CN109167543B - Position-sensorless control method for positive and negative rotation speed regulation of permanent magnet synchronous motor - Google Patents
Position-sensorless control method for positive and negative rotation speed regulation of permanent magnet synchronous motor Download PDFInfo
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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Abstract
A permanent magnet synchronous motor can be rotated and regulated positively and negatively without the position sensor control method, including I/F start strategy, switching control strategy, position estimation strategy and deceleration and reversal strategy, the electric current closed loop of the electrical machinery is prepositioned to the zero position at first, then carry on I/F half closed loop to start, when the electrical machinery runs to certain rotational speed, switch over to the closed loop control without position sensor fast and smoothly; when a reversal command is received, deceleration is carried out, the control is switched to I/F semi-closed loop control after the deceleration reaches a certain rotating speed, and the control is switched to the closed loop reversal process without the position sensor smoothly when the deceleration is continued and the zero speed is passed and the speed is accelerated to a certain rotating speed in the reverse direction. In the I/F operation process, the position signal is obtained by integrating the given speed; when the speed reaches a certain value, the Luenberger state observer can accurately estimate the position of the motor rotor, and the closed-loop control is switched to the closed-loop control without the position sensor. The invention can realize the whole-course position-sensor-free control of the permanent magnet synchronous motor rotating in the positive and negative directions.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a position-sensorless control method for positive and negative rotation speed regulation of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor adopts the permanent magnet to replace an excitation winding, has the advantages of high power density, large torque inertia ratio, high efficiency and the like, and is widely applied to a plurality of fields such as servo systems, household appliances, electric vehicles and the like. The vector control of the permanent magnet synchronous motor needs the coordinate transformation of the position information of the rotor, and the traditional method adopts a mechanical position sensor to obtain the position of the rotor, so that the problems of increased cost, increased volume and weight and the like of the motor are caused. At present, in consideration of the universal matching property of a motor, a permanent magnet synchronous motor position-sensorless control scheme in a full rotating speed range is usually started in a constant current frequency conversion (I/F) mode and then switched to position-sensorless closed-loop control. However, these solutions only consider the acceleration and deceleration of the motor in one direction, and do not consider the forward and reverse switching problem. Therefore, the position sensorless control for realizing the forward and reverse rotation speed regulation of the permanent magnet synchronous motor has certain application value in practice.
Disclosure of Invention
In order to overcome the defect that the prior art can not realize the position sensorless control of the permanent magnet synchronous motor capable of regulating the speed by positive and negative rotation, the invention provides a permanent magnet synchronous motor whole-course position sensorless control method capable of realizing the rotation in the positive and negative directions.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a position sensorless control method for positive and negative rotation speed regulation of a permanent magnet synchronous motor comprises the following steps:
1) an I/F start-up control strategy that generates a rotating current vector with gradually increasing frequency and amplitude following a given value, divided into a pre-positioning phase and an accelerated start-up phase:
1.1). the pre-positioning stage gives the quadrature axis a current of sufficient magnitude, while the direct axis current is given zero, given a position of 270 degrees, positioning the north pole of the rotor at axis α;
1.2) entering an acceleration starting stage after the pre-positioning stage is finished, and superposing a given q axis on a d axis, so that a given d-q coordinate system lags behind an actual d-q coordinate system by 90 electrical angles, the electromagnetic torque at the starting moment is ensured to be zero, then the electromagnetic torque is gradually increased along with the rotation of the given d-q coordinate system, and the power angle is stabilized at a fixed value according to the characteristic of torque-power angle self-balancing;
2) the rotor position estimation adopts a Robert state observer, and on a rotation estimation d-q axis coordinate system, a state equation is expressed as follows:
in the formula, each variable is defined as
The Romberg state observer, which approximates the estimated error to zero using feedback, has the following form
Wherein L is a feedback gain matrix having the following form
The specific form of the error is as follows
Wherein the eigenvalues of the matrix (A-L C) correspond to the bandwidth of the Lambertian state observer, and therefore the bandwidth of the Lambertian state observer is set by pole allocation according to the following equation, as follows
In the formula, ωoThe bandwidth of the observer is shown, zeta is a damping coefficient, s is a complex variable, and if the system is to be stabilized, all the configured poles are negative values, namely the roots of the characteristic equations are all in the left half part of the complex plane;
l is determined as follows:
according to empirical formula, ωoSetting the bandwidth of the phase-locked loop to be 10 times of that of the speed loop, and setting the damping coefficient of the phase-locked loop to be 10 times of that of the speed loop
Position estimation error
The following relationship exists with the estimated back electromotive force
If make
Then make
Is zero;
3) the switching strategy comprises current switching and position switching, and the process is as follows:
3.1) current switching: when the rotating speed is dragged to a certain range by the I/F starting, and the rotor position can be accurately estimated by the Luenberger state observer, the I/F starting mode is switched to the estimation mode of the Luenberger state observer; when the current is given to the q axis according to the characteristic of torque-power angle self-balancing
When the current is reduced, the power angle is increased, the estimated position gradually approaches to the actual position, and therefore the given current of the q axis is reduced in stages
3.2) position switching: when in use
Reduce to position error
Less than a specified threshold thetathAnd replacing the given position by the position signal estimated by the Luenberger state observer and entering closed-loop control.
