CN102739150B - Parameter identification control device and control method of sensorless permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a parameter identification control device and a parameter identification control method of a sensorless permanent magnet synchronous motor, belongs to the technical field of control over the sensorless permanent magnet synchronous motor, and solves the problem that parameters cannot be identified by the conventional permanent magnet synchronous motor positionless control method when a motor operates in a rotating speed range. Parameter identification of the sensorless permanent magnet synchronous motor in each speed stage is realized by improvement of a control policy and a control method. In medium-high-speed stages, input amount is modeled by constructing a circuit, and output parameters are obtained; and in low-speed and zero-speed stages, the accuracy of model output amount is realized according to the accuracy of model input parameters. By the invention, a three-closed-loop control mode is employed, and the working modes of a system are switched according to the size of rotating speed in the parameter identification process. The invention is applicable to parameter identification of the sensorless permanent magnet synchronous motor.

Description

Parameter identification control device and control method without transducer permagnetic synchronous motor

Technical field

The present invention relates to a kind of parameter identification control device and control method without transducer permagnetic synchronous motor, belong to without transducer permagnetic synchronous motor control technology field.

Background technology

Permagnetic synchronous motor, with features such as its high power density, high efficiency, wide speed regulating range, quick responses, is widely used in the energy-saving field such as the high accuracy transmission fields such as Digit Control Machine Tool, industrial robot, aerospace equipment and household electrical appliance, pump and fan.For detecting speed and the position of permagnetic synchronous motor, need on motor, add transducer, on permagnetic synchronous motor, apply commonplace mechanical position sensor at present and comprise photoelectric encoder, resolver, Hall and inductosyn etc.These mechanical position sensor, when rotor magnetic pole position information can be provided, inevitably can be brought a series of problem, for example: the communication mode of transducer, service condition of use cost and transducer etc.In order to overcome the variety of problems of using mechanical position sensor to bring, at present, many scholars have carried out the research of position-sensor-free permagnetic synchronous motor driving control aspect, existingly without position control method, be only applicable to motor in the control of high speed or low speed and zero-speed state, be difficult to realize accurate measurement and the parameter identification in range of motor speeds.

Summary of the invention

The present invention is when solving cannot the realizing motor and operate in the range of speeds without position control method of existing permagnetic synchronous motor, and the problem of parameter being carried out to identification, provides a kind of parameter identification control device and control method without transducer permagnetic synchronous motor.

Parameter identification control device without transducer permagnetic synchronous motor of the present invention, it comprises permagnetic synchronous motor, it also comprises position transducer, speed control, d shaft current controller, q shaft current controller, the one Park translation circuit, the 2nd Park translation circuit, contrary Park translation circuit, the one Clark translation circuit, the 2nd Clark translation circuit, space vector pulse width modulation circuit, inverter, current transformer, voltage sensor, low speed parameter identification circuit, the one LC filter circuit, the 2nd LC filter circuit, high speed parameter identification circuit, resistance decoupling zero circuit, magnetic linkage decoupling zero circuit, rotating speed decoupling zero circuit, amplifier integrating circuit and comparison circuit,

Motor rotor position set-point θ _refmotor rotor position measured value with the output of amplifier integrating circuit the difference of comparing inputs to position transducer, the rotor rotational speed setup signal value ω of position transducer output _refrotor turn count signal value ω with the output of rotating speed decoupling zero circuit _backthe difference of comparing inputs to speed control, the q shaft current set-point i of speed control output _q ^*q shaft current actual value i with a Park translation circuit output _qthe difference of comparing inputs to q shaft current controller, and the q shaft voltage signals output of q shaft current controller connects the q shaft voltage signals input of contrary Park translation circuit; D shaft current set-point i _d ^*d shaft current actual value i with a Park translation circuit output _dthe difference of comparing inputs to d shaft current controller, the d shaft voltage signals output of d shaft current controller connects the d shaft voltage signals input of contrary Park translation circuit, the motor rotor position observation signal input of contrary Park translation circuit connects the motor rotor position observation signal output of amplifier integrating circuit, the α axle stator voltage signal input part of the α axle stator voltage signal output part connection space vector pulse-width modulation circuit of contrary Park translation circuit, the β axle stator voltage signal input part of the β axle stator voltage signal output part connection space vector pulse-width modulation circuit of contrary Park translation circuit, space vector pulse width modulation circuit motor rotor position observation signal input connects the motor rotor position observation signal output of amplifier integrating circuit, the pulse width modulating signal output of space vector pulse width modulation circuit connects the pulse width modulating signal input of inverter, the voltage signal output end of inverter connects the voltage signal input of permagnetic synchronous motor, the current signal of the power supply input side of permagnetic synchronous motor gathers by current transformer, the C phase current signal output that current transformer collection obtains connects the C phase current signal input of a Clark translation circuit, the B phase current signal output that current transformer collection obtains connects the B phase current signal input of a Clark translation circuit, the α axle stator current signal output of the one Clark translation circuit connects the α axle stator current signal input of a Park translation circuit, the β axle stator current signal output of the one Clark translation circuit connects the β axle stator current signal input of a Park translation circuit, the motor rotor position observation signal input of the one Park translation circuit connects the motor rotor position observation signal output of amplifier integrating circuit,

