CN107342713A - A kind of permanent-magnet synchronous motor rotor position detection means and method based on improvement sliding mode observer - Google Patents
A kind of permanent-magnet synchronous motor rotor position detection means and method based on improvement sliding mode observer Download PDFInfo
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- CN107342713A CN107342713A CN201710578544.XA CN201710578544A CN107342713A CN 107342713 A CN107342713 A CN 107342713A CN 201710578544 A CN201710578544 A CN 201710578544A CN 107342713 A CN107342713 A CN 107342713A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
-
- 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 Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of based on the permanent-magnet synchronous motor rotor position detection means and method of improving sliding mode observer, back-emf signal is handled instead of low pass filter using second order improper integral method.Improve sliding mode observer and equivalent back-emf signal is observed based on sigmoid functions, buffeting in equivalent back-emf is suppressed by second order improper integral method, low pass filter is avoided to cause delayed phase, using orthonormalization phaselocked loop according to estimation back-emf signal estimation rotor-position signal, and this improvement sliding mode observer by fundamental frequency resonance to playing inhibitory action containing each harmonic in back-emf signal.Present invention improvement sliding mode observer is simple in construction, and the back-emf signal of observation is more accurate, can obtain high-precision rotor position information.
Description
Technical field
The invention belongs to the technical field of motor control, and in particular to a kind of based on the permanent-magnet synchronous for improving sliding mode observer
Motor rotor position detection means and method.
Background technology
Permagnetic synchronous motor provides excitation using permanent magnet, compared to the loss that electro-magnetic motor reduces excitation system,
The efficiency and power density of motor are all greatly improved.Meanwhile which overcome direct current motor brush and commutator brings
Unfavorable factor, application develop rapidly from initial war industry to fields such as Aero-Space, industrial automations.
Permagnetic synchronous motor generally can all add mechanical pick-up device to obtain rotor-position letter due to the demand of drive system
Breath, such as Hall sensor, photoelectric encoder.Although the precision of the mechanical pick-up device detection rotor-position of better performances is very high,
But can also there are problems that simultaneously, such as cause motor volume to increase, the increase of process and assemble cost, reduce motor operation can
By property, or even limiting motor is unfavorable for its further genralrlization in the application of many special occasions.Therefore, permagnetic synchronous motor
Sensorless strategy strategy study becomes current study hotspot problem.Sensorless strategy mainly include zero low speed control and
In terms of high speed controls two main researchs.Wherein, the high speed control generally use fundamental wave excitation estimation technique, by establishing permanent magnetism
The dynamic models such as the voltage model or flux linkage model of synchronous motor, to estimate the position of rotor, such method is not by convex
The influence of polar effect, algorithm are simply easily achieved, and are current most popular a kind of methods.
Fundamental wave excitation estimating and measuring method mainly consists of assuming that rotating coordinate system method, model reference adaptive method, spreading kalman
Filter method, flux observer method and sliding mode observer method etc..Wherein, most of method is established dependent on model and parameter selects
Accuracy, or the problem of amount of calculation is excessive be present, but sliding mode observer has and do not changed shadow by external disturbance and inner parameter
The characteristics of ringing, strong robustness, fast response time, therefore be widely used.However, there is intrinsic tremble in sliding mode observer
Shake phenomenon, typically back-emf signal is further processed using low pass filter, but low pass filter can make the position of estimation
Signal produces delayed phase, influences accuracy of detection.Meanwhile consider air-gap field distortion and the non-linear meeting of inverter in actual motion
Produce harmonic wave so that counter potential waveform is undesirable, fluctuation in position signalling be present.Therefore seen, it is necessary to design a kind of new sliding formwork
Device is surveyed to overcome the above difficult, improves the accuracy of detection of rotor-position.
The content of the invention
The technical problem to be solved in the present invention is：The purpose of the present invention is to overcome to utilize low pass filtered in existing sliding mode observer
Caused phase lag problem when ripple device handles back-emf signal, and consider back-emf aberration problems caused by harmonic wave, propose one
Sliding mode observer of the kind based on second order improper integral method, while low pass filter effect is replaced, to humorous in back-emf
Wave component is suppressed, so as to obtain more accurately rotor position information.
