阅读说明：本技术 一种电机的电流谐波抑制装置、方法和电机 (Current harmonic suppression device and method of motor and motor ) 是由 李赛 梅正茂 唐海洋 高杰 丁晶晶 于 2020-05-25 设计创作，主要内容包括：本发明公开了一种电机的电流谐波抑制装置、方法和电机,该装置包括：第一控制模块和/或第二控制模块；还包括：电机的控制电路；电机的控制电路,包括：转速外环控制电路和电流内环控制电路；其中,第一控制模块,用于采用对电机的控制电路中的PI控制器的参数进行优化的方式,对转速外环控制电路和/或电流内环控制电路中的电流谐波进行抑制；和/或,第二控制模块,用于采用对电机的控制电路中的重复控制器进行增加延时环节和增加相位补偿的方式,对转速外环控制电路和/或电流内环控制电路中的电流谐波进行抑制。本发明的方案,可以解决永磁同步电机的电流谐波抑制能力比较弱的问题,达到提升永磁同步电机的电流谐波抑制能力的效果。(The invention discloses a current harmonic suppression device and method of a motor and the motor, wherein the device comprises: a first control module and/or a second control module; further comprising: a control circuit of the motor; a control circuit for an electric machine comprising: a rotating speed outer ring control circuit and a current inner ring control circuit; the first control module is used for inhibiting current harmonics in a rotating speed outer ring control circuit and/or a current inner ring control circuit in a mode of optimizing parameters of a PI (proportional-integral) controller in a control circuit of the motor; and/or the second control module is used for inhibiting current harmonics in the rotating speed outer ring control circuit and/or the current inner ring control circuit by adopting a mode of adding a delay link and phase compensation to a repetitive controller in the control circuit of the motor. According to the scheme, the problem that the current harmonic suppression capability of the permanent magnet synchronous motor is weak can be solved, and the effect of improving the current harmonic suppression capability of the permanent magnet synchronous motor is achieved.)

1. A current harmonic suppression apparatus for an electric motor, comprising: a control unit; the control unit includes: a first control module and/or a second control module;

further comprising: a control circuit of the motor; a control circuit for an electric machine comprising: a rotating speed outer ring control circuit and a current inner ring control circuit;

wherein the content of the first and second substances,

the first control module is used for inhibiting current harmonics in a rotating speed outer ring control circuit and/or a current inner ring control circuit in a mode of optimizing parameters of a PI (proportional-integral) controller in a control circuit of the motor;

and/or the presence of a gas in the gas,

and the second control module is used for inhibiting current harmonics in the rotating speed outer loop control circuit and/or the current inner loop control circuit by adopting a mode of adding a delay link and phase compensation to a repetitive controller in the control circuit of the motor.

2. The current harmonic suppression device of an electric motor according to claim 1, wherein the number of the first control modules is one or more;

under the condition that the number of the first control modules is one, the first control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit;

in the case where the number of the first control modules is two, one first control module is provided in the rotational speed outer loop control circuit, and the other first control module is provided in the current inner loop control circuit.

3. The current harmonic suppression device of an electric motor according to claim 1, wherein the number of the second control modules is one or more;

under the condition that the number of the second control modules is one, the second control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit;

in the case where the number of the second control modules is two, one of the second control modules is provided in the rotational speed outer loop control circuit, and the other of the second control modules is provided in the current inner loop control circuit.

4. The current harmonic suppression apparatus of an electric motor according to claim 1, wherein,

in the rotating speed outer ring control circuit, a first control module and a second control module are arranged in parallel;

and/or the presence of a gas in the gas,

in the current inner loop control circuit, a first control module and a second control module are arranged in parallel.

5. The current harmonic suppression apparatus of any one of claims 1 to 4, wherein the first control module comprises: a fuzzy PI controller is obtained by carrying out fuzzy inference processing on a PI controller in a control circuit of the motor by utilizing a particle swarm optimization algorithm; wherein, the fuzzy inference processing by utilizing the particle swarm optimization algorithm comprises the following steps:

according to a set fuzzy rule, enabling the first input quantization factor to be processed by fuzzy logic to obtain a first output quantization factor, and enabling the second input quantization factor to be processed by fuzzy logic to obtain a second output quantization factor;

the first input quantization factor, the first output quantization factor, the second input quantization factor and the second output quantization factor are all calculation factors of a particle swarm optimization algorithm;

the input ends of the first input quantization factor and the second input quantization factor are connected to the input parameters of a PI controller in a control circuit of the motor, and the output ends of the first output quantization factor and the second output quantization factor are connected to the proportional parameter end of the PI controller in the control circuit of the motor.

6. The current harmonic suppression apparatus of any one of claims 1 to 4, wherein the second control module comprises: based on a repetitive controller in a control circuit of the motor, parameter selection is carried out on the controller by adopting a Lagrange interpolation method, and phase compensation processing of a low frequency band, a middle frequency band and a high frequency band is added in a phase compensator to obtain an improved repetitive controller;

the method comprises the following steps of selecting parameters of a controller by adopting a Lagrange interpolation method, and adding phase compensation processing of a low frequency band, a middle frequency band and a high frequency band in a phase compensator, wherein the phase compensation processing comprises the following steps:

setting a gain parameter setting module, a delay integration module, a phase compensation module and a filtering module; the gain parameter setting module, the delay integral module, the phase compensation module and the filtering module are sequentially arranged between the input end and the output end of a PI (proportional integral) controller in a control circuit of the motor; wherein the content of the first and second substances,

the gain parameter setting module is used for adjusting the response speed and the stability parameters of a repetitive controller in a control circuit of the motor;

the delay integration module is used for realizing harmonic suppression of the motor current by setting the delay time as a set proportion of the motor rotation period;

the phase compensation module is used for adding phase compensation of a low frequency band, a middle frequency band and a high frequency band, so that the harmonic suppression effect on the motor current is embodied in a full frequency band formed by the low frequency band, the middle frequency band and the high frequency band;

and the filtering module is used for filtering the interference signals.

7. The current harmonic suppression device of claim 6, wherein the delay integration module comprises: a first delay integration section and a second delay integration section; the first delay integration link and the second delay integration link are sequentially arranged between the gain parameter setting module and the phase compensation module; the output end of the second delay integration link is fed back to the input end of the first delay integration link.

8. An electric machine, comprising: the current harmonic suppression apparatus as claimed in any one of claims 1 to 7.

9. A method for suppressing current harmonics in an electric machine, comprising:

through a first control module, current harmonics in a rotating speed outer ring control circuit and/or a current inner ring control circuit are suppressed in a mode of optimizing parameters of a PI (proportional integral) controller in a control circuit of a motor;

and/or the presence of a gas in the gas,

and through the second control module, current harmonics in the rotating speed outer loop control circuit and/or the current inner loop control circuit are suppressed in a mode of adding a delay link and phase compensation to a repetitive controller in the control circuit of the motor.

10. The current harmonic suppression method of an electric machine according to claim 9, wherein,

the number of the first control modules is more than one;

under the condition that the number of the first control modules is one, the first control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit;

under the condition that the number of the first control modules is two, one first control module is arranged in the rotating speed outer ring control circuit, and the other first control module is arranged in the current inner ring control circuit;

and/or the presence of a gas in the gas,

the number of the second control modules is more than one;

under the condition that the number of the second control modules is one, the second control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit;

under the condition that the number of the second control modules is two, one second control module is arranged in the rotating speed outer ring control circuit, and the other second control module is arranged in the current inner ring control circuit;

and/or the presence of a gas in the gas,

in the rotating speed outer ring control circuit, a first control module and a second control module are arranged in parallel; and/or the presence of a gas in the gas,

in the current inner loop control circuit, a first control module and a second control module are arranged in parallel.

11. The current harmonic suppression method of claim 9 or 10, wherein the first control module comprises: a fuzzy PI controller is obtained by carrying out fuzzy inference processing on a PI controller in a control circuit of the motor by utilizing a particle swarm optimization algorithm; wherein, the fuzzy inference processing by utilizing the particle swarm optimization algorithm comprises the following steps:

according to a set fuzzy rule, enabling the first input quantization factor to be processed by fuzzy logic to obtain a first output quantization factor, and enabling the second input quantization factor to be processed by fuzzy logic to obtain a second output quantization factor;

the first input quantization factor, the first output quantization factor, the second input quantization factor and the second output quantization factor are all calculation factors of a particle swarm optimization algorithm;

the input ends of the first input quantization factor and the second input quantization factor are connected to the input parameters of a PI controller in a control circuit of the motor, and the output ends of the first output quantization factor and the second output quantization factor are connected to the proportional parameter end of the PI controller in the control circuit of the motor.