The voltage signal of the outlet side of permagnetic synchronous motor gathers by voltage sensor, the C phase voltage signal output that voltage sensor collection obtains connects the C phase voltage signal input of the 2nd Clark translation circuit, the B phase voltage signal output that voltage sensor collection obtains connects the B phase voltage signal input of the 2nd Clark translation circuit, the α shaft voltage signals output of the 2nd Clark translation circuit connects the α shaft voltage signals input of the 2nd Park translation circuit, the β shaft voltage signals output of the 2nd Clark translation circuit connects the β shaft voltage signals input of the 2nd Park translation circuit, the motor rotor position observation signal input of the 2nd Park translation circuit connects the motor rotor position observation signal output of amplifier integrating circuit, the d shaft voltage signals output of the 2nd Park translation circuit connects the d shaft voltage signals input of high speed parameter identification circuit, the q shaft voltage signals output of the 2nd Park translation circuit connects the q shaft voltage signals input of high speed parameter identification circuit, the slow-speed of revolution permanent magnet flux linkage observation signal input of high speed parameter identification circuit connects the slow-speed of revolution permanent magnet flux linkage observation signal output of low speed parameter identification circuit, the slow-speed of revolution stator resistance observation signal input of high speed parameter identification circuit connects the slow-speed of revolution stator resistance observation signal output of low speed parameter identification circuit, the rotor turn count signal input part of high speed parameter identification circuit connects the rotor turn count signal output part of rotating speed decoupling zero circuit, the selection control signal input of low speed parameter identification circuit connects the selection control signal output of comparison circuit, the rotor turn count signal input part of low speed parameter identification circuit connects the rotor turn count signal output part of rotating speed decoupling zero circuit, the β axle stator current signal input of low speed parameter identification circuit connects the β axle stator current signal output of a Clark translation circuit, the α axle filtering voltage signal input part of low speed parameter identification circuit connects the α axle filtering voltage signal output part of the 2nd LC filter circuit, the α shaft voltage signals input of the 2nd LC filter circuit connects the α shaft voltage signals output of the 2nd Clark translation circuit, the β axle filtering voltage signal input part of low speed parameter identification circuit connects the β axle filtering voltage signal output part of a LC filter circuit, the β shaft voltage signals input of the one LC filter circuit connects the β shaft voltage signals output of the 2nd Clark translation circuit,

The q shaft current actual value i of the one Park translation circuit output _qidentification q shaft current value with the output of high speed parameter identification circuit the difference ε comparing inputs to rotating speed decoupling zero circuit, and the rotor turn count signal output part of rotating speed decoupling zero circuit connects the rotor turn count signal input part of amplifier integrating circuit;

The q shaft current actual value i of the one Park translation circuit output _qidentification q shaft current value with the output of high speed parameter identification circuit the difference ε comparing inputs to resistance decoupling zero circuit, the control signal input of resistance decoupling zero circuit connects the selection control signal signal output part of comparison circuit, the stator winding resistance observation signal output of resistance decoupling zero circuit connects the stator winding resistance observation signal input of high speed parameter identification circuit

The q shaft current actual value i of the one Park translation circuit output _qthe q shaft current value calculating with permanent magnet flux linkage identification model in high speed parameter identification circuit the difference ε ' comparing inputs to magnetic linkage decoupling zero circuit, the control signal input of magnetic linkage decoupling zero circuit connects the selection control signal output of comparison circuit, and the permanent magnet flux linkage observation signal output of magnetic linkage decoupling zero circuit connects the permanent magnet flux linkage observation signal input of high speed parameter identification circuit; The rotor rotational speed setup signal output part of the rotor rotational speed setup signal input part link position transducer of comparison circuit, the rotor rotating ratio of comparison circuit is transfused to rotor rotating speed comparison value ω compared with signal input part _b.

The parameter identification control method without transducer permagnetic synchronous motor based on the above-mentioned parameter identification control device without transducer permagnetic synchronous motor,

Comparison circuit is by rotor rotational speed setup signal value ω _refwith rotor rotating speed comparison value ω _bafter comparing, by comparative result, the mode of operation of described control device is controlled, is specially:

Work as ω _ref< ω _btime, low speed parameter identification circuit is enabled under the control of the selection control signal of comparison circuit output, magnetic linkage decoupling zero circuit and resistance decoupling zero circuit are out of service, now, the α axle filtering voltage signal of the β axle filtering voltage signal of the one LC filter circuit output and the output of the 2nd LC filter circuit inputs to low speed parameter identification circuit, and low speed parameter identification circuit obtains slow-speed of revolution permanent magnet flux linkage measured value as calculated with slow-speed of revolution stator resistance measured value slow-speed of revolution permanent magnet flux linkage measured value with slow-speed of revolution stator resistance measured value input to high speed parameter identification circuit, by rotating speed decoupling zero circuit, realized motor speed measured value estimation;

ω _ref>=ω _btime, low speed parameter identification circuit is out of service under the control of the selection control signal of comparison circuit output, and magnetic linkage decoupling zero circuit and resistance decoupling zero circuit bring into operation, now, the d axle stator voltage component u of the 2nd park translation circuit output _dwith q axle stator voltage component u _qinput to high speed parameter identification circuit, the defeated d shaft current component of high speed parameter identification circuit as feedback quantity, be again input in high speed parameter identification circuit.

Described d shaft current component with q shaft current by following formula, solve acquisition:

$\frac{d}{\mathrm{dt}}\left(\begin{array}{c}{\hat{i}}_{d1}\\ {\hat{i}}_{q1}\end{array}\right)=\left(\begin{array}{cc}-\frac{R_s}{L_s}& {\mathrm{\&omega;}}_{\mathrm{back}}\\ -{\mathrm{\&omega;}}_{\mathrm{back}}& -\frac{R_s}{L_s}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_{d1}\\ {\hat{i}}_{q1}\end{array}\right)+\frac{1}{L_s}\left(\begin{array}{c}{u}_d^{\&prime;}\\ u_q^{\&prime;}\end{array}\right),$

In formula $u_d^{\&prime;}=u_d+\frac{R_s{\mathrm{\&psi;}}_f}{L_s};$ u′ _q＝u _q；

L _sfor motor stator inductance value,

R _sfor stator resistance actual value, when high speed operation of motor, be R _sH, during low cruise, be R _sL,

ψ _fpermanent magnet flux linkage actual value is ψ when high speed operation of motor _fH, during low cruise, be ψ _fL;

