CN106026801A - Method and apparatus for detecting rotor position of permanent magnet synchronous motor - Google Patents
Method and apparatus for detecting rotor position of permanent magnet synchronous motor Download PDFInfo
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- CN106026801A CN106026801A CN201610525056.8A CN201610525056A CN106026801A CN 106026801 A CN106026801 A CN 106026801A CN 201610525056 A CN201610525056 A CN 201610525056A CN 106026801 A CN106026801 A CN 106026801A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a method and apparatus for detecting a rotor position of a permanent magnet synchronous motor. The method comprises the following steps: establishing a slide membrane observation model of the permanent magnet synchronous motor; through a counter-electromotive force observation model, processing a current counter-electromotive force observation value output by the slide membrane observation model so as to obtain a current counter-electromotive force estimation value; and performing phase processing on the current counter-electromotive force estimation value so as to obtain current rotor information of the permanent magnet synchronous motor, wherein the current rotor information comprises a rotor rotation speed and a rotor position angle. According to the invention, the technical problem of inaccurate rotor position detection caused by a phase lag generated when a conventional permanent magnet synchronous motor filters noise by use of a low-pass filter in the prior art is solved.
Description
Technical field
The present invention relates to machine field, in particular to a kind of permanent-magnet synchronous motor rotor position detection method and
Device.
Background technology
Permagnetic synchronous motor has that high power density, high efficiency, low-loss, volume be little and the feature such as simple in construction, and nothing
The permagnetic synchronous motor of position sensor control program is provided simultaneously with assembling simply, application occasion is wide, reliability is high and cost
The advantage such as low, has obtained increasingly being widely applied.
The superior control performance of permagnetic synchronous motor needs rotor position information accurately, if using hall position sensor
Detect device as rotor position information, not only increase motor installation difficulty, and add system cost, reduce system reliable
Property.And structure changes sliding mode observer has the advantage such as very fast dynamic response characteristic and stronger robustness, can go out with Real-time Feedback
Rotor current location, is widely used in control system for permanent-magnet synchronous motor.
In the prior art, there is a kind of following permagnetic synchronous motor position and Rotating speed measring method, this detection method
The sliding mode observer according to the Design of Mathematical Model of permagnetic synchronous motor under the biphase rest frame of α, β.Choose sliding-mode surface, pass through
Counter electromotive force obtains the estimated value of rotor-position, but the back-emf signal extracted from sliding mode observer, need to be through low pass filtered
Ripple device processes, and causes the delayed of rotor position information, thus affects the performance of control so that the position letter of the rotor detected
Breath inaccuracy.
Produce delayed phase in prior art owing to permagnetic synchronous motor uses low pass filter to filter noise, cause
Coarse problem is detected in the position of rotor, the most not yet proposes effective solution.
Summary of the invention
Embodiments provide detection method and the device of a kind of permanent-magnet synchronous motor rotor position, at least to solve
Prior art produces delayed phase owing to permagnetic synchronous motor uses low pass filter to filter noise, causes the position of rotor to be examined
Survey coarse technical problem.
An aspect according to embodiments of the present invention, it is provided that the detection method of a kind of permanent-magnet synchronous motor rotor position,
Including: set up the synovial membrane observation model of permagnetic synchronous motor；By back-EMF observer model, synovial membrane observation model is exported
Current back-EMF observer value processes, and obtains current counter electromotive force estimated value；Current counter electromotive force estimated value is carried out phase
Position processes, and obtains the current rotor information of permagnetic synchronous motor, and wherein, current rotor information includes: rotor speed and rotor position
Angle setting.
Another aspect according to embodiments of the present invention, additionally provides the detection dress of a kind of permanent-magnet synchronous motor rotor position
Put, including: set up module, for setting up the synovial membrane observation model of permagnetic synchronous motor；First processing module, for by anti-electricity
The current back-EMF observer value that synovial membrane observation model is exported by EMF observer model processes, and obtains current counter electromotive force and estimates
Evaluation；Second processing module, for current counter electromotive force estimated value is carried out Phase Processing, obtains the current of permagnetic synchronous motor
Rotor information, wherein, rotor information includes: rotor speed and rotor position angle.
