CN110350835A - A kind of permanent magnet synchronous motor method for controlling position-less sensor - Google Patents
A kind of permanent magnet synchronous motor method for controlling position-less sensor Download PDFInfo
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- CN110350835A CN110350835A CN201910688301.0A CN201910688301A CN110350835A CN 110350835 A CN110350835 A CN 110350835A CN 201910688301 A CN201910688301 A CN 201910688301A CN 110350835 A CN110350835 A CN 110350835A
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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Abstract
The invention discloses a kind of permanent magnet synchronous motor method for controlling position-less sensor, adaptive kernel time-frequency distribution module based on Second Order Generalized Integrator phaselocked loop is linked into Permanent-magnet Synchronous-motor Speed Servo System by control method of the present invention first, is detected to motor speed and rotor position angle；By the stator current i under α β coordinateα、iβWith the u solved by phase voltage and coordinate transformation module exportsα、uβIt is input to the adaptive kernel time-frequency distribution module based on Second Order Generalized Integrator phaselocked loop；Adaptive kernel time-frequency distribution based on Second Order Generalized Integrator phaselocked loop estimates revolving speedAnd rotor position angleIt is respectively applied to motor speed feedback and dq/ α β coordinate transformation module, α β/dq coordinate transformation module.The control method uses sinusoidal pattern sliding-mode surface control function, by Second Order Generalized Integrator to obtain rotor position angle in conjunction with software phase-lock loop, the vulnerability to jamming and robustness for preferably playing adaptive kernel time-frequency distribution, in raising, when low speed rotor position angle estimation precision.
Description
Technical field
The present invention relates to electromechanical control field more particularly to a kind of permanent magnet synchronous motor method for controlling position-less sensor.
Background technique
With the extensive use of permanent magnet synchronous motor, the requirement to its control performance is also increasingly improved.In order to keep permanent magnetism same
It walks motor and keeps high performance operation, traditional two close cycles vector control strategy needs to obtain accurate rotor-position and velocity information.
Installation mechanical pick-up device measures, and can satisfy the performance requirement of speed control system, but there is installation complexity, vulnerable to the external world
The problems such as interference, higher cost, limited application scenarios.
In New method for sensorless control technique of PMSM, revolving speed is carried out using the associated electrical signals in winding
Estimation, to substitute mechanical pick-up device.Current position algorithm for estimating can be divided into the two class sides based on signal injection and based on observer
Method.The former estimates rotor-position using the saliency of motor, but is continuously injected into excitation signal and needs complicated signal processing, leads
Cause contravarianter voltage utilization rate low, dynamic response is slow.The latter estimates revolving speed by counter electromotive force in dynamic model, in engineering easily
In realization.Sliding mode observer algorithm is one of the latter, and the algorithm structure is simple, strong robustness, dynamic response are fast, but also deposits
The problems such as difficult, rotor position angle estimation error is big and estimated value lags actual value is being filtered, furthermore low-speed performance difference or even nothing
The operation of method low speed.Therefore, a kind of adaptive sliding that can be realized rotor-position and accurately track and improve low speed runnability is studied
Mould observer algorithm has vast potential for future development.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of permanent magnet synchronous motor method for controlling position-less sensor, energy
The rotor-position tracking accuracy of motor driven systems is enough improved, the performance of low speed operation in improvement.