D shaft current component with q shaft current by following formula, solve acquisition:

$\frac{d}{\mathrm{dt}}\left(\begin{array}{c}{\hat{i}}_{d2}\\ {\hat{i}}_{q2}\end{array}\right)=\left(\begin{array}{cc}-\frac{R_{\mathrm{SH}}}{L_s}& {\mathrm{\&omega;}}_{\mathrm{back}}\\ -{\mathrm{\&omega;}}_{\mathrm{back}}& -\frac{R_{\mathrm{SH}}}{L_s}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_{d2}\\ {\hat{i}}_{q2}\end{array}\right)+\left(\begin{array}{cc}\frac{1}{L_s}& 0\\ 0& \frac{1}{L_s}\end{array}\right)\left(\begin{array}{c}{u}_d\\ u_q\end{array}\right)+\left(\begin{array}{c}0\\ -{\mathrm{\&omega;}}_{\mathrm{back}}\frac{{\mathrm{\&psi;}}_{\mathrm{fH}}}{L_s}\end{array}\right),$

The motor speed measured value of rotating speed decoupling zero circuit output preparation method be:

${\widehat{\mathrm{\&omega;}}}_{\mathrm{back}}=\frac{K_{i1}\frac{{\mathrm{\&psi;}}_f}{L_s}\mathrm{\&epsiv;}}{s}+K_{p1}\frac{{\mathrm{\&psi;}}_f}{L_s}\mathrm{\&epsiv;}+{\widehat{\mathrm{\&omega;}}}_{\mathrm{back}}\left(0\right);$

for a upper computing moment motor speed measured value;

K _i1for the integral coefficient of rotating speed decoupling zero circuit under motor high speed and lower-speed state,

K _p1proportionality coefficient for rotating speed decoupling zero circuit under motor high speed and lower-speed state;

The stator armature resistance measured value of resistance decoupling zero circuit output preparation method be:

${\hat{R}}_{\mathrm{sH}}=-(K_{p2}+\frac{K_{i2}}{s})\mathrm{\&epsiv;},$

S is integral operator,

K _i2integral coefficient for resistance decoupling zero circuit under motor fast state

K _p2proportionality coefficient for resistance decoupling zero circuit under motor fast state;

The permanent magnet flux linkage measured value of magnetic linkage decoupling zero circuit output preparation method be:

${\widehat{\mathrm{\&psi;}}}_{\mathrm{fH}}=-(K_{p3}+\frac{K_{i3}}{s})\frac{{\mathrm{\&omega;}}_{\mathrm{back}}{\mathrm{\&epsiv;}}^{\&prime;}}{L_s}+{\widehat{\mathrm{\&psi;}}}_{\mathrm{fH}}\left(0\right),$

for a upper computing moment permanent magnet flux linkage measured value,

K _i3for the integral coefficient of rotating speed decoupling zero circuit under motor fast state,

K _p3proportionality coefficient for rotating speed decoupling zero circuit under motor fast state.

Advantage of the present invention is: the present invention realizes the parameter identification of each speed stage of position-sensor-free permagnetic synchronous motor by the improvement of control strategy and control method.In the high speed stage, by structure circuit, realize the modelling to input variable, obtain output parameter; In the low speed zero-speed stage, by the precision to mode input parameter, the precision of implementation model output variable.The present invention adopts three closed-loop controls, in parameter identification process according to the mode of operation of the height switched system of rotating speed.

Control method of the present invention can be according to the switching working mode of the rotating speed intelligence of motor, and the parameter identification precision of high speed and low speed zero-speed is all higher, and dynamic response is fast, has good actual use value.When control device moves under high speed pattern, according to the theory of algorithm, build circuit, the data that obtain are sent in the counting circuit of parameters and obtain desired parameters, then parameter estimation value is inputted in algorithm circuit again, the accuracy that utilization feedback realizes parameter identification is when motor operates in low speed and zero-speed, because of stator voltage and electric current less, the magnetic linkage that identification obtains and stator winding resistance accuracy decline, therefore when low-speed mode, at α, under β coordinate system, pick out permanent magnet flux linkage and stator winding resistance, make identification model not too responsive to stator voltage.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of apparatus of the present invention;

Fig. 2 be low speed parameter identification circuit identification principle figure.

Embodiment

Embodiment one: present embodiment is described below in conjunction with Fig. 1, described in present embodiment without the parameter identification control device of transducer permagnetic synchronous motor, it comprises permagnetic synchronous motor 11, it also comprises position transducer 1, speed control 2, d shaft current controller 3, q shaft current controller 4, the one Park translation circuit 5-1, the 2nd Park translation circuit 5-2, contrary Park translation circuit 6, the one Clark translation circuit 7-1, the 2nd Clark translation circuit 7-2, space vector pulse width modulation circuit 8, inverter 9, current transformer 10, voltage sensor 12, low speed parameter identification circuit 13, the one LC filter circuit 14-1, the 2nd LC filter circuit 14-2, high speed parameter identification circuit 15, resistance decoupling zero circuit 16, magnetic linkage decoupling zero circuit 17, rotating speed decoupling zero circuit 18, amplifier integrating circuit 19 and comparison circuit 20,