In embodiments of the present invention, the sliding mode observer setting up permagnetic synchronous motor model, then to sliding mode observer
The back-EMF observer value of middle output processes, then rotor-position is carried out phase place rectification.Such scheme passes through counter electromotive force
The back-EMF observer value extracted in synovial membrane observation model is processed by observation model, thus eliminates tradition synovial membrane observation mould
Low pass filter in type, it is to avoid delayed to rotor-position signal of low pass filter, solves in prior art due to forever
Magnetic-synchro motor uses low pass filter to filter noise and produces delayed phase, causes the position of rotor to detect coarse technology and asks
Topic.Meanwhile, also counter electromotive force estimated value is carried out Phase Processing, with the arc tangent replacing tradition synovial membrane observation model to be used
With processing method of differentiating, it is to avoid the amplification of the counter electromotive force medium-high frequency interference signal that traditional scheme is caused, and to point
The disturbance hitting Parameters variation and external environment has higher robustness, thus further increases the accurate of detection rotor-position
Degree.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this
Bright schematic description and description is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the detection method of a kind of permanent-magnet synchronous motor rotor position according to embodiments of the present invention；
Fig. 2 is the principle of the detection method of a kind of optional permanent-magnet synchronous motor rotor position according to embodiments of the present invention
Figure；
Fig. 3 is the schematic diagram of a kind of optional Phase Processing according to embodiments of the present invention；And
Fig. 4 is the flow process of the detection device of a kind of optional permanent-magnet synchronous motor rotor position according to embodiments of the present invention
Figure.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with in the embodiment of the present invention
Accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a present invention part rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under not making creative work premise, all should belong to the model of present invention protection
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " it is etc. for distinguishing similar object, without being used for describing specific order or precedence.Should be appreciated that so use
Data can exchange in the appropriate case, in order to embodiments of the invention described herein can with except here diagram or
Order beyond those described is implemented.Additionally, term " includes " and " having " and their any deformation, it is intended that cover
Cover non-exclusive comprising, such as, contain series of steps or the process of unit, method, system, product or equipment are not necessarily limited to
Those steps clearly listed or unit, but can include the most clearly listing or for these processes, method, product
Or intrinsic other step of equipment or unit.
Embodiment 1
According to embodiments of the present invention, it is provided that the detection method embodiment of a kind of permanent-magnet synchronous motor rotor position, need
Illustrate, can be in the computer system of such as one group of computer executable instructions in the step shown in the flow chart of accompanying drawing
Perform, and, although show logical order in flow charts, but in some cases, can be suitable be different from herein
Step shown or described by sequence execution.
Fig. 1 is the flow chart of the detection method of permanent-magnet synchronous motor rotor position according to embodiments of the present invention, such as Fig. 1 institute
Showing, the method comprises the steps:
Step S102, sets up the synovial membrane observation model of permagnetic synchronous motor.
Concrete, in above-mentioned steps, above-mentioned synovial membrane observation model can be defeated according to the outside of above-mentioned permagnetic synchronous motor
The actual measured results entering amount obtains state variable estimated value, in a kind of optional embodiment, for permagnetic synchronous motor
The input actual measured value of synovial membrane observation model can be the current observation of the biphase stator current of permagnetic synchronous motor, above-mentioned
State variable estimated value can be back-EMF observer value, and above-mentioned synovial membrane observation model can be set up under default axle system.
Step S104, the current back-EMF observer value exported synovial membrane observation model by back-EMF observer model is entered
Row processes, and obtains current counter electromotive force estimated value.
Herein it should be noted that back-EMF observer model extracts the most electronic from sliding formwork current observer
Gesture information, can cancel the low pass filter in tradition sliding mode observer, it is to avoid low pass filter caused rotor-position is believed
Cease is delayed, such that it is able to quick and precisely obtain current rotor positional information and motor speed.
Step S106, carries out Phase Processing to current counter electromotive force estimated value, obtains the current rotor of permagnetic synchronous motor
Information, wherein, rotor-position includes: rotor speed and rotor position angle.
In a kind of optional embodiment, above-mentioned Phase Processing can be PGC demodulation correction.
Herein it should be noted that use the counter electromotive force estimated value that back-EMF observer model extracts through Phase Processing
After, two equivalent by being caused after tradition the used arc tangent of sliding mode observer and process of differentiating can be avoided the most electronic
The amplification of gesture medium-high frequency interference signal, thus it is effectively improved the accuracy of rotor-position and turn count.
The sliding mode observer that permagnetic synchronous motor model is set up by the above embodiments of the present application, then in sliding mode observer
Extracted back-EMF observer value carries out the back-EMF observer model processed, then rotor-position is carried out phase place rectification.Above-mentioned
The back-EMF observer value extracted in synovial membrane observation model is processed by scheme by back-EMF observer model, thus eliminates
Low pass filter in traditional synovial membrane observation model, it is to avoid delayed to rotor-position signal of low pass filter, solves
Prior art produces delayed phase owing to permagnetic synchronous motor uses low pass filter to filter noise, causes the position of rotor to be examined
Survey coarse technical problem.Meanwhile, also counter electromotive force estimated value is carried out Phase Processing, to replace tradition synovial membrane observation mould
The arc tangent that type is used and differentiate processing method, it is to avoid the counter electromotive force medium-high frequency interference letter that traditional scheme is caused
Number amplification, and the disturbance to clicking on Parameters variation and external environment has higher robustness, thus further increases inspection
Survey the degree of accuracy of rotor-position.