The present invention solves the technical scheme that above-mentioned technical problem uses：Based on the permanent magnet synchronous electric for improving sliding mode observer
Machine rotor position detecting device, including back-emf estimating part, second order improper integral filtering part and orthonormalization lock phase
Ring, the back-emf estimating part set four inputs, the α shaft voltages u respectively under two-phase rest frameα, β shaft voltages
uβ, α shaft currents iαWith β shaft currents iβ, the back-emf equivalence value that two output ends are respectively α axles is setAnd the back-emf of β axles
Equivalence valueThe second order improper integral filtering part sets the back-emf equivalence value that two inputs are α axlesAnd β axles is anti-
Potential equivalence valueRespectively with the back-emf equivalence value of the back-emf estimating part output endAnd back-emf equivalence valuePhase
Even, and two output ends of setting are respectively the back-emf estimate of α axlesAnd the back-emf estimate of β axlesThe second order
The back-emf estimate of the α axles of improper integral filtering part outputIt is anti-with first α axle of the orthonormalization phaselocked loop
Potential estimateInput and second α axle back-emf estimateInput is connected, and the second order improper integral filtering part is defeated
The back-emf estimate of the β axles gone outWith the back-emf estimate of first β axle of the orthonormalization phaselocked loopInput
With the back-emf estimate of second β axleInput is connected, and the orthonormalization phaselocked loop sets two output ends, is respectively
Rotor position estimate valueWith spinner velocity estimate
Further, described back-emf estimating part include current observer part, sigmoid functions part, increase
Beneficial part and subtracter part；
The four tunnels input that back-emf estimating part is set is respectively α shaft voltages uαWith β shaft voltages uβ, α shaft currents iαWith β axles
Electric current iβ, wherein, current observer part sets the α shaft voltages u under two-phase rest frameαInput and β shaft voltages uβInput,
α axles estimation electric current is setOutput and β axles estimation electric currentOutput, the output of current observer part is respectively as two subtractions
The input of device, while the input of subtracter also includes α shaft currents iαWith β shaft currents iβ, α shaft currents iαEstimate electric current with α axles's
Output of the difference as first subtracter, β shaft currents iβEstimate electric current with β axlesDifference as the defeated of second subtracter
Go out, the current differential of two subtracter outputs is handled by sigmoid functions part and gain section, obtains two-way output letter
Number be α axles back-emf equivalence valueAnd the back-emf equivalence value of β axlesThe output for obtaining back-emf estimating part is also
The back-emf equivalence value of α axlesAnd the back-emf equivalence value of β axles
Further, described second order improper integral filtering part includes four subtracters, and two gain links, four multiply
Musical instruments used in a Buddhist or Taoist mass and four integrators；
The input of second order improper integral filtering part is connected with the output of back-emf estimating part, i.e., second order improper integral is filtered
The input of ripple part is the back-emf equivalence value of α axlesAnd the back-emf equivalence value of β axlesThe back-emf equivalence value of α axles
As the input of first subtracter of α phases, the back-emf estimate that another inputs α axles with first subtracterSubtract each other,
Obtain α axle back-emf error εseα；The back-emf equivalence value of β axlesAs the input of first subtracter of β phases, subtract with first
The back-emf estimate of another input β axle of musical instruments used in a Buddhist or Taoist massSubtract each other, obtain β axle back-emf error εseβ；Back-emf error εeαWith εeβThrough
After crossing respective gain section, respectively as the input of α phases and second subtracter of β phases；Meanwhile the orthogonal back-emf of α axles
EstimateBack-emf estimate orthogonal with β axlesAlso serve as the input of second subtracter of α phases and β phases；Afterwards, α
Second subtracter output signal of phase and β phases and spinner velocity estimateRespectively as α phases first multiplier it is defeated
Enter the input with first multiplier of β phases, the output x of first multiplier of α phases is calculated1Multiply with first of β phases
The output x ' of musical instruments used in a Buddhist or Taoist mass1；First multiplier of α phases and β phases is connected with its respective first integrator, first integration of α phases
The input of device is x1, output be x2, the input of first integrator of β phases is x '1, output be x '2；Wherein, x2The as anti-electricity of α axles
Gesture estimatex′2The as back-emf estimate of β axlesSecond integrator of α phases is connected with first integrator, inputs and is
x2, export as x3, output and the spinner velocity estimate of second integrator of α phasesCollectively as second multiplier of α phases
Input, obtains the output of second multiplier of α phases after computingSecond integrator of β phases is connected with first integrator,
Input as x '2, export as x '3, output and the spinner velocity estimate of second integrator of β phasesCollectively as second of β phases
The input of multiplier, the output of second multiplier of β phases is obtained after computing
Further, described orthonormalization phaselocked loop includes normalization link, three multipliers, adder, sines
Link, cosine link, PI controlling units and integral element.
