 7所述。
S630、 判断调制矢量是否在可观测区域， 若调制矢量在可观测区域， 则进 行步骤 S640, 若调制矢量不在可观测区域， 即调制矢量在非观测区域， 则进行 步骤 S650;
5640、 在 PWM载波周期内直流母线电流进行两次采样， 并且对直流母线 电流的第二次采样值进行相位差补偿，由直流母线电流的第一次采样值和经过 相位差补偿后的第二次采样值得到电动机的两相电流；
5641、 根据电动机的两相电流计算出电动机的第三相电流；
S642、根据得到的电动机的三相电流计算电动机的功率因数角和电流矢量 的幅值；
在 d-q旋转坐标系中， 可以定义 d轴方向为空间电压矢量方向， 三相电流在 dq坐标上分解得到 d轴上的分量 Id和 q轴上的分量 Iq, Id为有功分量， Iq为无功 分量，通过低通滤波器滤除三相电流有功分量和无功分量的高次谐波成分，再 由三相电流的有功分量和无功分量计算得到功率因数角。
将得到的三相电流进行 3/2坐标变换得到两相静止坐标系下 α、 β轴的电流 值 Ια、 Ip, 。
Figure imgf000012_0001
S650、对直流母线电流进行采样，根据调制矢量所在的扇区号和对直流母 线电流的采样获得电动机的一相电流；
对 PWM进行移相后， 当调制矢量在非观测区域中， 合成该调制矢量的两 个非零基本空间矢量中有一个矢量的作用时间过短，而不能满足最小采样时间 的要求， 即当该非零基本空间矢量采样时不能有效采样直流母线电流，但是合 成该调制矢量的另一个非零基本空间矢量的采样时间满足最小采样时间的要 求，因此此时可以通过合成该调制矢量且作用时间满足最小采样时间的非零基 本空间矢量的作用采样到直流母线电流，从而得到电动机的三相电流中的一相 电流。 5651、才艮据空间电压矢量计算得到空间电压矢量角，并才艮据该空间电压矢 量角和计算得到的功率因数角得到电流矢量角，根据该电流矢量角和计算得到 的电流矢量的幅值计算得到初始电流矢量，对该初始电流矢量进行转换得到电 动机的初始三相电流；
上述功率因数角和电流矢量的幅值为根据调制矢量在最新经过的一个可 观测区域时获得的三相电流计算得到。
由于功率因数角等于空间电压矢量和电流矢量的夹角，因此当得到功率因 数角和空间电压矢量角后， 可以计算得到电流矢量角， 然后根据电流矢量角和 电流矢量的幅值得到电流矢量，再将电流矢量进行转换， 可以得到电动机的三 相电流， 也即上述的初始三相电流。
5652、根据在非观测区域获得的电动机的一相电流和上述初始三相电流中 对应的相电流之间的差值来修正得到的电流矢量的幅值，由修正后的电流矢量 的幅值和电流矢量角得到修正电流矢量，对得到的修正电流矢量进行转换得到 电动机的爹正后的三相电流。
由于当调制矢量在非观测区域时可以准确获得电动机三相电流中的一相 电流， 因此可以计算该相电流与得到的初始相电流中对应相的电流的差值， 然 后根据该差值修正电流矢量的幅值，然后再由修正后的电流矢量的幅值和电流 矢量角重新得到修正电流矢量，并将新得到的修正电流矢量进行转换得到电动 的修正后的三相电流，从而在非观测区域通过直流母线电流的采样有效重构出 电动机的三相电；巟。
由上可知， 本发明实施例采用空间电压矢量脉宽调制方式驱动电动机， 并 且进行了 PWM波移相处理， 当调制矢量在可观测区域时， 对 PWM载波周期内 的第二次采样值进行相位差补偿，从而获得较准确的电动机的三相电流， 并由 三相电流计算得到功率因数角和电流矢量的幅值， 当调制矢量在非观测区域 时， 根据空间电压矢量角、 功率因数角和电流矢量的幅值， 计算得到电动机的 初始三相电流， 并根据在非观测区域测得的一相电流值，修正得到的初始三相 电流，解决了单电流采样方法在高调制区域应用受到限制的问题， 改善了单电 流采样的性能，使得单电流方法可以较好地应用于交流电动机调速系统。同时， 本发明实施例采用了采样点相位差补偿方法，解决了采样点相位差带来的误差 问题， 提高了相电流重构的精度。
