CN107809191B - Angle observation method for synchronous motor speed sensorless - Google Patents
Angle observation method for synchronous motor speed sensorless Download PDFInfo
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- CN107809191B CN107809191B CN201711001215.5A CN201711001215A CN107809191B CN 107809191 B CN107809191 B CN 107809191B CN 201711001215 A CN201711001215 A CN 201711001215A CN 107809191 B CN107809191 B CN 107809191B
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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
- 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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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to an angle observation method of a synchronous motor speed sensorless, which comprises the following steps: calculating the counter electromotive force of the motor according to a motor state equation by detecting the output voltage and current of the motor; introducing a correction value into the back electromotive force signal, and sending the back electromotive force signal and the correction value into an integrator for integral calculation to obtain a stator flux linkage; calculating to obtain a rotor flux linkage according to the stator flux linkage; performing PLL phase locking on the rotor flux linkage to obtain the angle and the rotating speed of the motor rotor; the invention corrects the zero offset and the initial value error of the counter potential by introducing a feedback mechanism of a flux linkage observer. The method does not need to filter counter electromotive force, the response of the observer is fast, and due to the introduction of a feedback correction mechanism, the method can also correct the influence of various non-ideal factors on the flux linkage observer, such as flux linkage observer errors caused by motor parameter deviation, and has excellent angle observation performance.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an angle observation method of a synchronous motor without a speed sensor.
Background
With the development of semiconductor technology and computer technology, a permanent magnet synchronous motor is widely applied in various fields of national economy, angles in the control of a synchronous motor speed sensorless need to be accurately observed, the existing processing method generally adopts a flux linkage observer to realize the observation of flux linkage angles by low-pass filtering of back electromotive force, but the low-pass filtering brings the lag of the flux linkage angles, so that certain deviation exists in the observed angles, zero offset and an initial value inevitably exist in back electromotive force signals, and the direct calculation of the flux linkage through the integral of the back electromotive force brings the saturation of an integrator and the error of the initial value, so that the angles cannot be accurately observed.
Disclosure of Invention
The invention provides an angle observation method of a synchronous motor without a speed sensor, and aims to solve the problem that a flux linkage observer cannot accurately calculate an angle.
In order to achieve the purpose, the invention adopts the following technical scheme:
an angle observation method of a synchronous motor speed sensorless comprises the following steps:
calculating the counter electromotive force of the motor according to a motor state equation by detecting the output voltage and current of the motor;
introducing a correction value into the back electromotive force signal, and sending the back electromotive force signal and the correction value into an integrator for integral calculation to obtain a stator flux linkage;
calculating to obtain a rotor flux linkage according to the stator flux linkage;
and carrying out PLL phase locking on the rotor flux linkage to obtain the angle and the rotating speed of the motor rotor.
Furthermore, the correction value is obtained by multiplying the deviation between the square of the amplitude of the actual stator flux linkage and the square of the amplitude of the observation flux linkage by a K coefficient after coordinate projection;
and the K coefficient is a debugging parameter of the observer.
Further, the counter electromotive force of the motor is calculated according to a motor state equation by detecting the output voltage and the current of the motor; wherein:
the motor state equation is as follows:
in the formula, EalfAnd EbetaBack-emf for the alf axis and beta axis, respectively; u shapealfAnd UbetaThe motor output voltages of the alf axis and the beta axis are respectively; rs is a parameter of the motor resistance; i isalfAnd IbetaThe motors of the alf axis and the beta axis respectively output current.
Further, the rotor flux linkage is obtained through calculation according to the stator flux linkage; wherein:
the calculation method is as follows:
in the formula, #alfAnd psibetaRotor flux linkages of an alf shaft and a beta shaft respectively; phi _ alf and Phi _ beta are stator flux linkages of an alf axis and a beta axis respectively; ls is an inductance parameter of the motor; i isalfAnd IbetaThe motors of the alf axis and the beta axis respectively output current.
Further, the correction amount U _ comp is a difference between the square of the amplitude of the actual stator flux linkage and the square of the amplitude of the observed flux linkage
(Phi_f*cosθ+Ls*Ialf)2+(Phi_f*sinθ+Ibeta)2-(Phi_alf2+Phi_beta2) Then obtaining the product; the correction value U _ comp is projected to a rectangular coordinate system, the projection angle is theta, and correction values of an alf axis and a beta axis are obtained and are respectively U _ comp × cos theta and U _ comp × sin theta; the correction amount is multiplied by a coefficient K to obtain a final alf-axis correction amount Ua _ comp _ K _ cos θ and a final beta-axis correction amount Ub _ comp _ K _ sin θ.
