CN106100488A - Low-power permagnetic synchronous motor non-position sensor vector control method - Google Patents

Abstract

The present invention relates to a kind of low-power permagnetic synchronous motor non-position sensor vector control method, comprise the following steps: (1) applies voltage vector at initial angle, produce the magnetic field of respective direction, determine the initial position of rotor, and start motor；(2) position of rotor during low speed is estimated；(3) rotating speed is divided into different interval, interval estimates by the position of low speed rotor when high speed switches according to different；(4) by observer and phase-locked loop structures, the position of rotor during high speed is estimated.Use the method, simplify low speed algorithm for estimating, reduce taking of resources of chip, and little startup time；The rotor-position of the method centering high speed stage that employing observer combines with phaselocked loop is estimated, eliminates deviation；Directly system concussion can be caused by low speed algorithm for estimating even to shut down to high speed algorithm for estimating switching, pass through blending algorithm, it is achieved seamlessly transitting of two kinds of algorithms, be with a wide range of applications.

Description

Low-power permagnetic synchronous motor non-position sensor vector control method

Technical field

The present invention relates to motor control technology field, particularly relate to low-power permagnetic synchronous motor and control technical field, tool Body refers to a kind of low-power permagnetic synchronous motor non-position sensor vector control method.

Background technology

In controlling permagnetic synchronous motor running, need to detect the position of rotor and constantly by position by sensor Confidence breath is sent to controller, it is therefore desirable to higher precision.Particularly require higher occasion at motor running, to rotor The required precision of position is higher.The most common sensor has photoelectric encoder and rotary transformer etc., although these sensors Can relatively accurately detect the position of rotor, but also bring a lot of problem:

1) sensor is expensive, and the cost of a whole set of motor control system has been significantly greatly increased, every in batch production The benefit that the use of individual product one sensor of minimizing is brought is the most surprising；

2) sensor is installed and can strengthen the difficulty of motor manufacturing process, cause the cost of motor own and maintenance difficulty Increase；

3) use of sensor has certain requirement to environment, limits the range of motor.As high temperature, dust, The unstable properties of sensor can be caused in the case of the bad environments such as humidity, the precision of sensor is caused the biggest impact, Maintenance difficulty and the cost of these local sensors also can be greatly improved simultaneously；

4) volume of integral device can be increased after sensor being installed, for the place that some spaces are smaller, install Sensor difficulty can increase, such as auto pump, oil pump etc.；

5) there are some to affect the stability that motor is overall, after increasing sensor, need to increase on hardware controls plate one A little devices, the most also to increase by 4～6 connecting lines etc., increase the complexity of structure, and stability reduces.The installation of sensor is also The rotary inertia of motor itself can be increased, and due to accuracy of instrument and the impact of alignment error, the axle center of sensor and electricity Always there is a certain degree of skew in the axle center of motivation rotor, these all can reduce the stability of motor running.

Based on above various reasons, the control technology of research and development permagnetic synchronous motor position-sensor-free seems and very must Want.It is mainly based upon the quantity of state (such as stator phase voltage, stator current etc.) of motor itself and inherent character to rotor Speed and position are estimated, to realize the high performance control of motor.There is presently no a kind of single method can be entirely In the range of speed, motor is carried out more accurate rotor position estimate, be to use multiple method to solve this contradiction major part The mode combined is controlled, i.e. low speed and high speed respectively uses a kind of control method.

When low speed, the principle of used method is mainly by the non-linear saturated characteristic of stator core, the more commonly used and Effective method is High Frequency Injection.Rotation high-frequency voltage signal or pulsating high-frequency voltage signal are injected into stator In, thus producing the rotating excitation field of constant amplitude or the alternating magnetic field pulsed along a certain axis, these can be felt by field spider The magnetic field answered is modulated effect, and the final high-frequency carrier signal containing rotor position information arises that at stator phase currents In, it is demodulated these carrier signals and carries out certain process can be obtained by rotor-position.Can be seen that this side Method is the most relevant to the structure of motor itself, and parameter own with motor (such as stator resistance, inductance etc.) and rotating speed etc. all do not have Relation, strong robustness, institute's in this way precision is the highest.