The present invention provides a kind of permanent magnet synchronous motor method for controlling position-less sensor comprising the steps of:
S1. by PI speed regulator according to given rotating speed ωrefRevolving speed is estimated with motorDifference obtain q axis reference
Electric current iq *, d axis reference current idIt is 0；
S2. a, b, c three-phase current are acquired, d shaft current i is obtained by coordinate transformdWith q shaft current iq；
S3. by the d axis reference current idWith the d shaft current idDifference input PI current regulator 1, through PI electric current
Adjuster 1 exports d axis reference voltage ud *；
By the q axis reference current iq *With the q shaft current iqDifference input PI current regulator 2, through PI electric current tune
It saves device 2 and exports d axis reference voltage uq *；
S4. by the d axis reference voltage ud *With q axis reference voltage uq *α axis reference voltage is obtained by coordinate transform
uα *With β axis reference voltage uβ *, by the α axis reference voltage uα *With β axis reference voltage uβ *Input SVPWM sinusoidal pulse width modulation mould
Block, through SVPWM sinusoidal pulse width modulation module output duty cycle signal sa、sb、sc, then by the duty cycle signals sa、sb、scIt is defeated
Enter its conducting shutdown of three-phase converter, realizes the driving to permanent magnet synchronous motor；
S5. a, b, c three-phase current of acquisition are converted into α, β axis stator current iα, iβ, and by α, β axis stator current iα,
iβAnd α, β axis stator voltage uα, uβIt substitutes into the adaptive kernel time-frequency distribution based on Second Order Generalized Integrator phaselocked loop and calculates permanent magnetism
The estimation rotor position angle of synchronous motorWith estimation revolving speed
S6. S1-S5 is repeated, realizes the closed-loop stabilization operation of permanent magnet synchronous motor.
Preferably, α described in step S5, β axis stator voltage uα, uβCalculating process are as follows:
S51. the exchange side phase voltage u of three-phase inverter is calculateda、ub、uc, calculation formula is shown below:
In above formula: UdcFor the DC voltage of three-phase inverter；sa、sb、scFor duty cycle signals；
S52. three-phase inverter step S51 being calculated exchanges side phase voltage ua、ub、ucCoordinate transform obtains motor
α, β shaft voltage uα, uβ。
Preferably, by α, β axis stator current i in step S5α, iβAnd α, β axis stator voltage uα, uβIt substitutes into and is based on second order
The adaptive kernel time-frequency distribution of Generalized Integrator phaselocked loop calculates the estimation rotor position angle of permanent magnet synchronous motorTurn with estimation
SpeedSpecifically:
S51. by the α inputted, β axis stator current iα, iβAnd α, β axis stator voltage uα, uβ, α, β is calculated as follows
Axis extends counter electromotive force Eα、Eβ；
Wherein, Ld、LqRespectively d axle inductance and q axle inductance；To estimate current error value；ωeIt is angular rate；
R is stator resistance；To estimate stator current；K is sliding mode observer postiive gain coefficient；Sat (s) is that sinusoidal pattern is saturated letter
Number；S is sliding-mode surface；Δ is boundary layer；
S52. the extension counter electromotive force E being calculated according to step S51αAnd Eβ, establish and revolving speed estimated based on motor's
Adaptive rate equation:
In formula:Revolving speed is estimated for motor；Counter electromotive force is extended for estimation；L is adaptive rate constant；
S53. estimation step S52 being calculated extends counter electromotive forceAs the defeated of Second Order Generalized Integrator
Enter, obtain the filtered estimation extension counter electromotive force of Second Order Generalized Integrator and its amount of quadrature are as follows:
In formula:WithCounter electromotive force is extended for filtered estimation；WithAnti- electricity is extended for filtered estimation
The amount of quadrature of kinetic potential；K is adjustment factor；
S54. the Second Order Generalized Integrator being calculated according to step S53 filtered estimation extension counter electromotive force and its just
Friendship amount calculates input counter electromotive force:
In formula:WithTo input counter electromotive force component；
S55. the input counter electromotive force component being calculated according to step S54WithIt is input in software phase-lock loop, obtains
It obtains motor and estimates revolving speedWith motor rotor position angle
In formula: KpFor proportionality coefficient, KiFor integral coefficient, p is differential operator.
Compared with prior art, the present invention having the following advantages that and effect:
1, stator voltage is calculated according to the DC voltage of three-phase inverter and duty cycle signals, reduces voltage sensor
Use, reduce dead time effect bring influence；
2, the adaptive rate equation based on motor estimation revolving speed is designed, the robust to the parameter of electric machine and load disturbance is improved
Property；
3, using sinusoidal pattern saturation function as sliding-mode surface control function, reduce system chatter, improve the quick receipts of error
It holds back；
4, estimation extension counter electromotive force is filtered by Second Order Generalized Integrator, reduces harmonic wave and rotor-position is estimated
The influence of meter；
5, Second Order Generalized Integrator is combined with software phase-lock loop, improves the precision of angle estimation.