Further, in the step 3.1), a PI regulator is adopted to reduce the q-axis given current, so that rapidity is ensured by quickly reducing when the current is large, and smoothness and no jitter are ensured by reducing at a low rate when the current is small;
the deceleration control strategy is divided into closed-loop deceleration, deceleration switching and semi-closed-loop deceleration, whereinThe given rotating speed is gradually reduced in the closed loop deceleration stage; in the semi-closed loop speed reduction process, the given rotating speed is zero, and the rotating speed semi-closed loop and the current closed loop speed reduction are carried out; in the switching stage in the deceleration process, the estimated position is replaced by the given position, and in order to ensure the smoothness of the switching, the estimated position at the last moment is assigned to the initial value of the given position, and the given position starts to change on the basis. Then, the q-axis is given current
Gradually increasing, pulling apart the power angle between the given position and the actual position, and gradually decelerating to zero.
Still further, the method further comprises the steps of:
4) the reverse control strategy is basically symmetrical to the forward rotation and is also divided into the starting, switching and accelerating processes; when the deceleration condition is met, deceleration is carried out, and the deceleration process is divided into closed-loop deceleration and semi-closed-loop deceleration; when the speed is reduced to a certain rotating speed, the speed is reduced from a closed loop to a semi-closed loop, and the speed is reduced to zero and enters a zero-crossing speed switching stage; the zero-crossing switching is to take a negative value of a given rotating speed, take the inverse of a given current of a q axis, clear a current loop integral term, move a given position forward by 180 degrees, adopt position information and delay for 1ms so as to ensure that the switching process is completely finished.
The technical conception of the invention is as follows: the low-speed stage is started by adopting an I/F semi-closed loop, the medium-high speed stage is controlled by adopting a Longberg state observer in a closed loop mode, and the Longberg state observer is established based on an estimated rotating coordinate system and can be applied to a surface-mounted permanent magnet synchronous motor and an embedded permanent magnet synchronous motor. A smooth switching strategy is added between the I/F starting and the closed-loop control without the position sensor, so that the switching process is fast and jitter is avoided. When the motor operates in a state of closed-loop control without a position sensor, if a deceleration condition is met (a deceleration key is pressed), a deceleration stage is started. The deceleration process is divided into two stages of closed-loop deceleration and semi-closed-loop deceleration, and similarly, a switching process is designed between the closed loop and the semi-closed loop. After the speed is reduced to zero, the zero-crossing transition process of the rotating speed is carried out, so that the smooth entering of a reverse rotation stage is ensured, and the reverse rotation stage and the forward rotation are basically symmetrical. And taking a negative value for the given rotating speed, negating the given current of the q axis, clearing the current loop integral term, advancing the given position by 180 degrees, adopting position information and delaying for 1ms to ensure that the switching process is completely finished.
