CN104333285B - Permagnetic synchronous motor standard is without sensing station Servocontrol device and method - Google Patents

Abstract

The invention discloses a kind of permagnetic synchronous motor standard is without sensing station Servocontrol device, including permagnetic synchronous motor for being provided with HALL sensors etc.；HALL sensors are connected with quasi- sensorless strategy module, and quasi- sensorless strategy module is connected with each other with the 5th subtractor, location/velocity integrated controller, the 3rd subtractor, the 4th subtractor, pi regulator and IPark conversion modules respectively；5th subtractor is connected with location/velocity integrated controller；Location/velocity integrated controller and the 3rd subtractor are connected；Pi regulator is connected with IPark conversion modules with the 3rd subtractor, the 4th subtractor respectively；IPark conversion modules are connected with space vector modulation module, and space vector modulation module is connected with three-phase inverter, and three-phase inverter is connected with permagnetic synchronous motor.

Description

Permagnetic synchronous motor standard is without sensing station Servocontrol device and method

Technical field

The present invention relates to textile machine electromechanical integration technology, more particularly to a kind of suitable textile machine point-to-point motion Permagnetic synchronous motor standard is without sensing station Servocontrol device and method.

Background technology

With the continuous proposition of the requirements such as textile industry energy-conservation, high efficiency, high speed, high accuracy, permanent magnetic Ac servo system Unite have because of its own High Power Factor, high efficiency, high dynamic response, high reliability, exceed loading capability and height output torque The advantages of, being applied in textile machine has become a kind of trend, is one of core technology of following high volume applications, city Field prospect is boundless.But there are some special operation conditions in some textile machines：Will be in the crossing system time when running such as tricot machine The interior band yarn motion for driving sley bar to complete " stopping → motion → stopping ", it is desirable to have high response speed and positioning precision, drives The speed of dynamic system positioning time directly affects the raising of tricot machine speed of production；Sewing machine running electric motor starting stops Very frequently, belong to batch operation, its technical process requires that its main drive gear has in higher location control, hundreds of ms and realizes Startup from zero-speed to highest running speed or the shutdown from highest running speed to zero-speed, and stopping accuracy be less than ± 3 ° or Person is less；The concept of two axis servo driving is proposed currently for the control Chinese scholars of embroidery machine embroidery frame, with a DSP + CPLD controls the mode of two servomotors operation to drive embroidery frame to run, originally traditional position, speed, three ring of electric current Resource that control theory can show in programming realization is nervous so as to reducing servosystem.And embroidery machine embroidery frame is only to position Control is required, and with embroidery machine high efficiency, high-precision development, embroidery frame in order to mair motor coordinated operation, to position Response speed meeting more and more higher that control is required, etc..The characteristics of these textile machines have one jointly, it requires servo system The position response dynamic property of system is high, and tracking error is little, and with stronger capacity of resisting disturbance, and speed controlling is required It is not high, this point be more conform with servosystem make point-to-point (point position) move the characteristics of.And traditional location, speed, three ring control of electric current When the motion of point position is made, speed closed loop does not only play a role the positional servosystem (accompanying drawing 1) of structure processed, also as control Series connection link in structure reduces the dynamic response performance of alliance regulation.For this reason, it may be necessary to look for a kind of new method carry The position response performance of high system.With this simultaneously, textile machine (tricot machine as previously mentioned, embroidery machine etc.) usually may require that In working environments such as high temperature, low temperature, air pollutions and exist, physical sensors are deposited In the limitation for having instead resulted in system application.If can cancel physical sensors can undoubtedly expand systematic difference scope, together When can also improve the reliability and environmental suitability of system.And textile industry is a cost sensitive industry, is dropped as far as possible Low control cost is that all enterprises are pursued.For this purpose, the servosystem that some point position motion occasions are used is improving position sound The technology of sensorless strategy, such as patent documentation 1 (Patent No. 200910090386.9) and patent are needed on the basis of answering performance Document 2 (Patent No. 200510108039.6) proposes a kind of AC servo driver for being not required to current sensor, Ke Yishi The Current Sensorless speed closed loop vector controlled of existing non-salient pole permanent magnet synchronous motor, reduces the hardware cost of governing system, But patent documentation 1 and 2 remains position detection unit, total control cost is still higher, higher to cost requirement at some Weaving applications are simultaneously improper.

The content of the invention

The technical problem to be solved in the present invention is to provide the permagnetic synchronous motor that a kind of response speed puts position motion faster Standard is without sensing station servosystem and its control method.

In order to solve above-mentioned technical problem, the present invention provides a kind of permagnetic synchronous motor standard without sensing station SERVO CONTROL Device, including pi regulator, IPark conversion modules, space vector modulation module, three-phase inverter, permagnetic synchronous motor, The integration control of HALL15, quasi- sensorless strategy module, the 3rd subtractor, the 4th subtractor, the 5th subtractor and location/velocity Device processed；The HALL15 is arranged on permagnetic synchronous motor body, when permagnetic synchronous motor works, exports discrete by HALL15 HALL position signallingsThe quasi- sensorless strategy module receives discrete HALL position signallingsQ shaft voltages give u_qU given with d shaft voltages_d, Jing after quasi- sensorless strategy module arithmetic, export actual rotor-position signal θ_m, actual d Axis current signal i_d, actual q axis current signal i_qWith the loading moment T of permagnetic synchronous motor_L；5th subtractor receives Given position signal θ_m ^*With rotor-position signal θ_m, and both are made with difference operation outgoing position error signal θ_m ^*-θ_m；Institute's rheme Put/speed integrated controller receives position error signal θ_m ^*-θ_m, actual q axis current signal i_qWith loading moment T_L, Jing fortune Calculate the given q axis current signals of output permagnetic synchronous motor3rd subtractor receives given q axis current signals With actual q axis current signal i_q, and both are made with the error signal that difference operation exports q shaft currents4th subtraction Device receives given d axis current signalsWith actual d axis current signal i_d, and both are made with difference operation output d shaft currents Error signalThe pi regulator receives the error signal of d shaft currents respectivelyWith the error signal of q shaft currentsAnd Jing computings export the given u of q shaft voltages respectively_qU given with d shaft voltages_d；The IPark conversion modules receive q axles electricity The given u of pressure_qU given with d shaft voltages_d, the component of voltage u under static two phase coordinate system of Jing computings output_αWith component of voltage u_β；Institute State space vector modulation module and receive the component of voltage u under static two phase coordinate system_αWith component of voltage u_βInput, Jing computings output Six tunnel control signals of three-phase inverter；The six tunnels control letter of the three-phase inverter receiving space Vector Modulation module output Number, drive permagnetic synchronous motor operation.