Detailed description of the invention
Fig. 1 is the control block diagram of permanent magnet synchronous motor method for controlling position-less sensor provided in an embodiment of the present invention.
Fig. 2 is the structural schematic diagram of sinusoidal pattern saturation function provided in an embodiment of the present invention.
Fig. 3 is the functional block diagram of the method for detecting position provided in an embodiment of the present invention based on Second Order Generalized Integrator.
Fig. 4 is the functional block diagram of Second Order Generalized Integrator provided in an embodiment of the present invention.
Fig. 5 is the functional block diagram of software phase-lock loop provided in an embodiment of the present invention.
Fig. 6 is the permanent magnetism of position Sensorless Control algorithm provided in an embodiment of the present invention and traditional sliding mode observer algorithm
The simulation result comparison diagram of synchronous motor revolving speed.
Fig. 7 is the permanent magnetism of position Sensorless Control algorithm provided in an embodiment of the present invention and traditional sliding mode observer algorithm
The simulation result comparison diagram at synchronous motor rotor position angle.
Fig. 8 is the permanent magnetism of position Sensorless Control algorithm provided in an embodiment of the present invention and traditional sliding mode observer algorithm
The simulation result comparison diagram of synchronous motor rotor position angle error.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing and by embodiment, and following embodiment is to this hair
Bright explanation and the invention is not limited to following embodiments.
As shown in Figure 1, a kind of permanent magnet synchronous motor method for controlling position-less sensor, it is characterised in that: include following step
It is rapid:
S1. by PI speed regulator according to given rotating speed ωrefRevolving speed is estimated with motorDifference obtain q axis reference
Electric current iq *, d axis reference current idIt is 0；
S2. a, b, c three-phase current are acquired, d shaft current i is obtained by coordinate transformdWith q shaft current iq；
S3. by the d axis reference current idWith the d shaft current idDifference input PI current regulator 1, through PI electric current
Adjuster 1 exports d axis reference voltage ud *；
By the q axis reference current iq *With the q shaft current iqDifference input PI current regulator 2, through PI electric current tune
It saves device 2 and exports d axis reference voltage uq *；
S4. by the d axis reference voltage ud *With q axis reference voltage uq *α axis reference voltage is obtained by coordinate transform
uα *With β axis reference voltage uβ *, by the α axis reference voltage uα *With β axis reference voltage uβ *Input SVPWM sinusoidal pulse width modulation mould
Block, through SVPWM sinusoidal pulse width modulation module output duty cycle signal sa、sb、sc, then by the duty cycle signals sa、sb、scIt is defeated
Enter its conducting shutdown of three-phase converter, realizes the driving to permanent magnet synchronous motor；
S5. a, b, c three-phase current of acquisition are converted into α, β axis stator current iα, iβ, and by α, β axis stator current iα,
iβAnd α, β axis stator voltage uα, uβIt substitutes into the adaptive kernel time-frequency distribution based on Second Order Generalized Integrator phaselocked loop and calculates permanent magnetism
The estimation rotor position angle of synchronous motorWith estimation revolving speed
S6. S1-S5 is repeated, realizes the closed-loop stabilization operation of motor.
In step S5, the design of the adaptive kernel time-frequency distribution based on Second Order Generalized Integrator phaselocked loop in the present invention
Journey and the estimation process of motor speed and rotor position angle are described as follows:
(1) it is derived according to the stator voltage equation of α β coordinate system using stator current as the current status equation of state variable.
The stator voltage equation of α β coordinate system are as follows:
In formula, uα、uβThe respectively stator voltage of α β coordinate system；iα、iβThe respectively stator current of α β coordinate system；Ld、Lq
Respectively dq axle inductance；R is stator resistance；ωeIt is angular rate；P is differential operator；Eα、EβTo extend counter electromotive force, table
Up to formula are as follows:
In formula: ψfFor permanent magnet flux linkage；θeFor rotor position angle.