Optionally, according to the above embodiments of the present application, set up the synovial membrane observation model of permagnetic synchronous motor, including:
Step S1021, obtains the present input voltage of permagnetic synchronous motor, the back-EMF observer value at upper a moment and upper
The counter electromotive force estimated value carved.
Step S1023, according to the present input voltage of permagnetic synchronous motor, the back-EMF observer value at upper a moment and upper
The counter electromotive force estimated value carved, sets up synovial membrane observation model by permagnetic synchronous motor motor model under default axle system.
In a kind of optional embodiment, in conjunction with the example shown in Fig. 2, the input value setting up synovial membrane observation model is permanent magnetism
The present input voltage μ of synchronous motorα、μβ, back-EMF observer value S at upper a momentα、SβAnd the counter electromotive force at upper a moment estimates
EvaluationWherein, synovial membrane observation model, root are fed back to after counter electromotive force estimated value and opposing electromotance feedback multiplication
According to permagnetic synchronous motor motor model under default axle system, bring above-mentioned parameter into, thus obtain synovial membrane observation model.
From the foregoing, it will be observed that the application above-mentioned steps obtain the present input voltage of permagnetic synchronous motor, upper a moment the most electronic
The counter electromotive force estimated value at gesture observation and upper a moment, according to present input voltage, the anti-electricity at upper a moment of permagnetic synchronous motor
The counter electromotive force estimated value at EMF observer value and upper a moment, is set up by permagnetic synchronous motor motor model under default axle system
Synovial membrane observation model.Such scheme establishes the synovial membrane observation model for permagnetic synchronous motor so that synovial membrane observation model can
With the external input parameter according to above-mentioned permagnetic synchronous motor, obtain the state variable of permagnetic synchronous motor, i.e. permanent magnet synchronous electric
The back-EMF observer value of machine.
Optionally, according to the above embodiments of the present application, built by permagnetic synchronous motor motor model under default axle system
The dynamical equation of vertical synovial membrane observation model is:
Wherein,For current observation,For the counter electromotive force estimated value at upper a moment, Sα、SβFor upper a moment
Electromotive force observation, μα、μβFor present input voltage, M is opposing electromotance feedback coefficient.
In a kind of optional embodiment, above-mentioned default axle system is biphase axle system.
From the foregoing, it will be observed that the application above-mentioned steps provides permagnetic synchronous motor synovial membrane of setting up under default axle system observes mould
The motor model of type, it is achieved thereby that set up the technique effect clicking on corresponding synovial membrane observation model with permanent-magnet synchronous.
Optionally, according to the above embodiments of the present application, the back-EMF observer value extracted from synovial membrane observation model, bag
Include:
Step S1041, obtains the current observation of synovial membrane observation model output.
In a kind of optional embodiment, in conjunction with the example shown in Fig. 2,Electric current for above-mentioned permagnetic synchronous motor
Observation.
Step S1043, obtains the biphase stator current component in default axle system of permagnetic synchronous motor.
In a kind of optional embodiment, can be by the biphase stator current of permagnetic synchronous motor be carried out Clarke
(Clarke) conversion to obtain band current component under default axle system, and the process of Clarke conversion is will be based on three-phase two dimension axle system
Under biphase axle stator stationary coordinate system in each physical quantity be converted into biphase axle system stator stationary coordinate play in.
In an alternative embodiment, it is also possible to by the biphase stator current of permagnetic synchronous motor is carried out dq change
Bring to obtain band current component under default axle system, dq conversion as a kind of decoupling control method, can by the three-phase of motor around
Group is converted to equivalence；Two phase windings, and rotating coordinate system is become orthogonal static coordinate, i.e. can obtain identifying with direct current
The voltage i.e. relational expression of electric current.
Step S1045, obtains back-EMF observer value according to current observation and current component by saturation function.
Herein it should be noted that saturation function is when extracting back-EMF observer value from synovial membrane observation model, need
Current observation and current component are carried out computing, owing to above-mentioned synovial membrane observation model is that the synovial membrane set up under default axle system is seen
Surveying model, therefore, above-mentioned current component should be corresponding with default axle system, and the biphase stator current of permagnetic synchronous motor is above-mentioned
Preset the current component under axle system.
Herein also, it should be noted in the prior art, from synovial membrane observation model, back-EMF observer value is being extracted
During the structure switching function that used be usually switch function, owing to switch function only has on an off two states value,
Therefore use switch function would generally cause the most serious buffeting as structure switching function, and the application such scheme is adopted
The state of saturation function in addition to two states of on an off, by on-state and off-state excessively during have smooth
Function carry out excessively, it is possible to significantly reduce the buffeting of motor.