本发明实施例还提供一种相电流重构装置，与采用空间电压矢量脉沖宽度 调制方式进行驱动的电动机通信连， 包括：
空间电压矢量脉宽调制模块、脉沖宽度调制移相处理模块、直流母线电流 采样模块、 交流电流重构模块、 逆变模块；
所述空间电压矢量脉宽调制模块用于根据所述电动机的空间电压矢量计 算脉沖宽度调制的占空比，并将所述脉沖宽度调制的占空比传送给所述脉沖宽 度调制移相处理模块；
所述脉沖宽度调制移相处理模块用于根据获得的所述脉沖宽度调制的占 空比以及预设的最小采样时间进行脉沖宽度调制移相，并生成控制所述逆变模 块的开关闭合或者断开的第一控制信号和控制直流母线电流采样模块对直流 母线电流进行采样的第二控制信号， 以及当调制矢量在可观测区域时， 向所述 交流电流重构模块发送第一重构信号；
所述逆变模块用于根据接收的所述第一控制信号进行开关的断开或者闭 合， 将母线直流电压转换为驱动所述电动机的交流电压；
所述直流母线电流采样模块用于根据接收的所述第二控制信号对直流母 线电流进行采样， 并将直流母线电流的采样值传送给所述交流电流重构模块； 所述交流电流重构模块用于当接收到所述第一重构信号时，在脉沖宽度调 制的载波周期内接收所述直流母线电流采样模块发送的直流母线电流的两次 采样值， 并且对直流母线电流的第二次采样值进行相位差补偿，从而由直流母 线电流的第一次采样值和经过相位差补偿后的第二次采样值得到所述电动机 的两相电流， 并根据获得的所述两相电流计算得到所述电动机的第三相电流。
由上可见，本发明实施例提供的相电流重构装置中的空间电压矢量脉宽调 制模块对电动机提供空间电压矢量脉沖宽度方式的驱动，并生成脉沖宽度调制 的占空比，从而脉沖宽度调制移相处理模块根据该占空比及预设的最小采样时 间进行脉沖宽度移相，交流电流重构模块根据调制矢量在可观测区域时从直流 母线电流采样模块中获得两次采样值，并且对载波周期内的第二次采样值进行 了相位差补偿，降低了因脉沖宽度调制载波周期内的两次采样时间不同而带来 的误差， 提高了相电流重构的精度。 本发明实施例提供另一种相电流重构的装置，该装置应用于采用空间电压 矢量脉沖宽度调制方式进行驱动的电动机， 参见图 8所示， 包括：
空间电压矢量脉宽调制模块 801、脉沖宽度调制移相处理模块 802、直流母 线电流采样模块 803、 交流电流重构模块 804和逆变模块 805；
空间电压矢量脉宽调制模块 801用于根据空间电压矢量计算脉沖宽度调制 的占空比， 并将该占空比传送给脉沖宽度调制移相处理模块 802;
其中， 上述空间电压矢量通过空间电压矢量脉宽调制模块 801的控制算法 获得， 当空间电压矢量脉宽调制模块 801的控制方式确定时， 空间电压矢量也 即确定。 由空间电压矢量可以得到空间电压矢量角和空间电压矢量的幅值，再 由空间电压矢量角和空间电压矢量的幅值计算得到脉沖宽度调制的占空比。
脉沖宽度调制移相处理模块 802用于根据获得的占空比以及预设的最小采 样时间进行脉沖宽度调制的移相， 并生成控制逆变模块 805开关闭合或者断开 的第一控制信号和控制直流母线电流采样模块 803对直流母线电流进行采样的 第二控制信号， 以及当调制矢量在可观测区域时， 向交流电流重构模块 804发 送第一重构信号；
其中， 上述最小采样时间为脉沖宽度调制的死区时间、 电流建立时间和 MCU采样保持时间之和， 当系统确定后， 最小采样时间也即确定；
脉沖宽度调制移相处理模块 802根据占空比和最小采样时间进行移相使得 脉沖宽度调制波进行前后平移，使得空间矢量分解与补偿，增大作用时间小于 最小采样时间的非零基本空间矢量的作用时间，以实现直流母线电流的有效采 样。
逆变模块 805用于根据接收的第一控制信号进行开关的断开或者闭合， 将 母线直流电压转换为驱动电动机的交流电压；
其中， 逆变模块 805具体可以为逆变器。