For the ease of observing extension counter electromotive force using sliding mode observer, amount unrelated with revolving speed is eliminated, formula (1) is rewritten
For with stator current
For the current status equation of state variable:
Wherein α in formula (3), β axis stator voltage uα, uβBe obtained by calculation, i.e., by the DC voltage of three-phase inverter and
Three-phase inverter exchange side phase voltage u is calculated in duty cycle signalsa、ub、uc, then be coordinately transformed, without using electricity
Pressure sensor.Exchange side phase voltage ua、ub、ucCalculation formula is shown below:
In formula: UdcFor the DC voltage of three-phase inverter；sa、sb、scFor duty cycle signals；
(2) using sinusoidal pattern saturation function as sliding-mode surface control function, adaptive kernel time-frequency distribution is designed, estimation extension is anti-
Electromotive force.
In formula (3), stator current is can uniquely to survey physical quantity, therefore sliding-mode surface s (x)=0 is chosen at stator current track
On are as follows:
In formula:To estimate current component；To estimate current error component.
Counter electromotive force is extended to obtain, by Design of Sliding Mode Observer are as follows:
In formula: zα、zβFor sliding-mode surface control function component.
It is poor that formula (5) and (3) are made, and obtains the error equation of stator current are as follows:
Sliding-mode surface control function design in formula (5) and (6) are as follows:
In formula:For sliding mode observer postiive gain coefficient；sat
It (s) is sinusoidal pattern saturation function, structural schematic diagram is as shown in Fig. 2, its expression formula are as follows:
In formula: s is sliding-mode surface；Δ is boundary layer, and the selection of boundary layer thickness influences system chatter and weakens effect and robust
Property, it needs to reasonably select.
When state variable reaches sliding-mode surface, i.e. s (x)=0, observer state will be maintained.According to sliding moding structure control
The equivalent control measurements of system can obtain:
Fig. 3 is the block diagram of the method for detecting position based on Second Order Generalized Integrator, and derivation process is as follows:
Based on extension counter electromotive force, establishes and revolving speed is estimated based on motorAdaptive rate equation are as follows:
In formula:WithCounter electromotive force is extended for estimation；Revolving speed is estimated for motor；L is adaptive rate constant.
To prove adaptive rate stability, liapunov function is chosenDerivation can obtain:
By Lyapunov theorem of stability it is found that the adaptive rate of design is stable.
(3) estimation extension counter electromotive force is filtered by Second Order Generalized Integrator, then is obtained by software phase-lock loop
Motor estimates revolving speed and motor rotor position angle.
Estimation in formula (10) is extended into counter electromotive forceWithAs the input of Second Order Generalized Integrator, it is wide to obtain second order
The adopted filtered estimation of integrator extends counter electromotive force and its amount of quadrature are as follows:
In formula:WithCounter electromotive force is extended for filtered estimation；WithAnti- electricity is extended for filtered estimation
The amount of quadrature of kinetic potential；K is adjustment factor.
Second Order Generalized Integrator is to extract fundamental signal, and functional block diagram is as shown in figure 4, transmission function are as follows:
In formula: the estimation that u represents input extends counter electromotive force componentOrU ' estimates to expand after representing the filtering exported
Open up counter electromotive force componentOrQu ' is the orthogonal signalling of u ', represents estimation extension counter electromotive force quadrature componentOr
ω0Represent motor estimation revolving speedK is adjustment factor, it is better to be worth smaller filter effect, but dynamic responding speed is got over simultaneously
Slowly, thus the processing that need to compromise.
According to formula (12) and (13), input counter electromotive force is obtained are as follows:
In formula:WithTo input counter electromotive force component；
It will be in formula (15)WithIt is input in software phase-lock loop, obtains motor and estimate revolving speedWith motor rotor position angleWherein, motor rotor position angleFor.
In formula: KpFor proportionality coefficient, KiFor integral coefficient.
Illustrate the working principle of software phase-lock loop below and prove its stability:
The functional block diagram of software phase-lock loop constructs the input counter electromotive force of software phase-lock loop as shown in figure 5, according to formula (15)
Error are as follows:
In formula: λ=(Ld-Lq)(ωeid-piq)+ωeψf；θeFor motor rotor position angle；About equal sign takes small in angular error
When 30 °.