From the foregoing, it will be observed that the application above-mentioned steps obtains the current observation of synovial membrane observation model output, and it is same to obtain permanent magnetism
The biphase stator of step motor, at the current component of default axle system, is obtained by saturation function according to current observation and current component
Back-EMF observer value.Such scheme uses saturation function to instead of switch function commonly used in the prior art, at saturation function
Carry out Linear Control in boundary region, effectively suppression system structure can switch the high frequency buffeting that discontinuity is introduced, thus cut
A large amount of high frequency noises contained by weak counter electromotive force, and this function structure is simple, operand is little, has reached effective suppression synovial membrane and has trembled
The technique effect shaken, and result is simple, it is easy to accomplish technique effect.
Optionally, according to the above embodiments of the present application, passed through according to current observation and current component by equation below
Saturation function obtains back-EMF observer value:
Or
Wherein, k is sliding formwork gain coefficient, and δ is the boundary region constant of saturation function,For current observation, iα、iβ
Electric current for the biphase stator of permagnetic synchronous motor.
From the foregoing, it will be observed that the application above-mentioned steps provides the model of saturation function.Such scheme uses saturation function to substitute
Switch function commonly used in the prior art, carries out Linear Control in saturation function boundary region, can effective suppression system knot
The high frequency buffeting that structure switching discontinuity is introduced, thus weaken a large amount of high frequency noises contained by counter electromotive force, and this function
Simple in construction, operand is little, has reached the technique effect that effective suppression synovial membrane is buffeted, and result is simple, it is easy to accomplish technology
Effect.
Optionally, according to the above embodiments of the present application, the biphase stator electricity in default axle system of permagnetic synchronous motor is obtained
Flow component, including:
Step S1047, measures the electric current of the biphase stator of permagnetic synchronous motor.
Step S1049, carries out Clarke transform to the electric current of biphase stator under shown default axle system, obtains biphase stator
Current component in default axle system.
In a kind of optional embodiment, can be by the biphase stator current of permagnetic synchronous motor be carried out Clarke
(Clarke) conversion to obtain band current component under default axle system, and the process of Clarke conversion is will be based on three-phase two dimension axle system
Under biphase axle stator stationary coordinate system in each physical quantity be converted into biphase axle system stator stationary coordinate play in.
From the foregoing, it will be observed that the application above-mentioned steps measures the electric current of the biphase stator of permagnetic synchronous motor, at shown default axle
Under system, the electric current to biphase stator carries out Clarke transform, obtains the biphase stator current component in default axle system.Such scheme
Band electricity under default axle system to obtain by the biphase stator current of permagnetic synchronous motor being carried out Clarke (Clarke) conversion
Flow component, the process of Clarke conversion is by each in stator stationary coordinate system based on the biphase axle under three-phase two dimension axle system
Physical quantity is converted in the stator stationary coordinate play of biphase axle system.
Optionally, according to the above embodiments of the present application, counter electromotive force estimated value is carried out Phase Processing, obtains permanent-magnet synchronous
The rotor-position of motor, including:
Step S1061, according to back-EMF observer value and the rotor speed at upper a moment and rotor position angle, obtains rotor
Position error information.
Step S1063, carries out PI integration to rotor position error information, obtains current rotor rotating speed.
Step S1065, is integrated the rotating speed of current rotor, obtains rotor position angle.
In a kind of optional embodiment, in conjunction with the example shown in Fig. 3, above-mentioned back-EMF observer model assessment obtains
Counter electromotive force estimated valueWithIt is represented by:
Wherein,For the rotor position angle at upper a moment, ψfMagnetic for above-mentioned permagnetic synchronous motor
The intrinsic parameter of chain, wherein,For estimation counter electromotive force fundamental frequency signal position angle.
To above-mentioned counter electromotive force estimated valueWithCarry out trigonometric function long-pendingization and difference processes, obtain site error, position
Error can be expressed as:
Wherein,For above-mentioned position error information,After Phase Processing, the position angle of the rotor at the upper a moment extracted from two phase back-emf.
Herein it should be noted that work asTime,Therefore above formula can be reduced to:GainedCurrent motor rotary speed information can be estimated after PI integratesCan obtain after the most integrated
Obtain respective rotor positional information
Optionally, according to the above embodiments of the present application, by equation below according to back-EMF observer value and upper a moment
Rotor speed and rotor position angle, obtain rotor position error information:
Wherein,For the counter electromotive force estimated value at upper a moment,For two phase back-emf after Phase Processing extract
Rotor position information, ψfThe intrinsic parameter of magnetic linkage for permagnetic synchronous motor.
In a kind of optional embodiment, whenTime,Therefore rotor position error
Information can be reduced to:GainedCurrent motor rotor speed can be estimated after PI integrates
Respective rotor position angle can be obtained after the most integrated
From the foregoing, it will be observed that the application above-mentioned steps provides the information calculating rotor position error, to replace tradition sliding formwork to see
Survey the arc tangent that used of device and processing method of differentiating, it is to avoid the counter electromotive force medium-high frequency interference that traditional scheme is caused
The amplification of signal, and the disturbance performance higher robustness to parameter of electric machine change and external environment.
