CN109150028A - Three-level formula synchronous motor rotor position estimating system and estimation method - Google Patents
Three-level formula synchronous motor rotor position estimating system and estimation method Download PDFInfo
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- CN109150028A CN109150028A CN201811181808.9A CN201811181808A CN109150028A CN 109150028 A CN109150028 A CN 109150028A CN 201811181808 A CN201811181808 A CN 201811181808A CN 109150028 A CN109150028 A CN 109150028A
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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
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
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Abstract
The invention discloses three-level formula synchronous motor rotor position estimating system and estimation methods, system includes three-level formula synchronous motor, single phase alternating current power supply, signal acquisition module and signal processing module, and three-level formula synchronous motor includes main exciter, rotating rectifier and the main generator of coaxial arrangement；Single phase alternating current power supply is passed through single-phase alternating current to the excitation winding of main exciter and generates impulsive magnetic field, three-phase alternating current is incuded in main exciter armature winding, main generator excitation winding power is given after rotating rectifier, and the high-frequency signal comprising rotor position information is induced in main generator armature winding, signal acquisition module extracts the high-frequency signal comprising rotor position information, estimates rotor position angle using signal processing module.The present invention avoids conventional highfrequency signal method for implanting and introduces motor output torque fluctuation, with preferable robustness and stability without additionally injecting other signals.
Description
Technical field
The invention belongs to motor control technology field, in particular to a kind of three-level formula synchronous motor rotor position estimating system
And estimation method.
Background technique
In recent years, variable frequency AC power system is widely used for more electricity, electric aircraft, becomes the development of airplane power source technology
Main way.It is higher to the reliability requirement of power-supply system in aviation, military field, and the brushless excitation of rotating-rectifier type
Synchronous motor gives main generator excitation using the output of main exciter after over commutation, has abandoned electric brush slip ring structure, larger journey
Improve reliability to degree.Since main generator is connected with engine, there is starting/generating integrated function, eliminate additional
Starting device, save space and cost, on current many civil aircrafts and fighter plane such as A380, B787 and F22 all
Using three-level formula synchronous motor.
Power generating stage, main exciter use DC excitation, and exciter rotor induces three-phase alternating current, and output is by rotation
Rectifier is to main generator excitation.At this stage, the starting control of three-level formula synchronous motor be its realize start/it is generating integrated
One important difficult point.In starting control, obtains rotor position angle and be necessary, can usually pass through photoelectric encoder, Hall
The sensors such as position sensor and magnetic coder obtain rotor position information.However, temperature change is big and electromagnetism is dry
Under the conditions of the severe aviation disturbed, it may appear that the position detection of sensor inaccuracy even failure the problem of, and the setting of sensor
The volume, weight and cost of system are increased, therefore, the starting control research of position-sensor-free is three-level formula synchronous motor hair
The emphasis direction of exhibition.
The location estimation method of traditional starting stage can be divided into two kinds, and one is rotors to be pre-positioned method, special by applying
Determine angle voltage vector, so that the d axis of rotor coincides with A, but three-level formula synchronous motor is connected with engine, there is one always
A biggish load, it is difficult to realize that rotor is pre-positioned；Another kind is using main generator rotor salient-pole structure characteristic, and injection is high
Frequently, the signals such as the sine of low frequency or square wave finally extract the signal comprising rotor position information from motor stator end, calculate
Rotor position angle, however additional Injection Signal, it is unavoidable to will lead to electric motor starting torque pulsation, and control structure is multiple
It is miscellaneous.
Summary of the invention
Goal of the invention: providing a kind of three-level formula synchronous motor rotor position estimating system and estimation method, directly extracts
Harmonic signal comprising rotor position information, simplifies control structure, eliminates additional Injection Signal bring starting stage
Torque pulsation, and possess preferable position estimation accuracy.
