CN107017808A - The continuous method of estimation of synchronous motor rotor position based on pulsation exciting current response - Google Patents
The continuous method of estimation of synchronous motor rotor position based on pulsation exciting current response Download PDFInfo
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- CN107017808A CN107017808A CN201710432977.4A CN201710432977A CN107017808A CN 107017808 A CN107017808 A CN 107017808A CN 201710432977 A CN201710432977 A CN 201710432977A CN 107017808 A CN107017808 A CN 107017808A
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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
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Abstract
The present invention provides one kind can be in not additional sensor, while on the basis of not changing load commutated inverters topological structure yet, reliability is improved, the continuous method of estimation of synchronous motor rotor position based on pulsation exciting current response of cost is reduced, belongs to synchronous motor speed regulating control field.The present invention includes：At intervals of 120 ° of triggering synchronous motors to be measured；It is f to extract frequency in exciting currenthComposition, obtain if_h；To if_hPostpone 3/4 cycle, obtain if_h1；Synchronous motor stator three-phase terminal voltage is measured, voltage signal u is obtainedαAnd uβ；Extract uαAnd uβMiddle frequency is fhComposition, obtain uα_hAnd uβ_h；By uα_hAnd uβ_hRespectively with if_h1Multiplication is done, u is obtainedα_h1And uβ_h1；Extract uα_h1And uβ_h1In include the composition of motor rotation frequency, obtain uα_h2And uβ_h2, and input into orthogonal phaselocked loop, obtain rotor position angle θmWith current angular rate ωr；According to ωrTo θmIt is corrected, obtains current rotor angular position theta.
Description
Technical field
The present invention relates to a kind of continuous method of estimation of synchronous motor rotor position, belong to synchronous motor speed regulating control field.
Background technology
As all trades and professions are increasing to the demand of Electric Drive equipment, engineering staff will for Electric Drive equipment
Ask also more and more stricter.In high-power transmission field, electric excitation synchronous motor relies on its adjustable High Power Factor, higher control
Precision processed and advantage the enjoys favor such as frequency inverter capacity is small, but it is but than device requirements such as asynchronous machine, direct current generators more
Plus complicated control.And it is wherein primary the problem of be exactly startup controlling unit in synchronous motor, it has to be possible to monitoring is same in real time
The rotor position information of motor is walked, this is also the basis of the various control methods of synchronous motor.And photoelectric code disk etc. is mechanically sensed
Device is limited except installing, and its relatively low stability is always that powerful device institute is unacceptable, the work that this can be to synchronous motor
Cheng Yingyong links bring very big detection and maintenance cost.
At present, numerous scholars are directed to studying synchronous motor without sensorless rotor position detection method, wherein
The electric excitation synchronous motor rotor position detecting method injected based on high frequency is widely applied.This method is synchronous in electrical excitation
The excitation side of motor or stator side inject a high-frequency signal, and rotor position is detected by the electric signal being coupled out in opposite side
Confidence ceases.And powerful electric excitation synchronous motor, in order to improve the stability of itself, its frequency-converting control device would generally
There is the semiconductor devices IGCT of more Large Copacity to realize for selection, to reduce the semiconductor device number of packages that same bridge arm is connected
Amount, we term it load commutated inverters (Load Commutated Inverter, LCI) for this kind of topology.Due to IGCT
It is half control type device, it is impossible to directly produce the high-frequency signal required for us.Such method usually requires additional wholly-controled device
To complete the injection of high-frequency signal, it so can not only increase equipment cost, while can also reduce its reliability.
Also researcher proposes, instead of the injection of high-frequency signal, but to be typically due to it based on excitation pulsation in itself and encourage
Magnetic lateral vein dynamic frequency is identical with frequency conversion lateral vein dynamic frequency, and the homogenous frequency signal of frequency conversion side can have a strong impact on the essence of rotor-position detection
Degree.Therefore such method is only applicable in the case that the ripple frequency of frequency conversion side and the ripple frequency of excitation side do not interfere with each other.It is right
For most basic rectification, inversion and excitation side are all for six pulsation LCI topologys, this method is not applied to simultaneously.Therefore study
Go out a kind of to vary without having very important significance without sensorless rotor position detection method for LCI body constructions.
The content of the invention
For above-mentioned deficiency, the present invention provides one kind can be in not additional sensor, while it is inverse also not change load commutated
Become on the basis of device topological structure, improve reliability, reduce the synchronous electric motor rotor based on pulsation exciting current response of cost
The continuous method of estimation in position.