12. The current harmonic suppression method of claim 9 or 10, wherein the second control module comprises: based on a repetitive controller in a control circuit of the motor, parameter selection is carried out on the controller by adopting a Lagrange interpolation method, and phase compensation processing of a low frequency band, a middle frequency band and a high frequency band is added in a phase compensator to obtain an improved repetitive controller;

the method comprises the following steps of selecting parameters of a controller by adopting a Lagrange interpolation method, and adding phase compensation processing of a low frequency band, a middle frequency band and a high frequency band in a phase compensator, wherein the phase compensation processing comprises the following steps:

setting a gain parameter setting module, a delay integration module, a phase compensation module and a filtering module; the gain parameter setting module, the delay integral module, the phase compensation module and the filtering module are sequentially arranged between the input end and the output end of a PI (proportional integral) controller in a control circuit of the motor; wherein the content of the first and second substances,

adjusting the response speed and the stability parameters of a repetitive controller in a control circuit of the motor through a gain parameter setting module;

through a delay integration module, harmonic suppression of motor current is realized by setting delay time as a set proportion of a motor rotation period;

phase compensation of a low frequency band, a middle frequency band and a high frequency band is added through a phase compensation module, so that the harmonic suppression effect on the motor current is embodied in a full frequency band formed by the low frequency band, the middle frequency band and the high frequency band;

and filtering the interference signal by a filtering module.

Technical Field

The invention belongs to the technical field of motors, and particularly relates to a current harmonic suppression device, a motor and a current harmonic suppression method thereof, in particular to a device for realizing a current harmonic suppression high-precision control strategy of a permanent magnet synchronous motor, a permanent magnet synchronous motor with the device for realizing the current harmonic suppression high-precision control strategy of the permanent magnet synchronous motor, and a current harmonic suppression method of the permanent magnet synchronous motor.

Background

In recent years, a permanent magnet synchronous motor has the advantages of compact structure, simple maintenance, no need of a slip ring, high efficiency, good reliability, long service life, reduction of loss due to the adoption of permanent magnet material excitation instead of electric excitation, and the like, is widely applied to the fields of new energy electric automobiles, wind power generation systems, compressors, EC fans (namely centrifugal fans adopting digital brushless direct current outer rotor motors or centrifugal fans adopting EC motors) and the like, and is one of the most commonly used motors at present. However, in the using process, the problem that the current harmonic suppression capability of the permanent magnet synchronous motor is weak still exists.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention aims to provide a current harmonic suppression device and method of a motor and the motor, aiming at the defects, so as to solve the problem that the current harmonic suppression capability of a permanent magnet synchronous motor is weak and achieve the effect of improving the current harmonic suppression capability of the permanent magnet synchronous motor.

The invention provides a current harmonic suppression device of a motor, comprising: a control unit; the control unit includes: a first control module and/or a second control module; further comprising: a control circuit of the motor; a control circuit for an electric machine comprising: a rotating speed outer ring control circuit and a current inner ring control circuit; the first control module is used for inhibiting current harmonics in a rotating speed outer ring control circuit and/or a current inner ring control circuit in a mode of optimizing parameters of a PI (proportional-integral) controller in a control circuit of the motor; and/or the second control module is used for inhibiting current harmonics in the rotating speed outer ring control circuit and/or the current inner ring control circuit by adopting a mode of adding a delay link and phase compensation to a repetitive controller in the control circuit of the motor.

Optionally, the number of the first control modules is more than one; under the condition that the number of the first control modules is one, the first control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit; in the case where the number of the first control modules is two, one first control module is provided in the rotational speed outer loop control circuit, and the other first control module is provided in the current inner loop control circuit.

Optionally, the number of the second control modules is more than one;

under the condition that the number of the second control modules is one, the second control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit; in the case where the number of the second control modules is two, one of the second control modules is provided in the rotational speed outer loop control circuit, and the other of the second control modules is provided in the current inner loop control circuit.

Optionally, wherein, in the rotation speed outer ring control circuit, a first control module and a second control module are arranged in parallel; and/or, in the current inner loop control circuit, a first control module and a second control module are arranged in parallel.

Optionally, the first control module comprises: a fuzzy PI controller is obtained by carrying out fuzzy inference processing on a PI controller in a control circuit of the motor by utilizing a particle swarm optimization algorithm; wherein, the fuzzy inference processing by utilizing the particle swarm optimization algorithm comprises the following steps: according to a set fuzzy rule, enabling the first input quantization factor to be processed by fuzzy logic to obtain a first output quantization factor, and enabling the second input quantization factor to be processed by fuzzy logic to obtain a second output quantization factor; the first input quantization factor, the first output quantization factor, the second input quantization factor and the second output quantization factor are all calculation factors of a particle swarm optimization algorithm; the input ends of the first input quantization factor and the second input quantization factor are connected to the input parameters of a PI controller in a control circuit of the motor, and the output ends of the first output quantization factor and the second output quantization factor are connected to the proportional parameter end of the PI controller in the control circuit of the motor.

Optionally, a second control module comprising: based on a repetitive controller in a control circuit of the motor, parameter selection is carried out on the controller by adopting a Lagrange interpolation method, and phase compensation processing of a low frequency band, a middle frequency band and a high frequency band is added in a phase compensator to obtain an improved repetitive controller; the method comprises the following steps of selecting parameters of a controller by adopting a Lagrange interpolation method, and adding phase compensation processing of a low frequency band, a middle frequency band and a high frequency band in a phase compensator, wherein the phase compensation processing comprises the following steps: setting a gain parameter setting module, a delay integration module, a phase compensation module and a filtering module; the gain parameter setting module, the delay integral module, the phase compensation module and the filtering module are sequentially arranged between the input end and the output end of a PI (proportional integral) controller in a control circuit of the motor; the gain parameter setting module is used for adjusting the response speed and the stability parameters of a repetitive controller in a control circuit of the motor; the delay integration module is used for realizing harmonic suppression of the motor current by setting the delay time as a set proportion of the motor rotation period; the phase compensation module is used for adding phase compensation of a low frequency band, a middle frequency band and a high frequency band, so that the harmonic suppression effect on the motor current is embodied in a full frequency band formed by the low frequency band, the middle frequency band and the high frequency band; and the filtering module is used for filtering the interference signals.

Optionally, the delay integration module comprises: a first delay integration section and a second delay integration section; the first delay integration link and the second delay integration link are sequentially arranged between the gain parameter setting module and the phase compensation module; the output end of the second delay integration link is fed back to the input end of the first delay integration link.

In accordance with another aspect of the present invention, there is provided a motor including: the current harmonic suppression device of the motor is described above.

In another aspect, the present invention provides a method for suppressing current harmonics of a motor, including: through a first control module, current harmonics in a rotating speed outer ring control circuit and/or a current inner ring control circuit are suppressed in a mode of optimizing parameters of a PI (proportional integral) controller in a control circuit of a motor; and/or the current harmonic waves in the rotating speed outer ring control circuit and/or the current inner ring control circuit are suppressed by the second control module in a mode of adding a delay link and phase compensation to a repetitive controller in the control circuit of the motor.

Optionally, the number of the first control modules is more than one; under the condition that the number of the first control modules is one, the first control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit; under the condition that the number of the first control modules is two, one first control module is arranged in the rotating speed outer ring control circuit, and the other first control module is arranged in the current inner ring control circuit; and/or the number of the second control modules is more than one; under the condition that the number of the second control modules is one, the second control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit; under the condition that the number of the second control modules is two, one second control module is arranged in the rotating speed outer ring control circuit, and the other second control module is arranged in the current inner ring control circuit; and/or, in the rotating speed outer ring control circuit, a first control module and a second control module are arranged in parallel; and/or, in the current inner loop control circuit, a first control module and a second control module are arranged in parallel.

Optionally, the first control module comprises: a fuzzy PI controller is obtained by carrying out fuzzy inference processing on a PI controller in a control circuit of the motor by utilizing a particle swarm optimization algorithm; wherein, the fuzzy inference processing by utilizing the particle swarm optimization algorithm comprises the following steps: according to a set fuzzy rule, enabling the first input quantization factor to be processed by fuzzy logic to obtain a first output quantization factor, and enabling the second input quantization factor to be processed by fuzzy logic to obtain a second output quantization factor; the first input quantization factor, the first output quantization factor, the second input quantization factor and the second output quantization factor are all calculation factors of a particle swarm optimization algorithm; the input ends of the first input quantization factor and the second input quantization factor are connected to the input parameters of a PI controller in a control circuit of the motor, and the output ends of the first output quantization factor and the second output quantization factor are connected to the proportional parameter end of the PI controller in the control circuit of the motor.