Technical solution: for achieving the above object, the invention adopts the following technical scheme:
Three-level formula synchronous motor rotor position estimating system, including three-level formula synchronous motor, single phase alternating current power supply, signal are adopted
Collect module and signal processing module, wherein three-level formula synchronous motor includes main exciter, rotating rectifier and the master of coaxial arrangement
Generator；Wherein, single phase alternating current power supply is passed through single-phase alternating current to the excitation winding of main exciter and generates impulsive magnetic field, by fixed
Rotor coupling, incude three-phase alternating current in main exciter armature winding, after rotating rectifier to main generator excitation around
Group power supply induces in main generator armature winding and believes comprising rotor-position by the coupling between main generator rotor
The high-frequency signal of breath extracts the high-frequency signal comprising rotor position information by signal acquisition module, using signal processing
Module estimates rotor position angle.
Preferably, main exciter is revolving-armature type electric excitation synchronous motor, and stator is DC excitation winding, and rotor-side is
Armature winding.
Preferably, main generator unit stator side is armature winding, and rotor-side is excitation winding.
Preferably, signal acquisition module includes two identical bandpass filters.
Preferably, signal processing module includes first square of computing module, second square of computing module, multiplier, addition
Device, the first low-pass filter, the second low-pass filter, amplifier and phaselocked loop, the two-phase static coordinate of bandpass filter output
The high frequency harmonic signals fastened input first square of computing module and second square of computing module respectively, then after adder
Phaselocked loop is inputted after inputting the first low-pass filter；Another aspect two-phase high frequency harmonic signals input multiplier, then export to
Second low-pass filter, then inputs phaselocked loop after amplifier；Phaselocked loop output is the rotor position angle of estimation.
In another embodiment of the present invention, three-level formula synchronous motor rotor position estimating system and estimation method, including it is following
Step:
(1) single-phase alternating current is passed through in main exciter stator side generate impulsive magnetic field；
(2) three-phase alternating current is induced in main exciter rotor-side armature winding, main power generation is given after rotating rectifier
The power supply of machine excitation winding；
(3) the current harmonics component on main generator excitation winding is after the coupling of main generator rotor, in main power generation
Machine stator side armature winding induces the high-frequency signal comprising rotor position information；
(4) signal acquisition module acquisition includes the signal of main generator rotor position；
(5) signal processing module estimates main generator rotor position angle.
Further, main exciter uses single phase alternating current power supply excitation in step (1), and single phase ac exciting current is encouraged in master
An impulsive magnetic field is generated in magnetomechanical space, the fundametal compoment of pulsating magnetic potential be decomposed into same rotational speed one rotates in the forward direction magnetic
Gesture wave and a reverse rotation magnetic potential wave, revolving speed size n1Are as follows:
n1=60f1/p (1)；
Wherein p is main exciter number of pole-pairs, main exciter exciting current are as follows:
Wherein, ω1=2 π f1For excitation angular frequency, f1For main exciter excitation frequency, IfeIt is exciting current virtual value.
Further, simplify in step (2) in the potential that main exciter rotor-side induces are as follows:
Wherein, ω1=2 π f1For excitation angular frequency, f1For main exciter excitation frequency, IfeIt is exciting current virtual value, Mfe
It is the mutual inductance value of maximum of main exciter excitation winding and armature winding, ω is the corresponding angular frequency of main exciter rotor speed；eAE、
eBE、eCERespectively main exciter rotor-side three-phase induction potential.
Further, in step (3), in the harmonic high frequency comprising rotor position information that main generator armature winding induces
Component u of the wave signal in two-phase stationary coordinate systemɑh、uβhAre as follows:
Wherein, UhFor the amplitude of high-frequency harmonic voltage signal in two-phase stationary coordinate system,For the angle of lag, ωh' be
The frequency of high frequency response signal, θ are rotor physical location angles.