The continuous method of estimation of synchronous motor rotor position based on pulsation exciting current response of the present invention, methods described bag
Include following steps：
Step one：Synchronous motor to be measured is triggered using interval triggering mode, trigger interval is 120 °, exciting current now
Generation frequency is fhFluctuating signal；
Step 2：It is f to extract frequency in exciting current using bandpass filterhComposition, bandpass filter output current
Signal if_h；
Step 3：By current signal if_hPostpone 3/4 cycle, obtain current signal if_h1；
Step 4：Synchronous motor stator three-phase terminal voltage is measured, and three-phase terminal voltage is transformed into α β by abc axis coordinate systems
On axis coordinate system, voltage signal u is obtainedαAnd uβ；
Step 5：Voltage signal u is extracted using bandpass filterαAnd uβMiddle frequency is fhComposition, bandpass filter output
Voltage signal uα_hAnd uβ_h；
Step 6：By voltage signal uα_hAnd uβ_hThe current signal i of signal respectively with being obtained in step 3f_h1Do multiplication,
Obtain voltage signal uα_h1And uβ_h1；
Step 7：Voltage signal u is extracted using low pass filterα_h1And uβ_h1In include the composition of motor rotation frequency, obtain
To voltage signal uα_h2And uβ_h2；
Step 8：By voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop of the input to after normalizing, rotor position angle is obtained
θmWith current angular rate ωr；
Step 9：The current angular rate ω obtained according to step 8rTo rotor position angle θmIt is corrected, obtains school
Current rotor angular position theta after just.
Preferably, the step 9 is：
According to current angular rate ωrObtain bandpass filter and low pass filter filters the phase brought to rotor-position
Position skewWithAccording to phase offsetWithTo rotor position angle θmIt is corrected, the rotor position angle θ after being corrected,
Wherein, phase offsetRepresent in step 5 in (ωh+ωr) pass through produced by bandpass filter under angular rate
Phase place change, phase offsetRepresent to utilize low pass filter extraction voltage signal u in step 7α_h1And uβ_h1In include motor
Produced phase place change during rotational frequency composition.
Preferably, the step 8 comprises the following steps：
Step 8 one：Voltage signal uα_h2With current sin θmIt is multiplied；
Step 8 two：Voltage signal uβ_h2With current cos θmIt is multiplied；
Step 8 three：Result after result after the multiplication of step 8 two is multiplied with step 8 one is subtracted each other, and is as a result ε；
Step 8 four：According to voltage signal uα_h2And uβ_h2, obtain
Step 8 five：By the ε of step 8 three divided by step 8 fourAs a result it is ε1；
Step 8 six：The ε of step 8 five1Input proportion adjustment unit kp, proportion adjustment unit kpOutput result retains；
Step 8 seven：The ε of step 8 five1Input integral adjustment unit ki, integral adjustment unit kiThe result of output is inputted again
To pi element
Step 8 eight：By the pi element in step 8 sixThe result of output and the proportion adjustment list of step 8 seven
First kpThe results added of output, is as a result current angular rate ωr；
Step 8 nine：By the angular rate ω currently estimatedrInput to pi elementPi elementIt is defeated
Go out result for rotor position angle θm。
Above-mentioned technical characteristic can in any suitable manner be combined or substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
The beneficial effects of the present invention are：
(1) present invention need not change the hardware configuration of converter plant, be produced properly by the triggering mode for changing excitation
High frequency injection signals.The method control of the present invention is simple, all kinds of LCI types drive devices can be widely applicable to, while also can
The hardware cost and maintenance cost of reduction system.
(2) method of the invention completes the processing links of rotor position information using exciting current information, improves rotor
The accuracy and reliability of position testing result.
(3) method of the invention applies the orthogonal phaselocked loop after normalization, it is possible to increase accuracy of detection, it is ensured that system
Detection bandwidth is definite value, while also enabling the algorithm have more preferable adaptability in different experiments device.
(4) method of the invention accurately calculates influence and the progress that signal processing median filter is produced to signal
Rational signal correction, further increases the accuracy of detection of rotor position information.