Optionally, a second control module comprising: based on a repetitive controller in a control circuit of the motor, parameter selection is carried out on the controller by adopting a Lagrange interpolation method, and phase compensation processing of a low frequency band, a middle frequency band and a high frequency band is added in a phase compensator to obtain an improved repetitive controller; the method comprises the following steps of selecting parameters of a controller by adopting a Lagrange interpolation method, and adding phase compensation processing of a low frequency band, a middle frequency band and a high frequency band in a phase compensator, wherein the phase compensation processing comprises the following steps: setting a gain parameter setting module, a delay integration module, a phase compensation module and a filtering module; the gain parameter setting module, the delay integral module, the phase compensation module and the filtering module are sequentially arranged between the input end and the output end of a PI (proportional integral) controller in a control circuit of the motor; the control circuit comprises a gain parameter setting module, a control module and a control module, wherein the gain parameter setting module is used for adjusting the response speed and the stability parameters of a repetitive controller in a control circuit of the motor; through a delay integration module, harmonic suppression of motor current is realized by setting delay time as a set proportion of a motor rotation period; phase compensation of a low frequency band, a middle frequency band and a high frequency band is added through a phase compensation module, so that the harmonic suppression effect on the motor current is embodied in a full frequency band formed by the low frequency band, the middle frequency band and the high frequency band; and filtering the interference signal by a filtering module.

According to the scheme, the improvement is performed on the basis of the traditional PI controller, the novel fuzzy PI controller based on particle swarm optimization is adopted, the optimization of the PI controller parameters is realized, the self-adaptive capacity of the permanent magnet synchronous motor can be improved, various severe working conditions can be met, and the system control accuracy is improved.

Furthermore, the scheme of the invention optimizes the traditional repetitive controller, adopts an improved repetitive controller, adopts a Lagrange interpolation method to select parameters of the controller and increases a time delay link; phase compensation of a low frequency band, a medium frequency band and a high frequency band is added in the phase compensator, current control is optimized, low, medium and high frequency phase compensation is adopted, and full-frequency-band harmonic suppression is realized; and the ratio of the sampling frequency to the current harmonic frequency is not necessarily an integer, so that the limiting condition that the ratio of the motor rotating speed to the sampling frequency in the traditional repetitive controller is necessarily an integer is solved, and the effect of the current harmonic suppression capability of the permanent magnet synchronous motor is improved.

Furthermore, according to the scheme of the invention, the novel PI controller and the novel repetitive controller are connected in parallel and are applied to vector control of the permanent magnet synchronous motor, so that current harmonic suppression and high-precision control of the permanent magnet synchronous motor can be realized, full-band current harmonic suppression is realized on the basis of meeting the system stability, the parameter optimization selection of the PI controller can be realized, the self-adaptive capacity of the system is improved, and the control precision of the system is improved.

Therefore, the scheme of the invention is improved on the basis of the traditional PI controller, and the PI controller parameter optimization is realized by adopting the novel fuzzy PI controller based on particle swarm optimization, so that the self-adaptive capacity of the permanent magnet synchronous motor is improved; and/or, adopting an improved repetitive controller to increase a delay link; low, medium and high frequency phase compensation is adopted to realize full-band harmonic suppression; the problem that the current harmonic suppression capability of the permanent magnet synchronous motor is weak is solved, and the effect of improving the current harmonic suppression capability of the permanent magnet synchronous motor is achieved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a current harmonic suppression apparatus of an electric machine according to the present invention;

fig. 2 is a schematic structural diagram of a particle swarm optimization fuzzy PI controller according to an embodiment of the motor of the present invention;

fig. 3 is a schematic flow chart of a particle swarm optimization process according to an embodiment of the motor of the present invention;

FIG. 4 is a schematic diagram of an improved repetitive controller for an embodiment of the motor of the present invention;

fig. 5 is a schematic structural diagram of a control block diagram of a permanent magnet synchronous motor according to an embodiment of the motor of the present invention;

fig. 6 is a schematic diagram of a compensation curve of an improved repetitive controller of an embodiment of the motor of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to an embodiment of the present invention, there is provided a current harmonic suppression apparatus of a motor. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The current harmonic suppression device of the motor can be applied to the current harmonic suppression of the motor, particularly a permanent magnet synchronous motor. For example: the current harmonic suppression device of the motor can be suitable for synchronous motors, and electrically excited synchronous motors or some brushless direct current motors can also be used (because the inner core is a permanent magnet synchronous motor model). The current harmonic suppression device of an electric machine, in particular a permanent magnet synchronous machine, may comprise: a control unit; the control unit includes: the first control module and/or the second control module. The first control module may be a control module using an improved PI controller (i.e., a novel particle swarm optimization-based fuzzy PI controller), and the second control module may be a control module using an improved repetitive controller (i.e., a novel repetitive controller).

When in use, the current harmonic suppression device of the motor, especially the permanent magnet synchronous motor, can further comprise: control circuit of motor. A control circuit for an electric machine, may include: a rotating speed outer ring control circuit and a current inner ring control circuit. For example: the control part in the aspect of current harmonic suppression of the motor, in particular a permanent magnet synchronous motor, can comprise a rotating speed outer ring control part and a current inner ring control part.

Specifically, the first control module may be configured to suppress current harmonics in the rotational speed outer loop control circuit and/or the current inner loop control circuit by improving a PI controller in the control circuit of the motor, that is, by optimizing parameters of the PI controller in the control circuit of the motor, so as to improve the adaptive capability of the motor and improve the control accuracy of the motor. For example: and a fuzzy PI control strategy based on particle swarm optimization is adopted, so that the self-adaptive capacity of the control system is improved, and the control precision of the system is increased.

Specifically, the second control module can be used for improving a repetitive controller in a control circuit of the motor, namely, increasing a delay link and increasing a phase compensation mode for the repetitive controller in the control circuit of the motor, suppressing current harmonics in a speed outer loop control circuit and/or a current inner loop control circuit, so that the novel controller can realize current harmonic suppression in a low frequency band, a medium frequency band and a high frequency band, adopting low, medium and high frequency phase compensation, realizing full-frequency-band harmonic suppression, and the ratio of sampling frequency to current harmonic frequency is not necessarily an integer. For example: an improved repetitive controller is adopted, a time delay link is added, and the limiting condition that the ratio of the rotating speed of a motor to the sampling frequency in the traditional repetitive controller must be an integer is solved; and low, medium and high frequency phase compensation is adopted, and full-band harmonic suppression is realized.

Therefore, by adopting the improved PI controller, namely the first control module pair, and/or the improved repetitive controller, namely the second control module, the current harmonic suppression capability at low frequency, medium frequency and high frequency can be realized, the harmonic suppression of the whole frequency band can be realized, the high-precision control on the motor, especially on the current harmonic suppression of the permanent magnet synchronous motor can be realized, the problem that the current harmonic suppression capability of the permanent magnet synchronous motor is weak can be at least solved, and the current harmonic suppression capability of the permanent magnet synchronous motor is improved.

In an alternative example, in the case that the current harmonic suppression device of the motor may include at least the first control module, the number of the first control modules is more than one. In the case where the number of the first control modules is one, the first control modules are provided in the rotational speed outer loop control circuit or the current inner loop control circuit. In the case where the number of the first control modules is two, one first control module is provided in the rotational speed outer loop control circuit, and the other first control module is provided in the current inner loop control circuit.

For example: improve on traditional PI controller basis, adopt neotype fuzzy PI controller based on particle swarm optimization, realize the optimization of PI controller parameter, promote PMSM self-adaptation ability, can satisfy various abominable operating modes. Therefore, the fuzzy proportional integral control strategy based on particle swarm optimization is adopted, the self-adaptive capacity of the control system is improved, and the control precision of the system is increased.

Therefore, the current harmonic of the control circuit of the motor is suppressed by at least utilizing the first control module such as the improved PI controller, the self-adaptive capacity of the control system can be improved, and the control precision of the system is increased.

In an alternative example, in the case that the current harmonic suppression device of the motor may include at least the second control module, the number of the second control module is more than one. And in the case that the number of the second control modules is one, the second control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit. In the case where the number of the second control modules is two, one of the second control modules is provided in the rotational speed outer loop control circuit, and the other of the second control modules is provided in the current inner loop control circuit.

For example: optimizing on a traditional repetitive controller, adopting an improved repetitive controller, adopting a Lagrange interpolation method to select parameters of the controller, and adding a delay link; phase compensation of a low frequency band, a middle frequency band and a high frequency band is added in the phase compensator, current control is optimized, so that the novel controller can realize current harmonic suppression in the low frequency band, the middle frequency band and the high frequency band, and full-frequency-band harmonic suppression is realized by adopting low, middle and high frequency phase compensation; and the ratio of the sampling frequency to the current harmonic frequency is not necessarily an integer, so that the limiting condition that the ratio of the motor rotating speed to the sampling frequency in the traditional repetitive controller is necessarily an integer is solved.