直流母线电流采样模块 803用于根据接收的第二控制信号对直流母线电流 进行采样， 并将直流母线电流的采样值传送给交流电流重构模块 804;
其中， 直流母线电流采样模块 803在每个脉沖宽度调制的载波周期内对直 流母线电流进行两次采样。
交流电流重构模块 804用于当接收到第一重构信号时， 在脉沖宽度调制的 载波周期内接收直流母线电流采样模块 803发送的直流母线电流的两次采样 值， 并且对直流母线电流的第二次采样值进行相位差补偿，从而由直流母线电 流的第一次采样值和经过相位差补偿后的第二次采样值得到电动机的两相电 流， 并根据获得的两相电流计算得到电动机的第三相电流。
需要说明的是，在一个脉沖宽度调制载波周期内， 两个非零基本空间矢量 作用时， 直流母线电流采样模块 803分別检测出对应的直流母线电流， 结合表 1 的对应关系，可以得到电动机的两相电流，但是由于直流母线电流采样模块 803 对直流母线电流的两次采样值并不是在同一时刻获得的，第三相电流并不能通 过三相电流之和等于零来获得， 因此交流电流重构模块 804采用位差补偿法对 直流母线电流的第二次采样值进行补偿， 降低了因采样点相位差带来的误差， 具体可以采用如下方法：
计算在当前脉沖宽度调制载波周期内两次直流母线电流的采样时间差
ΔΤ;
统计当前脉沖宽度调制载波周期内直流母线电流的第二次采样时间 T1和 采样值 Idc 1 , 统计当前脉沖宽度调制周期的上一个脉沖宽度调制载波周期内直 流母线电流的第二次采样时间 T2和采样值 Idc2 ,对当前脉沖宽度调制载波周期 内的直流母线电流的第二次采样值进行相位差补偿，补偿量 =( Idcl- Idc2 )*ΔΤ/ ( T1- T2 )。
由上可见， 本发明实施例中的脉沖宽度调制移相处理模块 802根据脉沖宽 度调制的占空比和预设的最小采样时间进行脉沖宽度调制的移相，增大了非零 基本空间矢量的作用时间， 减少了脉沖宽度调制的非观测区域，从而提高了通 过检测直流母线电流重构电动机相电流的成功率； 并且交流电流重构模块 804 对脉沖宽度调制载波周期内的第二次采样值进行了相位差补偿，降低了因两次 采样的相位差所带来的误差， 提高了通过直流母线电流重构相电流的精度。
本发明实施例提供另一种相电流重构装置， 与采用 S VP WM方式进行驱动 的电动机通信连接， 参见图 9所示， 包括：
空间电压矢量脉宽调制模块 801、脉沖宽度调制移相处理模块 802、直流母 线电流采样模块 803、 交流电流重构模块 804和逆变模块 805 , 其中交流电流重 构模块 804包括计算单元 804a; 空间电压矢量脉宽调制模块 801用于根据空间电压矢量计算脉沖宽度调制 的占空比， 并将该占空比传送给脉沖宽度调制移相处理模块 802;
空间电压矢量脉宽调制模块 801还用于检测调制矢量当前所在的扇区号， 并将该扇区号传送给交流电流重构模块 804;
脉沖宽度调制移相处理模块 802用于根据获得的占空比以及预设的最小采 样时间进行脉沖宽度调制的移相， 并生成控制逆变模块 805开关闭合或者断开 的第一控制信号和控制直流母线电流采样模块 803对直流母线电流进行采样的 第二控制信号， 以及当调制矢量在可观测区域时， 向交流电流重构模块 804发 送第一重构信号， 当调制矢量在非观测区域时， 向交流电流重构模块 804发送 第二重构信号；
逆变模块 805用于根据接收的第一控制信号进行开关的断开或者闭合， 将 母线直流电压转换为驱动电动机的交流电压；
直流母线电流采样模块 803用于根据接收的第二控制信号对直流母线电流 进行采样， 并将直流母线电流的采样值传送给交流电流重构模块 804;