The angle observation method of the synchronous motor speed sensorless corrects the zero offset and the initial value error of the counter electromotive force by introducing the feedback mechanism of the flux linkage observer. The method does not need to filter counter electromotive force, the response of the observer is fast, and due to the introduction of a feedback correction mechanism, the method can also correct the influence of various non-ideal factors on the flux linkage observer, such as flux linkage observer errors caused by motor parameter deviation, and has excellent angle observation performance.
Drawings
FIG. 1 is a flow chart of an angle observation method of a synchronous motor non-speed sensor according to the present invention;
FIG. 2 is a schematic block diagram of the angular observation of the synchronous machine of the present invention without a speed sensor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described in conjunction with the accompanying drawings and the detailed description thereof:
fig. 1 is a flow chart of the method for observing the angle of the synchronous motor without a speed sensor, as shown in fig. 1, the method comprises the following steps:
step A1: by detecting the output voltage and current of the motor according to the motor state equation
Calculating back electromotive forces of an alf shaft and a beta shaft of the motor; in the formula, EalfAnd EbetaBack-emf for the alf axis and beta axis, respectively; u shapealfAnd UbetaThe motor output voltages of the alf axis and the beta axis are respectively; rs is a parameter of the motor resistance; i isalfAnd IbetaThe motors of the alf axis and the beta axis respectively output current.
Step A2: and adding a correction value on the back electromotive force of the alf axis and the beta axis, and then sending the correction value into an integrator for integral calculation to obtain stator flux linkages of the alf axis and the beta axis.
Direct pure integration processes cause problems such as integrator saturation due to dc offset in the back emf and initial angular deviation, so a correction amount needs to be introduced in the back emf to solve this problem.
The correction quantity U _ comp is obtained by subtracting the square of the amplitude of the actual stator flux linkage from the square of the amplitude of the observation flux linkage
(Phi_f*cosθ+Ls*Ialf)2+(Phi_f*sinθ+Ibeta)2-(Phi_alf2+Phi_beta2) Then obtaining the product; the correction value U _ comp is projected to a rectangular coordinate system, the projection angle is theta, and correction values of an alf axis and a beta axis are obtained and are respectively U _ comp × cos theta and U _ comp × sin theta; multiplying the correction quantity by a coefficient K to obtain a final alf axis correction quantity Ua _ comp _ K _ cos theta and a final beta axis correction quantity Ub _ comp _ K _ sin theta; and the K coefficient is a debugging parameter of the observer and is obtained through experimental debugging.
Step A3: according to the stator flux linkage, the rotor flux linkage of an alf shaft and a beta shaft is obtained through the following calculation method,
in the formula, #alfAnd psibetaRotor flux linkages of an alf shaft and a beta shaft respectively; phi _ alf and Phi _ beta are stator flux linkages of an alf axis and a beta axis respectively; ls is an inductance parameter of the motor; i isalfAnd IbetaRespectively alf axis and beta axisThe motor of (2) outputs a current.
Step A4: the rotor flux linkage is calculated as follows
(Phi_alf-Ls*Ialf)*cosθ-(Phi_beta-Ls*Ibeta) Sin theta, then PLL phase locking is carried out, and the motor rotor angle theta and the rotating speed Wr are obtained.
The angle and the rotating speed of the motor rotor can be accurately calculated through the steps, and a schematic block diagram of the angle observation of the synchronous motor speed sensorless corresponding to the embodiment is shown in fig. 2.
According to the observation method of the synchronous motor without the speed sensor, disclosed by the embodiment of the invention, the zero offset and the initial value error of the counter electromotive force are corrected by introducing a feedback mechanism of a flux linkage observer. The method does not need to filter counter electromotive force, avoids hysteresis of a flux linkage angle caused by low-pass filtering, enables the response speed of the observer to be high, can correct influences of various non-ideal factors on the flux linkage observer due to the introduction of a feedback correction mechanism, for example, flux linkage observer errors caused by motor parameter deviation, and has excellent angle observation performance.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; for a person skilled in the art, modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (5)
1. An angle observation method of a synchronous motor speed sensorless is characterized by comprising the following steps:
calculating the counter electromotive force of the motor according to a motor state equation by detecting the output voltage and current of the motor;
introducing a correction amount to the back electromotive force signal, adding the back electromotive force signal and the correction amount, and sending the back electromotive force signal and the correction amount together into an integrator for integral calculation to obtain a stator flux linkage;
calculating to obtain a rotor flux linkage according to the stator flux linkage;
performing PLL phase locking on the rotor flux linkage to obtain the angle and the rotating speed of the motor rotor;
and the correction value is obtained by performing difference operation on the amplitude square of the actual stator flux linkage and the observed amplitude square of the stator flux linkage.