Therefore, the current harmonic suppression capability at low frequency, medium frequency and high frequency can be realized by suppressing the current harmonic in the control circuit of the motor by at least utilizing the second control module such as the improved repetitive controller, and the harmonic suppression of the whole frequency band can be realized.

In an alternative example, in the case that the current harmonic suppression device of the motor may include the first control module and the second control module, for example, in the case that the number of the first control modules is more than one and the number of the second control modules is more than one, in the rotation speed outer ring control circuit, one first control module and one second control module are arranged in parallel; and/or, in the current inner loop control circuit, a first control module and a second control module are arranged in parallel.

For example: the novel PI controller and the novel repetitive controller are connected in parallel, the vector control device can be used for vector control of the permanent magnet synchronous motor, can realize current harmonic suppression and high-precision control of the permanent magnet synchronous motor, realizes full-band current harmonic suppression on the basis of meeting the system stability, can realize parameter optimization selection of the PI controller, increases the self-adaptive capacity of the system, and improves the control precision of the system.

In fig. 5, the permanent magnet synchronous motor control system may include: the device comprises a rotating speed outer ring control part and a current inner ring control part, wherein the rotating speed outer ring control part and the current inner ring control part are respectively output to the PSIM. In fig. 5, the vector control system of the permanent magnet synchronous motor may include a rotation speed outer ring and a current inner ring, and in the current inner ring control, a novel fuzzy PI controller based on particle swarm optimization and a novel repetitive controller are connected in parallel, so as to realize harmonic suppression and precision improvement and increase the adaptive capacity of the system. The current harmonic suppression high-precision control strategy for the permanent magnet synchronous motor can be applied to a vector control system of the permanent magnet synchronous motor to replace the current vector control strategy, so that the system control performance is more excellent.

Therefore, the self-adaptive capacity of the control system can be improved and the control precision of the system can be increased by jointly utilizing the first control module such as the improved PI controller and the second control module such as the improved repetitive controller to inhibit the current harmonic of the control circuit of the motor; the current harmonic suppression capability at low frequency, medium frequency and high frequency can be realized, and the harmonic suppression of the whole frequency band can be realized; therefore, on the basis of at least solving the problem that the current harmonic suppression of the permanent magnet synchronous motor is weak and improving the current harmonic suppression capability of the permanent magnet synchronous motor, the control precision of a permanent magnet synchronous motor system can be further improved, the control efficiency is improved, and the harmonic component of the stator current in the full frequency band is effectively suppressed.

In an alternative specific example, the first control module may include: and carrying out fuzzy inference processing on a PI controller in a control circuit of the motor (such as a PI controller close to a transmission system in the control circuit of the motor) by utilizing a particle swarm optimization algorithm to obtain a fuzzy PI controller. The fuzzy inference processing by using the particle swarm optimization algorithm can comprise the following steps: and according to a set fuzzy rule, the first input quantization factor is processed by fuzzy logic to obtain a first output quantization factor, and the second input quantization factor is processed by fuzzy logic to obtain a second output quantization factor. The first input quantization factor, the first output quantization factor, the second input quantization factor and the second output quantization factor are all calculation factors of a particle swarm optimization algorithm. The input ends of the first input quantization factor and the second input quantization factor are connected to the input parameters of a PI controller in a control circuit of the motor, and the output ends of the first output quantization factor and the second output quantization factor are connected to the proportional parameter end of the PI controller in the control circuit of the motor.

For example: as shown in fig. 2, taking q-axis current control as an example, the rotation speed and position of the conventional system can be estimated by directly adopting a software back electromotive force method without a hall device, and the estimated rotation speed n is compared with a theoretical reference rotation speed n_refComparing the estimated rotation speed n with a theoretical reference rotation speed n_refAfter the difference obtained by comparison passes through the first PI controller, the q-axis reference current i is obtained by calculation of the first PI controller_qrefQ-axis reference current i_qrefWith actual q-axis current i_qComparing the currents to obtain a q-axis reference current i_qrefWith actual q-axis current i_qThe difference current variation △ e and the difference current variation rate △ ec obtained by current comparison are subjected to fuzzy inference through a fuzzy logic module (such as a second-order fuzzy logic module) to output a proportional parameter △ k_iAnd △ k_pThe output quantity of the fuzzy logic module is superposed to the parameter k of the second PI controller_pAnd k_iIn the above way, the second PI controller parameter is subjected to non-fixed value adjustment, so that the second PI controller parameter can be adaptively adjusted. The fuzzy rule of the second-order fuzzy logic module, such as a fuzzy logic table, can be combined through experiments and experiences, and considering that the fuzzy control table and the logic have low response speed in a complex state, a Particle Swarm Optimization (PSO) algorithm is added to accelerate a fuzzy inference process (see an example shown in FIG. 3), so that the control process can be rapidly converged, specifically, input and output quantization factors k are input and output_e、k_ec、k_ui、k_upOptimization is carried out, and the stability, the precision and the response speed of the system are enhanced.

For example: referring to the example shown in fig. 3, as shown in fig. 3, a Particle Swarm Optimization (PSO) algorithm optimization process is mainly implemented by taking input error change and input error change rate as initial particles, assigning the initial particles to a fuzzy PI controller (such as a second PI controller), operating a traditional system, outputting performance parameters through measurement, and if the requirements are met, operating stably; if the requirements are not met, the optimal solution can be quickly found through particle swarm optimization and particle updating again, and through a simulated bird swarm foraging method, the parameter convergence is accelerated.

Therefore, the fuzzy PI controller obtained by fuzzy inference processing through the particle swarm optimization algorithm is used as the first control module, the PI controller capable of being adjusted in a self-adaptive mode can be obtained, the self-adaptive capacity of the control system of the motor, particularly the permanent magnet synchronous motor, is improved, and the control accuracy of the control system of the motor, particularly the permanent magnet synchronous motor, is improved.

In an alternative specific example, the second control module may include: the repetitive controller in the control circuit based on the motor adopts a Lagrange interpolation method to select parameters of the controller, and adds phase compensation processing of a low frequency band, a middle frequency band and a high frequency band in a phase compensator to obtain the improved repetitive controller. The selecting of the parameters of the controller by using the lagrangian interpolation method and the adding of the phase compensation processing of the low frequency band, the middle frequency band and the high frequency band in the phase compensator may include: the device comprises a gain parameter setting module, a delay integration module, a phase compensation module and a filtering module. A phase compensation module such as the phase compensation element c(s), and a filtering module such as the low pass filter q(s). The gain parameter setting module, the delay integration module, the phase compensation module and the filtering module are sequentially arranged between the input end and the output end of a PI controller in a control circuit of the motor (such as a PI controller at a position close to a transmission system in the control circuit of the motor).

The gain parameter setting module can be used for adjusting the response speed and the stability parameters of a repetitive controller in a control circuit of the motor. And the delay integration module can be used for realizing harmonic suppression of the motor current by setting the delay time as a set proportion of the motor rotation period. And the phase compensation module can be used for adding phase compensation of a low frequency band, a medium frequency band and a high frequency band, so that the harmonic suppression effect on the motor current is embodied in a full frequency band formed by the low frequency band, the medium frequency band and the high frequency band. And the filtering module can be used for filtering the interference signals.

For example: in the example shown in fig. 4, the phase compensation element c(s) ensures the stability of the system, and adds low-frequency, intermediate-frequency, and high-frequency compensation: c₁(s)、C₂(s)、

So that the suppression can be achieved in the full band. In the example shown in fig. 4, the low pass filter q(s) filters the interference signal during the transmission process, and it should be noted that

The bandwidth of (a) is larger than that of Q(s), so that the delay link is prevented from failing.

Therefore, through a repetitive controller in a control circuit based on a motor, parameters of the controller are selected by adopting a Lagrange interpolation method, an improved repetitive controller obtained after phase compensation processing of a low frequency band, a middle frequency band and a high frequency band is added in a phase compensator is used as a second control module, current control is optimized, current harmonic suppression can be realized in the low frequency band, the middle frequency band and the high frequency band by the novel controller, low, middle and high frequency phase compensation is adopted, full-frequency-band harmonic suppression is realized, the ratio of sampling frequency to current harmonic frequency is not necessarily an integer, and the harmonic suppression effect of motor current is improved.

Optionally, the delay integration module may include: a first delay integration element and a second delay integration element. The first delay integration link and the second delay integration link are sequentially arranged between the gain parameter setting module and the phase compensation module. The output end of the second delay integration link is fed back to the input end of the first delay integration link.