需要说明的是， 脉沖宽度调制进行移相后， 当调制矢量在非观测区域时， 由于合成该调制矢量的两个非零基本空间矢量中有一个矢量的作用时间过短， 直流母线电流采样模块 803不能通过这个非零基本空间矢量对直流母线电流采 样，但是合成该调制矢量的另一个非零基本空间矢量的作用时间满足最小采样 时间， 所以直流母线电流采样模块 803可以通过该非零基本空间矢量采样直流 母线电流， 从而得到电动机三相电流中的一相电流。
交流电流重构模块 804用于当接收到第一重构信号时， 在脉沖宽度调制的 载波周期内接收直流母线电流采样模块 803发送的直流母线电流的两次采样 值， 并且对直流母线电流的第二次采样值进行相位差补偿，从而由直流母线电 流的第一次采样值和经过相位差补偿后的第二次采样值得到电动机的两相电 流， 并根据获得的两相电流计算得到电动机的第三相电流；
交流电流重构模块 804中的计算单元 804a用于根据在接收到第一重构信号 时交流电流重构模块 804取得的电动机的三相电流计算电动机的功率因数角和 电流矢量的幅值， 并根据空间电压矢量计算得到空间电压矢量角；
需要说明的是，计算单元 804a根据获得的三相电流计算功率因数角和电流 矢量的幅值具体可以采用以下的方法：
计算单元 804a对获得的电动机的三相电流进行基于空间电压矢量定向的 坐标变换以得到三相电流的有功分量和无功分量；
滤除有功分量和无功分量的高次谐波成分；
根据滤除高次谐波成分后的三相电流的有功分量和无功分量计算电动机 的功率因数角和电流矢量的幅值。
交流电流重构模块 804还用于当接收到第二重构信号时， 根据计算单元 804a计算得到的空间电压矢量角和功率因数角得到电流矢量角，根据电流矢量 角和电流矢量的幅值计算得到初始电流矢量，对初始电流矢量进行转换得到电 动机的初始三相电流；
交流电流重构模块 804还用于当接收到第二重构信号时根据所接收的扇区 号从直流母线电流采样模块 803获取电动机的一相电流， 根据该一相电流与电 动机的初始三相电流中对应的相电流之间的差值来爹正电流矢量的幅值 ,并由 修正后的电流矢量的幅值和电流矢量角计算得到修正电流矢量，对得到的修正 电流矢量进行转换得到电动机的修正后的三相电流，从而在非观测区域通过直 流母线电流的采样有效重构出电动机的三相电流。
由上可见， 本发明实施例中电动机由空间电压矢量脉宽调制模块 801提供 的空间电压矢量进行驱动，并且脉沖宽度调制移相处理模块根据最小采样时间 及占空比对脉沖宽度调制进行了移相处理； 交流电流重构模块 804对脉沖宽度 调制载波周期内的第二次采样值进行相位差补偿， 从而获得较准确的三相电 流， 交流电流重构模块 804中的计算单元根据该三相电流计算得到电动机的功 率因数角和电流矢量的幅值， 当调制矢量在非观测区域时， 交流电流重构模块 804根据空间电压矢量角、 功率因数角和电流矢量的幅值得到电动机的初始三 相电流， 并根据在非观测区域测得的一相电流值， 修正得到的初始三相电流， 解决了单电流采样方法在高调制区域应用受到限制的问题，改善了单电流采样 的性能， 使得单电流方法可以较好地应用于交流电动机调速系统。 同时， 本发 明实施例中交流电流重构模块采用了采样点相位差补偿方法，解决了采样点相 位差带来的误差问题， 提高了相电流重构的精度。
以上对本发明实施例所提供的相电流重构方法及其装置进行了详细介绍， 说明只是用于帮助理解本发明的方法及其核心思想； 同时，对于本领域的一般 技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处， 综上所述， 本说明书内容不应理解为对本发明的限制。

Claims

权 利 要 求
1、 一种相电流重构方法， 应用于采用空间电压矢量脉沖宽度调制方式进 行驱动的电动机， 其特征在于， 包括：
根据所述电动机的空间电压矢量计算脉沖宽度调制的占空比；
由获得的脉沖宽度调制的占空比以及预设的最小采样时间进行脉沖宽度 调制移相；
