Current control of motor drives with output sinewave filter

• US 10,020,766 B2
• Filed: 11/15/2016
• Issued: 07/10/2018
• Est. Priority Date: 11/15/2016
• Status: Active Grant

• Current Assignee: Rockwell Automation Technologies Incorporated (Rockwell Automation, Inc.)
• Original Assignee: Rockwell Automation Technologies Incorporated (Rockwell Automation, Inc.)
• Inventors: Royak, Semyon, Breitzmann, Robert J., Liu, Jingbo, Nondahl, Thomas A., Dai, Jingya, Schmidt, Peter B.
• Primary Examiner(s): Ro, Bentsu
• Assistant Examiner(s): TRUNEH, ZEMENAY T
• Application Number:
  US15/351,989
• Publication Number:
  US 20180138849A1
• Time in Patent Office: 602 Days
• Field of Search: None
• CPC Class Codes: H02M 1/0009 Devices or circuits for detecting current in a converter
• CPC Class Codes: H02M 1/126 using passive filters
• CPC Class Codes: H02M 1/4216 operating from a three-phase input voltage H02M1/4233 takes precedence
• CPC Class Codes: H02M 7/53871 with automatic control of output voltage or current
• CPC Class Codes: H02M 7/5395 by pulse-width modulation
• CPC Class Codes: H02P 23/14 Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
• CPC Class Codes: H02P 23/26 Power factor control [PFC]

Abstract

Disclosed examples include power conversion systems, methods and computer readable mediums to operate an inverter to drive a motor load through an output filter, in which a control output value is computed according to a current reference value and a current feedback value using a proportional-integral (PI) current regulator, the control output value is filtered using a lag compensator filter to compute an inverter output command value, and the inverter is controlled according to the inverter output command value.

Claims

1. A power conversion system, comprising:

an inverter comprising a DC input, an AC output, and a plurality of switching devices coupled between the DC input and the AC output and operative according to inverter switching control signals to convert DC electrical power received at the DC input to provide AC electrical output power at the AC output to drive a motor load through an intervening output filter; and

a controller configured to;

compute a control output value according to a current reference value and a current feedback value using a proportional-integral (PI) current regulator implemented by the controller,

filter the control output value to compute an inverter output command value using a lag compensator filter implemented by the controller, wherein the lag compensator filter is designed to provide a non-zero amplitude margin below unity at a resonance frequency of a current control loop, and

provide the inverter switching control signals to control the inverter according to the inverter output command value.

2. The power conversion system of claim 1, wherein the lag compensator filter includes one or more lag compensators designed according to a current control loop resonance frequency of a current control loop, an inverter operating fundamental frequency, a peak resonance frequency of the output filter, a desired lead corner frequency of the current control loop, a desired amplitude margin below unity at the resonance frequency of the current control loop, a desired current control loop crossover frequency of the current control loop, and a plant corner frequency, wherein the current control loop resonance frequency is equal to a difference between the peak resonance frequency of the output filter and the inverter operating fundamental frequency.

3. The power conversion system of claim 2, wherein the lag compensator filter includes a first lag compensator filter having a first lag filter corner frequency between the current control loop crossover frequency and the current control loop resonance frequency.

4. The power conversion system of claim 3, wherein the lag compensator filter includes a second lag compensator filter having a second lag filter corner frequency between the first lag filter corner frequency and the current control loop resonance frequency.

5. The power conversion system of claim 4, wherein the first and second lag compensators are designed to provide a non-zero phase margin at the current control loop crossover frequency.

6. The power conversion system of claim 4, wherein the controller is further configured to:

compute a speed error value according to a speed reference value and a speed feedback value;

compute a torque reference value according to the speed error value; and

compute the current reference value according to the torque reference value.

7. The power conversion system of claim 3, wherein the first lag compensator is designed to provide a non-zero phase margin at the current control loop crossover frequency.

8. The power conversion system of claim 3, wherein the controller is further configured to:

compute a speed error value according to a speed reference value and a speed feedback value;

compute a torque reference value according to the speed error value; and

compute the current reference value according to the torque reference value.

9. The power conversion system of claim 2, wherein the lag compensator filter is designed to provide a non-zero phase margin at the current control loop crossover frequency.

10. The power conversion system of claim 2, wherein the controller is further configured to:

compute a speed error value according to a speed reference value and a speed feedback value;

compute a torque reference value according to the speed error value; and

compute the current reference value according to the torque reference value.

11. The power conversion system of claim 1, wherein the lag compensator filter is designed to provide a non-zero phase margin at a current control loop crossover frequency.

12. The power conversion system of claim 1, wherein the controller is further configured to:

compute a speed error value according to a speed reference value and a speed feedback value;

compute a torque reference value according to the speed error value; and

compute the current reference value according to the torque reference value.

13. A method of operating an inverter to drive a motor load through an output filter, the method comprising:

using a proportional-integral (PI) current regulator implemented by a processor, computing a control output value according to a current reference value and a current feedback value;

using the processor, filtering the control output value to compute an inverter output command value using a lag compensator filter implemented by the controller, wherein the lag compensator filter is designed to provide a non-zero amplitude margin below unity at a resonance frequency of a current control loop; and

controlling the inverter according to the inverter output command value.

14. The method of claim 13, comprising:

using the processor, computing a speed error value according to a speed reference value and a speed feedback value;

using the processor, computing a torque reference value according to the speed error value; and

using the processor, computing the current reference value according to the torque reference value.

15. A power conversion system, comprising:

an inverter comprising a DC input, an AC output, and a plurality of switching devices coupled between the DC input and the AC output and operative according to inverter switching control signals to convert DC electrical power received at the DC input to provide AC electrical output power at the AC output to drive a motor load through an intervening output filter; and

a controller configured to;

filter a current feedback value to compute a filtered current feedback value using a lag compensator filter implemented by the controller, wherein the lag compensator filter is designed to provide a non-zero amplitude margin below unity at a resonance frequency of a current control loop,

compute an inverter output command value according to a current reference value and the filtered current feedback value using a proportional-integral (PI) current regulator implemented by the controller, and

provide the inverter switching control signals to control the inverter according to the inverter output command value.