During high speed, rotor position estimate method comparison is many, and the more commonly used is observer, as shown in Figure 1.Required for it The amount of observation is stator current, and needing the amount of prediction is counter electromotive force, can be by the deviation of observation electric current with actual current Build error compensation item, obtain counter electromotive force, thus obtain estimating the closed loop system of extension counter electromotive force.Input quantity is Stator voltage u measured_sWith electric current i_s, output is the counter electromotive force estimatedAnd the rotating speed estimatedCan be byCarry out anti- Tangent is obtained.Although also having used section motor parameter in observer, but the deviation of parameter value can having been adjusted by PI Joint device is corrected, and observer does not the most carry out differential to electric current, reduces the sensitivity to noise.Just because of these Feature so that the performance of Luenberger observer is better than additive method.

But prior art exists many weak points in the application, first, when rotor-position is estimated by low speed, from The principle of high-frequency signal injection can be seen that, the defect of this method needs motor itself to have exactly saliency, and high frequency The injection of signal will also result in torque pulsation simultaneously, if the amplitude of high-frequency signal is excessive, also brings along electromagnetic noise.This algorithm Operand is the biggest, and the requirement to chip itself is the highest, and these are all the drawbacks of this algorithm.

Secondly, when rotor-position is estimated by high speed, when after the counter electromotive force that is expanded, it will usually directly by anti- The method of tangent obtains rotor-position.Arc tangent calculated rotor-position when about 90 ° can produce deviation, the most anyway Cut noise ratio more sensitive, and noise inevitably exists in practice, so there will be very in the angle result solved Many burrs.

Finally, low speed algorithm for estimating is when high speed algorithm for estimating switches over, it is common that directly switch or the two is inclined Switching over when differing within the specific limits, this way may result in the violent shake of rotating speed, causes system to be shaken, time serious Motor step-out even can be caused to stall.

Summary of the invention

It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that a kind of low-power permanent magnetism being capable of Synchronous motor non-position sensor vector control method.

To achieve these goals, having of the present invention is constituted as follows:

This low-power permagnetic synchronous motor non-position sensor vector control method, comprises the following steps:

(1) apply voltage vector at initial angle, produce the magnetic field of respective direction, determine the initial position of rotor, and open Galvanic electricity machine；

(2) position of rotor during low speed is estimated；

(3) rotating speed is divided into different interval, according to different interval to the position by low speed rotor when high speed switches Estimate；

(4) by observer and phase-locked loop structures, the position of rotor during high speed is estimated.

It is preferred that described step (1) is further comprising the steps of:

(1-1) voltage is controlled according to actual loading calibrating and positioning；

(1-2) in succession apply voltage at least two direction, voltage need to be slowly increased to positioning control according to certain slope Voltage processed, forces to be attracted to initial position by rotor；

(1-3) motor is started by initial position.

It is preferred that described step (2) comprises the following steps:

(2-1) calculate what motor can be generated by according to the size of permagnetic synchronous motor rated current and permanent magnet magnetic flux Level of torque:

T_e=1.5p_nψ_fi_q,

Wherein T_eThe torque that can be generated by for motor, p_nFor motor number of pole-pairs, ψ_fFor permanent magnet magnetic flux, i_qSame for permanent magnetism Step Rated motor electric current；

(2-2) acceleration of rotor is gone out by electromechanics Equation for Calculating:

$\mathrm{\α}=\frac{T_e-T_0}{J},$

Wherein, α is the acceleration of rotor, and J is rotary inertia, T₀For load torque；

(2-3) offset the impact of damping action, utilize the acceleration of rotor that the integration of time obtains the angular velocity of rotor:

ω_{m_open}=k ∫ α dt=k α t,

Wherein, k (k < 1) is correction factor, ω_{m_open}Angular velocity for rotor；

(2-4) angular velocity of rotor is integrated, obtains angle required during open loop operation:

${\mathrm{\&theta;}}_{m\_open}=\&Integral;\left(k\mathrm{\&alpha;}t\right)dt=\frac{1}{2}{\mathrm{k\&alpha;t}}^2,$

Wherein, θ_{m_open}For angle required during open loop operation.