For example: in the example shown in fig. 4, the improved repetitive controller may include a gain parameter k_cAffecting the response speed and stability of the system; delay integration link

k_f+k_N＝T_n/T_s(wherein T is_nIs n harmonic periods, T_sAs a sampling period), the delay time is determined by the rotor electrical angular velocity ω_rDetermining that current harmonics existing in a current loop are mainly 6N +/-1 (N is 1.2.3.) subharmonics, and realizing harmonic suppression by setting the delay time to 1/6 of the motor rotation period; and conventional controlCompared with the device, increase

A link, when the ratio of the sampling frequency to the current harmonic frequency is not an integer, compensation can be performed through the newly added link, so that

Approximation 1, which cannot be directly realized in engineering, provides a simulation approximation by a lagrange interpolation method, namely:

wherein the two equations are lagrange interpolation calculations.

When H changes in [0, 0.9], a lagrange interpolation polynomial of order m-2 or order m-3 is used, so that a good approximation can be obtained for a delay integration link of the system, and order 2 can be adopted in consideration of calculation amount and response time, and simulation and experimental selection can also be performed through actual conditions.

Therefore, by adopting the second-order integral delay link, the delay compensation can be carried out when the ratio of the sampling frequency to the current harmonic frequency is not an integer, so that the ratio of the sampling frequency to the current harmonic frequency is not an integer, the limiting condition that the ratio of the rotating speed of the motor to the sampling frequency in the traditional repetitive controller must be an integer is solved, and the effect of harmonic suppression on the motor current is improved.

In the scheme of the invention, the improved repetitive controller is combined with the improved PI controller of the particle swarm algorithm and the repetitive controller for composite control. The repetitive controller is used for inhibiting harmonic waves and realizing no-difference tracking; the PI controller is controlled by a traditional motor and cannot realize no-difference tracking; and a particle swarm algorithm is added to optimize the parameter selection of the PI controller and accelerate the speed of the controller.

Through a large number of tests, the technical scheme provided by the invention is improved on the basis of the traditional PI controller, and the novel fuzzy PI controller based on particle swarm optimization is adopted to realize the optimization of the PI controller parameters, so that the self-adaptive capacity of the permanent magnet synchronous motor can be improved, various severe working conditions can be met, and the control precision of the system is increased.

According to an embodiment of the present invention, there is also provided an electric motor corresponding to a current harmonic suppression apparatus of the electric motor. The motor may include: the current harmonic suppression device of the motor is described above.

Because the permanent magnet synchronous motor has a cogging effect and the structural arrangement of the magnetic poles of the rotor, the air gap magnetic field in the motor is distorted, and in addition, the dead time of a power switch tube in the motor controller is added, and the time delay of a nonlinear device, a large amount of higher harmonics are contained in the current output by the permanent magnet synchronous motor controller, so that the motor loss is increased, the control precision is influenced, and the efficiency is reduced.

Some permanent magnet motors adopt proportional-integral (i.e. PI) control, but the parameter of PI control is a fixed value, so that only the direct current component can be adjusted, the alternating current component cannot be controlled, and the precision is poor. Some repetitive controllers suppress current harmonics by connecting the repetitive controller and the PI controller in parallel at the expense of the accuracy of the steady state, but suppressing current harmonics also needs to satisfy two conditions: firstly, the ratio of the sampling frequency of the system to the current harmonic frequency must be an integer, and secondly, the harmonic frequency is located in a middle-low frequency band, so that the practicability is low.

For example: when the ratio of the rotating speed omega of the motor to the set sampling frequency is not an integer, namely, a small number of digits exist, due to the action of a delay link, the deviation transfer function of some repetitive controllers is not zero, so that the harmonic suppression capability is poor, namely, the motor has the harmonic suppression function only at the specified rotating speed (integral multiple of the sampling evaluation rate).

For another example: according to the development condition of the motor, the rotating speed of the motor is faster and faster, the correspondingly generated harmonic frequency is higher, harmonic pollution is concentrated in a high-frequency area, and some repetitive controllers are limited by the bandwidth of a filter in the high-frequency area due to the influence of an internal low-pass filter, so that the suppression capability of the controllers on the harmonic is poor.

For the core of the repetitive controller, a model of a controlled object needs to be abstracted and placed inside the controller, an input deviation signal is 0, the signal is generated by the controller, and the controller at this time is equivalent to an ideal signal generator (similar to an ideal voltage source or current source), so that the error-free tracking can be realized. If the input deviation signal is not 0, the controller cannot be regarded as an ideal signal generator, and the harmonic suppression effect is lost. In both cases, the input offset signal is not 0.

In an optional embodiment, at least in order to solve the problem that the current harmonic suppression capability of the permanent magnet synchronous motor is weak, the scheme of the present invention provides a high-precision control strategy for current harmonic suppression of the permanent magnet synchronous motor, which can at least solve the problem that the current harmonic suppression capability of the permanent magnet synchronous motor is weak, and improve the current harmonic suppression capability of the permanent magnet synchronous motor.

Optionally, the scheme of the invention is improved on the basis of the traditional PI controller, and the novel fuzzy PI controller based on particle swarm optimization is adopted to realize the optimization of the PI controller parameters, improve the self-adaptive capacity of the permanent magnet synchronous motor and meet various severe working conditions. Therefore, the fuzzy proportional integral control strategy based on particle swarm optimization is adopted, the self-adaptive capacity of the control system is improved, and the control precision of the system is increased.

Optionally, the scheme of the invention optimizes the traditional repetitive controller, adopts an improved repetitive controller, adopts a Lagrange interpolation method to select parameters of the controller, and adds a delay link; phase compensation of a low frequency band, a middle frequency band and a high frequency band is added in the phase compensator, current control is optimized, so that the novel controller can realize current harmonic suppression in the low frequency band, the middle frequency band and the high frequency band, and full-frequency-band harmonic suppression is realized by adopting low, middle and high frequency phase compensation; and the ratio of the sampling frequency to the current harmonic frequency is not necessarily an integer, so that the limiting condition that the ratio of the motor rotating speed to the sampling frequency in the traditional repetitive controller is necessarily an integer is solved.

Optionally, according to the scheme of the invention, a novel PI controller and a novel repetitive controller are connected in parallel and applied to vector control of the permanent magnet synchronous motor, so that current harmonic suppression and high-precision control of the permanent magnet synchronous motor can be realized, full-band current harmonic suppression can be realized on the basis of meeting the system stability, the optimized selection of parameters of the PI controller can be realized, the self-adaptive capacity of the system is increased, and the control precision of the system is improved.

Therefore, the scheme of the invention adopts the improved repetitive controller, adds a time delay link, and solves the limiting condition that the ratio of the rotating speed of the motor to the sampling frequency in the traditional repetitive controller must be an integer; low, medium and high frequency phase compensation is adopted, and full-band harmonic suppression is realized; and a fuzzy PI control strategy based on particle swarm optimization is adopted, so that the self-adaptive capacity of the control system is improved, and the control precision of the system is increased. Therefore, by adopting the scheme of the invention, the current harmonic suppression capability at low frequency, medium frequency and high frequency can be realized, and the harmonic suppression of the whole frequency band can be realized, so that the problem that the current harmonic suppression of the permanent magnet synchronous motor is weak can be at least solved, and the current harmonic suppression capability of the permanent magnet synchronous motor is improved; furthermore, on the basis of at least solving the problem that the current harmonic suppression of the permanent magnet synchronous motor is weak so as to improve the current harmonic suppression capability of the permanent magnet synchronous motor, the control precision of a permanent magnet synchronous motor system can be further improved, the control efficiency is improved, the harmonic component of the stator current in the full frequency band is effectively suppressed, and the control strategy and the thought are brand new.

In an alternative embodiment, a specific implementation process of the scheme of the present invention can be exemplarily described with reference to the examples shown in fig. 2 to 5.

The scheme of the invention provides a high-precision control strategy for current harmonic suppression of a permanent magnet synchronous motor, which is used for one or more of the purposes of improving the problem of the current permanent magnet synchronous motor controller, improving the stability of a permanent magnet synchronous motor system, improving the control precision of the permanent magnet synchronous motor system, suppressing the harmonic component of the output current of the permanent magnet synchronous motor controller, improving the efficiency of the system, improving the electromagnetic compatibility (namely EMC) effect of the system, enhancing the anti-interference self-adaption capability of the system and the like.

Fig. 2 is a schematic structural diagram of an embodiment of a fuzzy PI controller for particle swarm optimization.

