CN106549619B - A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed - Google Patents
A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed Download PDFInfo
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- CN106549619B CN106549619B CN201610943215.6A CN201610943215A CN106549619B CN 106549619 B CN106549619 B CN 106549619B CN 201610943215 A CN201610943215 A CN 201610943215A CN 106549619 B CN106549619 B CN 106549619B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of control system for permanent-magnet synchronous motor accurately recognized based on speed, starting to low-speed stage, using rotation high frequency signal injection method, by external high-frequency driving source to show machine saliency, and it is not influenced by motor operation operating mode, it is insensitive to parameter of electric machine variation, there is preferable robustness, efficiently solves the problems, such as that motor is inaccurate to lower-speed state lower rotor part position detection in startup.The present invention is realized in the sensorless strategy of high regime by Speed identification observer, and compared with common observer, the present invention has better anti-disturbance ability.The transfer process of the fuzzy region of present invention transition from low speed to high speed, two methods considers two factors of rotating speed and rotor position error simultaneously, ensure that the smooth transition of transfer process.
Description
Technical field
The present invention relates to the control systems of permanent magnet synchronous motor, more particularly to a kind of permanent magnetism accurately recognized based on speed
Synchronous motor control system.
Background technology
The most significant performance characteristics of magneto are high-performance, energy-efficient and lightness.It with power electronic technique and
Controlled by micro computer technology is combined, it is possible to produce many novel, the electromechanical integrated products and equipment that have excellent performance, its generation
The direction of table 21st century motor development.As permanent magnet synchronous motor application field range is opened up extensively, the control of permanent magnet synchronous motor
System needs to obtain reliable rotor information, is passed currently, mostly using photoelectric code disk, Hall sensor, current vortex sensor uniform velocity
Sensor carries out Rotating speed measring, and using the rotating speed detected as feedback tach signal.The higher electric system of precision is to speed
The requirement of control is higher, also higher for the requirement of sensor accordingly.
But presence of the velocity sensor in electric system not only hinders motor to high speed, the direction of miniaturization
Development, while its installation also brings problems with to system：
（1）The cost of system greatly increases, and the higher code-disc price of precision is also more expensive.
（2）Code-disc is installed on motor shaft, and there are concentricity issues, Rig up error will influence Rotating speed measring.
（3）So that motor shaft is increased to upper volume, and certain difficulty is brought to the maintenance of motor, reduces the machinery of system
Robustness；
（4）High temperature, high humidity adverse circumstances under can not work, and code-disc operating accuracy is easily affected by environment.
Invention content
Goal of the invention：The object of the present invention is to provide a kind of one kind that can solve defect existing in the prior art to be based on
The control system for permanent-magnet synchronous motor that speed accurately recognizes.
Technical solution：To reach this purpose, the present invention uses following technical scheme：
The control system for permanent-magnet synchronous motor of the present invention accurately recognized based on speed, including permanent magnet synchronous motor,
The three-phase current input terminal of the three-phase current end connection Clark converters of permanent magnet synchronous motor, the three-phase electricity of permanent magnet synchronous motor
Stream end is also connected with the three-phase current input terminal of abc-dq converters, and the output end of Clark converters is separately connected Speed identification sight
Survey the input terminal of the input terminal and filter of device, the input terminal of the output end connection angle observer of filter, angular observation device
Output end be separately connected the input terminal of polarity discriminating angular compensator and an input terminal of adder, polarity discriminating angle is mended
Another input terminal of the output end connection adder of device is repaid, the output end of adder is separately connected the input terminal of the first differentiator
With the input terminal of the first determining device, the output end of Speed identification observer is separately connected the input terminal of the second differentiator and first and sentences
The output end of the input terminal of disconnected device, the output end of the first differentiator and the second differentiator is separately connected the input of the second determining device
End, the output end of the second determining device connect an input terminal of the first subtracter, and motor rotor speed given value input first subtracts
Another input terminal of musical instruments used in a Buddhist or Taoist mass, the input terminal of the output end connection PI speed regulators of the first subtracter, PI speed regulators
Output end connects an input terminal of the second subtracter, and the output end of the first determining device is separately connected the input of abc-dq converters
The input terminal at end and Park inverse converters, another of q shaft current output ends the second subtracter of connection of abc-dq converters are defeated
Enter end, an input terminal of the d shaft current output ends connection third subtracter of abc-dq converters, the input of d shaft current given values
Another input terminal of third subtracter, the input terminal of the output end connection PI quadrature axis current adjusters of the second subtracter, third
The input terminal of the output end connection PI direct-axis current adjusters of subtracter, the output end and PI d-axis electricity of PI quadrature axis current adjusters
The output end of throttle regulator is separately connected the input terminal of Park inverse converters, and the output end of Park inverse converters is separately connected
The input terminal of the input terminal and Speed identification observer of Svpwm modulators, high-frequency voltage generator also connect Svpwm modulators
Input terminal, the input terminal of the output end connection inverter of Svpwm modulators, the output end connection permanent magnet synchronous motor of inverter
Threephase stator winding.
