CN108696225A - Three-phase electric excitation biconvex electrode electric machine position-sensor-free method based on terminal voltage filtering - Google Patents
Three-phase electric excitation biconvex electrode electric machine position-sensor-free method based on terminal voltage filtering Download PDFInfo
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- CN108696225A CN108696225A CN201810534966.1A CN201810534966A CN108696225A CN 108696225 A CN108696225 A CN 108696225A CN 201810534966 A CN201810534966 A CN 201810534966A CN 108696225 A CN108696225 A CN 108696225A
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/086—Commutation
- H02P25/089—Sensorless control
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Abstract
The invention discloses a kind of three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor based on terminal voltage filtering, the characteristics of present invention is overlapped according to three opposite potential fundamental wave failing edge zero crossing positions of double salient-pole electric machine with commutation point position, terminal voltage can reflect the changing rule of back-emf, the present invention is by detecting the three-phase terminal voltage of three-phase electric excitation biconvex electrode electric machine and being filtered to obtain the fundamental wave of terminal voltage, the influence that brings of DC component in terminal voltage is eliminated by coordinate transform and carries out phase compensation, terminal voltage fundamental wave failing edge zero crossing is set to be overlapped with back-emf, overlapped with commutation point position.In order to accurately extract the fundamental wave in terminal voltage, the filter that different characteristic angular frequency is arranged according to rotating speed is filtered.The invention overcomes the drawbacks of cannot extracting terminal voltage fundamental wave under single filter very well, and more set filters are arranged to realize the wider range variation of rotating speed, can be realized in digitial controller, be a kind of method for controlling position-less sensor easily realized.
Description
Technical field
The present invention relates to Motor Control Field, especially a kind of electric excitation biconvex electrode electric machine position Sensorless Control side
Method.
Background technology
Double salient-pole electric machine (doubly salient motor, DSM) is that one kind of the appearance nineties in last century is novel controllable
AC speed regulating magnetic resistance class motor, rotor are salient-pole structure, simple in structure without winding on rotor, and reliability is high, control spirit
It is living, it is had broad application prospects in fields such as aviation, new energy.During the Electronic control of double salient-pole electric machine, need to lead to
Installation site sensor is crossed to obtain the accurate location information of rotor, to realize accurate commutation.But the introducing meeting of position sensor
The complexity of increase system brings inconvenience to the installation and debugging of system, limits its scope of application, therefore studies DSEM without position
Sensor running technology is set to be of great significance.
It is very few to the research of electric excitation biconvex electrode electric machine position-sensor-free technology both at home and abroad at present, due to electric excitation dual protrusion
Pole motor is similar with the structure of switched reluctance machines (switched reluctance motor, SRM), for double salient-pole electric machine
Used method is greatly all referring to the position-sensor-free technology of SRM.It is passed without position currently for electric excitation biconvex electrode electric machine
Sensor technical research majority is to be changed by extracting the characteristic value of terminal voltage, phase voltage or line voltage at theoretical commutation position to realize
The detection of phase point." a kind of high speed position-sensor-free for three-phase electric excitation biconvex electrode electric machine is run disclosed in Zhang Haibo etc.
Technology " (China, publication number:103595320A) patent reconstructs back-emf zero passage by being coordinately transformed three-phase terminal voltage
Point carries out commutation, and this method only slightly filters the terminal voltage of acquisition, and the back-emf zero crossing position reconstructed when overloaded is easy
It is influenced by current chopping." a kind of three-phase electric excitation biconvex electrode based on non-conduction phase terminal voltage coordinate transform disclosed in Zhao Yao etc.
Motor high speed position-sensorless control strategy " (China, publication number:103684138A) patent passes through to slight filtered three phase terminals electricity
Pressure is coordinately transformed, and then detects the terminal voltage zero crossing of current upper tube conducting phase to judge commutation point, this method is in rotating speed
Opposite end voltage filter effect is poor when relatively low, is not easy to capture zero crossing after coordinate transform, is easy accidentally commutation, it is higher to be only applicable to rotating speed
When double salient-pole electric machine position-sensor-free technology realize.
What the above method extracted is all the characteristic information of voltage, is all slightly to be filtered to terminal voltage, but do not refer to
This characteristic quantity of terminal voltage fundamental wave, for the present invention by carrying out depth filtering to terminal voltage, extraction terminal voltage fundamental wave is carrying out zero passage
The detection and judgement of point, and improved for the small disadvantage of speed adjustable range, it is proposed that a kind of three filtered based on terminal voltage
The position-sensor-free technology of phase electric excitation biconvex electrode electric machine.