Motor rotor position set-point θ _refmotor rotor position measured value with 19 outputs of amplifier integrating circuit the difference of comparing inputs to position transducer 1, the rotor rotational speed setup signal value ω of position transducer 1 output _refrotor turn count signal value ω with 18 outputs of rotating speed decoupling zero circuit _backthe difference of comparing inputs to speed control 2, the q shaft current set-point i of speed control 2 outputs _q ^*q shaft current actual value i with a Park translation circuit 5-1 output _qthe difference of comparing inputs to q shaft current controller 4, and the q shaft voltage signals output of q shaft current controller 4 connects the q shaft voltage signals input of contrary Park translation circuit 6; D shaft current set-point i _d ^*d shaft current actual value i with a Park translation circuit 5-1 output _dthe difference of comparing inputs to d shaft current controller 3, the d shaft voltage signals output of d shaft current controller 3 connects the d shaft voltage signals input of contrary Park translation circuit 6, the motor rotor position observation signal input of contrary Park translation circuit 6 connects the motor rotor position observation signal output of amplifier integrating circuit 19, the α axle stator voltage signal input part of the α axle stator voltage signal output part connection space vector pulse-width modulation circuit 8 of contrary Park translation circuit 6, the β axle stator voltage signal input part of the β axle stator voltage signal output part connection space vector pulse-width modulation circuit 8 of contrary Park translation circuit 6, space vector pulse width modulation circuit 8 motor rotor position observation signal inputs connect the motor rotor position observation signal output of amplifier integrating circuit 19, the pulse width modulating signal output of space vector pulse width modulation circuit 8 connects the pulse width modulating signal input of inverter 9, the voltage signal output end of inverter 9 connects the voltage signal input of permagnetic synchronous motor 11, the current signal of the power supply input side of permagnetic synchronous motor 11 gathers by current transformer 10, current transformer 10 gathers the C phase current signal input that the C phase current signal output obtaining connects a Clark translation circuit 7-1, current transformer 10 gathers the B phase current signal input that the B phase current signal output obtaining connects a Clark translation circuit 7-1, the α axle stator current signal output of the one Clark translation circuit 7-1 connects the α axle stator current signal input of a Park translation circuit 5-1, the β axle stator current signal output of the one Clark translation circuit 7-1 connects the β axle stator current signal input of a Park translation circuit 5-1, the motor rotor position observation signal input of the one Park translation circuit 5-1 connects the motor rotor position observation signal output of amplifier integrating circuit 19,

The voltage signal of the outlet side of permagnetic synchronous motor 11 gathers by voltage sensor 12, voltage sensor 12 gathers the C phase voltage signal input that the C phase voltage signal output obtaining connects the 2nd Clark translation circuit 7-2, voltage sensor 12 gathers the B phase voltage signal input that the B phase voltage signal output obtaining connects the 2nd Clark translation circuit 7-2, the α shaft voltage signals output of the 2nd Clark translation circuit 7-2 connects the α shaft voltage signals input of the 2nd Park translation circuit 5-2, the β shaft voltage signals output of the 2nd Clark translation circuit 7-2 connects the β shaft voltage signals input of the 2nd Park translation circuit 5-2, the motor rotor position observation signal input of the 2nd Park translation circuit 5-2 connects the motor rotor position observation signal output of amplifier integrating circuit 19, the d shaft voltage signals output of the 2nd Park translation circuit 5-2 connects the d shaft voltage signals input of high speed parameter identification circuit 15, the q shaft voltage signals output of the 2nd Park translation circuit 5-2 connects the q shaft voltage signals input of high speed parameter identification circuit 15, the slow-speed of revolution permanent magnet flux linkage observation signal input of high speed parameter identification circuit 15 connects the slow-speed of revolution permanent magnet flux linkage observation signal output of low speed parameter identification circuit 13, the slow-speed of revolution stator resistance observation signal input of high speed parameter identification circuit 15 connects the slow-speed of revolution stator resistance observation signal output of low speed parameter identification circuit 13, the rotor turn count signal input part of high speed parameter identification circuit 15 connects the rotor turn count signal output part of rotating speed decoupling zero circuit 18, the selection control signal input of low speed parameter identification circuit 13 connects the selection control signal output of comparison circuit 20, the rotor turn count signal input part of low speed parameter identification circuit 13 connects the rotor turn count signal output part of rotating speed decoupling zero circuit 18, the β axle stator current signal input of low speed parameter identification circuit 13 connects the β axle stator current signal output of a Clark translation circuit 7-1, the α axle filtering voltage signal input part of low speed parameter identification circuit 13 connects the α axle filtering voltage signal output part of the 2nd LC filter circuit 14-2, the α shaft voltage signals input of the 2nd LC filter circuit 14-2 connects the α shaft voltage signals output of the 2nd Clark translation circuit 7-2, the β axle filtering voltage signal input part of low speed parameter identification circuit 13 connects the β axle filtering voltage signal output part of a LC filter circuit 14-1, the β shaft voltage signals input of the one LC filter circuit 14-1 connects the β shaft voltage signals output of the 2nd Clark translation circuit 7-2,

The q shaft current actual value i of the one Park translation circuit 5-1 output _qidentification q shaft current value with 15 outputs of high speed parameter identification circuit the difference ε comparing inputs to rotating speed decoupling zero circuit 18, and the rotor turn count signal output part of rotating speed decoupling zero circuit 18 connects the rotor turn count signal input part of amplifier integrating circuit 19;

The q shaft current actual value i of the one Park translation circuit 5-1 output _qidentification q shaft current value with 15 outputs of high speed parameter identification circuit the difference ε comparing inputs to resistance decoupling zero circuit 16, the control signal input of resistance decoupling zero circuit 16 connects the selection control signal signal output part of comparison circuit 20, the stator winding resistance observation signal output of resistance decoupling zero circuit 16 connects the stator winding resistance observation signal input of high speed parameter identification circuit 15

The q shaft current actual value i of the one Park translation circuit 5-1 output _qthe q shaft current value calculating with permanent magnet flux linkage identification model in high speed parameter identification circuit 15 the difference ε ' comparing inputs to magnetic linkage decoupling zero circuit 17, the control signal input of magnetic linkage decoupling zero circuit 17 connects the selection control signal output of comparison circuit 20, and the permanent magnet flux linkage observation signal output of magnetic linkage decoupling zero circuit 17 connects the permanent magnet flux linkage observation signal input of high speed parameter identification circuit 15; The rotor rotational speed setup signal output part of the rotor rotational speed setup signal input part link position transducer 1 of comparison circuit 20, the rotor rotating ratio of comparison circuit 20 is transfused to rotor rotating speed comparison value ω compared with signal input part _b.

