CN-122001257-A - Dead zone compensation method, system and storage medium for motor

CN122001257ACN 122001257 ACN122001257 ACN 122001257ACN-122001257-A

Abstract

The present disclosure provides a dead zone compensation method, a system and a storage medium for a motor, and relates to the technical field of motor control, wherein the method comprises the steps of obtaining the current three-phase current, the rotor position angle and the actual rotation speed of the motor; the method comprises the steps of determining current polarity of each phase in three-phase current based on the three-phase current and the rotor position angle, generating a basic compensation value based on the current polarity and a preset dead zone parameter, generating a current self-adaptive adjustment coefficient based on current amplitude of each phase in the three-phase current, generating a rotating speed self-adaptive adjustment coefficient based on the actual rotating speed, and generating a final compensation value based on the basic compensation value, the current self-adaptive adjustment coefficient and the rotating speed self-adaptive adjustment coefficient for dead zone compensation of the motor. The method optimizes the current polarity judgment, introduces two adjusting coefficients to further optimize the compensation value, and improves the adaptability and the dynamic performance of the motor.

Inventors

ZHUANG XIAORUI
FENG XINYU
MIAO QIANG
GONG FENGJUN
MENG HUIBIN

Assignees

潍柴动力股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251218

Claims (10)

1. A method of dead zone compensation for an electric machine, comprising: acquiring the current three-phase current, rotor position angle and actual rotation speed of a motor; determining a current polarity for each phase of the three-phase current based on the three-phase current and the rotor position angle; generating a basic compensation value based on the current polarity and a preset dead zone parameter; Generating a current adaptive adjustment coefficient based on a current amplitude of each phase of the three-phase current, wherein the current adaptive adjustment coefficient only changes when the current amplitude is in a phase current zero crossing region, so that each phase of the three-phase current smoothly transits in the corresponding phase current zero crossing region; Generating a rotational speed adaptive adjustment coefficient based on the actual rotational speed, and And generating a final compensation value based on the basic compensation value, the current self-adaptive adjustment coefficient and the rotating speed self-adaptive adjustment coefficient, and performing dead zone compensation on the motor.
2. The method of claim 1, wherein the determining a current polarity for each of the three phases of current based on the three phases of current and the rotor position angle comprises: Performing quasi-proportional resonance filtering processing on the three-phase current to inhibit target frequency harmonic waves which cause abnormal current fluctuation in the three-phase current; Transforming the three-phase current after filtering to a rotating coordinate system to obtain d-axis current and q-axis current; Acquiring a current angle of a composite current vector formed by the d-axis current and the q-axis current in the rotating coordinate system; Performing phase delay compensation on the rotor position angle to generate a compensated rotor position angle; Synthesizing the compensated rotor position angle and the current angle to generate a combined current angle, and The current polarity of each phase in the three-phase current is determined based on the integrated current angle.
3. The method of claim 2, wherein the quasi-proportional resonant filter process is implemented by a quasi-proportional resonant controller configured to selectively suppress target harmonics in the three-phase current by adjusting internal parameters thereof, the target harmonics including fifth and seventh harmonics.
4. The method of claim 2, wherein the three-phase currents include an a-phase current, a B-phase current, and a C-phase current, and wherein the determining the current polarity of each of the three-phase currents based on the integrated current angle comprises: Determining that the current polarity of the phase a current is positive in response to the integrated current angle being at (0, pi/2) or (3 pi/2, 2 pi); Determining that the current polarity of the phase a current is negative in response to the integrated current angle being at (pi/2, 3 pi/2); Determining that the current polarity of the B-phase current is positive in response to the integrated current angle being at (pi/6, 7pi/6); Determining that the current polarity of the B-phase current is negative in response to the integrated current angle being at (0, pi/6) or (7pi/6, 2pi); determining that the current polarity of the C-phase current is positive in response to the integrated current angle being at (5 pi/6, 11 pi/6), and In response to the integrated current angle being at (0, 5 pi/6) or (11 pi/6, 2 pi), determining that the current polarity of the C-phase current is negative.
5. The method of claim 2, wherein said compensating for phase delay of said rotor position angle comprises: acquiring the actual angular speed of the motor; Generating an angle compensation amount based on a product of the actual angular velocity and a system inherent delay time of a motor controller for driving the motor, and And compensating the rotor position angle based on the angle compensation amount to generate a compensated rotor position angle.
6. The method of claim 1 or 2, wherein the generating a current adaptive adjustment coefficient based on the current magnitude of each of the three phases of current comprises: setting the current adaptive adjustment coefficient to zero in response to the current amplitude being less than a preset first current threshold; Generating the current adaptive adjustment coefficient based on the current amplitude in response to the current amplitude being greater than the first current threshold and less than a preset second current threshold such that the current adaptive adjustment coefficient increases linearly with increasing current amplitude, and Setting the current adaptive adjustment coefficient to one in response to the current magnitude being greater than a second current threshold; The first current threshold and the second current threshold both belong to the phase current zero crossing region, and the first current threshold is smaller than the second current threshold.
7. The method according to claim 1 or 2, wherein the generating a rotational speed adaptive adjustment coefficient based on the actual rotational speed comprises: Setting the rotation speed self-adaptive adjustment coefficient to be one in response to the actual rotation speed being smaller than a preset first rotation speed threshold; Generating the rotational speed adaptive adjustment coefficient based on the actual rotational speed in response to the actual rotational speed being greater than a first rotational speed threshold and less than a preset second rotational speed threshold such that the rotational speed adaptive adjustment coefficient decreases linearly as the actual rotational speed increases, and Setting the rotation speed self-adaptive adjustment coefficient to zero in response to the actual rotation speed not being lower than a second rotation speed threshold; Wherein the first rotational speed threshold is less than the second rotational speed threshold.
8. The method according to claim 1 or 2, wherein the relationship of the final compensation value and the current polarity is such that the final compensation value is positive when the current polarity is positive and the final compensation value is negative when the current polarity is negative, and wherein the method further comprises: generating a first control instruction for acquiring the current three-phase current, the rotor position angle and the actual rotating speed of the motor in response to receiving a dead-zone compensation starting instruction so as to start dead-zone compensation of the motor; after generating a final compensation value, superimposing the final compensation value to a PWM control signal of the motor; In response to receiving the dead-band compensation close instruction, a second control instruction for ending the dead-band compensation is generated.
9. A dead zone compensation system for an electric machine, comprising: The data acquisition unit is configured to acquire the current three-phase current, the rotor position angle and the actual rotating speed of the motor; a first processing unit configured to determine a current polarity of each phase of the three-phase currents based on the three-phase currents and the rotor position angle, and generate a base compensation value based on the current polarity and a preset dead zone parameter; A second processing unit configured to generate a current adaptive adjustment coefficient based on a current amplitude of each phase of the three-phase current, wherein the current adaptive adjustment coefficient varies only when the current amplitude is in a phase current zero-crossing, so that each phase of the three-phase current smoothly transitions in the phase current zero-crossing; a third processing unit configured to generate a rotation speed adaptive adjustment coefficient based on the actual rotation speed, and And a result generation unit configured to generate a final compensation value for dead-zone compensation of the motor based on the base compensation value, the current adaptive adjustment coefficient, and the rotation speed adaptive adjustment coefficient.
10. A storage medium storing a program or instructions which, when executed by a processor, implement the steps of the method of any one of claims 1 to 8.