Invention content
Technical problem to be solved by the present invention lies in the defects for overcoming existing position-sensor-free technology, provide a kind of base
In the method for controlling position-less sensor of terminal voltage filtering, and the filter that soft handover can be achieved in more sets is set, not according to rotating speed
With carrying out subregion filtering, to realize under electric excitation biconvex electrode electric machine position-sensor-free situation can accurate commutation, stablize fortune
Row, and can realize that rotating speed changes in wider range.
Technical solution:
To realize above-mentioned function, the present invention propose a kind of three-phase electric excitation biconvex electrode electric machine filtered based on terminal voltage without
Position sensor control method, mainly includes the following steps:
1) motor is operated under doublebeat pattern, is powered to motor using three phase full bridge circuit, switch controlled strategy uses
The PWM-ON controls of fixed chopping frequency, i.e., upper bridge arm switching tube are controlled using PWM, and lower bridge arm switching tube is constantly on, simultaneously
Detect three-phase terminal voltage, three-phase phase current and estimation current rotating speed;
2) according to the filter for the selection of speed character pair angular frequency that estimation obtains in step 1), to three-phase terminal voltage into
Row filtering mainly filters out its secondary and secondary above harmonic component, and filter uses four-step filter, by two second order filters
Composition;
3) the filtered terminal voltage that step 2) obtains is coordinately transformed, realize terminal voltage DC component elimination with
And the phase compensation of terminal voltage fundamental wave, coordinate transform angle α is by being calculated so that the failing edge zero crossing of terminal voltage fundamental wave with change
Phase character point overlaps.In order to adapt to the phase compensation of opposite end voltage fundamental under different rotating speeds, difference is obtained by simulation calculation
Coordinate transform angle α under rotating speed, and off-line verification is carried out, coordinate transform angle and the pass of rotating speed are then obtained by the method for fitting
System, the rotating speed obtained in a control program using step 1) obtain current coordinate transform angle α;
4) judgment step 3) in obtained terminal voltage fundamental wave failing edge whether pass through zero crossing, in this way then in the failing edge mistake
Otherwise commutation at zero repeats the above steps and continues to judge;
5) in order to accurately extract terminal voltage fundamental wave, difference is provided on the basis of carrying out multidomain treat-ment to the range of speeds
The filter of characteristic angular frequency is filtered, when rotating speed reaches two partition boundaries coincidence points, between different filters
Switching introduces a Hysteresis control, to realize the soft handover between filter;
When AC is conducted, by detect A phase terminal voltages fundamental wave failing edge zero crossing can commutation be conducted to BA;Work as BA
When being conducted, by detect B phase terminal voltages fundamental wave failing edge zero crossing can commutation be conducted to CB;When CB is conducted, lead to
Cross detection C phase terminal voltages fundamental wave failing edge zero crossing can commutation be conducted to AC, so recycle successively.
The beneficial effects of the present invention are:(1), terminal voltage is easy detection, and Hardware Design is simple;(2), filter,
Switching between the filter of coordinate transform and a variety of frequency filterings is made of digital display circuit, is easier to realize;(3), it is arranged more
It covers filter and subregion filters on the basis of rotating speed, can realize the variation within the scope of wide range speed.
Description of the drawings
Fig. 1 is the electric excitation biconvex electrode electric machine two-dimensional structure figure of 12/8 pole structure of the embodiment of the present invention;
Fig. 2 is the hardware structure diagram of electric machine control system of the embodiment of the present invention;
Fig. 3 is the back-emf and its fundamental wave and terminal voltage and its fundamental wave schematic diagram of electric excitation biconvex electrode electric machine of the present invention;
Fig. 4 is the flow diagram of position-sensor-free algorithm provided by the invention;
Fig. 5 is the schematic diagram for the coordinate transform that the present invention uses;
Fig. 6 switches the curve graph of the Hysteresis control used between different filters provided by the invention;
Fig. 7 is the result emulated to A phase terminal voltages in conjunction with the present invention when rotating speed is higher;
Fig. 8 is the result emulated to A phase terminal voltages in conjunction with the present invention when rotating speed is relatively low.
Udc is DC bus-bar voltage in Fig. 2, and Un is motor three-phase windings neutral point voltage, and S1~S6 is power
MOSFET, D1~D6 are anti-paralleled diode, La,Lb,LcRespectively motor A, B, C three-phase windings self-induction, Ra,Rb,RcRespectively
Motor three-phase windings resistance, Ia,Ib,IcRespectively motor three-phase phase current, Ua,Ub,UcRespectively motor three-phase terminal voltage.