The fuzzy PI controller for particle swarm optimization as shown in FIG. 2 is based on d-axis current i_dThe vector control system of the permanent magnet synchronous motor is 0. In fig. 2, the vector control system of the permanent magnet synchronous motor may include: the device comprises a first comparator, a first PI controller, a second comparator, a derivation module, a fuzzy logic module, a second PI controller and a transmission system. The same-phase input end of the first comparator inputs a theoretical reference rotating speed value n_refThe reverse input end of the first comparator inputs the estimated rotation speed n, the first comparison result output by the output end of the first comparator is input to the first PI controller, and the output end of the first PI controller outputs the q-axis reference current i_qref. The non-inverting input end of the second comparator inputs a q-axis reference current i_qrefThe reverse input end of the second comparator inputs the actual q-axis current i_qThe output end of the second comparator outputs a second comparison result, which may be a change △ e of the differential current, the second comparison result may be obtained by the derivation module as a change △ e of the differential current with a differential current change rate △ ec. and a differential current change rate △ ec, which are directly input to the first input end of the second PI controller, on the one hand, and the change △ e of the differential current and the differential current change rate △ ec, on the other hand, are obtained by the fuzzy logic module as a proportional parameter, such as a first proportional parameter △ k_iAnd a second scaling parameter △ k_pFirst scale parameter △ k_iAnd a second scaling parameter △ k_pThe output end of the second PI controller is output to the transmission system.

In the example shown in fig. 2, taking q-axis current control as an example, the rotation speed and position of the conventional system can be estimated by directly adopting a software back electromotive force method to estimate the rotation speed n without a hall device, and the estimated rotation speed n is compared with a theoretical reference rotation speed n_refComparing the estimated rotation speed n with a theoretical reference rotation speed n_refAfter the difference obtained by comparison passes through the first PI controller, the q-axis reference current i is obtained by calculation of the first PI controller_qrefQ-axis reference current i_qrefWith actual q-axis current i_qComparing the currents to obtain a q-axis reference current i_qrefWith actual q-axis current i_qThe difference current variation △ e and the difference current variation rate △ ec obtained by current comparison are subjected to fuzzy inference through a fuzzy logic module (such as a second-order fuzzy logic module) to output a proportional parameter △ k_iAnd △ k_pThe output quantity of the fuzzy logic module is superposed to the parameter k of the second PI controller_pAnd k_iIn the above way, the second PI controller parameter is subjected to non-fixed value adjustment, so that the second PI controller parameter can be adaptively adjusted.

The fuzzy rule of the second-order fuzzy logic module, such as a fuzzy logic table, can be combined through experiments and experiences, and considering that the fuzzy control table and the logic have low response speed in a complex state, a Particle Swarm Optimization (PSO) algorithm is added to accelerate a fuzzy inference process (see an example shown in FIG. 3), so that the control process can be rapidly converged, specifically, input and output quantization factors k are input and output_e、k_ec、k_ui、k_upOptimization is carried out, and the stability, the precision and the response speed of the system are enhanced. k is a radical of_eIs an error, k_ecIs the rate of change of error, k_uiIs a parameter of a previous time integral link of the PI controller, k_upIs a link parameter of the PI controller in the previous time proportion.

The particle swarm algorithm is proposed by Kennedy and Eberhart in 1995, simulates the behavior of flying foraging of a bird swarm, optimizes the swarm through collective cooperation among birds, is similar to a genetic algorithm, is also based on swarm iteration, but has no cross mutation operator, and searches by following optimal particles in a solution space. The particle swarm algorithm is initialized to a random population of particles and then an optimal solution is found through iteration. At each iteration, the particle is determined by tracking 2 "extrema": the optimal solution PBest found by the particle and the optimal solution GBest found by the group are used for updating the particle.

Fig. 3 is a schematic flow chart of an embodiment of a particle swarm optimization flow.

In fig. 3, a Particle Swarm Optimization (PSO) algorithm optimization process may include:

in step 1, initialization particles (i.e., initial particles) are obtained, and for example, the change Δ e of the differential current and the rate Δ ec of change in the differential current may be used as the initialization particles.

And 2, generating initialized values serving as particle parameters based on the initialized particles.

And 3, assigning the generated particle parameters to a fuzzy PI controller.

And 4, controlling the traditional system to operate by the fuzzy PI controller based on the assigned particle parameters.

And 5, outputting performance parameters according to the operation of the transmission system. The performance parameter may be a parameter of the system, and more specifically, may be a power factor, a harmonic parameter, a current performance, and the like.

And 6, judging whether the transmission system can stably operate or not according to the output performance parameters, if so, ending the current Particle Swarm Optimization (PSO) algorithm optimization flow, otherwise, returning to the step 2 after updating the initialized particles.

As shown in fig. 3, a Particle Swarm Optimization (PSO) algorithm optimization process is mainly performed by assigning an input error change and an input error change rate as initial particles to a fuzzy PI controller (e.g., a second PI controller), and a conventional system operates, and outputs performance parameters after measurement, and operates stably if requirements are met; if the requirements are not met, the optimal solution can be quickly found through particle swarm optimization and particle updating again, and through a simulated bird swarm foraging method, the parameter convergence is accelerated.

FIG. 4 is a schematic diagram of an embodiment of an improved repetitive controller.

The new type of repetitive controller, as shown in FIG. 4, is based on i_dThe vector control system of the permanent magnet synchronous motor is 0. In fig. 4, the vector control system of the permanent magnet synchronous motor may include: a third comparator, a modified repetitive controller, a third PI controller, a fourth comparator, and a fifth comparator. Non-inverting input of third comparatorInputting q-axis reference current i at input end_qrefThe reverse input end of the third comparator inputs the actual q-axis current i_qAnd the output end of the third comparator is input into the first input end of the fourth comparator after passing through the third PI controller on the one hand, and is input into the second input end of the fourth comparator after passing through the improved repetitive controller on the other hand. The output end of the fourth comparator is input to the first input end of the fifth comparator, the disturbance d (t) is input to the second input end of the fifth comparator, and the output end of the fifth comparator is output to the traditional system.

In the example shown in fig. 4, the q-axis reference current i is taken as an example of q-axis current control_qrefWith actual q-axis current i_qComparing the currents, q-axis reference current i_qrefWith actual q-axis current i_qThe difference obtained by the current passes through a third PI controller to the motor, and an improved repetitive controller is inserted in the middle to be used as feedforward control. The transfer function of the improved repetitive controller is:

wherein the formula G_f(s) is a transfer function of the control portion of the new type of repetitive controller (i.e., the improved type of repetitive controller), and is a basic formula for analytical control.

In the example shown in FIG. 4, after adding the perturbation d (t), the actual q-axis current i is output_qThe transfer function of (a) is:

wherein, the formula D(s) is the transfer function of the transmission system after the novel repetitive controller is added, and is the model of the equivalent ideal signal generator.

Therefore, to satisfy the suppression of harmonics, it is necessary to satisfy the disturbance minimization, that is:

wherein the content of the first and second substances,this formulaIs to satisfy the conditions that the ideal model needs to satisfy.

The improved repetitive controller shown in fig. 4 may include a gain parameter setting module, a sixth comparator, and a first delay integration element, which are sequentially arranged

Second delay integration section

A phase compensation element c(s) and a low-pass filter q(s). The output end of the gain parameter setting module is input to the first input end of the sixth comparator, and the second delay integration linkIs fed back to the second input of the sixth comparator.

In the example shown in fig. 4, the improved repetitive controller may include a gain parameter k_cAffecting the response speed and stability of the system; delay integration linkk_f+k_N＝T_n/T_s(wherein T is_nIs n harmonic periods, T_sAs a sampling period), the delay time is determined by the rotor electrical angular velocity ω_rDetermining that current harmonics existing in a current loop are mainly 6N +/-1 (N is 1.2.3.) subharmonics, and realizing harmonic suppression by setting the delay time to 1/6 of the motor rotation period; compared with the traditional controller, increase

A link, when the ratio of the sampling frequency to the current harmonic frequency is not an integer, compensation can be performed through the newly added link, so that

Approximation 1, which cannot be directly realized in engineering, provides a simulation approximation by a lagrange interpolation method, namely:

wherein the two equations are lagrange interpolation calculations. T is_sIs the sampling period, s is the Laplace operator, A_kIs the lagrangian interpolation coefficient and m is the lagrangian order. The function is to approximate the delay integration link, because the important point of the control method is to satisfy:

however, the method is difficult to calculate in engineering, only some methods can be adopted for approximation or empirical estimation debugging, and the Lagrange interpolation method is used for approximation

The other delay integration link is used for compensating the first integration, when the sampling frequency is not added originally, the sampling frequency needs to be divided by the rotation speed of the motor to inhibit harmonic waves, and after the sampling frequency is added, the delay integration link approximation is carried out on the decimal part.