Optionally, according to the above embodiments of the present application, counter electromotive force synovial membrane observation model exported by equation below
Observation processes, and obtains counter electromotive force estimated value:
Wherein, Sα、SβFor the back-EMF observer value at upper a moment,For the counter electromotive force estimated value at upper a moment,For
The rotor position angle at upper a moment, l is back-EMF observer model gain coefficient, l ∈ (0 ,+∞).
From the foregoing, it will be observed that the application above-mentioned steps is by processing back-EMF observer value, obtains counter electromotive force and estimate
Value, thus eliminate the low pass filter in tradition sliding formwork current observer, it is to avoid low pass filter caused rotor-position
Signal delayed.
Embodiment 2
Fig. 4 is the structural representation of the detection device of a kind of permanent-magnet synchronous motor rotor position according to embodiments of the present invention
Figure.For purposes of illustration, the architecture painted is only an example of proper environment, the not range to the application
Or function proposes any limitation.The detection device of a kind of permanent-magnet synchronous motor rotor position should be considered as shown in Fig. 4
Any component or combination there is any dependence or demand.
As shown in Figure 4, the detection device of this permanent-magnet synchronous motor rotor position may include that
Set up module 40, for setting up the synovial membrane observation model of permagnetic synchronous motor.
First processing module 42, current the most electronic for synovial membrane observation model is exported by back-EMF observer model
Gesture observation processes, and obtains current counter electromotive force estimated value.
Second processing module 44, for current counter electromotive force estimated value is carried out Phase Processing, obtains permagnetic synchronous motor
Current rotor information, wherein, rotor information includes: rotor speed and rotor position angle.
The above embodiments of the present application are by setting up the sliding mode observer that permagnetic synchronous motor model is set up by module, by
The back-EMF observer value of output in sliding mode observer is processed by one processing module, by the second processing module again to turning
Sub-position carries out phase place rectification.Such scheme passes through the back-EMF observer model counter electromotive force to extracting in synovial membrane observation model
Observation processes, thus eliminates the low pass filter in tradition synovial membrane observation model, it is to avoid low pass filter is to turning
Sub-position signalling delayed, solves in prior art and produces phase owing to permagnetic synchronous motor uses low pass filter to filter noise
After steric retardation, the position of rotor is caused to detect coarse technical problem.Meanwhile, also counter electromotive force estimated value has been carried out at phase place
Reason, to replace the tradition arc tangent that used of synovial membrane observation model and processing method of differentiating, it is to avoid traditional scheme is made
The counter electromotive force medium-high frequency become disturbs the amplification of signal, and the disturbance to clicking on Parameters variation and external environment has higher Shandong
Rod, thus further increase the degree of accuracy of detection rotor-position.
Optionally, according to the above embodiments of the present application, above-mentioned module of setting up includes:
First acquisition module, for obtaining the back-EMF observer at the present input voltage of permagnetic synchronous motor, upper a moment
Value and the counter electromotive force estimated value at upper a moment；
First sets up submodule, sees for the present input voltage according to permagnetic synchronous motor, the counter electromotive force at upper a moment
The counter electromotive force estimated value at measured value and upper a moment, sets up synovial membrane by permagnetic synchronous motor motor model under default axle system and sees
Survey model.
From the foregoing, it will be observed that the application said apparatus by first acquisition module obtain permagnetic synchronous motor be currently entered electricity
Pressure, the back-EMF observer value at upper a moment and the counter electromotive force estimated value at upper a moment, set up submodule according to permanent magnetism by first
The present input voltage of synchronous motor, the back-EMF observer value at upper a moment and the counter electromotive force estimated value at upper a moment, by forever
Magnetic-synchro motor motor model under default axle system sets up synovial membrane observation model.Such scheme establishes for permanent magnet synchronous electric
The synovial membrane observation model of machine so that synovial membrane observation model can obtain according to the external input parameter of above-mentioned permagnetic synchronous motor
The back-EMF observer value of the state variable of permagnetic synchronous motor, i.e. permagnetic synchronous motor.
Optionally, according to the above embodiments of the present application, second sets up submodule, for being preset by permagnetic synchronous motor
Motor model under axle system sets up the dynamical equation of synovial membrane observation model:
Wherein,For current observation,For the counter electromotive force estimated value at upper a moment, Sα、SβFor upper a moment
Electromotive force observation, μα、μβFor present input voltage, M is opposing electromotance feedback coefficient.
Optionally, according to the above embodiments of the present application, the first processing module includes:
Second acquisition module, for obtaining the current observation of synovial membrane observation model output；
3rd acquisition module, for obtaining the biphase stator current component in default axle system of permagnetic synchronous motor；
First determines module, for obtaining back-EMF observer according to current observation and current component by saturation function
Value.