As to a kind of improvement of the standard without sensing station Servocontrol device of permagnetic synchronous motor：Location/velocity one The implementation method for changing controller is as follows；

The first step, obtain motor the equation of motion be：

Second step, takes the state variable of system：

Convolution (1), formula (2)：

3rd step, orderF=-T_L/ J, then the state equation of permanent magnetism synchronous electric machine position servo system be：

4th step, the sliding-mode surface for taking similar PD actuators are designed as：

S=c₁x₁+c₂x₂ (5)

5th step, chooses control law：

6th step, the control function for obtaining quadrature axis current is：

It is describedFor give q axis current signals,

The overall-in-one control schema of location/velocity is achieved that according to above formula；

The T_eFor the output torque of permagnetic synchronous motor, J is motor inertia, and P is motor number of pole-pairs, Ψ_aFor permanent magnet magnetic Chain c₁And c₁For constant.

As a kind of further improvement of the standard without sensing station Servocontrol device of permagnetic synchronous motor：Standard is without sensor The phase current reconstruction module and full micr oprocessorism rotor position information estimation block that control module is connected by mutual signal is constituted；Institute State full micr oprocessorism rotor position information estimation block and receive actual q axis current signal i_qWith discrete HALL position signallingsThe actual rotor-position signal θ of the full micr oprocessorism rotor position information estimation block output_m, loading moment T_LAnd permanent magnetism Actual speed ω of synchronous motor_m；The phase current reconstruction module receives actual speed ω_m, the given u of q shaft voltages_qWith d shaft voltages Given u_d；The actual d axis current signal i of the phase current reconstruction module output_d, actual q axis current signal i_q；

The implementation method of the phase current reconstruction module is as follows：

The L_a、Φ_a、R_aThe respectively inductance of permagnetic synchronous motor, magnetic linkage and resistance；

The implementation method of the full micr oprocessorism rotor position information algorithm estimation block is as follows：

Equally by Electrical Motor volume, the kinematical equation of permagnetic synchronous motor is：

Jdω_m/dt+B_mω_m+T_L=T_ε (12)

dθ_m/ dt=ω_m (13)

The B_mFor viscous damping coefficient；

Because the sample frequency of controller is significantly larger than the transformation period of perturbing torque, disturbance load torque is used as one Individual state variable, it may be assumed that it is zero that it is a constant, i.e. disturbance load torque time differential；

If：

dT_L/ dt=0 (14)

The dynamics state equation of motor is obtained by (12) and (13):

Wherein,

The input variable of formula is output torque T_e, state variable is mechanical Angle Position (for the actual rotor-position letter of output Number θ_m), mechanical angular velocity (be actual speed ω_m) and disturbance load torque (be loading moment T_L), output variable is mechanical angle position Put (for the actual rotor-position signal θ of output_m)；

Formula (5) can be written as formula (16)：

By dynamics state equation (15), an omnidirectional vision can be set up, see formula (17)：

Wherein,For estimative state variable,For feedback of status Gain battle array；

Obtained by (15)-(16)：

Wherein,For observation error.Its characteristic equation is：

Det [sI- (A-KC)]=s³+(k₁+B_m/J)s²+(k₂+k₁B_m/J)s-k₃/ J=0 (19)

Appropriate K is selected, makes (A-KC) to have stable, appropriate eigenvalue,When, with x (t), u (t) andNothing Close；WithIt is unrelated；

According to specified expectation limit α, β, γ, then the desired character multinomial of observer is：

s³-(α+β+γ)s²+ (α β+β γ+γ α) s- α β γ=0 (20)

Obtained by (19) and (20)：

Assume B_m=0, and α=β=γ, then formula (21) it is rewritable into：

Formula (17) it is rewritable into：

I.e.：

According to the desired characteristic of system, the position for selecting limit to be located, observer is constructed according to formula, you can observe load Torque T_L, permagnetic synchronous motor actual speed ω_mThe actual rotor-position signal θ with permagnetic synchronous motor_mValue.

A kind of permagnetic synchronous motor standard is without sensing station method of servo-controlling：

A, permagnetic synchronous motor are started working, after the motor shaft rotation of permagnetic synchronous motor, by HALL15 to standard without biography Sensor control module exports discrete HALL position signallings

B, quasi- sensorless strategy module receive the discrete HALL position signallings of HALL15And the q of pi regulator Shaft voltage gives u_qU given with d shaft voltages_d, and by discrete HALL position signallingsQ shaft voltages give u_qGive with d shaft voltages Determine u_dComputing is carried out, actual rotor-position signal θ after computing, is drawn_m, actual d axis current signal i_d, actual q shaft currents Signal i_qWith the loading moment T of permagnetic synchronous motor_L；Quasi- sensorless strategy module exports actual rotor to the 5th subtractor Position signalling θ_m, actual q axis current signal i are exported to location/velocity integrated controller_qWith loading moment T_L, subtract to the 3rd The actual q axis current signal i of musical instruments used in a Buddhist or Taoist mass output_q, actual d axis current signal i are exported to the 4th subtractor_d, become to IPark and change the mold The actual rotor-position signal θ of block output_m；