Further, the error signal of the Clark converters output is：
Formula（1）In, IipFor stator current, ωiFor angular speed, IinFor rotor current, t is time, θrFor rotor actual bit
It sets,For the estimated value of rotor-position.
Further, the polarity discriminating angular compensator is for being detected initial position of rotor and being carried out to polarity
Tracking, obtains polarity discriminating item ipol：
Formula（2）In, idFor direct-axis current, ΨdFor d-axis magnetic linkage, ΨfFor quadrature axis magnetic linkage, usiFor output voltage, ωiFor angle
Speed, θrFor rotor physical location,For the estimated value of rotor-position.
Further, the system is using fuzzy region control method, this method：
If rotor speed estimated valueω0For speed-changing, then rotor-position and speed signal are by angular observation
Device and polarity discriminating angular compensator provide, and obtain rotor position estimate valueSpeed estimate value For the output signal of adder,For the output signal of the first differentiator；
If rotor speed estimated valueThen judgeWhether 5 ° are less than,It is distinguished for speed
Know the output signal of observer：If being less than 5 °, it is switched to Speed identification observer and the second differentiator working condition, namely
Rotor position estimate valueSpeed estimate value For the output signal of the second differentiator；Otherwise, then
Into fuzzy region, rotor position estimate valueSpeed estimate value
Further, the abc-dq converters are according to rotor position estimate valueBy the three phase static of permanent magnet synchronous motor
Abc phase currents are converted to the static dq shaft currents of two-phase namely d shaft currents estimated value and q shaft current estimated values.
Further, the PI speed regulators are according to motor rotor speed given value and speed estimate valueBetween difference
The q shaft current given values for controlling the output of PI speed regulators, make motor rotor speed given value and speed estimate valueBetween
Difference is zero.
Further, the q shaft currents given value and abc- that the PI quadrature axis currents adjuster is exported according to PI speed regulators
The q shaft voltages of difference control PI quadrature axis current adjusters output between the q shaft current estimated values of dq converters output, keep PI fast
The difference spent between the q shaft currents given value of adjuster output and the q shaft current estimated values of abc-dq converters output is zero.
Further, the PI direct-axis currents adjuster is according to d shaft current given valuesWith the d axis of abc-dq converters output
The d shaft voltages of difference control PI direct-axis current adjusters output between current estimation value, make d shaft current given valuesWith abc-
Difference between the d shaft current estimated values of dq converters output is zero.
Further, the rotor position estimate value that the Park inverse converters are exported according to the first determining deviceBy PI quadrature axis electricity
The q shaft voltages of throttle regulator output and the d shaft voltages of PI direct-axis current adjusters output are converted to the static α β shaft voltages of two-phase,
Namely α shaft voltages and β shaft voltages.
Further, the Svpwm modulators generate the control of inverter according to the α β shaft voltages that Park inverse converters export
Signal.
Advantageous effect：Compared with prior art, the present invention has following advantageous effect：
1）The present invention is starting to low-speed stage, using rotation high frequency signal injection method, by external high-frequency driving source with
It shows machine saliency, and is not influenced by motor operation operating mode, it is insensitive to parameter of electric machine variation, there is preferable robust
Property, efficiently solve the problems, such as that motor is inaccurate to lower-speed state lower rotor part position detection in startup；
2）The present invention is realized in the sensorless strategy of high regime by Speed identification observer, with common observer phase
Than the present invention has better anti-disturbance ability；
3）The transfer process of the fuzzy region of present invention transition from low speed to high speed, two methods considers rotating speed and turns simultaneously
Two factors of sub- site error, ensure that the smooth transition of transfer process.