Orthonormalization phaselocked loop sets the back-emf estimate of α axlesWith the back-emf estimate of β axlesFor input,
Rotor position estimate valueWith spinner velocity estimateFor output end；The back-emf estimate of α axlesEstimate with the back-emf of β axles
EvaluationThe input of input and two multipliers respectively as normalization link；Normalize link and the 3rd multiplier phase
Even, the output of link is normalizedInput all the way i.e. as the 3rd multiplier；Cosine link and the back-emf of α axles
EstimateCollectively as the input of first multiplier, sinusoidal link and the back-emf estimate of β axlesCollectively as second
The input of individual multiplier, the input of the negative value of the output of first multiplier and second multiplier as adder, adder
Output be εf。εfAs the another way input of the 3rd multiplier, with normalizing ring link by multiplier effect input ε 'f；
ε′fCan output rotor velocity estimation value after PI controlling unitsAgain rotor position estimate value is can obtain by integrator
The present invention also provides the permanent magnet synchronous motor rotor position detection method based on improvement sliding mode observer, including following
Step：
Current status equation of the step (1) based on durface mounted permanent magnet synchronous motor, the electric current constructed in sliding mode observer are seen
Device is surveyed, with reference to sigmoid switch functions, can obtain the back-emf equivalence value of α axlesAnd the back-emf equivalence value of β axles
Back-emf equivalence value of the step (2) to α axlesAnd the back-emf equivalence value of β axlesIt is filtered, based on second order
The wave filter of improper integral method, the buffeting in back-emf equivalence value can be suppressed, and wherein each harmonic is entered
Row suppresses, and obtains the back-emf estimate of α axlesAnd the back-emf estimate of β axles
Step (3) uses orthonormalization phaselocked loop, passes through the back-emf estimate of α axlesAnd the back-emf of β axles is estimated
EvaluationCalculate the location estimation signal of rotorWith speed estimate signal
The present invention principle be：A kind of permanent-magnet synchronous motor rotor position detection means based on improvement sliding mode observer,
Improved sliding mode observer includes back-emf estimating part, filtering part and orthonormalization phaselocked loop part.Wherein, back-emf
The input of estimating part is the α shaft voltages u under two-phase rest frameα, β shaft voltages uβ, α shaft currents iαWith β shaft currents iβ, it is defeated
Go out the back-emf equivalence value for α axlesAnd the back-emf equivalence value of β axlesNow back-emf equivalence valueMiddle buffeting is bright
It is aobvious, and because the influence of harmonic wave has distortion；Filtering part is based primarily upon second order improper integral method, its input and anti-electricity
The output end of gesture estimating part is connected, and the signal of input is the back-emf equivalence value of back-emf estimating part outputThrough
Cross after second order improper integral method handles two paths of signals respectively, can obtain the back-emf estimate of α axlesAnd the back-emf of β axles
EstimateThe back-emf estimate of orthonormalization phaselocked loop inputWithRespectively with cotangent valueAnd tangent valueIt is multiplied, sum of products εfAdjust by PI to obtain rotor position estimate value after being normalizedEstimate with spinner velocity
EvaluationThe present invention relates to a kind of improvement sliding mode observer method based on second order improper integral wave filter, for high speed rank
The rotor-position of section permagnetic synchronous motor accurately detects.First, back-emf estimating part detects equivalent back-emf signal, afterwards
Equivalent back-emf is handled instead of low pass filter using the wave filter based on second order improper integral method, suppresses equivalent anti-
Obtain estimating back-emf signal after buffeting harmony wave component in electric potential signal, finally turned using the estimation of orthonormalization phaselocked loop
Sub- positional information.