C, by master system, to the position signalling θ that the input of the 5th subtractor is given_m ^*, then by standard without sensor control Molding block receives actual rotor-position signal θ_m；5th subtractor is again by given position signalling θ_m ^*With actual rotor position Confidence θ_mCarry out making difference operation, draw position error signal θ_m ^*-θ_m；5th subtractor is by position error signal θ_m ^*-θ_mOutput Give location/velocity integrated controller；

D, location/velocity integrated controller receive the position error signal θ of the 5th subtractor output_m ^*-θ_m, standard without biography The q axis current signal i of the reality of sensor control module output_qWith loading moment T_L；Jing location/velocity integrated controller computings The given q axis current signals of permagnetic synchronous motor are drawn afterwardsLocation/velocity integrated controller is exported to the 3rd subtractor Given q axis current signals

The given q axis current signals of e, the 3rd subtractor receiving position/speed integrated controller outputAnd it is accurate The q axis current signal i of the reality of sensorless strategy module output_q；3rd subtractor is to given q axis current signalsAnd reality The q axis current signal i on border_qThe error signal of q shaft currents is drawn after carrying out computing3rd subtractor is exported to pi regulator The error signal of q shaft currents

F, the 4th subtractor receive the given d axis current signals that master system is providedAnd standard is without sensor control The q axis current signal i of the reality of molding block output_q；The d axis current signals that 4th subtractor will giveAnd the q of reality Axis current signal i_qAfter carrying out making difference operation, the error signal of d shaft currents is drawn4th subtractor is exported to pi regulator The error signal of d shaft currents

G, pi regulator receive the error signal of the q shaft currents of the 3rd subtractor outputAnd the 4th subtractor it is defeated The error signal of the d shaft currents for going outAfter the computing of pi regulator, the given u of q shaft voltages is obtained_qIt is given with d shaft voltages u_d；Pi regulator gives u to IPark conversion modules output q shaft voltages_qU given with d shaft voltages_d；

H, IPark conversion module is respectively received the given u of q shaft voltages of pi regulator output_qU given with d shaft voltages_d, with And the rotor-position signal θ of the reality of quasi- sensorless strategy module output_m；Draw after the computing of IPark conversion modules Component of voltage u under static two phase coordinate system_αWith component of voltage u_β；IPark conversion modules export quiet to space vector modulation module The only component of voltage u under two phase coordinate systems_αWith component of voltage u_β；

I, space vector modulation module receive the component of voltage under static two phase coordinate system of IPark conversion modules output u_αWith component of voltage u_β；Six tunnel control signals of three-phase inverter are drawn Jing after space vector modulation module arithmetic；Space vector is adjusted Molding block exports six tunnel control signals of three-phase inverter to three-phase inverter 6；

J, three-phase inverter receive six tunnel control signals of the three-phase inverter of space vector modulation module output, and lead to The six tunnel control signals for crossing three-phase inverter drive the operation of permagnetic synchronous motor.

The invention has the beneficial effects as follows, permagnetic synchronous motor standard of the present invention compares biography without sensing station Servocontrol device System position, speed, the three-loop system control structure (accompanying drawing 1) of electric current, due to having lacked speed closed loop this cascaded structure, make new system The response speed to position command change unite faster；Eliminate the positions such as expensive photoelectric encoder, rotary transformer biography Sensor, and adopt particular algorithm to coordinate the HALL15 estimation rotor position informations of cheap low resolution, eliminate electric current biography Sensor, obtains phase current using the method that control theory is reconstructed, not only increases the environmental suitability and reliability of system, and Reduce the control cost of system.It is adapted to the textile machine applications moved in various environment, high efficiency point position.

Description of the drawings

Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail.

Fig. 1 is traditional location, speed, electric current tricyclic structure servosystem theory diagram；

Fig. 2 is permagnetic synchronous motor theory diagram of the standard without sensing station Servocontrol device；

Theory diagrams of the Fig. 3 for location/velocity overall-in-one control schema module；

Fig. 4 is defined the theory diagram of sensorless strategy module.

Specific embodiment

Embodiment 1, Fig. 2 gives a kind of permagnetic synchronous motor standard without sensing station Servocontrol device；Adjust including PI Section device 3, IPark conversion modules 4, space vector modulation module 5, three-phase inverter 6, permagnetic synchronous motor 12, HALL15, quasi- nothing Sensor control block 14, the 3rd subtractor, the 4th subtractor, the 5th subtractor and location/velocity integrated controller 13； HALL is HALL sensors；

HALL15 is arranged on 12 body of permagnetic synchronous motor, when the motor shaft of permagnetic synchronous motor 12 rotates, is led to Cross HALL15 and export discrete HALL position signallingsQuasi- sensorless strategy module 14 receives discrete HALL position signallingsQ shaft voltages give u_qU given with d shaft voltages_d；Discrete HALL position signallingsQ shaft voltages give u_qGive with d shaft voltages Determine u_dJing after quasi- 14 computing of sensorless strategy module, actual rotor-position signal θ is exported_m, actual d axis current signal i_d、 Actual q axis current signal i_qWith the loading moment T of permagnetic synchronous motor 12_L；5th subtractor receives actual rotor-position letter Number θ_mWith given position signalling θ_m ^*, the 5th subtractor is to actual rotor-position signal θ_mWith given position signalling θ_m ^*Carry out Position error signal θ is drawn after making difference operation_m ^*-θ_m；Location/velocity integrated controller 13 receives position error signal θ_m ^*-θ_m、 Actual q axis current signal i_qWith loading moment T_L；Jing after 13 computing of location/velocity integrated controller, permanent magnet synchronous electric is exported The given q axis current signals of machine 123rd subtractor receives given q axis current signalsBelieve with actual q shaft currents Number i_q, the 3rd subtractor is to given q axis current signalsWith actual q axis current signal i_qMake difference operation, and export q axles electricity The error signal of stream4th subtractor receives actual d axis current signal i_d, and received by master system given D axis current signalsBoth are made after difference operation by the 4th subtractor, export the error signal of d shaft currents Pi regulator 3 receives the error signal of q shaft currents respectivelyWith the error signal of d shaft currentsIt is defeated respectively Jing after computing Go out the given u of q shaft voltages_qU given with d shaft voltages_d；IPark conversion modules 4 receive the given u of q shaft voltages_qU given with d shaft voltages_d, The component of voltage u under static two phase coordinate system is exported Jing after computing_αWith component of voltage u_β；Space vector modulation module 5 receives static Component of voltage u under two phase coordinate systems_αWith component of voltage u_βInput, exports the six tunnels control letter of three-phase inverter 6 Jing after computing Number；Six tunnel control signals of the output of 6 receiving space Vector Modulation module of three-phase inverter 5, drive permagnetic synchronous motor 12 to run.