Further, it after signal processing module receives the high-frequency signal that signal acquisition module exports in step (5), carries out
Rotor position angle estimation, specific estimation method are as follows:
(51) difference of two squares is done to the high-frequency voltage signal in two-phase stationary coordinate system respectively, then inputs the first low-pass filtering
Device obtains:
Wherein, KLPFFor filter attenuation coefficient；
(52) high-frequency voltage signal in two-phase stationary coordinate system is multiplied, then inputs the second low-pass filter and obtains:
(53) then the voltage signal for exporting second filter in step (52) is filtered multiplied by 2 in step (51) first
The voltage signal of wave device output, while phaselocked loop is inputed to, two inputs of phaselocked loop are denoted as:
(54) phaselocked loop carries out calculation processing to received input signal, obtains rotor position estimate angle；
The input of the port PI is in phaselocked loopFunction:
Wherein, θ is actual angle,To estimate angle, if actual angle and the difference of estimation angle areLocking phase
When ring converges to 0,ThenAt this time 2 △ θ=m π (m=0,1,
2....), thereforeTherefore actual angle, θ is equal toOrTherefore it needs to estimating
The initial position counted out is corrected, position angle bearing calibration are as follows:
It is fixed in main generator in the establishment process in main generator excitation magnetic field under three-level formula synchronous motor stationary state
Induced current can be flowed through in sub- winding, according to Lenz's law, what faradic polarity and main generator rotor winding generated is encouraged
Therefore magnetic magnetic direction is on the contrary, can judge which quadrant rotor position angle is in by faradic polarity:
(1) when rotor-position is in (0, pi/2) first quartile, α axis, β axis induced current are all negative；
(2) when rotor-position is in (pi/2, π) second quadrant, α axis induced current is positive, β axis induced current is negative；
(3) when rotor-position is in (π, 3 pi/2s) third quadrant, α axis, β axis induced current are all positive；
(4) when rotor-position is in (3 pi/2s, 2 π) fourth quadrant, α axis induced current is negative, β axis induced current is positive；
By the judgement of induced current positive-negative polarity, the corresponding quadrant of available rotor-position,WithIt is middle to select corresponding angle, as the initial position angle finally estimated.
The utility model has the advantages that compared with prior art, the invention has the following advantages:
(1) present invention applies the position-sensor-free technology in the three-level formula synchronous motor starting stage, can accurately estimate and turn
Sub- position angle.
(2) present invention is injected without additional signal, is avoided introducing new harmonic component and torque pulsation, is reduced control
The complexity of system.
(3) present invention is not necessarily to voltage, position sensor, greatly reduces the volume, quality and cost of electric system, mentions
High stability and reliability.
Detailed description of the invention
Fig. 1 is present system structural schematic diagram；
Fig. 2 is signal acquisition module of the present invention and signal processing module structural schematic diagram；
Fig. 3 is the phase-locked loop structures schematic diagram that rotor position angle of the invention calculates；
Fig. 4 is the method for the present invention flow chart；
Fig. 5 is that rotating rectifier outputs and inputs voltage oscillogram in three-level formula synchronous motor of the invention；
Fig. 6 is the voltage harmonic fft analysis result of main generator excitation winding of the invention；
Fig. 7 is comparison, position estimation error and the revolving speed emulation of location estimation angle and actual rotor angle of the invention
Result figure.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, three-level formula synchronous motor rotor position estimating system of the invention and estimation method, including three-level formula
Synchronous motor, single phase alternating current power supply, signal acquisition module and signal processing module, wherein three-level formula synchronous motor is encouraged including pair
Magnetomechanical, main exciter, rotating rectifier and main generator, pilot exciter is not engaged in wherein in the present invention, and main exciter, rotation
Turn rectifier and main generator coaxial arrangement；Main exciter is revolving-armature type electric excitation synchronous motor, and stator is DC excitation
Winding, rotor-side are armature winding；Main generator unit stator side is armature winding, and rotor-side is excitation winding.