From the foregoing, it will be observed that the application said apparatus the second acquisition module obtains the current observation of synovial membrane observation model output,
And by the biphase stator of the 3rd acquisition module acquisition permagnetic synchronous motor at the current component of default axle system, determine by first
Module obtains back-EMF observer value according to current observation and current component by saturation function.Such scheme uses saturated letter
Number instead of switch function commonly used in the prior art, carries out Linear Control, can effectively suppress in saturation function boundary region
The high frequency buffeting that system structure switching discontinuity is introduced, thus weaken a large amount of high frequency noises contained by counter electromotive force, and
This function structure is simple, and operand is little, has reached the technique effect that effective suppression synovial membrane is buffeted, and result is simple, it is easy to accomplish
Technique effect.
Optionally, according to the above embodiments of the present application, passed through according to current observation and current component by equation below
Saturation function obtains back-EMF observer value:
Or
Wherein, k is sliding formwork gain coefficient, and δ is the boundary region constant of saturation function,For current observation, iα、iβ
Electric current for the biphase stator of permagnetic synchronous motor.
Optionally, according to the above embodiments of the present application, the 3rd acquisition module includes:
Measurement module, for measuring the electric current of the biphase stator of permagnetic synchronous motor；
Conversion module, for the electric current of biphase stator being carried out Clarke transform under shown default axle system, obtains biphase
Stator is at the current component of default axle system.
From the foregoing, it will be observed that the application said apparatus measures the electric current of the biphase stator of permagnetic synchronous motor by measurement module,
Under shown default axle system, the electric current of biphase stator is carried out Clarke transform by conversion module, obtain biphase stator and presetting
The current component of axle system.Such scheme converts by the biphase stator current of permagnetic synchronous motor carries out Clarke (Clarke)
To obtain band current component under default axle system, the process of Clarke conversion is by based on the biphase axle under three-phase two dimension axle system
Each physical quantity in stator stationary coordinate system is converted in the stator stationary coordinate play of biphase axle system.
Optionally, according to the above embodiments of the present application, the second processing module includes:
Second determines module, for according to current back-EMF observer value and the rotor speed at upper a moment and rotor-position
Angle, obtains rotor position error information；
Integrate module, for rotor position error information is carried out PI integration, obtain current rotor rotating speed；
Integration module, for being integrated the rotating speed of current rotor, obtains current rotor position angle.
Optionally, according to the above embodiments of the present application, by equation below according to back-EMF observer value and upper a moment
Rotor speed and rotor position angle, obtain rotor position error information:
Wherein,For the counter electromotive force estimated value at upper a moment,For two phase back-emf after Phase Processing extract
Rotor position information, ψfThe intrinsic parameter of magnetic linkage for permagnetic synchronous motor.
Optionally, according to the above embodiments of the present application, counter electromotive force synovial membrane observation model exported by equation below
Observation processes, and obtains counter electromotive force estimated value:
Wherein, Sα、SβFor the back-EMF observer value at described upper a moment,Counter electromotive force for described upper a moment is estimated
Evaluation,For the rotor position angle at upper a moment, l is back-EMF observer model gain coefficient, l ∈ (0 ,+∞).
From the foregoing, it will be observed that the application said apparatus is by processing back-EMF observer value, obtains counter electromotive force and estimate
Value, thus eliminate the low pass filter in tradition sliding formwork current observer, it is to avoid low pass filter caused rotor-position
Signal delayed.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not has in certain embodiment
The part described in detail, may refer to the associated description of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents, can be passed through other
Mode realizes.Wherein, device embodiment described above is only schematically, the division of the most described unit, Ke Yiwei
A kind of logic function divides, actual can have when realizing other dividing mode, the most multiple unit or assembly can in conjunction with or
Person is desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or discussed is mutual
Between coupling direct-coupling or communication connection can be the INDIRECT COUPLING by some interfaces, unit or module or communication link
Connect, can be being electrical or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated list
Unit both can realize to use the form of hardware, it would however also be possible to employ the form of SFU software functional unit realizes.
If described integrated unit realizes and as independent production marketing or use using the form of SFU software functional unit
Time, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part that in other words prior art contributed or this technical scheme completely or partially can be with the form of software product
Embodying, this computer software product is stored in a storage medium, including some instructions with so that a computer
Equipment (can be for personal computer, server or the network equipment etc.) perform the whole of method described in each embodiment of the present invention or
Part steps.And aforesaid storage medium includes: USB flash disk, read only memory (ROM, Read-Only Memory), random access memory are deposited
Reservoir (RAM, Random Access Memory), portable hard drive, magnetic disc or CD etc. are various can store program code
Medium.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (18)
1. the detection method of a permanent-magnet synchronous motor rotor position, it is characterised in that including:
Set up the synovial membrane observation model of permagnetic synchronous motor；
The current back-EMF observer value exported described synovial membrane observation model by back-EMF observer model is processed,
To current counter electromotive force estimated value；
Described current counter electromotive force estimated value is carried out Phase Processing, obtains the current rotor information of described permagnetic synchronous motor,
Wherein, described current rotor information includes: rotor speed and rotor position angle.