It is preferred that described step (3) comprises the following steps:

(3-1) ω is set_beginAnd ω_endIt is respectively starting velocity and termination speed that low speed switches to high speed, determines ω_beginAnd ω_endSize, rotating speed is divided into three intervals, rotating speed≤ω that respectively low speed is estimated_beginFirst interval, ω_beginThe rotating speed ＜ ω that ＜ low speed is estimated_endRotating speed >=ω that second is interval and low speed is estimated_endThe 3rd interval；

(3-2) judge the current interval estimating rotating speed place, if first is interval, then continue step (2), if the Two is interval, then continue step (3-3), if the 3rd is interval, then continues step (4)；

(3-3 is by below equation calculating β:

$\mathrm{\&beta;}=\frac{{\mathrm{\&omega;}}_{r\_low}-{\mathrm{\&omega;}}_{begin}}{{\mathrm{\&omega;}}_{end}-{\mathrm{\&omega;}}_{begin}},$

Wherein, β is fusion coefficients, ω_{r_low}The spinner velocity estimated for low speed；

(3-4) obtain estimating to export by following blending algorithm:

Estimate output=low speed estimation × (1-β)+high speed estimation × β.

More preferably, described determination ω_beginAnd ω_endSize, comprise the following steps:

(3-1-1) the rotating speed deviation estimated according to low speed algorithm for estimating and high speed algorithm for estimating determines ω_begin's Size；

(3-1-2) if the deviation of two kinds of rotating speeds estimated is less than the threshold value set, then switch over, velocity amplitude now As switching starting velocity, and terminate speed omega_endIt is set as the 10% of the maximal rate that motor can reach；

(3-1-3) according to required acceleration index to ω_beginAnd ω_endIt is adjusted.

It is preferred that described step (4) comprises the following steps:

(4-1) counter electromotive force of motor is calculated by observer；

(4-2) followed the tracks of by phaselocked loop and the phase place that locks in counter electromotive force, control to adjust by angular deviation and estimate Rotating speed.

More preferably, in described step (4-1) further comprising the steps of:

(4-1-1) estimator is substituted into the relevant variable in the virtual voltage equation of motor, obtains observing electric current；

(4-1-2) observation electric current is compared with actually measured stator current, obtain error compensation item；

(4-1-3) size of counter electromotive force is determined according to described error compensation item.

More preferably, in described step (4-2) further comprising the steps of:

(4-2-1) by PID controller, described phase place is converted into speed controling signal；

(4-2-2) being integrated described speed controling signal, the high speed obtaining rotor estimates angle；

(4-2-3) estimate the rotor-position of next cycle according to current velocity information, then feed back to input.

Have employed the low-power permagnetic synchronous motor non-position sensor vector control method in this invention, due to motor master In the high speed stage to be operated in, therefore there is no need too much to study the rotor position estimate in low rate start stage, the present invention is very big Rotor position estimate algorithm when simplifying low rate start, it is ensured that motor can start, and reduces taking of resources of chip, Thus can use the chip of more low side, cost-effective, quick start method can reduce the startup time simultaneously；Use observation The rotor-position of the method centering high speed stage that device combines with phaselocked loop is estimated, directly obtained by observer is the most electronic Gesture carries out arc tangent and processes that to obtain the method for rotor-position more sensitive to noise ratio, and estimated result has a lot of burr, and uses Phase-locked loop structures carries out processing it is estimated that without the position of phase delay, traditional phaselocked loop is compensated improvement simultaneously, Eliminate deviation present in it；Low speed algorithm for estimating is when high speed algorithm for estimating switches, and directly switching may result in and is System concussion is even shut down.The present invention uses a kind of blending algorithm, it is achieved seamlessly transitting of two kinds of algorithms.

Accompanying drawing explanation

Fig. 1 is the structural representation of the observer of prior art.

Fig. 2 is the phase-locked loop structures frame of the low-power permagnetic synchronous motor non-position sensor vector control method of the present invention Figure.

Fig. 3 is the specific works principle of the low-power permagnetic synchronous motor non-position sensor vector control method of the present invention Schematic diagram.