Embodiment two: below in conjunction with Fig. 1, present embodiment is described, present embodiment be based on described in execution mode one without the parameter identification control method without transducer permagnetic synchronous motor of the parameter identification control device of transducer permagnetic synchronous motor,

Comparison circuit 20 is by rotor rotational speed setup signal value ω _refwith rotor rotating speed comparison value ω _bafter comparing, by comparative result, the mode of operation of described control device is controlled, is specially:

Work as ω _ref< ω _btime, low speed parameter identification circuit 13 is enabled under the control of the selection control signal of comparison circuit 20 outputs, magnetic linkage decoupling zero circuit 17 and resistance decoupling zero circuit 16 are out of service, now, the α axle filtering voltage signal of the β axle filtering voltage signal of the one LC filter circuit 14-1 output and the 2nd LC filter circuit 14-2 output inputs to low speed parameter identification circuit 13, and low speed parameter identification circuit 13 obtains slow-speed of revolution permanent magnet flux linkage measured value as calculated with slow-speed of revolution stator resistance measured value slow-speed of revolution permanent magnet flux linkage measured value with slow-speed of revolution stator resistance measured value input to high speed parameter identification circuit 15, by rotating speed decoupling zero circuit 18, realized motor speed measured value estimation;

ω _ref>=ω _btime, low speed parameter identification circuit 13 is out of service under the control of the selection control signal of comparison circuit 20 outputs, and magnetic linkage decoupling zero circuit 17 and resistance decoupling zero circuit 16 bring into operation, now, the d axle stator voltage component u of the 2nd park translation circuit 5-2 output _dwith q axle stator voltage component u _qinput to high speed parameter identification circuit 15, the defeated d shaft current component of high speed parameter identification circuit 15 as feedback quantity, be again input in high speed parameter identification circuit 15.

In present embodiment, the parameter of electric machine while wanting identification lower-speed state, as permanent magnet flux linkage and stator winding resistance etc., not very ripe, a controller or be used at a high speed, be applicable to low speed, so this programme is intended to realize the parameter identification of the high low speed of motor, yet the parameter identification of high/low-speed motor needs two circuit to distinguish identification.Then, the result of identification is delivered in identification model, is used for realizing the estimation to rotating speed.Because identification model unification in the present invention has been placed in high speed identification circuit, so at lower-speed state, the result of identification also will be sent in high speed identification circuit, to estimate rotating speed.

Embodiment three: below in conjunction with Fig. 2, present embodiment is described, present embodiment is for to the further illustrating of execution mode two, described d shaft current component with q shaft current by following formula, solve acquisition:

$\frac{d}{\mathrm{dt}}\left(\begin{array}{c}{\hat{i}}_{d1}\\ {\hat{i}}_{q1}\end{array}\right)=\left(\begin{array}{cc}-\frac{R_s}{L_s}& {\mathrm{\&omega;}}_{\mathrm{back}}\\ -{\mathrm{\&omega;}}_{\mathrm{back}}& -\frac{R_s}{L_s}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_{d1}\\ {\hat{i}}_{q1}\end{array}\right)+\frac{1}{L_s}\left(\begin{array}{c}{u}_d^{\&prime;}\\ u_q^{\&prime;}\end{array}\right),$

In formula $u_d^{\&prime;}=u_d+\frac{R_s{\mathrm{\&psi;}}_f}{L_s};$ u′ _q＝u _q；

L _sfor motor stator inductance value,

R _sfor stator resistance actual value, when high speed operation of motor, be R _sH, during low cruise, be R _sL, ψ _fpermanent magnet flux linkage actual value is ψ when high speed operation of motor _fH, during low cruise, be ψ _fL; D shaft current component with q shaft current by following formula, solve acquisition:

$\frac{d}{\mathrm{dt}}\left(\begin{array}{c}{\hat{i}}_{d2}\\ {\hat{i}}_{q2}\end{array}\right)=\left(\begin{array}{cc}-\frac{R_{\mathrm{SH}}}{L_s}& {\mathrm{\&omega;}}_{\mathrm{back}}\\ -{\mathrm{\&omega;}}_{\mathrm{back}}& -\frac{R_{\mathrm{SH}}}{L_s}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_{d2}\\ {\hat{i}}_{q2}\end{array}\right)+\left(\begin{array}{cc}\frac{1}{L_s}& 0\\ 0& \frac{1}{L_s}\end{array}\right)\left(\begin{array}{c}{u}_d\\ u_q\end{array}\right)+\left(\begin{array}{c}0\\ -{\mathrm{\&omega;}}_{\mathrm{back}}\frac{{\mathrm{\&psi;}}_{\mathrm{fH}}}{L_s}\end{array}\right),$

The motor speed measured value of rotating speed decoupling zero circuit 18 outputs preparation method be:

${\widehat{\mathrm{\&omega;}}}_{\mathrm{back}}=\frac{K_{i1}\frac{{\mathrm{\&psi;}}_f}{L_s}\mathrm{\&epsiv;}}{s}+K_{p1}\frac{{\mathrm{\&psi;}}_f}{L_s}\mathrm{\&epsiv;}+{\widehat{\mathrm{\&omega;}}}_{\mathrm{back}}\left(0\right);$

for a upper computing moment motor speed measured value;

K _i1for the integral coefficient of rotating speed decoupling zero circuit under motor high speed and lower-speed state,

K _p1proportionality coefficient for rotating speed decoupling zero circuit under motor high speed and lower-speed state;

The stator armature resistance measured value of resistance decoupling zero circuit 16 outputs preparation method be:

${\hat{R}}_{\mathrm{sH}}=-(K_{p2}+\frac{K_{i2}}{s})\mathrm{\&epsiv;},$

S is integral operator,

K _i2integral coefficient for resistance decoupling zero circuit under motor fast state

K _p2proportionality coefficient for resistance decoupling zero circuit under motor fast state;

The permanent magnet flux linkage measured value of magnetic linkage decoupling zero circuit 17 outputs preparation method be:

${\widehat{\mathrm{\&psi;}}}_{\mathrm{fH}}=-(K_{p3}+\frac{K_{i3}}{s})\frac{{\mathrm{\&omega;}}_{\mathrm{back}}{\mathrm{\&epsiv;}}^{\&prime;}}{L_s}+{\widehat{\mathrm{\&psi;}}}_{\mathrm{fH}}\left(0\right),$

for a upper computing moment permanent magnet flux linkage measured value,

K _i3for the integral coefficient of rotating speed decoupling zero circuit under motor fast state,

K _p3proportionality coefficient for rotating speed decoupling zero circuit under motor fast state.

In the present embodiment, adopt the devices such as amplifier, resistance, electric capacity, can realize ratio, plus-minus, integral processing to input variable, thereby obtain output signal then will be input to each counting circuit with the difference ε of iq; Same, in circuit, the corresponding electronic device of these operation link utilizations is realized, can obtain required calculated value.

The identification principle of low speed parameter identification circuit 13 is as shown in Figure 2:

In figure, for the stator current that obtains by low speed parameter identification circuit 13 estimated value at beta-axis component, i _βbe the β axle stator current signal value of a Clark translation circuit 7-1 output, ε " is with i _βdifference.

In Fig. 2 shown in the following formula of formula principle of low speed parameter identification circuit 13:

$\left\{\begin{array}{c}\frac{d}{\mathrm{dt}}\left(\begin{array}{c}{i}_{\mathrm{\&alpha;}}+{\mathrm{ji}}_{\mathrm{\&beta;}}\\ {\mathrm{\&psi;}}_{\mathrm{\&alpha;}}+{\mathrm{j\&psi;}}_{\mathrm{\&beta;}}\end{array}\right)=\left[\begin{array}{cc}\frac{-R_{\mathrm{SL}}}{L_q}& \frac{{-\mathrm{j\&omega;}}_{\mathrm{back}}}{L_q}\\ 0& {\mathrm{j\&omega;}}_{\mathrm{back}}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}+{\mathrm{ji}}_{\mathrm{\&beta;}}\\ {\mathrm{\&psi;}}_{\mathrm{\&alpha;}}+{\mathrm{j\&omega;}}_{\mathrm{\&beta;}}\end{array}\right]+\left[\begin{array}{c}\frac{1}{L_q}\\ 0\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}+{\mathrm{ji}}_{\mathrm{\&beta;}}\\ {\mathrm{\&psi;}}_{\mathrm{\&alpha;}}+{\mathrm{j\&omega;}}_{\mathrm{\&beta;}}\end{array}\right]\\ [i_{\mathrm{\&alpha;}}+{\mathrm{ji}}_{\mathrm{\&beta;}}]=\left[\mathrm{1,0}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}+{\mathrm{ji}}_{\mathrm{\&beta;}}\\ {\mathrm{\&psi;}}_{\mathrm{\&alpha;}}+{\mathrm{j\&psi;}}_{\mathrm{\&beta;}}\end{array}\right]\end{array}\right.,$

L _qfor motor q axle inductance value,

ψ _αfor permanent magnet flux linkage α axle component, by u _αintegration obtains,

ψ _βfor permanent magnet flux linkage beta-axis component, by u _βintegration obtains.

In present embodiment, wish to get d shaft current component with q shaft current need to know motor speed, stator winding resistance and permanent magnet flux linkage, and need feed back in model.

In some application scenario, when parameter identification precision when to low speed is not too high, for the structure of simplified system, can cancel comparison circuit 20 and low speed parameter identification circuit 13, adopt high speed pattern to carry out parameter identification completely, equally can reach good effect.

Claims (3)

1. the parameter identification control device without transducer permagnetic synchronous motor, it comprises permagnetic synchronous motor (11), it is characterized in that: it also comprises position transducer (1), speed control (2), d shaft current controller (3), q shaft current controller (4), the one Park translation circuit (5-1), the 2nd Park translation circuit (5-2), contrary Park translation circuit (6), the one Clark translation circuit (7-1), the 2nd Clark translation circuit (7-2), space vector pulse width modulation circuit (8), inverter (9), current transformer (10), voltage sensor (12), low speed parameter identification circuit (13), the one LC filter circuit (14-1), the 2nd LC filter circuit (14-2), high speed parameter identification circuit (15), resistance decoupling zero circuit (16), magnetic linkage decoupling zero circuit (17), rotating speed decoupling zero circuit (18), amplifier integrating circuit (19) and comparison circuit (20),