Method the most according to claim 1, it is characterised in that set up the synovial membrane observation model of permagnetic synchronous motor, including:
Obtained the most electronic of the present input voltage of described permagnetic synchronous motor, the back-EMF observer value at upper a moment and upper a moment
Gesture estimated value；
Present input voltage, the back-EMF observer value at upper a moment and upper a moment according to described permagnetic synchronous motor the most electronic
Gesture estimated value, sets up described synovial membrane observation model by described permagnetic synchronous motor motor model under default axle system.
Method the most according to claim 2, it is characterised in that by described permagnetic synchronous motor electricity under default axle system
The dynamical equation of described synovial membrane observation model set up by machine model:
Wherein,For current observation,For the counter electromotive force estimated value at upper a moment, Sα、SβElectronic for upper a moment
Gesture observation, μα、μβFor described present input voltage, M is opposing electromotance feedback coefficient.
Method the most according to claim 1, it is characterised in that described synovial membrane observation model exports described back-EMF observer
Value, including:
Obtain the current observation of described synovial membrane observation model output；
Obtain the biphase stator current component in default axle system of described permagnetic synchronous motor；
Described back-EMF observer value is obtained by saturation function according to described current observation and described current component.
Method the most according to claim 4, it is characterised in that by equation below according to described current observation and described
Current component obtains described back-EMF observer value by saturation function:
Wherein, k is sliding formwork gain coefficient, and δ is the boundary region constant of saturation function,For described current observation, iα、iβ
Electric current for the biphase stator of described permagnetic synchronous motor.
Method the most according to claim 4, it is characterised in that obtain the biphase stator of described permagnetic synchronous motor described
Preset the current component of axle system, including:
Measure the electric current of the biphase stator of described permagnetic synchronous motor；
Under shown default axle system, the electric current of described biphase stator is carried out Clarke transform, obtain described biphase stator described
Preset the current component of axle system.
Method the most according to claim 1, it is characterised in that described counter electromotive force estimated value is carried out Phase Processing,
To the current rotor information of described permagnetic synchronous motor, including:
According to described current back-EMF observer value and the rotor speed at upper a moment and rotor position angle, obtain rotor-position by mistake
Difference information；
Described rotor position error information is carried out PI integration, obtains current rotor rotating speed；
The rotating speed of described current rotor is integrated, obtains current rotor position angle.
Method the most according to claim 7, it is characterised in that by equation below according to described back-EMF observer value with
And the rotor speed at upper a moment and rotor position angle, obtain rotor position error information:
Wherein,For the counter electromotive force estimated value at upper a moment,For turning of extracting in two phase back-emf after Phase Processing
Sub-positional information, ψfThe intrinsic parameter of magnetic linkage for described permagnetic synchronous motor.
Method the most according to claim 1, it is characterised in that described synovial membrane observation model is exported by equation below
Back-EMF observer value processes, and obtains counter electromotive force estimated value:
Wherein, Sα、SβFor the back-EMF observer value at upper a moment,For the counter electromotive force estimated value at described upper a moment,
For the rotor position angle at upper a moment, l is back-EMF observer model gain coefficient, l ∈ (0 ,+∞).
10. the detection device of a permanent-magnet synchronous motor rotor position, it is characterised in that including:
Set up module, for setting up the synovial membrane observation model of permagnetic synchronous motor；
First processing module, for the current counter electromotive force exported described synovial membrane observation model by back-EMF observer model
Observation processes, and obtains current counter electromotive force estimated value；
Second processing module, for described current counter electromotive force estimated value is carried out Phase Processing, obtains described permanent magnet synchronous electric
The current rotor information of machine, wherein, described rotor information includes: rotor speed and rotor position angle.
11. devices according to claim 10, it is characterised in that described module of setting up includes:
First acquisition module, for obtaining the back-EMF observer at the present input voltage of described permagnetic synchronous motor, upper a moment
Value and the counter electromotive force estimated value at upper a moment；
First sets up submodule, sees for the present input voltage according to described permagnetic synchronous motor, the counter electromotive force at upper a moment
The counter electromotive force estimated value at measured value and upper a moment, sets up institute by described permagnetic synchronous motor motor model under default axle system
State synovial membrane observation model.
12. devices according to claim 11, it is characterised in that second sets up submodule, for same by described permanent magnetism
Step motor motor model under default axle system sets up the dynamical equation of described synovial membrane observation model:
Wherein,For current observation,For the counter electromotive force estimated value at upper a moment, Sα、SβElectronic for upper a moment
Gesture observation, μα、μβFor described present input voltage, M is opposing electromotance feedback coefficient.