For the excitation con-trol for realizing start-up course, single-phase excitation con-trol side is used to the DC excitation winding of main exciter
Formula is passed through single-phase alternating current to the excitation winding of main exciter by single phase alternating current power supply and generates impulsive magnetic field, by rotor
Coupling, incudes three-phase alternating current in main exciter rotor-side armature winding, and main generator rotor is given after rotating rectifier
The power supply of side excitation winding, while using the rectification of rotating rectifier, main exciter induced voltage (induction three-phase alternating current) generates
The equivalent high-frequency signal as injection main generator excitation winding of harmonic wave, by the coupling between main generator rotor,
The high-frequency signal comprising rotor position information is induced in main generator unit stator side, is extracted by signal acquisition module comprising turning
The high-frequency signal of sub- location information calculates rotor position angle using signal processing module.
As shown in Fig. 2, being signal acquisition module and signal processing module schematic diagram, signal acquisition module includes two identical
Bandpass filter (BPF), which collects the height comprising rotor position angle from the stator side of main generator
Frequency signal, and the signal is input to signal processing module；Signal processing module includes first square of computing module, second square
Computing module, multiplier, adder, the first low-pass filter (LPF), the second low-pass filter (LPF), amplifier and locking phase
Ring, the high frequency harmonic signals u in two-phase stationary coordinate system that bandpass filter exportsɑhAnd uβhFirst square of calculating is inputted respectively
After module and second square of computing module, using the first low-pass filter is inputted after adder, phaselocked loop is then inputted；It is another
Aspect high frequency harmonic signals uɑhAnd uβhMultiplier is inputted, then exports to the second low-pass filter, then passes through amplifier (2
Times amplifier) phaselocked loop is inputted afterwards；Phaselocked loop output is the rotor position angle of estimation.
As shown in figure 3, being improved phase-locked loop structures in signal processing module, include by what is be calculated in Fig. 2
The low frequency signal of rotor position angle is as input, by uɑlAnd uβlRespectively multiplied by sin the and cos value of estimation angle, after doing subtraction
Input pi regulator obtains calculated estimation rotor position angle after integral.
In another embodiment, three-level formula synchronous motor rotor position estimating system and estimation method, comprising: three-level formula is synchronous
The main exciter of motor uses single-phase excitation winding, is passed through single-phase alternating current, impulsive magnetic field is generated in stator, by between rotor
It is coupled on main exciter rotor and induces alternating current, main generator excitation, main generator are given after rotating rectifier rectifies
Current harmonics component in excitation winding incudes by the coupling between main generator rotor in main generator unit stator side
Out include the high-frequency signal of rotor position information, extracts the harmonic signal in main generator unit stator side, the position of rotor can be calculated
Angle setting degree.As shown in figure 4, specifically includes the following steps:
(1) single-phase alternating current is passed through in main exciter stator side generate impulsive magnetic field；
Main exciter uses single-phase aviation midfrequent AC power supply f1=400Hz excitation, the corresponding frequency of rotor speed are f,
Single phase ac exciting current generates an impulsive magnetic field in main exciter space, and the fundametal compoment of pulsating magnetic potential can be analyzed to
One of same rotational speed rotates in the forward direction magnetic potential wave and a reverse rotation magnetic potential wave, revolving speed size n1Are as follows:
n1=60f1/p (1)；
Wherein p is main exciter number of pole-pairs, main exciter exciting current are as follows:
Wherein ω1=2 π f1For excitation angular frequency, f1For main exciter excitation frequency, IfeIt is exciting current virtual value, takes list
The 400Hz of phase aviation midfrequent AC power supply is main exciter excitation frequency.