When H changes in [0, 0.9], a lagrange interpolation polynomial of order m-2 or order m-3 is used, so that a good approximation can be obtained for a delay integration link of the system, and order 2 can be adopted in consideration of calculation amount and response time, and simulation and experimental selection can also be performed through actual conditions.

In the example shown in fig. 4, the phase compensation element c(s) ensures the stability of the system, and adds low-frequency, intermediate-frequency, and high-frequency compensation: c₁(s)、C₂(s)、

Make the inhibitorThe manufacturing can be realized in the full frequency band.

In the example shown in fig. 4, the low pass filter q(s) filters the interference signal during the transmission process, and it should be noted that

The bandwidth of (a) is larger than that of Q(s), so that the delay link is prevented from failing.

In fig. 4, it can be seen that, after the transfer function gc(s) of the PI controller is determined, the disturbance transfer function gd(s) ═ g (s)/(1+ gc (s)) g (s)) of the system is determined, where g(s) is the motor transfer function and gc(s) is the PI controller transfer function, a bode diagram of gd(s) can be obtained, and phase compensation is performed according to a bode curve. For example: the obtained curve is as an example shown in fig. 6, and it can be known that the phase of the middle band is around 0, then the middle band compensation G2(s) is 1; the low-frequency band G1(s) may be taken according to actual requirements, for example, calculated according to G1(s) ═ bs + 1/s, then, the value b is adjusted, so that the phase of the low-frequency band is close to 0, and the characteristics of the medium-frequency band and the high-frequency band are unchanged; for high frequency bandCompensation, within the q(s) filter cutoff range, requires parameter adjustment.

Fig. 5 is a schematic structural diagram of an embodiment of a control block diagram of a permanent magnet synchronous motor.

The permanent magnet synchronous motor control system shown in FIG. 5 is based on i_dThe vector control system of the permanent magnet synchronous motor is 0. In fig. 5, the permanent magnet synchronous motor control system may include: the device comprises a rotating speed outer ring control part and a current inner ring control part, wherein the rotating speed outer ring control part and the current inner ring control part are respectively output to the PSIM.

In fig. 5, the vector control system of the permanent magnet synchronous motor may include a rotation speed outer ring and a current inner ring, and in the current inner ring control, a novel fuzzy PI controller based on particle swarm optimization and a novel repetitive controller are connected in parallel, so as to realize harmonic suppression and precision improvement and increase the adaptive capacity of the system.

The rotating speed outer ring is in a traditional control mode, only the current electric ring is used for connecting a novel fuzzy PI controller based on particle swarm optimization and a novel repetitive controller in parallel, one is used for controlling q-axis current, and the other is used for controlling d-axis current, and certainly, if an id-0 control strategy is adopted, the d-axis current is not required to be added on a d-axis. The outer ring control is coarse adjustment, the inner ring control is fine adjustment, and the outer ring is adjusted first and then the inner ring is cut when the inner ring is started. PSIM is a permanent magnet synchronous motor, and the transmission system is a mathematical model of the permanent magnet synchronous motor, and the PSIM and the transmission system can be equivalent.

Therefore, in the scheme of the invention, the current harmonic suppression high-precision control strategy of the permanent magnet synchronous motor can be applied to a vector control system of the permanent magnet synchronous motor to replace the current vector control strategy, so that the system control performance is more excellent.

Since the processes and functions implemented by the motor of this embodiment substantially correspond to the embodiments, principles, and examples of the apparatus shown in fig. 1, the descriptions of this embodiment are not detailed, and refer to the related descriptions in the embodiments, which are not described herein.

Through a large number of tests, the technical scheme of the invention is adopted, the traditional repetitive controller is optimized, the improved repetitive controller is adopted, the Lagrange interpolation method is adopted to select parameters of the controller, and the time delay link is increased; phase compensation of a low frequency band, a medium frequency band and a high frequency band is added in the phase compensator, current control is optimized, low, medium and high frequency phase compensation is adopted, and full-frequency-band harmonic suppression is realized; and the ratio of the sampling frequency to the current harmonic frequency is not necessarily an integer, so that the limiting condition that the ratio of the motor rotating speed to the sampling frequency in the traditional repetitive controller is necessarily an integer is solved, and the effect of the current harmonic suppression capability of the permanent magnet synchronous motor is improved.

According to the embodiment of the invention, a current harmonic suppression method of the motor corresponding to the motor is also provided. The current harmonic suppression method of the motor can be applied to the current harmonic suppression of the motor, particularly a permanent magnet synchronous motor. A method of current harmonic suppression of an electric machine, in particular a permanent magnet synchronous machine, may include at least one of the following control aspects.

The first control aspect: through the first control module, the current harmonic waves in the rotating speed outer ring control circuit and/or the current inner ring control circuit are suppressed by improving the PI controller in the control circuit of the motor, namely optimizing the parameters of the PI controller in the control circuit of the motor, so that the self-adaptive capacity of the motor is improved, and the control precision of the motor is improved. For example: and a fuzzy PI control strategy based on particle swarm optimization is adopted, so that the self-adaptive capacity of the control system is improved, and the control precision of the system is increased.

The second control aspect: through the second control module, improve through the repetitive control ware in the control circuit to the motor, the repetitive control ware in the control circuit to the motor increases the mode of time delay link and increase phase compensation promptly, restrain the electric current harmonic among speed of rotation outer loop control circuit and/or the electric current inner loop control circuit, so that neotype controller can realize the electric current harmonic suppression at low-frequency range, intermediate frequency range and high-frequency range, adopted low, well, high frequency phase compensation, the harmonic suppression of full frequency channel has been realized, and the ratio of sampling frequency and electric current harmonic frequency does not necessarily be the integer. For example: an improved repetitive controller is adopted, a time delay link is added, and the limiting condition that the ratio of the rotating speed of a motor to the sampling frequency in the traditional repetitive controller must be an integer is solved; and low, medium and high frequency phase compensation is adopted, and full-band harmonic suppression is realized.

Therefore, by adopting the improved PI controller, namely the first control module pair, and/or the improved repetitive controller, namely the second control module, the current harmonic suppression capability at low frequency, medium frequency and high frequency can be realized, the harmonic suppression of the whole frequency band can be realized, the high-precision control on the motor, especially on the current harmonic suppression of the permanent magnet synchronous motor can be realized, the problem that the current harmonic suppression capability of the permanent magnet synchronous motor is weak can be at least solved, and the current harmonic suppression capability of the permanent magnet synchronous motor is improved.

In an alternative example, in the case that the current harmonic suppression method of the motor may include at least the first control module, the number of the first control module is more than one. In the case where the number of the first control modules is one, the first control modules are provided in the rotational speed outer loop control circuit or the current inner loop control circuit. In the case where the number of the first control modules is two, one first control module is provided in the rotational speed outer loop control circuit, and the other first control module is provided in the current inner loop control circuit.

For example: improve on traditional PI controller basis, adopt neotype fuzzy PI controller based on particle swarm optimization, realize the optimization of PI controller parameter, promote PMSM self-adaptation ability, can satisfy various abominable operating modes. Therefore, the fuzzy proportional integral control strategy based on particle swarm optimization is adopted, the self-adaptive capacity of the control system is improved, and the control precision of the system is increased.

Therefore, the current harmonic of the control circuit of the motor is suppressed by at least utilizing the first control module such as the improved PI controller, the self-adaptive capacity of the control system can be improved, and the control precision of the system is increased.

In an alternative example, in the case that the current harmonic suppression method of the motor may include at least the second control module, the number of the second control module is more than one. And in the case that the number of the second control modules is one, the second control modules are arranged in the rotating speed outer ring control circuit or the current inner ring control circuit. In the case where the number of the second control modules is two, one of the second control modules is provided in the rotational speed outer loop control circuit, and the other of the second control modules is provided in the current inner loop control circuit.

For example: optimizing on a traditional repetitive controller, adopting an improved repetitive controller, adopting a Lagrange interpolation method to select parameters of the controller, and adding a delay link; phase compensation of a low frequency band, a middle frequency band and a high frequency band is added in the phase compensator, current control is optimized, so that the novel controller can realize current harmonic suppression in the low frequency band, the middle frequency band and the high frequency band, and full-frequency-band harmonic suppression is realized by adopting low, middle and high frequency phase compensation; and the ratio of the sampling frequency to the current harmonic frequency is not necessarily an integer, so that the limiting condition that the ratio of the motor rotating speed to the sampling frequency in the traditional repetitive controller is necessarily an integer is solved.