Description of the drawings
Fig. 1 is the system structure diagram of the specific embodiment of the invention；
Fig. 2 is the structural schematic diagram of the angular observation device of the specific embodiment of the invention；
Fig. 3 is the algorithm flow chart of the second determining device of the specific embodiment of the invention.
Specific implementation mode
Technical scheme of the present invention is further introduced With reference to embodiment.
Present embodiment discloses a kind of control system for permanent-magnet synchronous motor accurately recognized based on speed, such as Fig. 1
It is shown, including permanent magnet synchronous motor 118, the three-phase of the three-phase current end connection Clark converters 101 of permanent magnet synchronous motor 118
The three-phase current end of current input terminal, permanent magnet synchronous motor 118 is also connected with the three-phase current input terminal of abc-dq converters 110,
The output end of Clark converters 101 is separately connected the input terminal of the input terminal and filter 103 of Speed identification observer 102, filter
The input terminal of the output end connection angle observer 104 of wave device 103, the output end of angular observation device 104 are separately connected polarity and sentence
The input terminal of other angular compensator 105 and an input terminal of adder 119, the output end of polarity discriminating angular compensator 105
Connect another input terminal of adder 119, the output end of adder 119 be separately connected the first differentiator 106 input terminal and
The input terminal of first determining device 109, the output end of Speed identification observer 102 are separately connected the input terminal of the second differentiator 107
With the input terminal of the first determining device 109, the output end of the output end of the first differentiator 106 and the second differentiator 107 is separately connected
The input terminal of second determining device 108, the output end of the second determining device 108 connect an input terminal of the first subtracter 120, motor
Spinner velocity given value inputs another input terminal of the first subtracter 120, and the output end of the first subtracter 120 connects PI speed
The input terminal of adjuster 111, the output end of PI speed regulators 111 connect an input terminal of the second subtracter 121, and first sentences
The output end of disconnected device 109 is separately connected the input terminal of the input terminal and Park inverse converters 114 of abc-dq converters 110, abc-
The q shaft current output ends of dq converters 110 connect another input terminal of the second subtracter 121, the d of abc-dq converters 110
Shaft current output end connects an input terminal of third subtracter 122, and d shaft current given values input the another of third subtracter 122
One input terminal, the input terminal of the output end connection PI quadrature axis current adjusters of the second subtracter 121, third subtracter 122
Output end connects the input terminal of PI direct-axis current adjusters, the output end and PI direct-axis current adjusters of PI quadrature axis current adjusters
Output end be separately connected the input terminals of Park inverse converters, the output end of Park inverse converters is separately connected Svpwm modulators
The input terminal of 116 input terminal and Speed identification observer 102, high-frequency voltage generator 115 also connect Svpwm modulators 116
Input terminal, Svpwm modulators 116 output end connection inverter 117 input terminal, inverter 117 output end connection forever
The threephase stator winding of magnetic-synchro motor 118.The internal structure of angular observation device 104 is as shown in Figure 2.
Wherein, the error signal of Clark converters output is：
Formula（1）In, IipFor stator current, ωiFor angular speed, IinFor rotor current, t is time, θrFor rotor actual bit
It sets,For the estimated value of rotor-position.
Polarity discriminating angular compensator 105 is obtained for being detected to initial position of rotor and to polarity into line trace
To polarity discriminating item ipol：
Formula（2）In, idFor direct-axis current, ΨdFor d-axis magnetic linkage, ΨfFor quadrature axis magnetic linkage, usiFor output voltage, ωiFor angle
Speed, θrFor rotor physical location,For the estimated value of rotor-position.
This system uses fuzzy region control method, and this method is：
If rotor speed estimated valueω0For speed-changing, then rotor-position and speed signal are by angular observation
Device 104 and polarity discriminating angular compensator 105 provide, and obtain rotor position estimate valueSpeed estimate value For the output signal of adder 119,For the output signal of the first differentiator 106；
If rotor speed estimated valueThen judgeWhether 5 ° are less than,It is distinguished for speed
Know the output signal of observer 102：If being less than 5 °, it is switched to Speed identification observer 102 and the work of the second differentiator 107
State namely rotor position estimate valueSpeed estimate value For the output of the second differentiator 107
Signal；Otherwise, then enter fuzzy region, rotor position estimate valueSpeed estimate value
Abc-dq converters 110 are according to rotor position estimate valueBy the abc phases of the three phase static of permanent magnet synchronous motor 118
Electric current is converted to the static dq shaft currents of two-phase namely d shaft currents estimated value and q shaft current estimated values.