(2) three-phase alternating current is induced in main exciter rotor-side armature winding, main power generation is given after rotating rectifier
The power supply of machine excitation winding；
Main exciter exciting current is coupled by rotor, in the potential that main exciter rotor-side induces are as follows:
Wherein, MfeIt is the mutual inductance value of maximum of main exciter excitation winding and armature winding, ω is main exciter rotor speed
Corresponding angular frequency, due to research be starting stage position Sensorless Control, the corresponding frequency of main exciter rotor speed
Rate f only has several hertz, main exciter excitation frequency 400Hz is much smaller than, therefore negligible amplitude is one of ω, by main exciter
Induced potential simplifies are as follows:
The potential by rotating rectifier to main generator excitation, the induced potential of above-mentioned main exciter rotor-side,
One high frequency period (T=2 π/ω1) in, cos ω t,WithVariation is negligible, is considered as constant value,
E at this timeAE、eBE、eCESame-phase is kept, therefore comprising being approximately the humorous of twice of excitation frequency in the output voltage of rotating rectifier
Wave.
As shown in figure 5, being three-level formula synchronous motor voltage before and after the rotating rectifier under 100r/min revolving speed, main excitation
Machine induced voltage is line voltage, and main generator excitation is given after over commutation, and main exciter uses the aviation medium frequency electric of single-phase 400Hz
Source carries out excitation, it can be seen that the peak frequencies in main generator excitation voltage signal are about 800Hz (twice of excitation frequency).
As shown in fig. 6, being fft analysis in the main generator excitation winding voltage after rectification as a result, being wrapped in the excitation voltage
The harmonic signal of about twice of the main exciter excitation frequency (800Hz) contained approximate can regard the high-frequency signal of injection as.
(3) the current harmonics component on main generator excitation winding is after the coupling of main generator rotor, in main power generation
Machine stator side armature winding induces the high-frequency signal comprising rotor position information；
The equivalent high-frequency signal as injection main generator excitation winding of the harmonic signal of rotating rectifier output, by fixed
It is static in two-phase in the high frequency harmonic signals comprising rotor position information that main generator armature winding induces after rotor coupling
Component u on coordinate systemɑh、uβhAre as follows:
Wherein, UhFor the amplitude of high-frequency harmonic voltage signal in two-phase stationary coordinate system,For the angle of lag, ωh' be
The frequency of high frequency response signal, about 2 ω1；θ is rotor physical location angle.
(4) signal acquisition module acquisition includes the signal of main generator rotor position；
The above-mentioned high frequency response signal comprising rotor position information is extracted with bandpass filter, is then output to signal processing
Module.
(5) signal processing module calculates main generator rotor position angle；
Signal processing module receives the high-frequency signal that signal acquisition module sends over, and carries out the following processing:
(51) difference of two squares is done to the high-frequency voltage signal in two-phase stationary coordinate system respectively, then inputs the first low-pass filtering
Device (LPF):
Wherein, KLPFFor filter attenuation coefficient；
(52) high-frequency voltage signal in two-phase stationary coordinate system is multiplied, then inputs the second low-pass filter (LPF)
:
(53) voltage signal for exporting second filter in step (52) inputs 2 times of amplifiers (multiplied by 2), then and walks
Suddenly the voltage signal that first filter exports in (51), while two inputs as phaselocked loop, are denoted as:
(54) phaselocked loop carries out calculation processing to received input signal, obtains rotor position estimate angle；
The input of the port PI is in phaselocked loopFunction:
Wherein, θ is actual angle,To estimate angle, if actual angle and the difference of estimation angle areLocking phase
When ring output converges to 0,ThenAt this time 2 △ θ=m π (m=0,1,
2....), thereforeTherefore actual angle, θ is equal toOrTherefore it needs to estimating
The initial position counted out is corrected, position angle bearing calibration are as follows:
It is fixed in main generator in the establishment process in main generator excitation magnetic field under three-level formula synchronous motor stationary state
Induced current can be flowed through in sub- winding, according to Lenz's law, what faradic polarity and main generator rotor winding generated is encouraged
Therefore magnetic magnetic direction is on the contrary, can judge which quadrant rotor position angle is in by faradic polarity:
(1) when rotor-position is in (0, pi/2) first quartile, α axis, β axis induced current are all negative；
(2) when rotor-position is in (pi/2, π) second quadrant, α axis induced current is positive, β axis induced current is negative；
(3) when rotor-position is in (π, 3 pi/2s) third quadrant, α axis, β axis induced current are all positive；
(4) when rotor-position is in (3 pi/2s, 2 π) fourth quadrant, α axis induced current is negative, β axis induced current is positive；
By the judgement of induced current positive-negative polarity, the corresponding quadrant of available rotor-position,WithIt is middle to select corresponding angle, as the initial position angle finally estimated.The present invention couple
The own harmonic signal of three-level formula synchronous motor is analyzed, and is extracted signal wherein comprising rotor position information, is realized three
The position Sensorless Control of grade formula synchronous motor.