2. The method for observing the angle of the synchronous motor speed sensorless according to claim 1, wherein the correction amount U _ comp is subjected to coordinate projection and then multiplied by a coefficient K to obtain a final alf axis correction amount Ua _ comp and a beta axis correction amount Ub _ comp, namely:
and the K coefficient is a debugging parameter of the observer, and theta is a projection angle.
3. The method for observing the angle of the synchronous motor speed sensorless according to claim 1, wherein the back electromotive force of the motor is calculated according to a motor state equation by detecting the output voltage and current of the motor; wherein:
the motor state equation is as follows:
in the formula, EalfAnd EbetaBack-emf for the alf axis and beta axis, respectively; u shapealfAnd UbetaThe motor output voltages of the alf axis and the beta axis are respectively; rs is a parameter of the motor resistance; i isalfAnd IbetaThe motors of the alf axis and the beta axis respectively output current.
4. The method for observing the angle of the synchronous motor speed sensorless according to claim 1, wherein the rotor flux linkage is calculated according to the stator flux linkage; wherein:
the calculation method is as follows:
in the formula, #alfAnd psibetaRotor flux linkages of an alf shaft and a beta shaft respectively; phi _ alf and Phi _ beta are stator flux linkages of an alf axis and a beta axis respectively; ls is an inductance parameter of the motor; i isalfAnd IbetaThe motors of the alf axis and the beta axis respectively output current.
5. The synchronous machine sensorless angle observation method according to claim 4, wherein the correction amount U _ comp is calculated by the following formula:
(Phi_f*cosθ+Ls*Ialf)2+(Phi_f*sinθ+Ls*Ibeta)2-(Phi_alf2+Phi_beta2)
wherein, (Phi _ f & theta + Ls & I)alf)2+(Phi_f*sinθ+Ls*Ibeta)2Is the square of the magnitude of the actual stator flux linkage, (Phi _ alf)2+Phi_beta2) The square of the magnitude of the observed stator flux linkage.
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| CN111058224B (en) * | 2018-10-15 | 2021-10-15 | 广东威灵电机制造有限公司 | Motor operation control method and system, drum washing machine and storage medium |
| CN109756157B (en) * | 2018-12-29 | 2020-07-28 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Method for inhibiting impact current in switching process of variable-frequency soft starter |
| CN110299880B (en) * | 2019-06-25 | 2021-06-22 | 珠海格力电器股份有限公司 | Control method and control device of permanent magnet synchronous motor and compressor |
| CN111682804A (en) * | 2020-04-30 | 2020-09-18 | 深圳市吉胜华力科技有限公司 | Special controller for oil pump permanent magnet synchronous motor without position sensor |
| CN111934589B (en) * | 2020-08-18 | 2023-07-04 | 西南交通大学 | Traction motor speed-sensorless control method based on improved q-type phase-locked loop |
| CN113612420B (en) * | 2021-08-26 | 2022-02-18 | 北京芯格诺微电子有限公司 | Integration saturation resistant non-inductive permanent magnet synchronous motor rotor position detection method |
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| CN102780444A (en) * | 2012-08-06 | 2012-11-14 | 无锡艾柯威科技有限公司 | Motor stator flux linkage estimating method |
| CN103731082A (en) * | 2014-01-03 | 2014-04-16 | 东南大学 | Stator flux linkage estimation method of permanent magnet synchronous motor based on direct torque control |
| CN106487304A (en) * | 2016-10-27 | 2017-03-08 | 江苏大学 | A kind of permagnetic synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
| CN106533295A (en) * | 2016-12-21 | 2017-03-22 | 阳光电源股份有限公司 | Method and device for position sensorless control of permanent magnet synchronous motor |
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| CN102780444A (en) * | 2012-08-06 | 2012-11-14 | 无锡艾柯威科技有限公司 | Motor stator flux linkage estimating method |
| CN103731082A (en) * | 2014-01-03 | 2014-04-16 | 东南大学 | Stator flux linkage estimation method of permanent magnet synchronous motor based on direct torque control |
| CN106487304A (en) * | 2016-10-27 | 2017-03-08 | 江苏大学 | A kind of permagnetic synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
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