The present invention compared with prior art the advantages of be：
Present invention firstly provides the improvement sliding mode observer that low pass filter is replaced using Second Order Generalized Integrator.Right
Back-emf equivalent signal can avoid phase lag problem caused by low pass filter when being handled, without volume during position estimation
Outer phase compensation link, suppress to buffet positive effect；Also, the inventive method can be realized to each by extracting fundamental frequency signal
The suppression of subharmonic, avoid back-emf caused by a large amount of harmonic waves presence from distorting, improve rotor-position accuracy of detection, structure letter
It is single, it can obtain relatively satisfactory control performance without increasing and changing control system hardware.
Brief description of the drawings
Fig. 1 is the structural representation for improving sliding mode observer；
Fig. 2 is the basic flow sheet of method for detecting position of the present invention；
Fig. 3 is the Bode diagram of Second Order Generalized Integrator；
Fig. 4 is that back-emf estimates signal contrast figure；
Fig. 5 is location estimation signal contrast figure.
Reference implication is in figure：1 is back-emf estimating part, and 2 be second order improper integral filtering part, and 3 be normalizing
Change orthogonal phaselocked loop.
Embodiment
Below in conjunction with the accompanying drawings and embodiment further illustrates the present invention.
Embodiment one：Illustrate present embodiment referring to Fig. 1, described in the manner based on improving sliding mode observer
Permanent-magnet synchronous motor rotor position detection means, including back-emf estimating part 1, second order improper integral filtering part 2 and return
One changes orthogonal phaselocked loop 3.
The back-emf estimating part 1 sets four inputs, the α shaft voltages u respectively under two-phase rest frameα、β
Shaft voltage uβ, α shaft currents iαWith β shaft currents iβ, the back-emf equivalence value that two output ends are respectively α axles is setAnd β axles
Back-emf equivalence valueThe second order improper integral filtering part 2 sets the back-emf equivalence value that two inputs are α axlesAnd
The back-emf equivalence value of β axlesRespectively with the back-emf equivalence value of the output end of back-emf estimating part 1And back-emf etc.
Valid valueIt is connected, and the back-emf estimate that two output ends are respectively α axles is setAnd the back-emf estimate of β axles
The back-emf estimate for the α axles that the second order improper integral filtering part 2 exportsInputted with the orthonormalization phaselocked loop
First α axle back-emf estimateWith second α axle back-emf estimateIt is connected, the second order improper integral filtering part
Divide the back-emf estimate of the β axles of 2 outputsEstimate with the back-emf of first β axle of the orthonormalization phaselocked loop 3 input
EvaluationWith the back-emf estimate of second β axleIt is connected, and the orthonormalization phaselocked loop 3 sets two outputs
End, respectively rotor position estimate valueWith spinner velocity estimate
Embodiment two：Present embodiment be to described in embodiment one based on improve sliding mode observer
The further restriction of permanent-magnet synchronous motor rotor position detection means, the back-emf estimating part 1 include current observer portion
Point, sigmoid functions part, gain section and subtracter part.