Description

Dead zone compensation method, system and storage medium for motor Technical Field The disclosure belongs to the technical field of motor control, and particularly relates to a dead zone compensation method, a dead zone compensation system and a storage medium for a motor. Background In the motor controller, the dead time is a delay time set in the PWM control in order to prevent the upper and lower arms of the power device from being simultaneously turned on. Dead time can cause a difference in the actual output voltage from the ideal voltage, such that the current waveform distortion, torque ripple, dq-axis current follow-up become worse and system performance becomes worse. In the related art, the common dead zone compensation method for the motor comprises the steps of collecting motor sensor signals, calculating a motor synchronous angle and a current dq-axis current or a filtered dq-axis current, calculating the motor synchronous angle, obtaining a next period synchronous angle according to a motor synchronous angle compensation value, calculating an angle of a synthesized current vector under a two-phase static coordinate system, calculating an angle difference between the angle and a phase current zero point, carrying out linear calculation compensation value if the angle difference is smaller than a preset difference value, and carrying out compensation according to a maximum compensation value or a minimum compensation value if the angle difference is larger than the preset difference value according to current polarity judgment. When judging the current polarity, the dead zone compensation method of the motor directly determines the current polarity according to whether the phase current value is larger or smaller than zero, so that certain errors can exist when the current fluctuation is large. In addition, when the motor dead zone compensation method predicts the motor angle inaccurately or judges the phase current zero angle inaccurately, the dead zone compensation result is influenced, so that the compensation inaccuracy is caused, even larger current harmonic waves are introduced, and the output waveform is deteriorated. Disclosure of Invention The disclosure provides a dead zone compensation method, a dead zone compensation system and a storage medium for a motor, which aim to solve the technical problem that output waveforms are deteriorated due to inaccurate dead zone compensation in the related art at least to a certain extent. At least one embodiment of the present disclosure provides a motor dead zone compensation method, including: acquiring the current three-phase current, rotor position angle and actual rotation speed of a motor; determining a current polarity for each phase of the three-phase current based on the three-phase current and the rotor position angle; generating a basic compensation value based on the current polarity and a preset dead zone parameter; Generating a current adaptive adjustment coefficient based on a current amplitude of each phase of the three-phase current, wherein the current adaptive adjustment coefficient only changes when the current amplitude is in a phase current zero crossing region, so that each phase of the three-phase current smoothly transits in the corresponding phase current zero crossing region; Generating a rotational speed adaptive adjustment coefficient based on the actual rotational speed, and And generating a final compensation value based on the basic compensation value, the current self-adaptive adjustment coefficient and the rotating speed self-adaptive adjustment coefficient, and performing dead zone compensation on the motor. The scheme has the following technical effects that the accurate dead zone compensation method is provided, current polarity judgment is optimized through combination of three-phase current and rotor position angle based on the volt-second balance principle, and a double-parameter adjustment mechanism for adaptively adjusting a current adaptive adjustment coefficient and a rotating speed adaptive adjustment coefficient is provided for misjudgment risk near a current zero crossing point, so that a final compensation value can be adaptively adjusted according to current and rotating speed, the dead zone compensation is used, current waveform is effectively improved, motor control precision is improved, and dynamic adaptability and robustness of a system are improved. According to the current self-adaptive adjusting coefficient calculated by the three-phase current, the current self-adaptive adjusting coefficient is used as an adjusting parameter of a final compensation value, and the voltage abrupt change and the inaccurate error compensation of the angle influenced by current fluctuation can be effectively avoided when the current passes through the zero point. The self-adaptive rotating speed adjusting coefficient calculated according to the actual rotating speed is used as an adjusting parameter of a final co