Detailed description of the invention

In order to more clearly describe the technology contents of the present invention, carry out further below in conjunction with specific embodiment Describe.

In a kind of feasible embodiment, low-power permagnetic synchronous motor non-position sensor vector control method, bag Include following steps:

(1) apply voltage vector at initial angle, produce the magnetic field of respective direction, determine the initial position of rotor, and open Galvanic electricity machine；

(2) position of rotor during low speed is estimated；

(3) rotating speed is divided into different interval, according to different interval to the position by low speed rotor when high speed switches Estimate；

(4) by observer and phase-locked loop structures, the position of rotor during high speed is estimated.

In one preferably embodiment, described step (1) is further comprising the steps of:

(1-1) voltage is controlled according to actual loading calibrating and positioning；

(1-2) in succession apply voltage at least two direction, voltage need to be slowly increased to positioning control according to certain slope Voltage processed, forces to be attracted to initial position by rotor；

(1-3) motor is started by initial position.

In one preferably embodiment, described step (2) comprises the following steps:

(2-1) calculate what motor can be generated by according to the size of permagnetic synchronous motor rated current and permanent magnet magnetic flux Level of torque:

T_e=1.5p_nψ_fi_q,

Wherein T_eThe torque that can be generated by for motor, p_nFor motor number of pole-pairs, ψ_fFor permanent magnet magnetic flux, i_qSame for permanent magnetism Step Rated motor electric current；

(2-2) acceleration of rotor is gone out by electromechanics Equation for Calculating:

$\mathrm{\&alpha;}=\frac{T_e-T_0}{J},$

Wherein, α is the acceleration of rotor, and J is rotary inertia, T₀For load torque；

(2-3) offset the impact of damping action, utilize the acceleration of rotor that the integration of time obtains the angular velocity of rotor:

ω_{m_open}=k ∫ α dt=k α t,

Wherein, k (k < 1) is correction factor, ω_{m_open}Angular velocity for rotor；

(2-4) angular velocity of rotor is integrated, obtains angle required during open loop operation:

${\mathrm{\&theta;}}_{m\_open}=\&Integral;\left(k\mathrm{\&alpha;}t\right)dt=\frac{1}{2}{\mathrm{k\&alpha;t}}^2,$

Wherein, θ_{m_open}For angle required during open loop operation.

In one preferably embodiment, described step (3) comprises the following steps:

(3-1) ω is set_beginAnd ω_endIt is respectively starting velocity and termination speed that low speed switches to high speed, determines ω_beginAnd ω_endSize, rotating speed is divided into three intervals, rotating speed≤ω that respectively low speed is estimated_beginFirst interval, ω_beginThe rotating speed ＜ ω that ＜ low speed is estimated_endRotating speed >=ω that second is interval and low speed is estimated_endThe 3rd interval；

(3-2) judge the current interval estimating rotating speed place, if first is interval, then continue step (2), if the Two is interval, then continue step (3-3), if the 3rd is interval, then continues step (4)；

(3-3) by below equation calculating β:

$\mathrm{\&beta;}=\frac{{\mathrm{\&omega;}}_{r\_low}-{\mathrm{\&omega;}}_{begin}}{{\mathrm{\&omega;}}_{end}-{\mathrm{\&omega;}}_{begin}},$

Wherein, β is fusion coefficients, ω_{r_low}The spinner velocity estimated for low speed；

(3-4) obtain estimating to export by following blending algorithm:

Estimate output=low speed estimation × (1-β)+high speed estimation × β.

In one more preferably embodiment, described determination ω_beginAnd ω_endSize, comprise the following steps:

(3-1-1) the rotating speed deviation estimated according to low speed algorithm for estimating and high speed algorithm for estimating determines ω_begin's Size；

(3-1-2) if the deviation of two kinds of rotating speeds estimated is less than the threshold value set, then switch over, velocity amplitude now As switching starting velocity, and terminate speed omega_endIt is set as the 10% of the maximal rate that motor can reach；

(3-1-3) according to required acceleration index to ω_beginAnd ω_endIt is adjusted.