13. devices according to claim 10, it is characterised in that described first processing module includes:
Second acquisition module, for obtaining the current observation of described synovial membrane observation model output；
3rd acquisition module, for obtaining the biphase stator current component in default axle system of described permagnetic synchronous motor；
First determines module, for obtaining described anti-electricity according to described current observation and described current component by saturation function
EMF observer value.
14. devices according to claim 13, it is characterised in that by equation below according to described current observation and institute
State current component and obtain described back-EMF observer value by saturation function:
Wherein, k is sliding formwork gain coefficient, and δ is the boundary region constant of saturation function,For described current observation, iα、iβ
Electric current for the biphase stator of described permagnetic synchronous motor.
15. devices according to claim 13, it is characterised in that described 3rd acquisition module includes:
Measurement module, for measuring the electric current of the biphase stator of described permagnetic synchronous motor；
Conversion module, for the electric current of described biphase stator being carried out Clarke transform under shown default axle system, obtains described
Biphase stator is at the current component of described default axle system.
16. devices according to claim 10, it is characterised in that described second processing module includes:
Second determines module, for according to described current back-EMF observer value and the rotor speed at upper a moment and rotor-position
Angle, obtains rotor position error information；
Integrate module, for described rotor position error information is carried out PI integration, obtain current rotor rotating speed；
Integration module, for being integrated the rotating speed of described current rotor, obtains described current rotor position angle.
17. devices according to claim 16, it is characterised in that by equation below according to described back-EMF observer value
And the rotor speed at upper a moment and rotor position angle, obtain rotor position error information:
Wherein,For the counter electromotive force estimated value at described upper a moment,For two phase back-emf after Phase Processing extract
Rotor position information, ψfThe intrinsic parameter of magnetic linkage for described permagnetic synchronous motor.
18. devices according to claim 10, it is characterised in that described synovial membrane observation model is exported by equation below
Back-EMF observer value process, obtain counter electromotive force estimated value:
Wherein, Sα、SβFor the back-EMF observer value at upper a moment,For the counter electromotive force estimated value at upper a moment,For upper
The rotor position angle at a moment, l is back-EMF observer model gain coefficient, l ∈ (0 ,+∞).
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| CN106374793A (en) * | 2016-10-27 | 2017-02-01 | 珠海格力电器股份有限公司 | Control method and device for permanent magnet synchronous motor without position sensor |
| CN106487304A (en) * | 2016-10-27 | 2017-03-08 | 江苏大学 | A kind of permagnetic synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
| CN106712602A (en) * | 2017-01-21 | 2017-05-24 | 中国东方电气集团有限公司 | Control device based on permanent magnet synchronous motor without position sensor and control method |
| CN108258949A (en) * | 2018-02-02 | 2018-07-06 | 上海交通大学 | A kind of rotor-position adaptive estimation method of noninductive permanent magnet synchronous motor |
| CN110581679A (en) * | 2019-09-18 | 2019-12-17 | 上海中科深江电动车辆有限公司 | method for controlling triangle connection permanent magnet synchronous motor without position sensor and verification system thereof |
| CN111969922A (en) * | 2020-07-20 | 2020-11-20 | 四川虹美智能科技有限公司 | Method and device for determining rotating speed of motor and electronic equipment |
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| CN106374793A (en) * | 2016-10-27 | 2017-02-01 | 珠海格力电器股份有限公司 | Control method and device for permanent magnet synchronous motor without position sensor |
| CN106487304A (en) * | 2016-10-27 | 2017-03-08 | 江苏大学 | A kind of permagnetic synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
| CN106487304B (en) * | 2016-10-27 | 2018-10-09 | 江苏大学 | A kind of permanent magnet synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
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| CN106712602A (en) * | 2017-01-21 | 2017-05-24 | 中国东方电气集团有限公司 | Control device based on permanent magnet synchronous motor without position sensor and control method |
| CN106712602B (en) * | 2017-01-21 | 2019-03-29 | 中国东方电气集团有限公司 | Control device and control method based on position-sensor-free permanent magnet synchronous motor |
| CN108258949A (en) * | 2018-02-02 | 2018-07-06 | 上海交通大学 | A kind of rotor-position adaptive estimation method of noninductive permanent magnet synchronous motor |
| CN110581679A (en) * | 2019-09-18 | 2019-12-17 | 上海中科深江电动车辆有限公司 | method for controlling triangle connection permanent magnet synchronous motor without position sensor and verification system thereof |
| CN110581679B (en) * | 2019-09-18 | 2021-09-24 | 上海中科深江电动车辆有限公司 | Method for controlling triangle connection permanent magnet synchronous motor without position sensor and verification system thereof |
| CN111969922A (en) * | 2020-07-20 | 2020-11-20 | 四川虹美智能科技有限公司 | Method and device for determining rotating speed of motor and electronic equipment |
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