Brief description of the drawings
Fig. 1 is the principle of the continuous method of estimation of synchronous motor rotor position based on pulsation exciting current response of the present invention
Schematic diagram, wherein BPF represent bandpass filter, and LPF represents low pass filter, and PLL represents the orthogonal phaselocked loop after normalization, SM
Represent tested synchronous motor；
Fig. 2 in the present invention to the oscillogram of the excitation triggering mode of synchronous motor to be measured；
Fig. 3 is the principle schematic of the orthogonal phaselocked loop after present invention normalization；
The waveform of exciting current in the step of Fig. 4 is specific embodiment one；
The output of exciting current and bandpass filter in the step of Fig. 5 is specific embodiment two；
Waveform in the step of Fig. 6 is specific embodiment three before and after current signal delay；
Three-phase terminal voltage is from abc coordinate system transformations to the component of α β axles in the step of Fig. 7 is specific embodiment four；
The output result of low pass filter in the step of Fig. 8 is specific embodiment seven；
Fig. 9 is the speed estimate waveform obtained by the angular rate that obtains according to the step of specific embodiment eight；
Figure 10 is the rotor-position detection waveform before being corrected in specific embodiment；
Figure 11 is the rotor-position detection error before being corrected in specific embodiment；
Figure 12 is the rotor-position detection waveform after being corrected in specific embodiment；
Figure 13 is the rotor-position detection error after being corrected in specific embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
Illustrate present embodiment, the synchronization based on pulsation exciting current response described in present embodiment with reference to Fig. 1-Figure 13
The continuous method of estimation of motor rotor position, as shown in figure 1, comprising the following steps：
Step one：As shown in Fig. 2 triggering synchronous motor to be measured using interval triggering mode, trigger interval is 120 °, now
Exciting current produce frequency be fhFluctuating signal；
Step 2：It is f to extract frequency in exciting current using bandpass filterhComposition, bandpass filter output current
Signal if_h；
Step 3：By current signal if_hPostpone 3/4 cycle, obtain current signal if_h1；
Step 4：Synchronous motor stator three-phase terminal voltage is measured, and three-phase terminal voltage is transformed into α β by abc axis coordinate systems
On axis coordinate system, voltage signal u is obtainedαAnd uβ；
Step 5：Voltage signal u is extracted using bandpass filterαAnd uβMiddle frequency is fhComposition, bandpass filter output
Voltage signal uα_hAnd uβ_h；
Step 6：By voltage signal uα_hAnd uβ_hThe current signal i of signal respectively with being obtained in step 3f_h1Do multiplication,
Obtain voltage signal uα_h1And uβ_h1；
Step 7：Voltage signal u is extracted using low pass filterα_h1And uβ_h1In include the composition of motor rotation frequency, obtain
To voltage signal uα_h2And uβ_h2；
Step 8：By voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop of the input to after normalizing, rotor position angle is obtained
θmWith current angular rate ωr；
Step 9：According to the angular rate ω currently estimatedrTo rotor position angle θmIt is corrected, working as after being corrected
Preceding rotor angular position theta.
Present embodiment is entered to the existing continuous method of estimation of synchronous motor rotor position based on pulsation exciting current response
Row is improved, can be in not additional sensor, while on the basis of also not changing load commutated inverters topological structure, realizing all kinds of
Being detected without sensorless rotor position when the lower electric excitation synchronous motor low speed of LCI topologys is run.With more extensive adaptability,
The reliability of system can be improved, device hardware cost is reduced, while can also reduce detection and maintenance cost.
Present embodiment by the real time information of exciting current be applied to signal processing in, the detection greatly improved can
By property, while can also improve the accuracy of detection of no sensorless rotor position information.
The signal that present embodiment can avoid frequency conversion side identical with excitation lateral vein dynamic frequency and be brought to detection is done
Disturb, further increase the measurement accuracy of no sensorless rotor position detection method.
Because bandpass filter and low pass filter that step 5 and step 7 are introduced, wave filter are brought to voltage signal
The change of amplitude and phase, so the rotor position angle θ that step 8 is obtainedmIt is accurate not enough, in preferred embodiment, step 9
For：
According to the angular rate ω currently estimatedrObtain bandpass filter and low pass filter is filtered and brought to rotor-position
Phase offsetWithAccording to phase offsetWithTo rotor position angle θmIt is corrected, the rotor-position after being corrected
Angle θ,
Wherein, phase offsetRepresent in step 5 in (ωh+ωr) pass through produced by bandpass filter under angular rate
Phase place change, phase offsetRepresent to utilize low pass filter extraction voltage signal u in step 7α_h1And uβ_h1In include motor
Produced phase place change during rotational frequency composition.
The rotor position angle θ that present embodiment is obtained to step 8mCorrected, improve the standard of rotor position estimate
True property.