In one preferably embodiment, described step (4) comprises the following steps:

(4-1) counter electromotive force of motor is calculated by observer；

(4-2) followed the tracks of by phaselocked loop and the phase place that locks in counter electromotive force, control to adjust by angular deviation and estimate Rotating speed.

In one more preferably embodiment, further comprising the steps of in described step (4-1):

(4-1-1) estimator is substituted into the relevant variable in the virtual voltage equation of motor, obtains observing electric current；

(4-1-2) observation electric current is compared with actually measured stator current, obtain error compensation item；

(4-1-3) size of counter electromotive force is determined according to described error compensation item.

In one more preferably embodiment, further comprising the steps of in described step (4-2):

(4-2-1) by PID controller, described phase place is converted into speed controling signal；

(4-2-2) being integrated described speed controling signal, the high speed obtaining rotor estimates angle；

(4-2-3) estimate the rotor-position of next cycle according to current velocity information, then feed back to input.

For realizing the goal of the invention of the technical program, need following key technology:

1) rotor fixed position technology.In the case of the most uncertain initial position of rotor, use and apply at specific direction The method of voltage makes rotor be fixed to certain known location.In order to avoid positioning unsuccessfully, voltage need to be applied successively in multiple directions； In order to avoid rush of current is excessive, voltage need to be increased according to certain slope.

2) control is started.Given rotating speed and angle curve are accelerated according to this curve by motor, oblique by adjusting curve Rate can change acceleration magnitude, it is achieved quickly starts.

3) rotor-position during high speed is estimated by the method using observer to combine with phaselocked loop.Directly will observation The counter electromotive force that device obtains carries out arc tangent and processes that to obtain the method for rotor-position more sensitive to noise ratio, and estimated result has very Many burrs, and use phase-locked loop structures to carry out processing it is estimated that without the position of phase delay.Simultaneously to traditional phaselocked loop Compensate improvement, eliminate deviation present in it.

4) low speed algorithm for estimating is when high speed algorithm for estimating switches, and direct switching may result in system concussion and even stops Machine.The present invention uses a kind of blending algorithm, it is achieved seamlessly transitting of two kinds of algorithms.

In one more specifically embodiment, based on above-mentioned key technology, as it is shown on figure 3, due to motor major part Time all operate under high speed operating mode, if a lot of resource of consumption system go estimate low-speed stage rotor-position uneconomical, So using a kind of simple and effective method of estimation to replace the high-frequency signal injection of complexity.It is to be appreciated that rotor during owing to starting Initial position, it is proposed that apply voltage vector at a certain special angle so that it is produce the magnetic field of the direction, forces to attract by rotor To this position, the method then carrying out starting.Location time should be noted following some:

Location controls voltage and need to demarcate according to actual loading, it is to avoid occur that positioning voltage is crossed lesser trochanter and cannot quickly be moved Move to setting position, or positioning voltage is excessive causes electric current excessive；

Cause position unsuccessfully for avoiding actual rotor position and positioning voltage to be separated by 180 °, in succession need to execute in multiple directions Add certain voltage.Suddenly the impact causing current break to cause is filled in order to avoid voltage, need to be slow according to certain slope Increase voltage swing to setting value.

The most just start from the position of location, count according to the size of permagnetic synchronous motor rated current and permanent magnet magnetic flux The level of torque that calculation motor can be generated by:

T_e=1.5p_nψ_fi_q

Ignore the damping action impact on rotating speed accelerator, electromechanics Equation for Calculating go out the acceleration of rotor:

$\mathrm{\&alpha;}=\frac{T_e-T_0}{J}$

Wherein, J is rotary inertia, T₀For load torque.

Owing to not accounting for the impact of damping action during calculating acceleration, so real acceleration can be slightly less than This value, needs to be multiplied by correction factor k (k ＜ 1) during using, utilizes this acceleration that the integration of time is obtained rotor Speed.