The tunnel of setting four input of back-emf estimating part 1 is respectively α shaft voltages uαInput and β shaft voltages uβInput, α axles electricity
Flow iαWith β shaft currents iβ.Wherein, current observer part sets the α shaft voltages u under two-phase rest frameαInput and β axles electricity
Press uβInput, α axles estimation electric current is setOutput and β axles estimation electric currentOutput.The output of current detecting part is respectively as two
The input of individual subtracter, while the input of subtracter also includes α shaft currents iαWith β shaft currents iβ.α shaft currents iαEstimate electricity with α axles
StreamOutput of the difference as first subtracter, β shaft currents iβEstimate electric current with β axlesDifference as second subtraction
The output of device, the current differential of two subtracter outputs are handled by sigmoid functions part and gain section, gain section
Two-way output signal be α axles back-emf equivalence valueAnd the back-emf equivalence value of β axlesObtain back-emf estimator
The output for dividing 1 is also the back-emf equivalence value of α axlesAnd the back-emf equivalence value of β axles
Embodiment three：Present embodiment be to described in embodiment one based on improve sliding mode observer
The further restriction of permanent-magnet synchronous motor rotor position detection means, the second order improper integral filtering part 2 subtract including four
Musical instruments used in a Buddhist or Taoist mass, two gain links, four multipliers and four integrators.
The input of second order improper integral filtering part 2 is connected with the output of back-emf estimating part 1, i.e. second order improper integral
The input of filtering part 2 is the back-emf equivalence value of α axlesAnd the back-emf equivalence value of β axlesThe back-emf equivalence value of α axlesAs the input of first subtracter of α phases, the back-emf estimate that another inputs α axles with first subtracterPhase
Subtract, obtain α axle back-emf error εseα；The back-emf equivalence value of β axlesAs the input of first subtracter of β phases, with first
The back-emf estimate of another input β axle of individual subtracterSubtract each other, obtain β axle back-emf error εseβ.Back-emf error εeαWith
εeβAfter respective gain section, respectively as the input of α phases and second subtracter of β phases.Meanwhile α axles is orthogonal anti-
Potential estimateBack-emf estimate orthogonal with β axlesAlso serve as the input of second subtracter of α phases and β phases.It
Afterwards, second subtracter output signal of α phases and β phases and spinner velocity estimateRespectively as first multiplier of α phases
Input and β phases first multiplier input, the output x of first multiplier of α phases is calculated1With the first of β phases
The output x ' of individual multiplier1.First multiplier of α phases and β phases is connected with its respective first integrator, α phases first
The input of integrator is x1, output be x2, the input of first integrator of β phases is x '1, output be x '2.Wherein, x2As α axles
Back-emf estimatex′2The as back-emf estimate of β axlesSecond integrator of α phases is connected with first integrator,
Input as x2, export as x3, output and the spinner velocity estimate of second integrator of α phasesMultiply collectively as second of α phases
The input of musical instruments used in a Buddhist or Taoist mass, the output of second multiplier of α phases is obtained after computingSecond integrator of β phases and first integrator
It is connected, inputs as x '2, export as x '3, output and the spinner velocity estimate of second integrator of β phasesCollectively as β phases
The input of second multiplier, the output of second multiplier of β phases is obtained after computing
Embodiment four：Present embodiment be to described in embodiment one based on improve sliding mode observer
The further restriction of permanent-magnet synchronous motor rotor position detection means, the orthonormalization phaselocked loop 3 include normalization link,
Three multipliers, adder, sinusoidal link, cosine link, PI controlling units and integral element.
Orthonormalization phaselocked loop 3 sets the back-emf estimate of α axlesWith the back-emf estimate of β axlesFor input
End, rotor position estimate valueWith spinner velocity estimateFor output end.The back-emf estimate of α axlesWith the back-emf of β axles
EstimateThe input of input and two multipliers respectively as normalization link.Normalize link and the 3rd multiplier phase
Even, the output of link is normalizedInput all the way i.e. as the 3rd multiplier.Cosine link and the back-emf of α axles
EstimateCollectively as the input of first multiplier, sinusoidal link and the back-emf estimate of β axlesCollectively as second
The input of individual multiplier, the input of the negative value of the output of first multiplier and second multiplier as adder, adder
Output be εf。εfAs the another way input of the 3rd multiplier, with normalizing ring link by multiplier effect input ε 'f。
ε′fCan output rotor velocity estimation value after PI controlling unitsAgain rotor position estimate value is can obtain by integrator
Embodiment five：Present embodiment be to described in embodiment one based on improve sliding mode observer
Permanent-magnet synchronous motor rotor position detection means realizes rotor position detecting method, and this method is carried out with reference to accompanying drawing 1 and accompanying drawing 2
Describe in detail.