When real work, step is as follows：

1st, permagnetic synchronous motor 12 is started working, after the motor shaft rotation of permagnetic synchronous motor 12, by HALL15 to standard Sensorless strategy module 14 exports discrete HALL position signallings

2nd, quasi- sensorless strategy module 14 receives the discrete HALL position signallings of HALL15And pi regulator 3 The given u of q shaft voltages_qU given with d shaft voltages_d, and by discrete HALL position signallingsQ shaft voltages give u_qWith d axles electricity The given u of pressure_dComputing is carried out, actual rotor-position signal θ after computing, is drawn_m, actual d axis current signal i_d, actual q axles Current signal i_qWith the loading moment T of permagnetic synchronous motor 12_L.Quasi- sensorless strategy module 14 is real to the output of the 5th subtractor The rotor-position signal θ on border_m, actual q axis current signal i are exported to location/velocity integrated controller 13_qAnd loading moment T_L, actual q axis current signal i are exported to the 3rd subtractor_q, actual d axis current signal i are exported to the 4th subtractor_d, to IPark conversion modules 4 export actual rotor-position signal θ_m。

3rd, by master system, to the position signalling θ that the input of the 5th subtractor is given_m ^*, then by standard without sensor control Molding block 14 receives actual rotor-position signal θ_m(described in step 1, quasi- sensorless strategy module 14 is to the 5th subtractor The actual rotor-position signal θ of output_m).5th subtractor is again by given position signalling θ_m ^*With actual rotor-position signal θ_mCarry out making difference operation, draw position error signal θ_m ^*-θ_m；5th subtractor is by position error signal θ_m ^*-θ_mExport to position/ Speed integrated controller 13.

4th, location/velocity integrated controller 13 receives the position error signal θ of the 5th subtractor output_m ^*-θ_m, quasi- nothing The q axis current signal i of the reality of the output of sensor control block 14_qWith loading moment T_L.Jing location/velocity integrated controllers The given q axis current signals of permagnetic synchronous motor 12 are drawn after 13 computingsLocation/velocity integrated controller 13 is to the 3rd The given q axis current signals of subtractor output

5th, the given q axis current signals of the 3rd subtractor receiving position/output of speed integrated controller 13And The q axis current signal i of the reality of the quasi- output of sensorless strategy module 14_q.3rd subtractor is to given q axis current signals With actual q axis current signal i_qThe error signal of q shaft currents is drawn after carrying out computing3rd subtractor is to pi regulator The error signal of 3 output q shaft currents

6th, the 4th subtractor receives the given d axis current signals that master system is providedAnd standard is without sensor control The q axis current signal i of the reality of the output of molding block 14_q；The d axis current signals that 4th subtractor will giveAnd reality Q axis current signal i_qAfter carrying out making difference operation, the error signal of d shaft currents is drawn4th subtractor is to pi regulator 3 The error signal of output d shaft currents

7th, pi regulator 3 receives the error signal of the q shaft currents of the 3rd subtractor outputAnd the 4th subtractor it is defeated The error signal of the d shaft currents for going outAfter the computing of pi regulator 3, the given u of q shaft voltages is obtained_qGive with d shaft voltages Determine u_d；Pi regulator 3 gives u to the output q shaft voltages of IPark conversion modules 4_qU given with d shaft voltages_d。

8th, IPark conversion modules 4 are respectively received the given u of q shaft voltages of the output of pi regulator 3_qU given with d shaft voltages_d, And the rotor-position signal θ of the reality of the quasi- output of sensorless strategy module 14_m.After the computing of IPark conversion modules 4 Draw the component of voltage u under static two phase coordinate system_αWith component of voltage u_β；IPark conversion modules 4 are to space vector modulation module 5 Export the component of voltage u under static two phase coordinate system_αWith component of voltage u_β。

9th, space vector modulation module 5 receives the voltage point under static two phase coordinate system of the output of IPark conversion modules 4 Amount u_αWith component of voltage u_β.Six tunnel control signals of three-phase inverter 6 are drawn Jing after 5 computing of space vector modulation module.Swear in space Amount modulation module 5 exports six tunnel control signals of three-phase inverter 6 to three-phase inverter 6.

10th, three-phase inverter 6 receives six tunnel control signals of the three-phase inverter 6 of the output of space vector modulation module 5, And the operation of permagnetic synchronous motor 12 is driven by six tunnel control signals of three-phase inverter 6.

Above-described pi regulator 3, IPark conversion modules 4, space vector modulation module 5, three-phase inverter 6, permanent magnetism Synchronous motor 12, HALL15, the 3rd subtractor, the 4th subtractor, the 5th subtractor and permagnetic synchronous motor 12 are existing public affairs Know technology.

During the standard of above-described permagnetic synchronous motor is without sensing station Servocontrol device, by standard without sensor control Molding block 14 substitutes traditional based on biphase current sensor and photoelectric encoder 11 (as shown in Figure 1), rotary transformer equipotential The control program of sensor is put, position and the speed of traditional servo system are substituted using the monocyclic controller 13 of location/velocity integration Spend two ring control structures.