Motor rotor position set-point θ _refmotor rotor position measured value with amplifier integrating circuit (19) output the difference of comparing inputs to position transducer (1), the rotor rotational speed setup signal value ω of position transducer (1) output _refrotor turn count signal value ω with rotating speed decoupling zero circuit (18) output _backthe difference of comparing inputs to speed control (2), the q shaft current set-point of speed control (2) output q shaft current actual value i with Park translation circuit (5-1) output _qthe difference of comparing inputs to q shaft current controller (4), and the q shaft voltage signals output of q shaft current controller (4) connects the q shaft voltage signals input of contrary Park translation circuit (6); D shaft current set-point d shaft current actual value i with Park translation circuit (5-1) output _dthe difference of comparing inputs to d shaft current controller (3), the d shaft voltage signals output of d shaft current controller (3) connects the d shaft voltage signals input of contrary Park translation circuit (6), the motor rotor position observation signal input of contrary Park translation circuit (6) connects the motor rotor position observation signal output of amplifier integrating circuit (19), the α axle stator voltage signal input part of the α axle stator voltage signal output part connection space vector pulse-width modulation circuit (8) of contrary Park translation circuit (6), the β axle stator voltage signal input part of the β axle stator voltage signal output part connection space vector pulse-width modulation circuit (8) of contrary Park translation circuit (6), space vector pulse width modulation circuit (8) motor rotor position observation signal input connects the motor rotor position observation signal output of amplifier integrating circuit (19), the pulse width modulating signal output of space vector pulse width modulation circuit (8) connects the pulse width modulating signal input of inverter (9), the voltage signal output end of inverter (9) connects the voltage signal input of permagnetic synchronous motor (11), the current signal of the power supply input side of permagnetic synchronous motor (11) gathers by current transformer (10), the C phase current signal output that current transformer (10) collection obtains connects the C phase current signal input of a Clark translation circuit (7-1), the B phase current signal output that current transformer (10) collection obtains connects the B phase current signal input of a Clark translation circuit (7-1), the α axle stator current signal output of the one Clark translation circuit (7-1) connects the α axle stator current signal input of a Park translation circuit (5-1), the β axle stator current signal output of the one Clark translation circuit (7-1) connects the β axle stator current signal input of a Park translation circuit (5-1), the motor rotor position observation signal input of the one Park translation circuit (5-1) connects the motor rotor position observation signal output of amplifier integrating circuit (19),

The voltage signal of the outlet side of permagnetic synchronous motor (11) gathers by voltage sensor (12), the C phase voltage signal output that voltage sensor (12) collection obtains connects the C phase voltage signal input of the 2nd Clark translation circuit (7-2), the B phase voltage signal output that voltage sensor (12) collection obtains connects the B phase voltage signal input of the 2nd Clark translation circuit (7-2), the α shaft voltage signals output of the 2nd Clark translation circuit (7-2) connects the α shaft voltage signals input of the 2nd Park translation circuit (5-2), the β shaft voltage signals output of the 2nd Clark translation circuit (7-2) connects the β shaft voltage signals input of the 2nd Park translation circuit (5-2), the motor rotor position observation signal input of the 2nd Park translation circuit (5-2) connects the motor rotor position observation signal output of amplifier integrating circuit (19), the d shaft voltage signals output of the 2nd Park translation circuit (5-2) connects the d shaft voltage signals input of high speed parameter identification circuit (15), the q shaft voltage signals output of the 2nd Park translation circuit (5-2) connects the q shaft voltage signals input of high speed parameter identification circuit (15), the slow-speed of revolution permanent magnet flux linkage observation signal input of high speed parameter identification circuit (15) connects the slow-speed of revolution permanent magnet flux linkage observation signal output of low speed parameter identification circuit (13), the slow-speed of revolution stator resistance observation signal input of high speed parameter identification circuit (15) connects the slow-speed of revolution stator resistance observation signal output of low speed parameter identification circuit (13), the rotor turn count signal input part of high speed parameter identification circuit (15) connects the rotor turn count signal output part of rotating speed decoupling zero circuit (18), the selection control signal input of low speed parameter identification circuit (13) connects the selection control signal output of comparison circuit (20), the rotor turn count signal input part of low speed parameter identification circuit (13) connects the rotor turn count signal output part of rotating speed decoupling zero circuit (18), the β axle stator current signal input of low speed parameter identification circuit (13) connects the β axle stator current signal output of a Clark translation circuit (7-1), the α axle filtering voltage signal input part of low speed parameter identification circuit (13) connects the α axle filtering voltage signal output part of the 2nd LC filter circuit (14-2), the α shaft voltage signals input of the 2nd LC filter circuit (14-2) connects the α shaft voltage signals output of the 2nd Clark translation circuit (7-2), the β axle filtering voltage signal input part of low speed parameter identification circuit (13) connects the β axle filtering voltage signal output part of a LC filter circuit (14-1), the β shaft voltage signals input of the one LC filter circuit (14-1) connects the β shaft voltage signals output of the 2nd Clark translation circuit (7-2),

The q shaft current actual value i of the one Park translation circuit (5-1) output _qidentification q shaft current value with high speed parameter identification circuit (15) output the difference ε comparing inputs to rotating speed decoupling zero circuit (18), and the rotor turn count signal output part of rotating speed decoupling zero circuit (18) connects the rotor turn count signal input part of amplifier integrating circuit (19);

The q shaft current actual value i of the one Park translation circuit (5-1) output _qidentification q shaft current value with high speed parameter identification circuit (15) output the difference ε comparing inputs to resistance decoupling zero circuit (16), the control signal input of resistance decoupling zero circuit (16) connects the selection control signal output of comparison circuit (20), the stator winding resistance observation signal output of resistance decoupling zero circuit (16) connects the stator winding resistance observation signal input of high speed parameter identification circuit (15)

The q shaft current actual value i of the one Park translation circuit (5-1) output _qthe q shaft current value calculating with permanent magnet flux linkage identification model in high speed parameter identification circuit (15) the difference ε ' comparing inputs to magnetic linkage decoupling zero circuit (17), the control signal input of magnetic linkage decoupling zero circuit (17) connects the selection control signal output of comparison circuit (20), and the permanent magnet flux linkage observation signal output of magnetic linkage decoupling zero circuit (17) connects the permanent magnet flux linkage observation signal input of high speed parameter identification circuit (15); The rotor rotational speed setup signal output part of the rotor rotational speed setup signal input part link position transducer (1) of comparison circuit (20), the rotor rotating ratio of comparison circuit (20) is transfused to rotor rotating speed comparison value ω compared with signal input part _b.