Step 1, four tunnels set according to back-emf estimating part input α shaft voltages uαWith β shaft voltages uβ, α shaft currents iαWith
β shaft currents iβ, construct current observer：
In formula,Estimate electric current for α axles,Estimate electric current, R for β axlesSFor stator equivalent resistance, LSFor stator equivalent electric
Sense, ksFor the gain of sliding mode observer, sig is sigmoid functions.
Step 2, by α shaft currents iαWith β shaft currents iβThe α axles estimation electric current observed with current observer in step 1With
β axles estimate electric currentIt is poor to make respectively, obtains α shaft current error amountsWith β shaft current error amounts
Step 3, α shaft currents error amountWith β shaft current error amountsBy sigmoid functions and it is multiplied by sliding formwork gain system
Number ksAfterwards, you can obtain back-emf equivalence value：
In formula,For α axle back-emf equivalence values,For β axle back-emf equivalence values.
Step 4, the back-emf equivalence value of α axlesWith the back-emf equivalence value of β axlesSecond order Generalized Product Jing Guo α phases respectively
After dividing device and the Second Order Generalized Integrator of β phases, the buffeting harmony wave action in equivalent back-emf can be suppressed, obtain the anti-of α axles
Potential estimateWith the back-emf estimate of β axles
With reference to the structure of Second Order Generalized Integrator in figure 1, by taking α axles as an example, can obtain：
In formula, εeαFor back-emf difference, x1、x2、x3For intermediate variable,For velocity estimation value, k is second order improper integral
Gain coefficient,For the orthogonal back-emf estimate of α axles.
Back-emf estimate can be expressed as：
The transmission function that Second Order Generalized Integrator can be obtained by above formula is：
With reference to figure 3 understand, Second Order Generalized Integrator resonance at assigned frequency, can track back-emf fundamental frequency signal and
Delayed phase will not be caused.
The back-emf equivalence value of α phases and β phases can be expressed as：
In formula, A0For back-emf fundamental voltage amplitude, ω0For back-emf fundamental wave angular frequency, A6k±1For the subharmonic amplitudes of 6k ± 1,
ω6k±1For the subharmonic angular frequencies of 6k ± 1, n0、n1For other interference signals.
The α phases and the back-emf estimate of β phases treated by Second Order Generalized Integrator can be expressed as：
In formula, n '1、n′2For the interference in the back-emf signal after processing and the summation of harmonic wave.
Step 5, the back-emf estimate of α axlesWith the back-emf estimate of β axlesIn believe comprising rotor-position and speed
Breath, orthonormalization phaselocked loop, which is handled it, can obtain accurate rotor position estimate valueWith spinner velocity estimate
Refer to the attached drawing 1, the output of the phase discriminator part of orthonormalization phaselocked loop are：
The transmission function of orthonormalization phaselocked loop is：
In formula, kpFor proportional gain, kiFor storage gain.
Step 6, it is proposed by the present invention based on the permanent-magnet synchronous motor rotor position inspection for improving sliding mode observer in order to verify
The validity of survey method, constructs system simulation model, and simulation result as shown in figures 4 and 5, can be seen that from accompanying drawing 4
Back-emf equivalent signal is handled using Second Order Generalized Integrator, obvious buffeting inhibitory action can be played, and it is right
Harmonic components therein also have obvious inhibition.From accompanying drawing 5 as can be seen that the rotor detected using sliding mode observer is improved
Position signalling, position signalling waveform are more smooth and more accurate compared to using phase-detection during low pass filter.