By the following description, quasi- sensorless strategy module 14 and location/velocity integrated controller are further described The operation method of 13 (the monocyclic controllers of location/velocity integration)：

First, location/velocity integrated controller 13 of the invention, its implementation are as follows：

The first step, obtain motor (permagnetic synchronous motor 12) the equation of motion be：

Second step, the state for taking system (permagnetic synchronous motor of the present invention is accurate without sensing station Servocontrol device) become Amount：

Convolution (1), formula (2)：

3rd step, orderF=-T_L/ J, the then state equation of the positional servosystem of permagnetic synchronous motor 12 For：

4th step, the sliding-mode surface for taking similar PD actuators are designed as：

S=c₁x₁+c₂x₂ (5)

5th step, chooses control law：

6th step, the control function for obtaining quadrature axis current is：

Wherein,It is given for quadrature axis current,

The location/velocity overall-in-one control schema of the monocyclic controller of location/velocity integration 13 is achieved that according to above formula. Wherein, above-described T_eFor motor (permagnetic synchronous motor 12) output torqueω_mFor motor (permanent magnet synchronous electric Machine actual speed 12), T_LFor loading moment, θ_mFor actual rotor-position signal, all by quasi- sensorless strategy module 14 Estimation is obtained；J is motor inertia, and P is motor number of pole-pairs, Ψ_aFor permanent magnet flux linkage, it is all the correlation ginseng of permagnetic synchronous motor 12 Number,For the position signalling for giving, c₁And c₁For constant.

Implement step as follows：

1st, by the 5th subtractor to actual rotor-position signal θ_mWith given position signalling θ_m ^*Position is drawn after computing Put error signal θ_m ^*-θ_m；By the 5th subtractor by position error signal θ_m ^*-θ_mGive location/velocity integrated controller 13；

2nd, the formula in accordance with the above of location/velocity integrated controller 13Calculate Go out given q axis current signals

2nd, quasi- sensorless strategy module 14 of the invention, its implementation are as follows：

Phase current reconstruction module 16 and full dimension that above-described quasi- sensorless strategy module 14 is connected by mutual signal Observer rotor position information estimation block 17 constitutes (as shown in Figure 4)：

The implementation of phase current reconstruction module 16 is as follows：

Above-described ω_mFor the actual speed of motor (permagnetic synchronous motor 12)；L_a、Φ_a、R_aRespectively motor (permanent magnetism Synchronous motor inductance 12), magnetic linkage and resistance；u_qGiven, the u for q shaft voltages_dIt is given for d shaft voltages.

Implement step as follows：

1st, by q shaft voltages given u_q, the given u of d shaft voltages_dExport with full micr oprocessorism rotor position information estimation block 17 Motor actual speed signal ω_mIt is input in phase current reconstruction module 16；

2nd, phase current reconstruction module 16 calculates the quadrature axis current of 12 reality of permagnetic synchronous motor according to formula (8)-(11) Given i_dI given with actual direct-axis current_q。

The computing formula of full micr oprocessorism rotor position information estimation block 17 is as follows：

Equally by Electrical Motor volume, the kinematical equation of motor (permagnetic synchronous motor 12) is：

Jdω_m/dt+B_mω_m+T_L=T_ε (12)

dθ_m/ dt=ω_m (13)

Above-described ω_mActual speed (i.e. rotor machinery angular velocity) for motor (permagnetic synchronous motor 12)；θ_mFor reality The rotor-position signal (i.e. mechanical Angle Position) on border；T_eFor the output torque of permagnetic synchronous motor 12；T_L(bear for loading moment Carry perturbing torque)；J is rotary inertia；B_mViscous damping coefficient.

Because the sample frequency of controller is significantly larger than the transformation period of perturbing torque, T_L(bear for loading moment Carry perturbing torque) as a state variable, it may be assumed that it is a constant, i.e. T_LFor loading moment (i.e. disturbance load torque) Time differential is zero.

If：

dT_L/ dt=0 (14)

The dynamics state equation of motor is obtained by (12) and (13):

Wherein,

Output torque T of the input variable of formula (15) for permagnetic synchronous motor 12_e, state variable is actual rotor-position Signal θ_m(mechanical Angle Position), actual speed ω of permagnetic synchronous motor 12_m(mechanical angular velocity) and T_L(bear for loading moment Carry perturbing torque), output variable is actual rotor-position signal θ_m(mechanical Angle Position).Formula (5) can be written as formula (16)；

By dynamics state equation (15), an omnidirectional vision can be set up, see formula (17)：

Wherein,For estimative state variable,For feedback of status Gain battle array.

Obtained by (15)-(16)：

Wherein,For observation error.Its characteristic equation is：

Det_sI- (A-KC)]=s³+(k₁+B_m/J)s²+(k₂+k₁B_m/J)s-k₃/ J=0 (19)

Appropriate K is selected, makes (A-KC) to have stable, appropriate eigenvalue,When, with x (t), u (t) andNothing Close；WithIt is unrelated.

According to specified expectation limit α, β, γ, then the desired character multinomial of observer is：

s³-(α+β+γ)s²+ (α β+β γ+γ α) s- α β γ=0 (20)

Obtained by (19) and (20)：

Assume B_m=0, and α=β=γ, then formula (21) it is rewritable into：

Formula (17) it is rewritable into：

I.e.：

According to the desired characteristic of system, the position for selecting limit to be located, observer is constructed according to formula (24), you can observe Loading moment T_L, actual rotor-position signal θ_mActual speed ω of (mechanical Angle Position) and permagnetic synchronous motor 12_m(machinery Angular velocity) value.