当调制矢量在可观测区域时，在脉沖宽度调制的载波周期内对直流母线电 流进行两次采样， 并且对直流母线电流的第二次采样值进行相位差补偿， 由直 流母线电流的第一次采样值和经过相位差补偿后的第二次采样值得到所述电 动机的两相电流;
根据所述电动机的两相电流计算出所述电动机的第三相电流。
2、根据权利要求 1所述的相电流重构方法， 其特征在于， 所述根据所述电 动机的空间电压矢量计算脉沖宽度调制的占空比的具体步骤包括：
根据所述电动机的空间电压矢量计算空间电压矢量角和空间电压矢量幅 值；
根据获得的空间电压矢量角和空间电压矢量幅值计算脉沖宽度调制占空 比。
3、根据权利要求 2所述的相电流重构方法， 其特征在于， 所述相电流重构 方法还包括：
根据调制矢量在可观测区域时所获得的所述电动机的三相电流计算所述 电动机的功率因数角和电流矢量的幅值；
当调制矢量在非观测区域时，根据调制矢量所在的扇区号和对直流母线电 流的采样获得所述电动机的一相电流；
根据所述空间电压矢量角和所述功率因数角计算得到电流矢量角，根据获 得的电流矢量角和所述电流矢量的幅值计算得到电流矢量，并对所述电流矢量 进行转换得到所述电动机的初始三相电流；
根据调制矢量在所述非观测区域获得的电动机的一相电流与所述初始三 相电流中对应的相电流之间的差值来修正所述电流矢量的幅值，由修正后的电 流矢量的幅值和所述电流矢量角计算得到修正电流矢量，对得到的所述修正电 流矢量进行转换得到所述电动机的修正后的三相电流。
4、根据权利要求 3所述的相电流重构方法， 其特征在于， 所述根据调制矢 量在可观测区域时所获得的所述电动机的三相电流计算所述电动机的功率因 数角和电流矢量的幅值的具体步骤包括：
对获得的所述电动机的三相电流进行基于所述电动机空间电压矢量定向 的坐标变换， 以得到三相电流的有功分量和无功分量；
滤除所述有功分量和所述无功分量的高次谐波成分；
根据滤除高次谐波成分后的三相电流的有功分量和无功分量计算所述电 动机的功率因数角和电流矢量的幅值。
5、根据权利要求 1所述的相电流重构方法， 其特征在于， 所述在脉沖宽度 调制载波周期内对直流母线电流进行两次采样，并且对直流母线电流的第二次 采样值进行相位差补偿的具体步骤包括：
计算当前在脉沖宽度调制载波周期内两次对直流母线电流进行采样的采 样时间差 ΔΤ;
统计在当前脉沖宽度调制载波周期内对直流母线电流的第二次采样时间
T1和采样值 Idcl ,统计在当前脉沖宽度调制载波周期的上一个脉沖宽度调制载 波周期内对直流母线电流的第二次采样时间 T2和采样值 Idc2 ,对当前脉沖宽度 调制载波周期内的直流母线电流的第二次采样值 Idcl进行相位差补偿， 其中， 补偿量 = ( Idcl- Idc2 ) *ΔΤ/ ( Tl- T2 )。
6、 一种相电流重构装置， 与采用空间电压矢量脉沖宽度调制方式进行驱 动的电动机通信连接， 其特征在于， 包括： 空间电压矢量脉宽调制模块、 脉沖 宽度调制移相处理模块、 直流母线电流采样模块、 交流电流重构模块、 逆变模 块；
所述空间电压矢量脉宽调制模块用于根据所述电动机的空间电压矢量计 算脉沖宽度调制的占空比，并将所述脉沖宽度调制的占空比传送给所述脉沖宽 度调制移相处理模块；
所述脉沖宽度调制移相处理模块用于根据获得的所述脉沖宽度调制的占 空比以及预设的最小采样时间进行脉沖宽度调制移相，并生成控制所述逆变模 块的开关闭合或者断开的第一控制信号和控制直流母线电流采样模块对直流 母线电流进行采样的第二控制信号， 以及当调制矢量在可观测区域时， 向所述 交流电流重构模块发送第一重构信号；
所述逆变模块用于根据接收的所述第一控制信号进行开关的断开或者闭 合， 将母线直流电压转换为驱动所述电动机的交流电压；