The present invention can be as a kind of new based on improvement sliding mode observer permanent-magnet synchronous motor rotor position detection side
Method, improve sliding mode observer and replace low pass filter using based on Second Order Generalized Integrator.Good buffeting can be played first
Inhibition, secondly it can improve phase lag problem caused by low pass filter, finally can be to humorous in back-emf signal
Wave component is filtered out.It is simple in construction to improve sliding mode observer, it is not necessary to extra hardware supported is provided, improves permanent-magnet synchronous
The position detection accuracy of motor.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (5)
1. based on the permanent-magnet synchronous motor rotor position detection means for improving sliding mode observer, it is characterised in that：Including back-emf
Estimating part (1), second order improper integral filtering part (2) and orthonormalization phaselocked loop (3), the back-emf estimating part
(1) four inputs, the α shaft voltages u respectively under two-phase rest frame are setα, β shaft voltages uβ, α shaft currents iαWith β axles electricity
Flow iβ, the back-emf equivalence value that two output ends are respectively α axles is setAnd the back-emf equivalence value of β axlesThe second order is wide
Adopted integral filtering part (2) sets the back-emf equivalence value that two inputs are α axlesAnd the back-emf equivalence value of β axlesPoint
Not with the back-emf equivalence value of back-emf estimating part (1) output endAnd back-emf equivalence valueIt is connected, and sets two
Individual output end is respectively the back-emf estimate of α axlesAnd the back-emf estimate of β axlesThe second order improper integral filtering
The partly back-emf estimate of the α axles of (2) outputEstimate with first α axle back-emf of the orthonormalization phaselocked loop (3)
EvaluationInput and second α axle back-emf estimateInput is connected, second order improper integral filtering part (2) output
The back-emf estimate of β axlesWith the back-emf estimate of first β axle of the orthonormalization phaselocked loop (3)Input and
The back-emf estimate of second β axleInput is connected, and the orthonormalization phaselocked loop (3) sets two output ends, respectively
For rotor position estimate valueWith spinner velocity estimate
2. the permanent-magnet synchronous motor rotor position detection means according to claim 1 based on improvement sliding mode observer, its
It is characterised by：Described back-emf estimating part (1) includes current observer part, sigmoid functions part, gain section
With subtracter part；
The four tunnels input that back-emf estimating part (1) is set is respectively α shaft voltages uαWith β shaft voltages uβ, α shaft currents iαWith β axles electricity
Flow iβ, wherein, current observer part sets the α shaft voltages u under two-phase rest frameαInput and β shaft voltages uβInput, if
Put α axles estimation electric currentOutput and β axles estimation electric currentOutput, the output of current observer part is respectively as two subtracters
Input, while the input of subtracter also includes α shaft currents iαWith β shaft currents iβ, α shaft currents iαEstimate electric current with α axlesDifference
It is worth the output as first subtracter, β shaft currents iβEstimate electric current with β axlesOutput of the difference as second subtracter,
The current differential of two subtracter outputs is handled by sigmoid functions part and gain section, obtains two-way output signal
For the back-emf equivalence value of α axlesAnd the back-emf equivalence value of β axlesI.e. the output of back-emf estimating part (1) is also α axles
Back-emf equivalence valueAnd the back-emf equivalence value of β axles
3. the permanent-magnet synchronous motor rotor position detection means according to claim 1 based on improvement sliding mode observer, its
It is characterised by：Described second order improper integral filtering part (2) includes four subtracters, two gain links, four multipliers
With four integrators；
The input of second order improper integral filtering part (2) is connected with the output of back-emf estimating part (1), i.e. second order improper integral
The input of filtering part (2) is the back-emf equivalence value of α axlesAnd the back-emf equivalence value of β axlesThe back-emf of α axles is equivalent
ValueAs the input of first subtracter of α phases, the back-emf estimate that another inputs α axles with first subtracterPhase
Subtract, obtain α axle back-emf error εseα；The back-emf equivalence value of β axlesAs the input of first subtracter of β phases, with first
The back-emf estimate of another input β axle of individual subtracterSubtract each other, obtain β axle back-emf error εseβ；Back-emf error εeαWith