The method realizes that step is as follows：

1st, HALL15 is by discrete HALL position signallingsFeed back to full micr oprocessorism rotor position information estimation block 17 In；

2nd, full micr oprocessorism rotor position information estimation block 17 estimates the reality of permagnetic synchronous motor 12 according to formula Rotor-position (actual rotor-position signal θ_m), actual speed ω_mWith loading moment T_L；

3rd, q shaft voltages are given u by pi regulator 3_qU given with d shaft voltages_dIt is input to (q axles in phase current reconstruction module 16 Voltage gives u_qU given with d shaft voltages_dObtained by pi regulator 3, pi regulator 3 is existing known technology)；

4th, phase current reconstruction module 16 estimates the d axis current signals of the reality of permagnetic synchronous motor 12 according to formula (24) i_dWith actual q axis current signal i_q, and by actual q axis current signal i_qFeed back to full micr oprocessorism rotor position information to estimate Calculate module 17.

Finally, in addition it is also necessary to it is noted that listed above is only a specific embodiment of the invention.Obviously, the present invention Above example is not limited to, there can also be many deformations.One of ordinary skill in the art can be straight from present disclosure The all deformations derived or associate are connect, protection scope of the present invention is considered as.

Claims (3)

1. permagnetic synchronous motor standard is characterized in that without sensing station Servocontrol device：Become including pi regulator (3), IPark Mold changing block (4), space vector modulation module (5), three-phase inverter (6), permagnetic synchronous motor (12), HALL (15), standard are without biography Sensor control module (14), the 3rd subtractor, the 4th subtractor, the 5th subtractor and location/velocity integrated controller (13)； The HALL (15) is HALL sensors；

The HALL (15) is arranged on permagnetic synchronous motor (12) body, when permagnetic synchronous motor (12) works, by HALL (15) discrete HALL position signallings are exported；

The quasi- sensorless strategy module (14) receives the given u of discrete HALL position signallings, q shaft voltages_qGive with d shaft voltages Determine u_d, Jing after the computing of quasi- sensorless strategy module (14), export actual rotor-position signal θ_m, actual d axis current signals i_d, actual q axis current signal i_qWith the loading moment T of permagnetic synchronous motor (12)_L；

5th subtractor receives given position signal θ_m ^*With rotor-position signal θ_m, and both are made with difference operation outgoing position Error signal θ_m ^*-θ_m；

The location/velocity integrated controller (13) receives position error signal θ_m ^*-θ_m, actual q axis current signal i_qWith it is negative Carry torque T_L, the given q axis current signals of Jing computings output permagnetic synchronous motor (12)

3rd subtractor receives given q axis current signalsWith actual q axis current signal i_q, and fortune is differed to both Calculate the error signal of output q shaft currents

4th subtractor receives given d axis current signalsWith actual d axis current signal i_d, and it is poor to both Computing exports the error signal of d shaft currents

The pi regulator (3) receives the error signal of d shaft currents respectivelyWith the error signal of q shaft currentsAnd Jing Computing exports the given u of q shaft voltages respectively_qU given with d shaft voltages_d；

The IPark conversion modules (4) receive the given u of q shaft voltages_qU given with d shaft voltages_d, the static biphase seat of Jing computings output Component of voltage u under mark system_αWith component of voltage u_β；

The space vector modulation module (5) receives the component of voltage u under static two phase coordinate system_αWith component of voltage u_βInput, Jing Six tunnel control signals of computing output three-phase inverter (6)；

The six tunnel control signals that the three-phase inverter (6) receiving space Vector Modulation module (5) exports, drive permanent magnet synchronous electric Machine (12) runs；

Phase current reconstruction module (16) and full micr oprocessorism rotor that quasi- sensorless strategy module (14) is connected by mutual signal Positional information estimation block (17) is constituted；The full micr oprocessorism rotor position information estimation block (17) receives actual q axles Current signal i_qWith discrete HALL position signallings；Full micr oprocessorism rotor position information estimation block (17) output is actual Rotor-position signal θ_m, loading moment T_LWith actual speed ω of permagnetic synchronous motor (12)_m；The phase current reconstruction module (16) receive actual speed ω_m, the given u of q shaft voltages_qU given with d shaft voltages_d；Phase current reconstruction module (16) output is real The d axis current signal i on border_d, actual q axis current signal i_q；

The implementation method of the phase current reconstruction module (16) is as follows：

$i_d=\frac{1}{L_{a}s+R_a}(u_d+L_a{\mathrm{\ω}}_m{i}_q)---\left(8\right)$

$i_q=\frac{1}{L_{a}s+R_a}(u_q-{\mathrm{\Φ}}_a{\mathrm{\ω}}_m-L_a{\mathrm{\ω}}_m{i}_d)---\left(9\right)$

$i_d\left(k+1\right)=\frac{\left(1-\mathrm{\α}\right)/R_{\mathrm{\α}}}{z-\mathrm{\α}}\[u_d\left(k\right)+L_a{\mathrm{\ω}}_m\left(k\right)i_q\left(k\right)\]---\left(10\right)$

$i_q\left(k+1\right)=\frac{\left(1-\mathrm{\α}\right)/R_{\mathrm{\α}}}{z-\mathrm{\α}}\[u_q\left(k\right)-{\mathrm{\Φ}}_a{\mathrm{\ω}}_m\left(k\right)-L_a{\mathrm{\ω}}_m\left(k\right)i_d\left(k\right)\]---\left(11\right)$

The L_a、Φ_a、R_aThe respectively inductance of permagnetic synchronous motor (12), permanent magnet flux linkage and resistance；

The implementation method of the full micr oprocessorism rotor position information algorithm estimation block (17) is as follows：

Equally by Electrical Motor volume, the kinematical equation of permagnetic synchronous motor (12) is：

Jdω_m/dt+B_mω_m+T_L=T is 12)

dθ_m/ dt=ω_m (13)

The B_mFor viscous damping coefficient；The T_eFor the output torque of permagnetic synchronous motor (12), J is motor inertia；

Because the sample frequency of controller is significantly larger than the transformation period of perturbing torque, disturbance load torque is used as a shape State variable, it may be assumed that it is zero that it is a constant, i.e. disturbance load torque time differential；

If：

dT_L/ dt=0 (14)

The dynamics state equation of motor is obtained by (12) and (13):