Based on described in claim 1 without the parameter identification control method without transducer permagnetic synchronous motor of the parameter identification control device of transducer permagnetic synchronous motor, it is characterized in that:

Comparison circuit (20) is by rotor rotational speed setup signal value ω _refwith rotor rotating speed comparison value ω _bafter comparing, by comparative result, the mode of operation of described control device is controlled, is specially:

Work as ω _ref< ω _btime, low speed parameter identification circuit (13) is enabled under the control of the selection control signal of comparison circuit (20) output, magnetic linkage decoupling zero circuit (17) and resistance decoupling zero circuit (16) are out of service, now, the α axle filtering voltage signal of the β axle filtering voltage signal of the one LC filter circuit (14-1) output and the output of the 2nd LC filter circuit (14-2) inputs to low speed parameter identification circuit (13), and low speed parameter identification circuit (13) obtains slow-speed of revolution permanent magnet flux linkage measured value as calculated with slow-speed of revolution stator resistance measured value slow-speed of revolution permanent magnet flux linkage measured value with slow-speed of revolution stator resistance measured value input to high speed parameter identification circuit (15), by rotating speed decoupling zero circuit (18), realized motor speed measured value estimation;

ω _ref>=ω _btime, low speed parameter identification circuit (13) is out of service under the control of the selection control signal of comparison circuit (20) output, magnetic linkage decoupling zero circuit (17) and resistance decoupling zero circuit (16) bring into operation, now, and the d axle stator voltage component u of the 2nd park translation circuit (5-2) output _dwith q axle stator voltage component u _qinput to high speed parameter identification circuit (15), the d shaft current component of high speed parameter identification circuit (15) output as feedback quantity, be again input in high speed parameter identification circuit (15).

3. the parameter identification control method without transducer permagnetic synchronous motor according to claim 2, is characterized in that: described d shaft current component with q shaft current by following formula, solve acquisition:

$\frac{d}{\mathrm{dt}}\left(\begin{array}{c}{\hat{i}}_{d1}\\ {\hat{i}}_{q1}\end{array}\right)=\left(\begin{array}{cc}-\frac{R_s}{L_s}& {\mathrm{\&omega;}}_{\mathrm{back}}\\ -{\mathrm{\&omega;}}_{\mathrm{back}}& -\frac{R_s}{L_s}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_{d1}\\ {\hat{i}}_{q1}\end{array}\right)+\frac{1}{L_s}\left(\begin{array}{c}{u}_d^{\&prime;}\\ u_q^{\&prime;}\end{array}\right),$

In formula $u_d^{\&prime;}=u_d+\frac{R_s{\mathrm{\&psi;}}_f}{L_s};u_q^{\&prime;}=u_q;$

L _sfor motor stator inductance value,

R _sfor stator resistance actual value, when high speed operation of motor, be R _sH, during low cruise, be R _sL,

ψ _fpermanent magnet flux linkage actual value is ψ when high speed operation of motor _fH, during low cruise, be ψ _fL;

D shaft current component with q shaft current by following formula, solve acquisition:

$\frac{d}{\mathrm{dt}}\left(\begin{array}{c}{\hat{i}}_{d2}\\ {\hat{i}}_{q2}\end{array}\right)=\left(\begin{array}{cc}-\frac{R_{\mathrm{SH}}}{L_s}& {\mathrm{\&omega;}}_{\mathrm{back}}\\ -{\mathrm{\&omega;}}_{\mathrm{back}}& -\frac{R_{\mathrm{SH}}}{L_s}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_{d2}\\ {\hat{i}}_{q2}\end{array}\right)+\left(\begin{array}{cc}\frac{1}{L_s}& 0\\ 0& \frac{1}{L_s}\end{array}\right)\left(\begin{array}{c}{u}_d\\ u_q\end{array}\right)+\left(\begin{array}{c}0\\ -{\mathrm{\&omega;}}_{\mathrm{back}}\frac{{\mathrm{\&psi;}}_{\mathrm{fH}}}{L_s}\end{array}\right),$

The motor speed measured value of rotating speed decoupling zero circuit (18) output preparation method be:

${\widehat{\mathrm{\&omega;}}}_{\mathrm{back}}=\frac{K_{i1}\frac{{\mathrm{\&psi;}}_f}{L_s}\mathrm{\&epsiv;}}{s}+K_{p1}\frac{{\mathrm{\&psi;}}_f}{L_s}\mathrm{\&epsiv;}+{\widehat{\mathrm{\&omega;}}}_{\mathrm{back}}\left(0\right);$

for a upper computing moment motor speed measured value;

K _i1for the integral coefficient of rotating speed decoupling zero circuit under motor high speed and lower-speed state,

K _p1proportionality coefficient for rotating speed decoupling zero circuit under motor high speed and lower-speed state;

The stator armature resistance measured value of resistance decoupling zero circuit (16) output preparation method be:

${\hat{R}}_{\mathrm{sH}}=-(K_{p2}+\frac{K_{i2}}{s})\mathrm{\&epsiv;},$

S is integral operator,

K _i2integral coefficient for resistance decoupling zero circuit under motor fast state

K _p2proportionality coefficient for resistance decoupling zero circuit under motor fast state;

The permanent magnet flux linkage measured value of magnetic linkage decoupling zero circuit (17) output preparation method be:

${\widehat{\mathrm{\&psi;}}}_{\mathrm{fH}}=-(K_{p3}+\frac{K_{i3}}{s})\frac{{\mathrm{\&omega;}}_{\mathrm{back}}{\mathrm{\&epsiv;}}^{\&prime;}}{L_s}+{\widehat{\mathrm{\&psi;}}}_{\mathrm{fH}}\left(0\right),$

for a upper computing moment permanent magnet flux linkage measured value,

K _i3for the integral coefficient of rotating speed decoupling zero circuit under motor fast state,

K _p3proportionality coefficient for rotating speed decoupling zero circuit under motor fast state.