As shown in fig. 7, being the comparison diagram of the rotor position angle finally estimated and physical location angle, actual bit angle setting
Degree subtracts estimated location angle and obtains the evaluated error and corresponding rotor speed of rotor position angle.It can be sent out from figure
Existing position estimation error is smaller, can complete the starting process of brushless ac synchronous motor, illustrates that the present invention has feasibility.
There is no directly high-frequency signal is injected to three-level formula synchronous motor in location estimation method of the present invention, encouraged using exchange
The single-phase alternating current of magnetic control induces alternating current in the vibration of main exciter armature rotor winding middle arteries, whole by rotating rectifier
Main generator excitation is given after stream, on the basis of completing AC excitation control function, by rotating rectifier in main generator excitation
The harmonic component generated in winding, it is equivalent as main generator rotor side injection high-frequency signal, detection main generator unit stator around
Group side induces the high frequency response signal comprising rotor position information, in conjunction with the method that rotor position information is estimated, resolves and obtains
The position of three-level formula synchronous electric motor rotor.
The present invention generates harmonic signal as equivalent high-frequency signal using three-level formula synchronous motor AC excitation process and infuses
Enter, without additionally injecting other signals, avoids conventional highfrequency signal method for implanting and introduce motor output torque fluctuation, and should
Location-estimation algorithm by the parameter of electric machine variation influenced it is smaller, have preferable robustness and stability.
Claims (10)
1. three-level formula synchronous motor rotor position estimating system, it is characterised in that: including three-level formula synchronous motor, single-phase alternating current
Source, signal acquisition module and signal processing module, wherein three-level formula synchronous motor includes coaxially connected main exciter, rotation
Rectifier and main generator；Wherein, single phase alternating current power supply is passed through single-phase alternating current to the excitation winding of main exciter and generates pulsating
Magnetic field is coupled by rotor, incudes three-phase alternating current in main exciter armature winding, and main hair is given after rotating rectifier
Motor excitation winding power induces in main generator armature winding by the coupling between main generator rotor and includes
The high-frequency signal of rotor position information extracts the high-frequency signal comprising rotor position information by signal acquisition module, then passes through
It crosses signal processing module and estimates rotor position angle.
2. three-level formula synchronous motor rotor position estimating system according to claim 1, it is characterised in that: main exciter is
Revolving-armature type electric excitation synchronous motor, stator are single-phase excitation winding, and rotor-side is armature winding.
3. three-level formula synchronous motor rotor position estimating system according to claim 1, it is characterised in that: main generator is fixed
Sub- side is armature winding, and rotor-side is excitation winding.
4. three-level formula synchronous motor rotor position estimating system according to claim 1, it is characterised in that: signal acquisition mould
Block includes two identical bandpass filters.
5. three-level formula synchronous motor rotor position estimating system according to claim 1, it is characterised in that: signal processing mould
Block includes first square of computing module, second square of computing module, multiplier, adder, the first low-pass filter, the second low pass
Filter, amplifier and phaselocked loop, the high frequency harmonic signals in two-phase stationary coordinate system that bandpass filter exports input respectively
First square of computing module and second square of computing module input lock after then inputting the first low-pass filter after adder
Xiang Huan；Another aspect two-phase high frequency harmonic signals input multiplier, then export to the second low-pass filter, then by amplification
Phaselocked loop is inputted after device；Phaselocked loop output is the rotor position angle of estimation.