$\left\{\begin{array}{c}dx/dt=Ax+Bu\\ y=Cx\end{array}\right.---\left(15\right)$

Wherein,

$A=\left[\begin{array}{ccc}0& 1& 0\\ 0& -B_m/J& -1/J\\ 0& 0& 0\end{array}\right],B=\left[\begin{array}{c}0\\ 1/J\\ 0\end{array}\right],x=\left[\begin{array}{c}{\mathrm{\θ}}_m\\ {\mathrm{\ω}}_m\\ T_L\end{array}\right],C=\left[\begin{array}{ccc}1& 0& 0\end{array}\right],u=T_a,y={\mathrm{\θ}}_m;$

Formula (15) can be written as formula (16)：

$\frac{d}{dt}\left[\begin{array}{c}{\mathrm{\θ}}_m\\ {\mathrm{\ω}}_m\\ T_L\end{array}\right]=\left[\begin{array}{ccc}0& 1& 0\\ 0& -B_m/J& -1/J\\ 0& 0& 0\end{array}\right]\left[\begin{array}{c}{\mathrm{\θ}}_m\\ {\mathrm{\ω}}_m\\ T_L\end{array}\right]+\left[\begin{array}{c}0\\ 1/J\\ 0\end{array}\right]T_a---\left(16\right)$

By dynamics state equation (15), an omnidirectional vision can be set up, see formula (17)：

$\left\{\begin{array}{c}d\hat{x}/dt=A\hat{x}+Bu+K(y-\hat{y})\\ \hat{y}=C\hat{x}\end{array}\right.---\left(17\right)$

Wherein,For estimative state variable, K=[k₁ k₂ k₃]^TFor state feedback gain matrix；

Obtained by (15)-(16)：

$d\tilde{x}/dt=(A-KC)\tilde{x}---\left(18\right)$

Its characteristic equation is：

Det [sI- (A-KC)]=s³+(k₁+B_m/J)s²+(k₂+k₁ B_m/J)s-k₃/ J=0 (19)

Appropriate K is selected, makes (A-KC) to have stable, appropriate eigenvalue,When, with x (t), u (t) andIt is unrelated；WithIt is unrelated；

According to specified expectation limit α, β, γ, then the desired character multinomial of observer is：

s³-(α+β+γ)s²+ (α β+β γ+γ α) s- α β γ=0 (20)

Obtained by (19) and (20)：

$\left\{\begin{array}{c}{k}_1=-(\mathrm{\α}+\mathrm{\β}+\mathrm{\γ})-B_m/J\\ k_2=(\mathrm{\α}\mathrm{\β}+\mathrm{\β}\mathrm{\γ}+\mathrm{\γ}\mathrm{\α})+(\mathrm{\α}+\mathrm{\β}+\mathrm{\γ})B_m/J+{(B_m/J)}^2\\ k_3=\mathrm{\α}\mathrm{\β}\mathrm{\γ}J\end{array}\right.---\left(21\right)$

Assume B_m=0, and α=β=γ, then formula (21) it is rewritable into：

$\left\{\begin{array}{c}{k}_1=-3\mathrm{\α}\\ k_2=3{\mathrm{\α}}^2\\ k_3={\mathrm{\α}}^{3}J\end{array}\right.---\left(22\right)$

Formula (17) it is rewritable into：

$\frac{d}{dt}\left[\begin{array}{c}{\widehat{\mathrm{\θ}}}_m\\ {\widehat{\mathrm{\ω}}}_m\\ {\hat{T}}_L\end{array}\right]=\left[\begin{array}{ccc}0& 1& 0\\ 0& -B_m/\hat{J}& -1/\hat{J}\\ 0& 0& 0\end{array}\right]\left[\begin{array}{c}{\widehat{\mathrm{\θ}}}_m\\ {\widehat{\mathrm{\ω}}}_m\\ {\hat{T}}_L\end{array}\right]+\left[\begin{array}{c}0\\ 1/\hat{J}\\ 0\end{array}\right]T_a+\left[\begin{array}{c}{k}_1\\ k_2\\ k_3\end{array}\right]\left({\mathrm{\θ}}_m-{\widehat{\mathrm{\θ}}}_m\right)---\left(23\right)$

I.e.：

$\left\{\begin{array}{c}d{\widehat{\mathrm{\θ}}}_m/dt=\widehat{\mathrm{\ω}}+k_1\×\left({\mathrm{\θ}}_m-{\widehat{\mathrm{\θ}}}_m\right)\\ d{\widehat{\mathrm{\ω}}}_m/dt=-B_m/\hat{J}\×{\widehat{\mathrm{\ω}}}_m-1/\hat{J}\×{\hat{T}}_L+1/\hat{J}\×T_a+k_2\×\left({\mathrm{\θ}}_m-{\widehat{\mathrm{\θ}}}_m\right)\\ d{\hat{T}}_L/dt=k_3\×\left({\mathrm{\θ}}_m-{\widehat{\mathrm{\θ}}}_m\right)\end{array}\right.---\left(24\right)$

According to the desired characteristic of system, the position for selecting limit to be located, observer is constructed according to formula (24), you can observe load Torque T_L, permagnetic synchronous motor (12) actual speed ω_mThe actual rotor-position signal θ with permagnetic synchronous motor (12)_m's Value.