Therefore, the current harmonic suppression capability at low frequency, medium frequency and high frequency can be realized by suppressing the current harmonic in the control circuit of the motor by at least utilizing the second control module such as the improved repetitive controller, and the harmonic suppression of the whole frequency band can be realized.

In an alternative example, in the case that the current harmonic suppression method of the motor may include a first control module and a second control module, one first control module and one second control module are arranged in parallel in the rotation speed outer loop control circuit; and/or, in the current inner loop control circuit, a first control module and a second control module are arranged in parallel.

For example: the novel PI controller and the novel repetitive controller are connected in parallel, the vector control device can be used for vector control of the permanent magnet synchronous motor, can realize current harmonic suppression and high-precision control of the permanent magnet synchronous motor, realizes full-band current harmonic suppression on the basis of meeting the system stability, can realize parameter optimization selection of the PI controller, increases the self-adaptive capacity of the system, and improves the control precision of the system.

In fig. 5, the permanent magnet synchronous motor control system may include: the device comprises a rotating speed outer ring control part and a current inner ring control part, wherein the rotating speed outer ring control part and the current inner ring control part are respectively output to the PSIM. In fig. 5, the vector control system of the permanent magnet synchronous motor may include a rotation speed outer ring and a current inner ring, and in the current inner ring control, a novel fuzzy PI controller based on particle swarm optimization and a novel repetitive controller are connected in parallel, so as to realize harmonic suppression and precision improvement and increase the adaptive capacity of the system. The current harmonic suppression high-precision control strategy for the permanent magnet synchronous motor can be applied to a vector control system of the permanent magnet synchronous motor to replace the current vector control strategy, so that the system control performance is more excellent.

Therefore, the self-adaptive capacity of the control system can be improved and the control precision of the system can be increased by jointly utilizing the first control module such as the improved PI controller and the second control module such as the improved repetitive controller to inhibit the current harmonic of the control circuit of the motor; the current harmonic suppression capability at low frequency, medium frequency and high frequency can be realized, and the harmonic suppression of the whole frequency band can be realized; therefore, on the basis of at least solving the problem that the current harmonic suppression of the permanent magnet synchronous motor is weak and improving the current harmonic suppression capability of the permanent magnet synchronous motor, the control precision of a permanent magnet synchronous motor system can be further improved, the control efficiency is improved, and the harmonic component of the stator current in the full frequency band is effectively suppressed.

In an alternative specific example, the first control module may include: and carrying out fuzzy inference processing on a PI controller in a control circuit of the motor (such as a PI controller close to a transmission system in the control circuit of the motor) by utilizing a particle swarm optimization algorithm to obtain a fuzzy PI controller. The fuzzy inference processing by using the particle swarm optimization algorithm can comprise the following steps: and according to a set fuzzy rule, the first input quantization factor is processed by fuzzy logic to obtain a first output quantization factor, and the second input quantization factor is processed by fuzzy logic to obtain a second output quantization factor.

The first input quantization factor, the first output quantization factor, the second input quantization factor and the second output quantization factor are all calculation factors of a particle swarm optimization algorithm. The input ends of the first input quantization factor and the second input quantization factor are connected to the input parameters of a PI controller in a control circuit of the motor, and the output ends of the first output quantization factor and the second output quantization factor are connected to the proportional parameter end of the PI controller in the control circuit of the motor.

For example: as shown in fig. 2, taking q-axis current control as an example, the rotation speed and position of the conventional system can be estimated by directly adopting a software back electromotive force method without a hall device, and the estimated rotation speed n is compared with a theoretical reference rotation speed n_refComparing the estimated rotation speed n with a theoretical reference rotation speed n_refAfter the difference obtained by comparison passes through the first PI controller, the q-axis reference current i is obtained by calculation of the first PI controller_qrefQ-axis reference current i_qrefWith actual q-axis current i_qCurrent inletComparing the obtained q-axis reference current i_qrefWith actual q-axis current i_qThe difference current variation △ e and the difference current variation rate △ ec obtained by current comparison are subjected to fuzzy inference through a fuzzy logic module (such as a second-order fuzzy logic module) to output a proportional parameter △ k_iAnd △ k_pThe output quantity of the fuzzy logic module is superposed to the parameter k of the second PI controller_pAnd k_iIn the above way, the second PI controller parameter is subjected to non-fixed value adjustment, so that the second PI controller parameter can be adaptively adjusted. The fuzzy rule of the second-order fuzzy logic module, such as a fuzzy logic table, can be combined through experiments and experiences, and considering that the fuzzy control table and the logic have low response speed in a complex state, a Particle Swarm Optimization (PSO) algorithm is added to accelerate a fuzzy inference process (see an example shown in FIG. 3), so that the control process can be rapidly converged, specifically, input and output quantization factors k are input and output_e、k_ec、k_ui、k_upOptimization is carried out, and the stability, the precision and the response speed of the system are enhanced.

For example: referring to the example shown in fig. 3, as shown in fig. 3, a Particle Swarm Optimization (PSO) algorithm optimization process is mainly implemented by taking input error change and input error change rate as initial particles, assigning the initial particles to a fuzzy PI controller (such as a second PI controller), operating a traditional system, outputting performance parameters through measurement, and if the requirements are met, operating stably; if the requirements are not met, the optimal solution can be quickly found through particle swarm optimization and particle updating again, and through a simulated bird swarm foraging method, the parameter convergence is accelerated.

Therefore, the fuzzy PI controller obtained by fuzzy inference processing through the particle swarm optimization algorithm is used as the first control module, the PI controller capable of being adjusted in a self-adaptive mode can be obtained, the self-adaptive capacity of the control system of the motor, particularly the permanent magnet synchronous motor, is improved, and the control accuracy of the control system of the motor, particularly the permanent magnet synchronous motor, is improved.

In an alternative specific example, the second control module may include: the repetitive controller in the control circuit based on the motor adopts a Lagrange interpolation method to select parameters of the controller, and adds phase compensation processing of a low frequency band, a middle frequency band and a high frequency band in a phase compensator to obtain the improved repetitive controller. The selecting of the parameters of the controller by using the lagrangian interpolation method and the adding of the phase compensation processing of the low frequency band, the middle frequency band and the high frequency band in the phase compensator may include: the device comprises a gain parameter setting module, a delay integration module, a phase compensation module and a filtering module. A phase compensation module such as the phase compensation element c(s), and a filtering module such as the low pass filter q(s). The gain parameter setting module, the delay integration module, the phase compensation module and the filtering module are sequentially arranged between the input end and the output end of a PI controller in a control circuit of the motor (such as a PI controller at a position close to a transmission system in the control circuit of the motor).

The response speed and the stability parameters of a repetitive controller in a control circuit of the motor are adjusted through a gain parameter setting module. Through the delay integration module, harmonic suppression of motor current is realized by setting delay time as a set proportion of the motor rotation period. Through the phase compensation module, add the phase compensation of low-frequency range, intermediate frequency range and high-frequency range for the harmonic suppression to the motor current embodies in the full frequency channel that low-frequency range, intermediate frequency range and high-frequency range constitute. And filtering the interference signal by a filtering module.

For example: in the example shown in fig. 4, the phase compensation element c(s) ensures the stability of the system, and adds low-frequency, intermediate-frequency, and high-frequency compensation: c₁(s)、C₂(s)、

So that the suppression can be achieved in the full band. In the example shown in fig. 4, the low pass filter q(s) filters the interference signal during the transmission process, and it should be noted thatThe bandwidth of (a) is larger than that of Q(s), so that the delay link is prevented from failing.

Therefore, through a repetitive controller in a control circuit based on a motor, parameters of the controller are selected by adopting a Lagrange interpolation method, an improved repetitive controller obtained after phase compensation processing of a low frequency band, a middle frequency band and a high frequency band is added in a phase compensator is used as a second control module, current control is optimized, current harmonic suppression can be realized in the low frequency band, the middle frequency band and the high frequency band by the novel controller, low, middle and high frequency phase compensation is adopted, full-frequency-band harmonic suppression is realized, the ratio of sampling frequency to current harmonic frequency is not necessarily an integer, and the harmonic suppression effect of motor current is improved.

Since the processing and functions implemented by the method of this embodiment substantially correspond to the embodiments, principles and examples of the motor, reference may be made to the related descriptions in the foregoing embodiments without being detailed in the description of this embodiment, which is not described herein.

Through a large amount of experimental verifications, adopt the technical scheme of this embodiment, parallelly connect neotype PI controller and neotype repetitive control ware, be applied to PMSM vector control, can realize PMSM current harmonic suppression and high accuracy control, realize full frequency channel current harmonic suppression on the basis of satisfying system stability, can realize that the parameter optimization of PI controller is selected, increase the self-adaptability of system, improve the control accuracy of system.

In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.

The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.