所述直流母线电流采样模块用于根据接收的所述第二控制信号对直流母 线电流进行采样， 并将直流母线电流的采样值传送给所述交流电流重构模块； 所述交流电流重构模块用于当接收到所述第一重构信号时，在脉沖宽度调 制的载波周期内接收所述直流母线电流采样模块发送的直流母线电流的两次 采样值， 并且对直流母线电流的第二次采样值进行相位差补偿，从而由直流母 线电流的第一次采样值和经过相位差补偿后的第二次采样值得到所述电动机 的两相电流， 并根据获得的所述两相电流计算得到所述电动机的第三相电流。
7、 根据权利要求 6所述的相电流重构装置， 其特征在于， 所述空间电压矢 量脉宽调制模块根据所述电动机的空间电压矢量计算空间电压矢量角和空间 电压矢量幅值，并才艮据获得的所述空间电压矢量角和所述空间电压矢量幅值计 算脉沖宽度调制的占空比。
8、 根据权利要求 7所述的相电流重构装置， 其特征在于， 所述交流电流重 构模块还包括计算单元，用于根据在接收到第一重构信号时得到的所述电动机 的三相电流计算所述电动机的功率因数角和电流矢量的幅值；
所述空间电压矢量脉宽调制模块还用于检测调制矢量当前所在的扇区号， 并将所述扇区号传送给所述交流电流重构模块；
所述脉沖宽度调制移相处理模块还用于当调制矢量在非观测区域时，向所 述交流电流重构模块发送第二重构信号；
所述交流电流重构模块还用于当接收到第二重构信号时，根据所述空间电 压矢量角和功率因数角计算得到电流矢量角，根据所述电流矢量角和所述电流 矢量的幅值计算得到电流矢量，并对所述电流矢量进行转换得到所述电动机的 初始三相电流；
所述交流电流重构模块还用于当接收到第二重构信号时根据所接收的扇 区号从所述直流母线电流采样模块获得所述电动机的一相电流，根据所述电动 机的一相电流与所述电动机的初始三相电流中对应的相电流之间的差值来修 正所述电流矢量的幅值，并由修正后的电流矢量的幅值和所述电流矢量角计算 得到修正电流矢量，对得到的所述修正电流矢量进行转换得到所述电动机的修 正后的三相电流。
9、 根据权利要求 8所述的相电流重构装置， 其特征在于， 所述计算单元 对获得的所述电动机的三相电流进行基于所述空间电压矢量定向的坐标 变换以得到三相电流的有功分量和无功分量，并滤除所述有功分量和所述无功 分量的高次谐波成分，以及才艮据滤除高次谐波成分后的三相电流的有功分量和 无功分量计算所述电动机的功率因数角和电流矢量的幅值。
10、 根据权利要求 6所述的相电流重构装置， 其特征在于， 所述交流电流重构 模块计算当前在脉沖宽度调制载波周期内两次对直流母线电流进行采样的采 样时间差 ΔΤ, 并统计在当前脉沖宽度调制载波周期内对直流母线电流的第二 次采样时间 T1和采样值 Idcl , 以及统计在当前脉沖宽度调制载波周期的上一 个脉沖宽度调制载波周期内对直流母线电流的第二次采样时间 T2和采样值 Idc2, 并对当前脉沖宽度调制载波周期内的直流母线电流的第二次采样值 Idcl 进行相位差补偿， 其中， 补偿量 = ( Idcl- Idc2 ) *ΔΤ/ ( Tl- T2 )。
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CN115720057A (zh) * 2022-11-14 2023-02-28 致瞻科技(上海)有限公司 脉冲宽度调制的移相方法、装置、设备及可读存储介质
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CN119921611A (zh) * 2025-01-20 2025-05-02 珠海格力电器股份有限公司 电机及其相电流确定方法、装置、存储介质和程序产品
CN119921611B (zh) * 2025-01-20 2025-09-26 珠海格力电器股份有限公司 电机及其相电流确定方法、装置、存储介质和程序产品
CN119853525A (zh) * 2025-03-20 2025-04-18 华帝股份有限公司 一种电流采样的变频控制方法和装置

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