ω_{m_open}=k ∫ α dt=k α t

The rotating speed calculated is integrated obtaining angle required during open loop operation:

${\mathrm{\&theta;}}_{m\_open}=\&Integral;\left(k\mathrm{\&alpha;}t\right)dt=\frac{1}{2}{\mathrm{k\&alpha;t}}^2$

Exactly rotor-position during high speed is estimated afterwards.Observer state to be predicted is the anti-of motor Electromotive force, and counter electromotive force can be determined by error compensation item, and error compensation item is inclined by observation electric current and actual current Difference determines.The virtual voltage equation of the i.e. motor of reference model, adjustable model Partial Variable the most therein changes estimator into, this Sample just can be calculated the electric current of observation, and the stator current obtained with real sensor compares.

After calculating motor back emf, by a kind of structure being phaselocked loop, this structure can be followed the tracks of instead Phase place (i.e. positional information) in electromotive force and being locked.When the rotating speed estimated is more than actual speed, it is desirable to reduce and estimate Metering rotating speed, corresponding angular deviation Δ θ_r=θ '_r-θ_rAlso can reduce；When the rotating speed estimated is less than actual speed, it is desirable to increase Estimating rotating speed, corresponding angular deviation also can reduce, it can be seen that can be controlled by angular deviation to adjust the rotating speed estimated.By This can be seen that this is a feedback control system with phase deviation as control object, makes phase place and the input letter of output signal Number phase place keep synchronize.

When being applied to PMSM rotor position estimate, the input quantity of phaselocked loop is the counter electromotive force of extension, wherein comprises rotor Positional information, can be equivalent to reference frequency above.The output of phaselocked loop is rotor angle, wraps in itself and counter electromotive force It is rotating speed that the rotor position information contained is passed through the control signal that low pass filter obtains more afterwards, and rotating speed obtains angle after integration Degree, its control structure figure is as shown in Figure 2.

The angle that the angle feed-back estimated goes back with current time contrasts, but after discretization, feedback quantity can prolong Time one unit period, the rotor-position that such phaselocked loop is actually estimated was the position in a upper cycle, was not this moment Real position.In order to solve this problem, need the rotor-position of feedback is compensated.Specifically can be according to current speed Information estimates the rotor-position of next cycle, then feeds back to input, owing to feedback quantity has carried out unit time delay, so The amount just carrying out contrasting is the amount in this cycle.

Low speed algorithm for estimating is when high speed algorithm for estimating switches, in order to avoid the system concussion caused when directly switching, Have employed a kind of switching function with speed reference as control signal, it is achieved that low speed algorithm for estimating to high speed location estimation is calculated Taking over seamlessly of method.

Control thought is:

1) rotating speed≤ω is estimated when low speed_beginTime, rotating speed and angle required for motor running are all estimated by low speed Algorithm provides；

2) ω is worked as_begin＜ low speed estimates rotating speed ＜ ω_endTime, low speed algorithm for estimating and high speed location-estimation algorithm are simultaneously Work, the rotating speed the two exported and angle export to motor after merging by certain algorithm.Blending algorithm is:

Estimate output=low speed estimation × (1-β)+high speed estimation × β.

3) rotating speed >=ω is estimated when low speed_end, rotating speed and angle required for motor running are all estimated by high speed position Calculating method provides.

Wherein variable-definition is as follows:

ω_begin, ω_end: the starting velocity that low speed algorithm for estimating switches to high speed location-estimation algorithm and termination speed；

ω_{r_low}The spinner velocity estimated for low speed.

In handoff procedure, rotating speed and angle proportion that low speed algorithm for estimating estimates are gradually reduced, and open from switching During the beginning 1 is to 0 during finishing switching, it is achieved that low speed algorithm for estimating seamlessly transits to high speed location-estimation algorithm.But Starting velocity ω for switching_beginDetermination need to consider more factor, if this value is too low, now counter electromotive force is less, Again due to effect of noise, spinner velocity and position deviation that high speed location-estimation algorithm estimates are bigger；If this value is too high, Spinner velocity and position deviation that low speed algorithm for estimating is estimated also can be increasing, and both of these case all can cause handoff failure. Therefore for starting velocity ω_beginSelection not only rely on the workable minimum speed of high speed location-estimation algorithm, also simultaneously Affected by a load, need according under different occasion difference operating modes to ω_beginIt is adjusted.