Specific implementation mode
Invention is described in detail below in conjunction with the accompanying drawings.
The hardware configuration of the control system of the present invention is as shown in Fig. 2, include mainly:Three-phase full-bridge inverter, three phase terminals electricity
Pressure, phase current sampling modulate circuit, digital control circuit and three-phase electric excitation biconvex electrode electric machine.Specific implementation step is as follows,
It is as shown in Figure 3 without location procedure block diagram.
Assuming that current conducting is mutually AC phases, then the E obtained after detection coordinate transform is needed at this timeasFailing edge zero crossing judges
Whether commutation.
1) detection three-phase terminal voltage Ua,Ub,Uc, then by the four-step filter of two second order filters cascade composition into
Row filtering;
2) characteristic angular frequency of filter selects 100Hz, 200Hz, 400Hz, corresponds to rotating speed (600,1000) respectively
Rev/min, (1000,2000) rev/min, (2000,3000) rev/min, need to judge which kind of is used according to estimation current rotating speed at this time
Filter could accurately filter out harmonic component secondary or more in terminal voltage;
3) by the three-phase terminal voltage E by being obtained after filtera,Eb,EcIt is coordinately transformed, coordinate transform angle α is by offline
Simulation calculation under state obtains, and realizes online acquisition coordinate by the relational expression being fitted between rotating speed and coordinate transform angle later
The value of angle of transformation α;
4) judgment step 3) in obtained terminal voltage fundamental wave Eas,Ebs,EcsWhether failing edge passes through zero crossing, then exists in this way
Commutation at the failing edge zero crossing, otherwise repeats the above steps and continues to judge.When AC is conducted, by detecting A phase terminal voltages
Fundamental wave failing edge zero crossing can commutation be conducted to BA;When BA is conducted, by the fundamental wave failing edge for detecting B phase terminal voltages
Zero crossing can commutation be conducted to CB;When CB is conducted, the fundamental wave failing edge zero crossing by detecting C phase terminal voltages can commutation
It is conducted to AC, so recycles successively;
In order to realize filtering in digital circuit, discretization is carried out to the transmission function of filter, transmission function is such as
Shown in formula (1), the method used in the present invention is bilinear transformation, shown in transformation for mula such as formula (2):
Formula (2) is substituted into formula (1) to the transmission function for obtaining filter under discrete system, can must input, export by transformation
Between relationship be:
uo=A1ui(1+2z-1+z-2)-B1uoz-2-C1uoz-1 (3)
The digital filter under discrete system can be built according to this relational expression, is realized to double salient-pole electric machine three phase terminals
The filtering of voltage.
Fig. 5 is the coordinate transform schematic diagram used in the present invention, and the principle of coordinate transform is that it is homogeneous to define two axis phases
Poor 120 ° of coordinate system ABC coordinate systems and abc coordinate systems, the advanced ABC coordinate systems α angles of abc coordinate systems.Three-phase terminal voltage is passed through
Filtered voltage Ea,Eb,Ec, it is defined in ABC coordinate systems, A axis, B axle, C axis correspond to E respectivelya,Eb,EcDirection, sit
Three-phase voltage after mark transformation is respectively defined as Eas,Ebs,Ecs.Using coordinate transform phase can be carried out to three phase terminals voltage fundamental
Compensation, and the influence of DC component in terminal voltage is eliminated, its fundametal compoment is extracted on the basis of being filtered to terminal voltage.
In order to accurately extract terminal voltage fundamental wave, different spies are provided on the basis of carrying out multidomain treat-ment to the range of speeds
The filter of sign angular frequency is filtered, when rotating speed reaches two partition boundaries coincidence points, cutting between different filters
It changes and introduces a Hysteresis control, as shown in Figure 6.For 1000 revs/min, setting, which is worked as, detects that rotating speed rises to 1100 revs/min
When switch to the filter that characteristic angular frequency is 200Hz, and when rotating speed drops to 900 revs/min, then switch to characteristic angular frequency
For the filter of 100Hz.The advantage of doing so is that the soft handover between filter can be realized, make motor in position-sensor-free control
System is lower can stable operation.