6. three-level formula synchronous motor rotor position estimation method, which comprises the following steps:
(1) single-phase alternating current is passed through in main exciter stator side generate impulsive magnetic field；
(2) three-phase alternating current is induced in main exciter rotor-side armature winding, is encouraged after rotating rectifier to main generator
Magnetic winding power；
(3) the current harmonics component on main generator excitation winding is fixed in main generator after the coupling of main generator rotor
Sub- side armature winding induces the high-frequency signal comprising rotor position information；
(4) signal acquisition module acquisition includes the signal of main generator rotor position；
(5) signal processing module estimates main generator rotor position angle.
7. three-level formula synchronous motor rotor position estimation method according to claim 6, it is characterised in that: in step (1)
Main exciter uses single phase alternating current power supply excitation, and single phase ac exciting current generates a pulsating magnetic in main exciter space
, the fundametal compoment of pulsating magnetic potential be decomposed into same rotational speed one rotates in the forward direction magnetic potential wave and a reverse rotation magnetic potential
Wave, revolving speed size n1Are as follows:
n1=60f1/p (1)；
Wherein p is main exciter number of pole-pairs, main exciter exciting current are as follows:
Wherein, ω1=2 π f1For excitation angular frequency, f1For main exciter excitation frequency, IfeIt is exciting current virtual value.
8. three-level formula synchronous motor rotor position estimation method according to claim 6, it is characterised in that: in step (2)
Simplify in the potential that main exciter rotor-side induces are as follows:
Wherein, ω1=2 π f1For excitation angular frequency, f1For main exciter excitation frequency, IfeIt is exciting current virtual value, MfeIt is main
The mutual inductance value of the maximum of exciter excitation winding and armature winding, ω is the corresponding angular frequency of main exciter rotor speed；eAE、eBE、
eCERespectively main exciter rotor-side three-phase induction potential.
9. three-level formula synchronous motor rotor position estimation method according to claim 6, it is characterised in that: in step (3),
In the high frequency harmonic signals comprising rotor position information that main generator armature winding induces in two-phase stationary coordinate system
Component uɑh、uβhAre as follows:
Wherein, UhFor the amplitude of high-frequency harmonic voltage signal in two-phase stationary coordinate system,For the angle of lag, ωh' it is high frequency
The frequency of response signal, θ are rotor physical location angles.
10. three-level formula synchronous motor rotor position estimation method according to claim 6, it is characterised in that: in step (5)
After signal processing module receives the high-frequency signal of signal acquisition module output, rotor position angle estimation is carried out, it is specific to estimate
Method are as follows:
(51) difference of two squares is done to the high-frequency voltage signal in two-phase stationary coordinate system respectively, then inputs the first low-pass filter
:
Wherein, KLPFFor filter attenuation coefficient；
(52) high-frequency voltage signal in two-phase stationary coordinate system is multiplied, then inputs the second low-pass filter and obtains:
(53) by step (52) second filter export voltage signal multiplied by 2, then with first filter in step (51)
The voltage signal of output, while phaselocked loop is inputed to, two inputs of phaselocked loop are denoted as:
(54) phaselocked loop carries out calculation processing to received input signal, obtains rotor position estimate angle；
The input of the port PI is in phaselocked loopFunction:
Wherein, θ is actual angle,To estimate angle, if actual angle and the difference of estimation angle areThe phaselocked loop
When output converges to 0,ThenAt this time 2 △ θ=m π (m=0,1,
2 ...), thereforeTherefore actual angle, θ is equal toOrTherefore it needs to estimating