PI speed regulators 111 are according to motor rotor speed given value and speed estimate valueBetween difference control PI speed
The q shaft current given values that adjuster 111 exports are spent, motor rotor speed given value and speed estimate value are madeBetween difference be
Zero.
The q shaft currents given value that PI quadrature axis currents adjuster 112 is exported according to PI speed regulators 111 is converted with abc-dq
The q shaft voltages of 112 output of difference control PI quadrature axis currents adjuster between the q shaft current estimated values that device 110 exports, keep PI fast
Spend the difference between the q shaft current estimated values that the q shaft currents given value that adjuster 111 exports and abc-dq converters 110 export
It is zero.
PI direct-axis currents adjuster 113 is according to d shaft current given valuesThe d shaft currents exported with abc-dq converters 110
The d shaft voltages of 113 output of difference control PI direct-axis currents adjuster between estimated value, make d shaft current given valuesWith abc-
Difference between the d shaft current estimated values that dq converters 110 export is zero.
The rotor position estimate value that Park inverse converters 114 are exported according to the first determining device 109By PI quadrature axis current tune
The q shaft voltages that section device 112 exports are converted to the static α β axis electricity of two-phase with the d shaft voltages that PI direct-axis currents adjuster 113 exports
Pressure namely α shaft voltages and β shaft voltages.
The control that Svpwm modulators 116 generate inverter 117 according to the α β shaft voltages that Park inverse converters 114 export is believed
Number.
Claims (9)
1. a kind of control system for permanent-magnet synchronous motor accurately recognized based on speed, it is characterised in that：Including permanent magnet synchronous motor
(118), the three-phase current input terminal of the three-phase current end connection Clark converters (101) of permanent magnet synchronous motor (118), permanent magnetism
The three-phase current input terminal of the three-phase current end connection abc-dq converters (110) of synchronous motor (118), Clark converters
(101) output end is separately connected the input terminal of the input terminal and filter (103) of Speed identification observer (102), filter
(103) input terminal of output end connection angle observer (104), the output end of angular observation device (104) are separately connected polarity
Differentiate an input terminal of the input terminal and adder (119) of angular compensator (105), polarity discriminating angular compensator (105)
Output end connection adder (119) another input terminal, the output end of adder (119) is separately connected the first differentiator
(106) output end of the input terminal of input terminal and the first determining device (109), Speed identification observer (102) is separately connected
The input terminal of the input terminal and the first determining device (109) of two differentiators (107), the output end and second of the first differentiator (106)
The output end of differentiator (107) is separately connected the input terminal of the second determining device (108), and the output end of the second determining device (108) connects
An input terminal of the first subtracter (120) is connect, another of motor rotor speed given value the first subtracter of input (120) is defeated
Enter end, the output end of the first subtracter (120) connects the input terminal of PI speed regulators (111), PI speed regulators (111)
Output end connects an input terminal of the second subtracter (121), and the output end of the first determining device (109) is separately connected abc-dq changes
The input terminal of the input terminal and Park inverse converters (114) of parallel operation (110), the q shaft current output ends of abc-dq converters (110)
Another input terminal of the second subtracter (121) is connected, the d shaft current output ends connection third of abc-dq converters (110) subtracts
One input terminal of musical instruments used in a Buddhist or Taoist mass (122), d shaft current given values input another input terminal of third subtracter (122), the second subtraction
The input terminal of the output end connection PI quadrature axis current adjusters of device (121), the output end of third subtracter (122) connect PI d-axis
The input terminal of current regulator, the output end of PI quadrature axis current adjusters and the output end of PI direct-axis current adjusters are separately connected
The input terminal of Park inverse converters, the output end of Park inverse converters are separately connected the input terminal and speed of Svpwm modulators (116)
The input terminal of degree identification observer (102), high-frequency voltage generator (115) also connect the input terminal of Svpwm modulators (116),
The output end connection permanent magnetism of the input terminal of the output end connection inverter (117) of Svpwm modulators (116), inverter (117) is same
Walk the threephase stator winding of motor (118)；The system uses fuzzy region control method, and this method is：
If rotor speed estimated valueω0For speed-changing, then rotor-position and speed signal are by angular observation device
(104) it is provided with polarity discriminating angular compensator (105), obtains rotor position estimate valueSpeed estimate value For the output signal of adder (119),For the output signal of the first differentiator (106)；
If rotor speed estimated valueThen judgeWhether 5 ° are less than,It is seen for Speed identification
Survey the output signal of device (102)：If being less than 5 °, it is switched to Speed identification observer (102) and the second differentiator (107) work
Make state namely rotor position estimate valueSpeed estimate value For the second differentiator (107)
Output signal；Otherwise, then enter fuzzy region, rotor position estimate valueSpeed estimate value
2. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
Stating the error signal that Clark converters export is：
In formula (1), IipFor stator current, ωiFor angular speed, IinFor rotor current, t is time, θrFor rotor physical location,
For the estimated value of rotor-position.
3. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
Polarity discriminating angular compensator (105) is stated for being detected to initial position of rotor and to polarity into line trace, obtains pole
Property differentiate item ipol：
In formula (2), idFor direct-axis current, ΨdFor d-axis magnetic linkage, ΨfFor quadrature axis magnetic linkage, usiFor output voltage, ωiFor angular speed,
θrFor rotor physical location,For the estimated value of rotor-position.
4. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
Abc-dq converters (110) are stated according to rotor position estimate valueBy the abc phase electricity of the three phase static of permanent magnet synchronous motor (118)
Circulation is changed to the static dq shaft currents of two-phase namely d shaft currents estimated value and q shaft current estimated values.
5. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
PI speed regulators (111) are stated according to motor rotor speed given value and speed estimate valueBetween difference control PI speed tune
The q shaft current given values that device (111) exports are saved, motor rotor speed given value and speed estimate value are madeBetween difference be
Zero.
6. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
State the q shaft currents given value and abc-dq converters that PI quadrature axis currents adjuster (112) is exported according to PI speed regulators (111)
(110) the q shaft voltages that the difference control PI quadrature axis currents adjuster (112) between the q shaft current estimated values exported exports, make PI
Between the q shaft currents given value and the q shaft current estimated values of abc-dq converters (110) output of speed regulator (111) output
Difference be zero.
7. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
PI direct-axis currents adjuster (113) is stated according to d shaft current given valuesEstimate with the d shaft currents of abc-dq converters (110) output
The d shaft voltages that difference control PI direct-axis currents adjuster (113) between evaluation exports, make d shaft current given valuesWith abc-
Difference between the d shaft current estimated values of dq converters (110) output is zero.
8. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
State the rotor position estimate value that Park inverse converters (114) are exported according to the first determining device (109)PI quadrature axis currents are adjusted
The q shaft voltages of device (112) output and the d shaft voltages of PI direct-axis currents adjuster (113) output are converted to the static α β axis of two-phase
Voltage namely α shaft voltages and β shaft voltages.
9. the control system for permanent-magnet synchronous motor according to claim 1 accurately recognized based on speed, it is characterised in that：Institute
State the control letter that Svpwm modulators (116) generate inverter (117) according to the α β shaft voltages that Park inverse converters (114) export
Number.
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| CN108649849B (en) * | 2018-06-13 | 2020-09-01 | 新风光电子科技股份有限公司 | Simple sensorless permanent magnet synchronous motor speed estimation method |
| CN117155211A (en) * | 2023-08-07 | 2023-12-01 | 湖南科技大学 | Switch reluctance motor sensorless control method based on variable speed subsection compensation |
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| CN103997270A (en) * | 2014-06-09 | 2014-08-20 | 浙江理工大学 | Sensorless vector control device and method for non-salient pole type permanent magnet synchronous motor |
| CN104901600A (en) * | 2015-05-19 | 2015-09-09 | 南京航空航天大学 | Sensorless control method of permanent magnet synchronous motor in wide rotating speed scope |
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|---|---|---|---|---|
| CN1215247A (en) * | 1996-04-25 | 1999-04-28 | 三菱电机株式会社 | Vector control method for motor and vector control reverse transformation device |
| JP2006087152A (en) * | 2004-09-14 | 2006-03-30 | Hitachi Ltd | Controller and module of permanent magnet synchronous motor |
| JP2011067054A (en) * | 2009-09-18 | 2011-03-31 | Toshiba Corp | Motor control apparatus |
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