The permanent magnet synchronous motor is controlled in a whole-course position-sensorless mode, and the technical problem to be solved is that: the addition of the PI regulator in the process of switching the I/F starting stage to the Luenberger state observer sets reasonable parameters to ensure that the switching is carried out quickly and smoothly. The Luenberger state observer is established based on an estimated rotating coordinate system, and the estimated rotating speed is filtered to achieve a better estimation effect. The zero-crossing speed adjusting time is shortened, so that the motor can quickly enter a reverse rotation stage.
The invention has the following beneficial effects:
(1) the Luenberger state observer is established in an estimated rotating reference coordinate system and can be suitable for the embedded permanent magnet synchronous motor;
(2) the operation in the forward and reverse directions and the quick switching between the forward and reverse rotation are realized;
(3) the calculation amount is small, the realization is easy, and the engineering and the practicability of a new theory are well reflected.
Drawings
Fig. 1 is a block diagram of a permanent magnet synchronous motor full-stroke position-sensorless control structure.
Fig. 2 is a schematic diagram of q-axis given current control in a switching strategy.
FIG. 3 is a schematic diagram of the actual d-q axis and the estimated d-q axis.
FIG. 4 is a block diagram of the PLL rotor speed and position estimation of the present invention.
Fig. 5 is a graph of the permanent magnet synchronous motor actual position, estimated position, and phase current waveforms for the no-load condition.
Fig. 6 is a graph of the permanent magnet synchronous motor actual position, estimated position, and phase current waveforms at rated load.
Fig. 7 is a waveform of the dynamic performance of a permanent magnet synchronous motor accelerating and sudden load shedding.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 7, a position sensorless control method for positive and negative rotation speed regulation of a permanent magnet synchronous motor includes the following steps:
1) an I/F start-up control strategy, whose core is to generate a rotating current vector with gradually increasing frequency and amplitude following a given value, divided into a pre-positioning stage and an accelerated start-up stage:
1.1) in the pre-positioning stage, a current with a large enough amplitude is supplied to a quadrature-axis (q-axis), a current of a direct-axis (d-axis) is set to be zero, and the given position is 270 degrees (the whole is an electrical angle).
1.2) entering an acceleration starting stage after the pre-positioning stage is finished, and superposing the given q axis on the d axis, so that the given d-q coordinate system lags behind the actual d-q coordinate system by 90 electrical angles, the electromagnetic torque at the starting moment is ensured to be zero, and then the electromagnetic torque is gradually increased along with the rotation of the given d-q coordinate system. According to the characteristic of torque-power angle self-balancing, the power angle is stabilized at a fixed value.
2) The rotor position estimation adopts a Robert state observer, and a state equation can be expressed in a rotation estimation d-q axis coordinate system
In the formula, each variable is defined as
The Romberg state observer, which approximates the estimated error to zero using feedback, has the following form
Wherein L is a feedback gain matrix having the following form
The specific form of the error is as follows
Wherein the eigenvalues of the matrix (a-L C) correspond to the bandwidth of the lunberg state observer, and therefore the bandwidth of the lunberg state observer can be set by pole allocation according to the following equation, as follows
In the formula, ωoFor observer bandwidth, ζ is the damping coefficient and s is the complex variable. Here, to stabilize the system, the poles are all configured to be negative, i.e., the roots of the characteristic equations are all in the left half of the complex plane.
The d-q axis can be decoupled dynamically, thus accounting for the estimated back emf as well, i.e., decoupled
Rely on only
Accordingly, the number of the first and second electrodes,
rely on only
In addition, considering the influence of the electrical time constant, L is configured with the corresponding coefficient,thus, L can be determined as
According to empirical formula, ωoThe bandwidth of the phase-locked loop is 10 times of that of the speed loop, and the damping coefficient
Position estimation error
The following relationship exists with the estimated back electromotive force
If make
Then can make
Is zero.
3) The switching strategy mainly comprises current switching and position switching:
3.1) current switching: when the rotating speed is dragged to a certain range by the I/F start, the Runberg state observer can accurately estimate the position of the rotor, and the I/F start mode is switched to the Runberg state observer estimation mode. When the current is given to the q axis according to the characteristic of torque-power angle self-balancing
When the current is reduced, the power angle is increased, the estimated position gradually approaches to the actual position, and therefore the given current of the q axis is reduced in stages
3.2) position switching: when in use
Reduce to position error
Less than a specified threshold thetathAnd replacing the given position by the position signal estimated by the Luenberger state observer and entering closed-loop control.