The initial position counted out is corrected, position angle bearing calibration are as follows:
Under three-level formula synchronous motor stationary state, in the establishment process in main generator excitation magnetic field, main generator unit stator around
Induced current can be flowed through in group, according to Lenz's law, the excitation magnetic of faradic polarity and the generation of main generator rotor winding
Field direction obtains the corresponding quadrant of rotor-position on the contrary, by the judgement of induced current positive-negative polarity,
WithIt is middle to select corresponding angle, as the initial position angle finally estimated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181808.9A CN109150028B (en) | 2018-10-11 | 2018-10-11 | Three-stage synchronous motor rotor position estimation system and estimation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181808.9A CN109150028B (en) | 2018-10-11 | 2018-10-11 | Three-stage synchronous motor rotor position estimation system and estimation method |
Publications (2)
| Publication Number | Publication Date |
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| CN113676101A (en) * | 2021-07-20 | 2021-11-19 | 南京航空航天大学 | Three-stage brushless alternating current synchronous motor position estimation method based on decoupling signals |
| CN113676102A (en) * | 2021-07-21 | 2021-11-19 | 南京航空航天大学 | Simplified estimation method for rotor position of three-stage brushless alternating current synchronous motor |
| CN113676104A (en) * | 2021-07-27 | 2021-11-19 | 南京航空航天大学 | Three-level synchronous motor rotor position estimation method based on integrated filtering |
| CN113676103A (en) * | 2021-07-27 | 2021-11-19 | 南京航空航天大学 | Direct decoupling-based three-stage synchronous motor rotor position estimation method |
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| CN113904604A (en) * | 2021-09-01 | 2022-01-07 | 南京航空航天大学 | Direct demodulation calculation method for three-stage synchronous motor rotor position estimation |
| CN113904603A (en) * | 2021-09-01 | 2022-01-07 | 南京航空航天大学 | Heterodyne calculation method for rotor position estimation of three-stage brushless alternating-current synchronous motor |
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| CN112653358A (en) * | 2020-12-31 | 2021-04-13 | 南京航空航天大学 | Torque ripple suppression method of electrical excitation doubly salient motor with 12/10 pole structure |
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| CN113676102A (en) * | 2021-07-21 | 2021-11-19 | 南京航空航天大学 | Simplified estimation method for rotor position of three-stage brushless alternating current synchronous motor |
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| CN113676103B (en) * | 2021-07-27 | 2023-04-25 | 南京航空航天大学 | Three-stage synchronous motor rotor position estimation method based on direct decoupling |
| CN113676105B (en) * | 2021-07-27 | 2023-05-09 | 南京航空航天大学 | Synchronous decoupling signal generation method based on excitation current of main exciter |
| CN113676105A (en) * | 2021-07-27 | 2021-11-19 | 南京航空航天大学 | Synchronous decoupling signal generation method based on main exciter exciting current |
| CN113676103A (en) * | 2021-07-27 | 2021-11-19 | 南京航空航天大学 | Direct decoupling-based three-stage synchronous motor rotor position estimation method |
| CN113676104A (en) * | 2021-07-27 | 2021-11-19 | 南京航空航天大学 | Three-level synchronous motor rotor position estimation method based on integrated filtering |
| CN113904603A (en) * | 2021-09-01 | 2022-01-07 | 南京航空航天大学 | Heterodyne calculation method for rotor position estimation of three-stage brushless alternating-current synchronous motor |
| CN113904604A (en) * | 2021-09-01 | 2022-01-07 | 南京航空航天大学 | Direct demodulation calculation method for three-stage synchronous motor rotor position estimation |
| CN113904604B (en) * | 2021-09-01 | 2023-11-07 | 南京航空航天大学 | Direct demodulation calculation method for three-stage synchronous motor rotor position estimation |
| CN113904603B (en) * | 2021-09-01 | 2023-12-01 | 南京航空航天大学 | Heterodyne calculation method for three-stage brushless alternating current synchronous motor rotor position estimation |
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