The principle schematic of orthogonal phaselocked loop after normalization is as shown in figure 3, in preferred embodiment, step 8 includes as follows
Step：
Step 8 one：Voltage signal uα_h2With current sin θmIt is multiplied；
Step 8 two：Voltage signal uβ_h2With current cos θmIt is multiplied；
Step 8 three：Result after result after the multiplication of step 8 two is multiplied with step 8 one is subtracted each other, and is as a result ε；
Step 8 four：According to voltage signal uα_h2And uβ_h2, obtain
Step 8 five：By the ε of step 8 three divided by step 8 fourAs a result it is ε1；
Step 8 six：The ε of step 8 five1Input proportion adjustment unit kp, proportion adjustment unit kpOutput result retains；
Step 8 seven：The ε of step 8 five1Input integral adjustment unit ki, integral adjustment unit kiThe result of output is inputted again
To pi element
Step 8 eight：By the pi element in step 8 sixThe result of output and the proportion adjustment list of step 8 seven
First kpThe results added of output, as a result the angular rate ω currently to estimater；
Step 8 nine：By current operation frequencies omegarInput to pi elementPi elementOutput result
For rotor position angle θm。
Present embodiment applies normalized phaselocked loop, it is possible to increase accuracy of detection, it is ensured that the detection bandwidth of system is
Definite value, while also enabling the algorithm have more preferable adaptability in different experiments device.
Specific embodiment：
Step one：Excitation triggering once, now produces 150Hz pulsation letter for every 120 ° triggerings in exciting current
Number；
Now exciting current expression formula is：
Wherein, IfFor exciting current ifVirtual value；IhFor the amplitude of exciting current radio-frequency component；ωhIt is high for exciting current
The angular rate of frequency composition；For the phase of exciting current radio-frequency component；Footmark L1, L2 etc. represent other frequencies in exciting current
Rate composition；
Step 2：By exciting current by the bandpass filter that a centre frequency is 150Hz, extract wherein 150Hz and hand over
Flow component if_h：
Step 3：By the alternating component i of extractionf_hPostpone 3/4 cycle, obtain if_h1：
Step 4：Synchronous motor three-phase terminal voltage is gathered, and is converted in the shaftings of α β 0, resulting component of voltage
For uαAnd uβ：
Coordinate transformation equation is：
It the following is the fundamental equation of synchronous motor machine to be measured.Wherein u, i are motor terminal voltage and armature supply, footmark α, β
Represent component of each physical quantity on α, β axle, RsFor synchronous motor stator resistance, p is differential operator, iDdAnd iDqFor damping circuit
The d axles and q axis components of electric current, LdAnd LqThe respectively synchronous inductance of d axles and q axles, LadAnd LaqFor d axles and q armature axis reaction electricity
Sense, ωrFor the current angular rate of synchronous motor, θ is the current rotor angle of synchronous motor, is always hadFor
The initial position electrical angle of motor, t is the time.
Wherein,
[I]αβ=[iα iβ if iDd iDq]T；
Step 5：By uαAnd uβRespectively through bandpass filter, its high-frequency ac ingredient u for including 150Hz is extractedα_hWith
uβ_h：
If not considering amplitude and phase place change that bandpass filter is brought to voltage signal, now there is following expression：
If considering amplitude and phase place change that bandpass filter is brought to voltage signal, expression formula can be turned to：
Wherein, A1、A2And φ1、φ2Respectively (ωh+ωr)、(ωh-ωr) two kinds of angular rate compositions pass through bandpass filtering
Amplitude attenuation and phase place change produced by device：
Step 6：Respectively by uα_hAnd uβ_hWith the i obtained in step 3f_h1Signal does multiplying, obtains its result point
Wei not uα_h1And uβ_h1：
uα_h1And uβ_h1Expression formula be：
Step 7：Respectively by uα_h1And uβ_h1Low-pass filtering treatment is carried out, the angular rate ω for wherein including motor is extractedr
Alternating component uα_h2And uβ_h2：
uα_h2And uβ_h2Expression formula be：
Wherein, A3And φ3For the angular rate ω of motorrItem is by the amplitude attenuation and phase produced by low pass filter
Change.
In order to simplify calculating, A is made1=A2, φ1=-φ2, then uα_h2And uβ_h2Expression formula can abbreviation be：
Wherein,
Step 8：By voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop of the input to after normalizing, rotor position angle is obtained
θmThe angular rate ω current with motorr,
Step 9：According to the current angular rate ω of motorr, voltage is obtained by bandpass filter and low pass filter institute
The difference φ brought1And φ3, to θmIt is corrected, finally gives more accurate rotor position angle θ.
Present embodiment obtains Fig. 4-Figure 13：
Fig. 4 is excitation current waveform.
Fig. 5 is that exciting current and BPF are exported.
Fig. 6 is the waveform before and after exciting current postpones.
Fig. 7 is component of the three phase terminals voltage transformation to α β axles.
Fig. 8 is the output result of low pass filter.
Fig. 9 is the estimation waveform of rotating speed.
Figure 10 is the rotor-position detection waveform before correction.
Figure 11 is the rotor-position detection error before correction.