Determine the initial speed omega of switching starting most_beginTime, mainly estimate to calculate according to low speed algorithm for estimating and high speed The rotating speed deviation that method estimates determines, just switches over when the deviation of two kinds of rotating speeds estimated is less than the threshold value set, Velocity amplitude now is as switching starting velocity.Terminate speed omega_endMay be set to the maximal rate that motor can reach 10%, then it is adjusted according to required acceleration index.

In some other embodiments, starting this part, having algorithm at present is that the given voltage rotated enters by motor Row accelerates, and this voltage rotary speed is increasingly faster to allow motor obtain switch speed simultaneously.But this method starts the time Can be relatively more long, because the reason of electromechanics inertia, during beginning, voltage rotary speed can not be excessive, can only be slowly increased, not so Can cause starting unsuccessfully.

Also the method having extended BHF approach device (EKF) in high speed algorithm for estimating, its used recursion The method calculated, can gather data, while carrying out recursive operation.Due to the algorithm structure of EKF itself, in recurrence calculation Everywhere output result be all most probable occur or optimum.Owing to EKF is mainly for nonlinear system, take into full account System noise and measure effect of noise, so still be able to estimate exactly the various shapes of system when noise occurs in system State, with additive method comparatively, this is unusual clear advantage.But EKF algorithm is sufficiently complex, amount of calculation is the biggest, right The requirement of hardware is higher, and these have influence on its On-line Estimation speed.And EKF can use the statistics ginseng of a lot of noise Number, these need the substantial amounts of time to go to analyze, and in feedback gain matrix, the design of parameter is the most sufficiently complex, needs great work Debugging as amount, these all limit its application.

Have employed the low-power permagnetic synchronous motor non-position sensor vector control method in this invention, due to motor master In the high speed stage to be operated in, therefore there is no need too much to study the rotor position estimate in low rate start stage, the present invention is very big Rotor position estimate algorithm when simplifying low rate start, it is ensured that motor can start, and reduces taking of resources of chip, Thus can use the chip of more low side, cost-effective, quick start method can reduce the startup time simultaneously；Use observation The rotor-position of the method centering high speed stage that device combines with phaselocked loop is estimated, directly obtained by observer is the most electronic Gesture carries out arc tangent and processes that to obtain the method for rotor-position more sensitive to noise ratio, and estimated result has a lot of burr, and uses Phase-locked loop structures carries out processing it is estimated that without the position of phase delay, traditional phaselocked loop is compensated improvement simultaneously, Eliminate deviation present in it；Low speed algorithm for estimating is when high speed algorithm for estimating switches, and directly switching may result in and is System concussion is even shut down.The present invention uses a kind of blending algorithm, it is achieved seamlessly transitting of two kinds of algorithms.

In this description, the present invention is described with reference to its specific embodiment.But it is clear that still may be made that Various modifications and alterations are without departing from the spirit and scope of the present invention.Therefore, specification and drawings is considered as illustrative And it is nonrestrictive.

Claims (8)

1. a low-power permagnetic synchronous motor non-position sensor vector control method, it is characterised in that described method bag Include following steps:

(1) apply voltage vector at initial angle, produce the magnetic field of respective direction, determine the initial position of rotor, and start electricity Machine；

(2) position of rotor during low speed is estimated；

(3) rotating speed is divided into different interval, interval carries out by the position of low speed rotor when high speed switches according to different Estimate；

(4) by observer and phase-locked loop structures, the position of rotor during high speed is estimated.

Low-power permagnetic synchronous motor non-position sensor vector control method the most according to claim 1, its feature exists In, described step (1) is further comprising the steps of:

(1-1) voltage is controlled according to actual loading calibrating and positioning；

(1-2) in succession apply voltage at least two direction, voltage need to be slowly increased according to certain slope and control electricity to location Pressure, forces to be attracted to initial position by rotor；

(1-3) motor is started by initial position.