Fig. 7 and Fig. 8 is the simulation result of A phase terminal voltages in three-phase electric excitation biconvex electrode electric machine, and one timing of busbar voltage turns
Terminal voltage not copped wave when speed is higher, as shown in fig. 7, terminal voltage copped wave when rotating speed is relatively low, as shown in Figure 8.Become in current coordinate
It changes under angle, A phase terminal voltages filtering, after coordinate transform, failing edge zero crossing is overlapped with theory commutation position, it was demonstrated that this method
Feasibility.
The present invention provides a kind of method for controlling position-less sensor based on terminal voltage filtering, realize electric excitation biconvex electrode
Under electric machine without position sensor situation can accurate commutation, stable operation, and pass through the filtering that soft handover can be achieved in the more sets of setting
Device realizes that rotating speed changes in wider range, and Hardware Design is simple, and filter and coordinate transform are all made of digital electricity
Road is easier to realize.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, several improvement can also be made without departing from the principle of the present invention, these improvement also should be regarded as the present invention's
Protection domain.
Claims (2)
1. a kind of three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor based on terminal voltage filtering, feature exist
In the failing edge zero crossing position using the terminal voltage fundamental wave by phase compensation of three-phase electric excitation biconvex electrode electric machine and commutation
The characteristics of point position overlaps, when AC is conducted, by detect A phase terminal voltages fundamental wave failing edge zero crossing can commutation to BA phases
Conducting;When BA is conducted, by detect B phase terminal voltages fundamental wave failing edge zero crossing can commutation be conducted to CB;When CB phases
When conducting, by detect C phase terminal voltages fundamental wave failing edge zero crossing can commutation be conducted to AC, so recycle successively.
2. the three-phase electric excitation biconvex electrode electric machine position Sensorless Control according to claim 1 based on terminal voltage filtering
Method, which is characterized in that including following steps:
1) motor is operated under doublebeat pattern, is powered to motor using three phase full bridge circuit, switch controlled strategy is using fixation
The PWM-ON of chopping frequency is controlled, i.e., upper bridge arm switching tube is controlled using PWM, and lower bridge arm switching tube is constantly on, detects simultaneously
Three-phase terminal voltage, three-phase phase current and estimation current rotating speed;
2) according to the filter for the selection of speed character pair angular frequency that estimation obtains in step 1), three-phase terminal voltage is filtered
Wave mainly filters out its secondary and secondary above harmonic component, and filter uses four-step filter, by two second order filter groups
At;
3) the filtered terminal voltage that step 2) obtains is coordinately transformed, realizes elimination and the end of terminal voltage DC component
The phase compensation of voltage fundamental, coordinate transform angle α is by being calculated so that the failing edge zero crossing of terminal voltage fundamental wave is special with commutation
Sign point overlaps.In order to adapt to the phase compensation of opposite end voltage fundamental under different rotating speeds, different rotating speeds are obtained by simulation calculation
Under coordinate transform angle α, and carry out off-line verification, the relationship of coordinate transform angle and rotating speed then obtained by the method for fitting,
The rotating speed obtained in a control program using step 1) obtains current coordinate transform angle α;
4) judgment step 3) in obtained terminal voltage fundamental wave failing edge whether pass through zero crossing, in this way then in the failing edge zero crossing
Locate commutation, otherwise repeats the above steps and continue to judge;
5) in order to accurately extract terminal voltage fundamental wave, different characteristic is provided on the basis of carrying out multidomain treat-ment to the range of speeds
The filter of angular frequency is filtered, when rotating speed reaches two partition boundaries coincidence points, the switching between different filters
A Hysteresis control is introduced, to realize the soft handover between filter;
It can realize that three-phase electric excitation biconvex electrode electric machine position-sensor-free is run according to above step, Hardware Design is simple,
Filter and coordinate transform are all made of digital circuit to realize, have a good application prospect.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113615070A (en) * | 2019-11-13 | 2021-11-05 | 广东美的白色家电技术创新中心有限公司 | Commutation error compensation method and device of motor and storage medium |
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2018
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113615070A (en) * | 2019-11-13 | 2021-11-05 | 广东美的白色家电技术创新中心有限公司 | Commutation error compensation method and device of motor and storage medium |
| US11705840B2 (en) | 2019-11-13 | 2023-07-18 | Guangdong Midea White Home Appliance Technology Innovation Center Co., Ltd. | Commutation error compensation method and apparatus for electric motor, and storage medium |
| CN113615070B (en) * | 2019-11-13 | 2023-12-01 | 广东美的白色家电技术创新中心有限公司 | Commutation error compensation method and device for motor and storage medium |
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