Figure 12 is the rotor-position detection waveform after correction.
Figure 13 is the rotor-position detection error after correction.
Reference picture 4- Figure 13, the present embodiment can effective detection rotor position information, and testing result has well
Accuracy of detection.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, the spirit of the invention limited without departing from appended claims
And scope.It should be understood that can be by way of different from described by original claim come with reference to different appurtenances
Profit is required and feature specifically described herein.It will also be appreciated that the feature with reference to described by separate embodiments can be used
In other described embodiments.
Claims (3)
1. a kind of continuous method of estimation of synchronous motor rotor position based on pulsation exciting current response, it is characterised in that described
Method comprises the following steps：
Step one：Synchronous motor to be measured is triggered using interval triggering mode, trigger interval is 120 °, and exciting current now is produced
Frequency is fhFluctuating signal；
Step 2：It is f to extract frequency in exciting current using bandpass filterhComposition, bandpass filter output current signal
if_h；
Step 3：By current signal if_hPostpone 3/4 cycle, obtain current signal if_h1；
Step 4：Synchronous motor stator three-phase terminal voltage is measured, and three-phase terminal voltage is transformed into α β axles by abc axis coordinate systems and is sat
Mark is fastened, and obtains voltage signal uαAnd uβ；
Step 5：Voltage signal u is extracted using bandpass filterαAnd uβMiddle frequency is fhComposition, bandpass filter output voltage
Signal uα_hAnd uβ_h；
Step 6：By voltage signal uα_hAnd uβ_hThe current signal i of signal respectively with being obtained in step 3f_h1Multiplication is done, electricity is obtained
Press signal uα_h1And uβ_h1；
Step 7：Voltage signal u is extracted using low pass filterα_h1And uβ_h1In include the composition of motor rotation frequency, obtain electricity
Press signal uα_h2And uβ_h2；
Step 8：By voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop of the input to after normalizing, rotor position angle θ is obtainedmWith
Current angular rate ωr；
Step 9：The current angular rate ω obtained according to step 8rTo rotor position angle θmIt is corrected, obtains after correction
Current rotor angular position theta.
2. the synchronous motor rotor position continuous method of estimation according to claim 1 based on pulsation exciting current response,
Characterized in that, the step 9 is：
According to current angular rate ωrObtain bandpass filter and low pass filter to filter the phase brought to rotor-position inclined
MoveWithAccording to phase offsetWithTo rotor position angle θmIt is corrected, the rotor position angle θ after being corrected,
Wherein, phase offsetRepresent in step 5 in (ωh+ωr) phase passed through produced by bandpass filter under angular rate
Change, phase offsetRepresent to utilize low pass filter extraction voltage signal u in step 7α_h1And uβ_h1In comprising motor rotate
Produced phase place change during frequency content.
3. the synchronous motor rotor position continuous method of estimation according to claim 1 based on pulsation exciting current response,
Characterized in that, the step 8 comprises the following steps：
Step 8 one：Voltage signal uα_h2With current sin θmIt is multiplied；
Step 8 two：Voltage signal uβ_h2With current cos θmIt is multiplied；
Step 8 three：Result after result after the multiplication of step 8 two is multiplied with step 8 one is subtracted each other, and is as a result ε；
Step 8 four：According to voltage signal uαh2And uβ_h2, obtain
Step 8 five：By the ε of step 8 three divided by step 8 fourAs a result it is ε1；
Step 8 six：The ε of step 8 five1Input proportion adjustment unit kp, proportion adjustment unit kpOutput result retains；
Step 8 seven：The ε of step 8 five1Input integral adjustment unit ki, integral adjustment unit kiThe result of output input again to than
Example integral unit
Step 8 eight：By the pi element in step 8 sixThe result of output and the proportion adjustment unit k of step 8 sevenp
The results added of output, is as a result current angular rate ωr；
Step 8 nine：By the angular rate ω currently estimatedrInput to pi elementPi elementOutput knot
Fruit is rotor position angle θm。
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| CN109150028A (en) * | 2018-10-11 | 2019-01-04 | 南京航空航天大学 | Three-level formula synchronous motor rotor position estimating system and estimation method |
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| CN112421998B (en) * | 2019-08-23 | 2022-08-09 | 广东美的生活电器制造有限公司 | Driving device, method and system for motor, household appliance and storage medium |
| CN112737450A (en) * | 2020-12-24 | 2021-04-30 | 上海大学 | High-frequency injection compensation method for SPMSM rotor position estimation |
| CN112737450B (en) * | 2020-12-24 | 2022-11-04 | 上海大学 | High-frequency injection compensation method for SPMSM rotor position estimation |
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