2. permagnetic synchronous motor standard, without sensing station Servocontrol device, is characterized in that according to claim 1：Position/ The implementation method of speed integrated controller (13) is as follows；

The first step, obtain motor the equation of motion be：

$T_a-T_L=J\frac{{\mathrm{d\ω}}_m}{dt}---\left(1\right)$

Second step, takes the state variable of system：

$\left\{\begin{array}{c}{x}_1={\mathrm{\θ}}_m-{\mathrm{\θ}}_m^{*}\\ x_2={\stackrel{\·}{x}}_1={\mathrm{\ω}}_m\end{array}\right.---\left(2\right)$

Convolution (1), formula (2)：

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=x_2={\mathrm{\ω}}_m\\ {\stackrel{\·}{x}}_2=\frac{T_a-T_L}{J}=\frac{1}{J}\[\frac{3}{2}{\mathrm{P\Φ}}_a{i}_q-T_L\]\end{array}\right.---\left(3\right)$

3rd step, orderF=-T_L/ J, then the state equation of permanent magnetism synchronous electric machine position servo system be：

$\left[\begin{array}{c}{\stackrel{\·}{x}}_1\\ {\stackrel{\·}{x}}_2\end{array}\right]=\left[\begin{array}{cc}0& 1\\ 0& 0\end{array}\right]\left[\begin{array}{c}{x}_1\\ x_2\end{array}\right]+\left[\begin{array}{c}0\\ a\end{array}\right]i_q+\left[\begin{array}{c}0\\ F\end{array}\right]---\left(4\right)$

4th step, the sliding-mode surface for taking similar PD actuators are designed as：

S=c₁x₁+c₂x₂ (5)

5th step, chooses control law：

$\stackrel{\·}{s}=-\mathrm{\ϵ}\mathrm{sgn}s-ks---\left(6\right)$

6th step, the control function for obtaining quadrature axis current is：

$i_q^{*}=-\mathrm{\ϵ}\mathrm{sgn}s-ks---\left(7\right)$

It is describedFor give q axis current signals,

The overall-in-one control schema of location/velocity is achieved that according to above formula；

The P be motor number of pole-pairs, c₁And c₂For constant.

3. a kind of permagnetic synchronous motor standard for being carried out using claim 1 or 2 described devices is without sensing station SERVO CONTROL side Method, is characterized in that：

A, permagnetic synchronous motor (12) are started working, after the rotation of the motor shaft of permagnetic synchronous motor (12), by HALL (15) to Quasi- sensorless strategy module (14) exports discrete HALL position signallings；

B, quasi- sensorless strategy module (14) receive the discrete HALL position signallings and pi regulator (3) of HALL (15) The given u of q shaft voltages_qU given with d shaft voltages_d, and discrete HALL position signallings, q shaft voltages are given into u_qGive with d shaft voltages Determine u_dComputing is carried out, actual rotor-position signal θ after computing, is drawn_m, actual d axis current signal i_d, actual q shaft currents Signal i_qWith the loading moment T of permagnetic synchronous motor (12)_L；Quasi- sensorless strategy module (14) is real to the output of the 5th subtractor The rotor-position signal θ on border_m, actual q axis current signal i are exported to location/velocity integrated controller (13)_qAnd carrying Square T_L, actual q axis current signal i are exported to the 3rd subtractor_q, actual d axis current signal i are exported to the 4th subtractor_d, Actual rotor-position signal θ is exported to IPark conversion modules (4)_m；

C, by master system, to the position signalling θ that the input of the 5th subtractor is given_m ^*, then by quasi- sensorless strategy mould Block (14) receives actual rotor-position signal θ_m；5th subtractor is again by given position signalling θ_m ^*With actual rotor position Confidence θ_mCarry out making difference operation, draw position error signal θ_m ^*-θ_m；5th subtractor is by position error signal θ_m ^*-θ_mOutput Give location/velocity integrated controller (13)；

D, location/velocity integrated controller (13) receive the position error signal θ of the 5th subtractor output_m ^*-θ_m, standard without biography The q axis current signal i of the reality that sensor control module (14) is exported_qWith loading moment T_L；Jing location/velocity integrated controllers (13) the given q axis current signals of permagnetic synchronous motor (12) are drawn after computingLocation/velocity integrated controller (13) To the q axis current signals that the output of the 3rd subtractor is given

The given q axis current signals that e, the 3rd subtractor receiving position/speed integrated controller (13) are exportedAnd it is accurate The q axis current signal i of the reality that sensorless strategy module (14) is exported_q；3rd subtractor is to given q axis current signals With actual q axis current signal i_qThe error signal of q shaft currents is drawn after carrying out computing3rd subtractor is to pi regulator (3) export the error signal of q shaft currents

The given d axis current signals of f, the 4th subtractor system reception systemAnd quasi- sensorless strategy module (14) output Reality d axis current signal i_d；The d axis current signals that 4th subtractor will giveAnd the d axis current signal i of reality_d After carrying out making difference operation, the error signal of d shaft currents is drawn4th subtractor exports d shaft currents to pi regulator (3) Error signal

G, pi regulator (3) receive the error signal of the q shaft currents of the 3rd subtractor outputAnd the 4th subtractor output D shaft currents error signalAfter the computing of pi regulator (3), the given u of q shaft voltages is obtained_qGive with d shaft voltages Determine u_d；Pi regulator (3) gives u to IPark conversion modules (4) output q shaft voltages_qU given with d shaft voltages_d；

H, IPark conversion module (4) is respectively received the given u of q shaft voltages that pi regulator (3) is exported_qU given with d shaft voltages_d, And the rotor-position signal θ of reality that quasi- sensorless strategy module (14) exports_m；Through the fortune of IPark conversion modules (4) The component of voltage u under static two phase coordinate system is drawn after calculation_αWith component of voltage u_β；IPark conversion modules (4) are adjusted to space vector Molding block (5) exports the component of voltage u under static two phase coordinate system_αWith component of voltage u_β；

I, space vector modulation module (5) receive the voltage point under static two phase coordinate system that IPark conversion modules (4) are exported Amount u_αWith component of voltage u_β；Six tunnel control signals of three-phase inverter (6) are drawn Jing after space vector modulation module (5) computing；It is empty Between Vector Modulation module (5) to three-phase inverter 6 export three-phase inverter (6) six tunnel control signals；

J, three-phase inverter (6) receive the six tunnels control letter of the three-phase inverter (6) that space vector modulation module (5) is exported Number, and the operation of permagnetic synchronous motor (12) is driven by six tunnel control signals of three-phase inverter (6).