The invention adopts the PI regulator to reduce the q-axis given current, ensures that the current is quickly reduced at a larger rate to ensure rapidity, and reduces at a smaller rate to ensure smoothness and no jitter when the current is smaller.
The deceleration control strategy comprises closed-loop deceleration, deceleration switching and semi-closed-loop deceleration. Wherein the given rotating speed is gradually reduced in the closed-loop deceleration stage; in the semi-closed loop speed reduction process, the given rotating speed is zero, and the rotating speed semi-closed loop and the current closed loop speed reduction are carried out. For the switching stage in the deceleration process, the estimated position is first replaced by the given position, and it should be noted that, in order to ensure smooth switching, the estimated position at the last time needs to be assigned to the initial value of the given position, and the given position starts to change based on the initial value. Then, the q-axis is given current
Gradually increasing, pulling apart the power angle between the given position and the actual position, and gradually decelerating to zero.
4) The reverse rotation control strategy in the control method is basically symmetrical to the forward rotation and is also divided into the processes of starting, switching, accelerating and the like. When the deceleration condition is met (when the deceleration button is pressed), deceleration is carried out, and the deceleration process is divided into closed-loop deceleration and semi-closed-loop deceleration. Symmetrical to the acceleration phase, i.e. when decelerating to a certain rotational speed, switching from closed-loop deceleration to semi-closed-loop deceleration. And decelerating to zero to enter a zero-crossing speed switching stage. The zero-crossing switching is to take a negative value of a given rotating speed, take the inverse of a given current of a q axis, clear a current loop integral term, move a given position forward by 180 degrees, adopt position information and delay for 1ms so as to ensure that the switching process is completely finished.
Referring to fig. 1, the permanent magnet synchronous motor whole-course position sensorless control system designed by the invention comprises an I/F starting control module, a speed and position estimation module of a Luenberger state observer and a switching module. The I/F starting module switches the motor to be dragged to a certain rotating speed to be in closed-loop control without a position sensor.
Referring to fig. 3, the PI regulator is given a value of 0 and the feedback is a position error, subtracting the output of the PI regulator from the initial value given by the q-axis current ensures that the current decreases rapidly in the beginning phase and slows down in the end phase to ensure smooth switching.
With reference to the actual and estimated geometrical relationship of the rotating coordinate system of FIG. 3, the estimated back EMF is
When position error
When the voltage is 0, the back electromotive force on the d-axis is 0, and the back electromotive force on the q-axis is ωeψf. Noting the estimated angle as
Can obtain the product
The voltage equation in the coordinate system is
In the formula ExTo expand the magnitude of the back EMF, equation (8) is formulated to obtain
Thus can be used for
A new state space model is conveniently constructed as a state variable, such as a formula (1), and the designed Luenberger state observer can estimate
Phase-locked loop based on
A more accurate estimated position can be obtained.