εeβAfter respective gain section, respectively as the input of α phases and second subtracter of β phases；Meanwhile α axles is orthogonal anti-
Potential estimateBack-emf estimate orthogonal with β axlesAlso respectively as the defeated of second subtracter of α phases and β phases
Enter；Afterwards, second subtracter output signal of α phases and β phases and spinner velocity estimateMultiply respectively as first of α phases
The input of musical instruments used in a Buddhist or Taoist mass and the input of first multiplier of β phases, the output x of first multiplier of α phases is calculated1With β phases
The output x ' of first multiplier1；First multiplier of α phases and β phases is connected with its respective first integrator, α phases
The input of one integrator is x1, output be x2, the input of first integrator of β phases is x '1, output be x '2；Wherein, x2As α
The back-emf estimate of axlex′2The as back-emf estimate of β axlesSecond integrator of α phases and first integrator phase
Even, input as x2, export as x3, output and the spinner velocity estimate of second integrator of α phasesCollectively as the second of α phases
The input of individual multiplier, the output of second multiplier of α phases is obtained after computingSecond integrator of β phases and first product
Divide device to be connected, input as x '2, export as x '3, output and the spinner velocity estimate of second integrator of β phasesCollectively as β
The input of second multiplier of phase, the output of second multiplier of β phases is obtained after computing
4. the permanent-magnet synchronous motor rotor position detection means according to claim 1 based on improvement sliding mode observer, its
It is characterised by：Described orthonormalization phaselocked loop (3) include normalization link, three multipliers, adder, sinusoidal link,
Cosine link, PI controlling units and integral element；
Orthonormalization phaselocked loop (3) sets the back-emf estimate of α axlesWith the back-emf estimate of β axlesFor input, turn
Sub- position estimation valueWith spinner velocity estimateFor output end；The back-emf estimate of α axlesEstimate with the back-emf of β axles
ValueThe input of input and two multipliers respectively as normalization link；Normalization link is connected with the 3rd multiplier,
Normalize the output of linkInput all the way i.e. as the 3rd multiplier；Cosine link and the back-emf of α axles are estimated
EvaluationCollectively as the input of first multiplier, sinusoidal link and the back-emf estimate of β axlesCollectively as second
The input of multiplier, the input of the negative value of the output of first multiplier and second multiplier as adder, adder
Export as εf, εfAs the another way input of the 3rd multiplier, with normalizing ring link by multiplier effect input ε 'f；ε′f
Can output rotor velocity estimation value after PI controlling unitsAgain rotor position estimate value is can obtain by integrator
5. based on the permanent magnet synchronous motor rotor position detection method for improving sliding mode observer, the base described in claim 1 is utilized
In the permanent-magnet synchronous motor rotor position detection means for improving sliding mode observer, it is characterised in that：Comprise the following steps：
Current status equation of the step (1) based on durface mounted permanent magnet synchronous motor, the current observer in sliding mode observer is constructed,
With reference to sigmoid switch functions, the back-emf equivalence value of α axles can obtainAnd the back-emf equivalence value of β axles
Back-emf equivalence value of the step (2) to α axlesAnd the back-emf equivalence value of β axlesIt is filtered, based on second order Generalized Product
Divide the wave filter of method, the buffeting in back-emf equivalence value can be suppressed, and wherein each harmonic is suppressed,
Obtain the back-emf estimate of α axlesAnd the back-emf estimate of β axles
Step (3) uses orthonormalization phaselocked loop, passes through the back-emf estimate of α axlesAnd the back-emf estimate of β axles
Calculate the location estimation signal of rotorWith speed estimate signal
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| US11394327B2 (en) * | 2020-04-24 | 2022-07-19 | Borgwarner Inc. | Methods and systems for detecting a rotor position and rotor speed of an alternating current electrical machine |
| CN111969921A (en) * | 2020-07-20 | 2020-11-20 | 四川虹美智能科技有限公司 | Method and device for determining rotating speed of motor and electronic equipment |
| CN111953255A (en) * | 2020-07-27 | 2020-11-17 | 陕西航空电气有限责任公司 | Control method and control device for integrated permanent magnet synchronous motor without position sensor |
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