Low-power permagnetic synchronous motor non-position sensor vector control method the most according to claim 1, its feature exists In, described step (2) comprises the following steps:

(2-1) calculate, according to the size of permagnetic synchronous motor rated current and permanent magnet magnetic flux, the torque that motor can be generated by Size:

T_e=1.5p_nψ_fi_q,

Wherein, T_eThe torque that can be generated by for motor, p_nFor motor number of pole-pairs, ψ_fFor permanent magnet magnetic flux, i_qFor permanent magnet synchronous electric Machine rated current；

(2-2) acceleration of rotor is gone out by electromechanics Equation for Calculating:

$\mathrm{\&alpha;}=\frac{T_e-T_0}{J},$

Wherein, α is the acceleration of rotor, and J is rotary inertia, T₀For load torque；

(2-3) offset the impact of damping action, utilize the acceleration of rotor that the integration of time obtains the angular velocity of rotor:

ω_{m_open}=k ∫ α dt=k α t,

Wherein, k (k < 1) is correction factor, ω_{m_open}Angular velocity for rotor；

(2-4) angular velocity of rotor is integrated, obtains angle required during open loop operation:

${\mathrm{\&theta;}}_{m\_open}=\&Integral;\left(k\mathrm{\&alpha;}t\right)dt=\frac{1}{2}{\mathrm{k\&alpha;t}}^2,$

Wherein, θ_{m_open}For angle required during open loop operation.

Low-power permagnetic synchronous motor non-position sensor vector control method the most according to claim 1, its feature exists In, described step (3) comprises the following steps:

(3-1) ω is set_beginAnd ω_endIt is respectively starting velocity and termination speed that low speed switches to high speed, determines ω_beginWith ω_endSize, rotating speed is divided into three intervals, rotating speed≤ω that respectively low speed is estimated_beginThe first interval, ω_begin＜ The rotating speed ＜ ω that low speed is estimated_endRotating speed >=ω that second is interval and low speed is estimated_endThe 3rd interval；

(3-2) judge the current interval estimating rotating speed place, if first is interval, then continue step (2), if the secondth district Between, then continue step (3-3), if the 3rd is interval, then continue step (4)；

(3-3) by below equation calculating β:

$\mathrm{\&beta;}=\frac{{\mathrm{\&omega;}}_{r\_low}-{\mathrm{\&omega;}}_{begin}}{{\mathrm{\&omega;}}_{end}-{\mathrm{\&omega;}}_{begin}},$

Wherein, β is fusion coefficients, ω_{r_low}The spinner velocity estimated for low speed；

(3-4) obtain estimating to export by following blending algorithm:

Estimate output=low speed estimation × (1-β)+high speed estimation × β.

Low-power permagnetic synchronous motor non-position sensor vector control method the most according to claim 4, its feature exists In, described determination ω_beginAnd ω_endSize, comprise the following steps:

(3-1-1) the rotating speed deviation estimated according to low speed algorithm for estimating and high speed algorithm for estimating determines ω_beginSize；

(3-1-2) if the deviation of two kinds of rotating speeds estimated is less than the threshold value set, then switch over, velocity amplitude conduct now Switching starting velocity, and terminate speed omega_endIt is set as the 10% of the maximal rate that motor can reach；

(3-1-3) according to required acceleration index to ω_beginAnd ω_endIt is adjusted.

Low-power permagnetic synchronous motor non-position sensor vector control method the most according to claim 1, its feature exists In, described step (4) comprises the following steps:

(4-1) counter electromotive force of motor is calculated by observer；

(4-2) followed the tracks of by phaselocked loop and the phase place that locks in counter electromotive force, controlled by angular deviation to adjust the rotating speed estimated.

Low-power permagnetic synchronous motor non-position sensor vector control method the most according to claim 6, its feature exists In, further comprising the steps of in described step (4-1):

(4-1-1) estimator is substituted into the relevant variable in the virtual voltage equation of motor, obtains observing electric current；

(4-1-2) observation electric current is compared with actually measured stator current, obtain error compensation item；

(4-1-3) size of counter electromotive force is determined according to described error compensation item.

Low-power permagnetic synchronous motor non-position sensor vector control method the most according to claim 6, its feature exists In, further comprising the steps of in described step (4-2):

(4-2-1) by PID controller, described phase place is converted into speed controling signal；

(4-2-2) being integrated described speed controling signal, the high speed obtaining rotor estimates angle；

(4-2-3) estimate the rotor-position of next cycle according to current velocity information, then feed back to input.