Referring to FIG. 4, the back EMF of the d-axis of the rotor is controlled by a PI controller
And controlling the phase-locked loop to be zero, estimating the speed of the motor rotor by using the phase-locked loop, and integrating the speed to obtain the estimated position of the motor. From fig. 4, the transfer function is:
wherein k ispAnd kiAnd estimating proportional gain and integral gain for the rotor position of the phase-locked loop, and obtaining characteristic parameters:
wherein, ω istThe bandwidth of the rotor position estimation for the PLL is easily obtained by equations (11) and (12)
Claims (3)
1. A position sensorless control method for positive and negative rotation speed regulation of a permanent magnet synchronous motor is characterized by comprising the following steps:
1) an I/F start-up control strategy that generates a rotating current vector with gradually increasing frequency and amplitude following a given value, divided into a pre-positioning phase and an accelerated start-up phase:
1.1). the pre-positioning stage gives the quadrature axis a current of sufficient magnitude, while the direct axis current is given zero, given a position of 270 degrees, positioning the north pole of the rotor at axis α;
1.2) entering an acceleration starting stage after the pre-positioning stage is finished, and superposing a given q axis on a d axis, so that a given d-q coordinate system lags behind an actual d-q coordinate system by 90 electrical angles, the electromagnetic torque at the starting moment is ensured to be zero, then the electromagnetic torque is gradually increased along with the rotation of the given d-q coordinate system, and the power angle can be stabilized at a fixed value according to the characteristic of torque-power angle self-balancing;
2) the rotor position estimation adopts a Robert state observer, and on a rotation estimation d-q axis coordinate system, a state equation is expressed as follows:
in the formula, each variable is defined as
The Romberg state observer, which approximates the estimated error to zero using feedback, has the following form
Wherein L is a feedback gain matrix having the following form
The specific form of the error is as follows
Wherein the eigenvalues of the matrix (A-L C) correspond to the bandwidth of the Lambertian state observer, and therefore the bandwidth of the Lambertian state observer is set by pole allocation according to the following equation, as follows
In the formula, ωoFor observer bandwidth, ζ is the damping coefficient, s is the complex variable, and if the system is to be stabilized, the poles are all negative, i.e. the roots of the characteristic equations are all in the left half of the complex plane, L is determined as follows:
according to empirical formula, ωoSetting the bandwidth of the phase-locked loop to be 10 times of that of the speed loop, and setting the damping coefficient of the phase-locked loop to be 10 times of that of the speed loop
Position estimationError counting
The following relationship exists with the estimated back electromotive force
If make
Then make
Is zero;
3) the switching strategy comprises current switching and position switching, and the process is as follows:
3.1) current switching: when the rotating speed is dragged to a certain range by the I/F starting, and the rotor position can be accurately estimated by the Luenberger state observer, the I/F starting mode is switched to the estimation mode of the Luenberger state observer; when the current is given to the q axis according to the characteristic of torque-power angle self-balancing
When the current is reduced, the power angle is increased, the estimated position gradually approaches to the actual position, and therefore the given current of the q axis is reduced in stages
3.2) position switching: when in use
Reduce to position error
Less than a specified threshold thetathAnd replacing the given position by the position signal estimated by the Luenberger state observer and entering closed-loop control.
2. The position sensorless control method for the speed regulation of the positive and negative rotation of the permanent magnet synchronous motor according to claim 1, wherein in the step 3.1), a PI regulator is adopted to reduce the given current of the q axis, so as to ensure that the given current is quickly reduced when the current is larger and ensure rapidity, and the given current is reduced at a lower rate when the current is smaller so as to ensure smoothness and no jitter;
the deceleration control strategy comprises closed-loop deceleration, deceleration switching and semi-closed-loop deceleration, wherein the given rotating speed is gradually reduced in the closed-loop deceleration stage; in the semi-closed loop speed reduction process, the given rotating speed is zero, and the rotating speed semi-closed loop and the current closed loop speed reduction are carried out; in the switching stage in the deceleration process, the given position is firstly substituted for the estimated position, in order to ensure the smooth switching, the estimated position at the last moment is assigned to the initial value of the given position, the given position starts to change on the basis, and then the q-axis given current is applied
Gradually increasing, pulling apart the power angle between the given position and the actual position, and gradually decelerating to zero.
3. The position sensorless control method for the speed regulation of the forward and reverse rotation of the permanent magnet synchronous motor according to claim 1 or 2, characterized by further comprising the following steps:
4) the reverse control strategy is basically symmetrical to the forward rotation and is also divided into the starting, switching and accelerating processes; when the deceleration condition is met, deceleration is carried out, and the deceleration process is divided into closed-loop deceleration and semi-closed-loop deceleration; when the speed is reduced to the rotating speed threshold value, switching from closed-loop speed reduction to semi-closed-loop speed reduction, and entering a zero-crossing speed switching stage when the speed is reduced to zero; the zero-crossing switching is to take a negative value of a given rotating speed, take the inverse of a given current of a q axis, clear a current loop integral term, move a given position forward by 180 degrees, adopt position information and delay for 1ms so as to ensure that the switching process is completely finished.
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