The position angle error transfer function of software phase-lock loop are as follows:
In formula:For the bandwidth of PI controller.
When motor speed is stablized, i.e., motor estimates revolving speedFor a fixed value, then formulaFor once linear side
Journey, the steady-state error of the rotor-position of estimation are as follows:
At this point, software phase-lock loop stability must be demonstrate,proved.
Control block diagram according to Fig. 1 builds permanent magnet synchronous motor position sensorless under MATLAB/SIMULINK environment
Device Control System Imitation model selects the parameter of electric machine as follows: rated power 600W, rated speed 750rpm, nominal torque
7.6Nm, number of pole-pairs 13, permanent magnet flux linkage amplitude 0.08Wb, 0.8 Ω of armature winding resistance, ac-dc axis inductance be respectively 6.5mH,
6.3mH, rotary inertia 0.004kgm2.Sport 350rpm when initially given no-load speed 50rpm, 0.1s, when 0.2s is mutated
For 750rpm, when 0.3s, loads 4Nm.It under the above conditions, will be based under traditional sliding mode observer method and this patent method
Emulation data compared with actual numerical value, revolving speed, rotor position angle and rotor-position angle error simulation result diagram are such as
Shown in Fig. 6-8.It will be appreciated from fig. 6 that the revolving speed that the method for the present invention can effectively reduce traditional sliding mode observer method is buffeted；It can by Fig. 7
Know, the method for the present invention is more accurate in the position angle tracking of middle low-speed region internal rotor；As seen from Figure 8, rotor position angle after load
Error is reduced, stronger to the robustness of load disturbance.
Above content is only illustrations made for the present invention described in this specification.Technology belonging to the present invention
The technical staff in field can do various modifications or supplement or is substituted in a similar manner to described specific embodiment, only
It should belong to guarantor of the invention without departing from the content or beyond the scope defined by this claim of description of the invention
Protect range.
Claims (3)
1. a kind of permanent magnet synchronous motor method for controlling position-less sensor, it is characterised in that: comprise the steps of:
S1. by PI speed regulator according to given rotating speed ωrefRevolving speed is estimated with motorDifference obtain q axis reference current
iq *, d axis reference current idIt is 0；
S2. a, b, c three-phase current are acquired, d shaft current i is obtained by coordinate transformdWith q shaft current iq；
S3. by the d axis reference current idWith the d shaft current idDifference input PI current regulator 1, through PI current regulation
Device 1 exports d axis reference voltage ud *；
By the q axis reference current iq *With the q shaft current iqDifference input PI current regulator 2, through PI current regulator 2
Export d axis reference voltage uq *；
S4. by the d axis reference voltage ud *With q axis reference voltage uq *α axis reference voltage u is obtained by coordinate transformα *With
β axis reference voltage uβ *, by the α axis reference voltage uα *With β axis reference voltage uβ *Input SVPWM sinusoidal pulse width modulation module, warp
SVPWM sinusoidal pulse width modulation module output duty cycle signal sa、sb、sc, then by the duty cycle signals sa、sb、scInput three
Its conducting shutdown of phase inverter control, realizes the driving to permanent magnet synchronous motor；
S5. a, b, c three-phase current coordinate of acquisition are transformed to α, β axis stator current iα, iβ, and by α, β axis stator current iα, iβ
And α, β axis stator voltage uα, uβIt is same to substitute into the adaptive kernel time-frequency distribution calculating permanent magnetism based on Second Order Generalized Integrator phaselocked loop
Walk the estimation rotor position angle of motorWith estimation revolving speed
S6. S1-S5 is repeated, realizes the closed-loop stabilization operation of permanent magnet synchronous motor.
2. a kind of permanent magnet synchronous motor method for controlling position-less sensor described in accordance with the claim 1, which is characterized in that step
α described in S5, β axis stator voltage uα, uβCalculating process are as follows:
S51. the exchange side phase voltage u of three-phase inverter is calculateda、ub、uc, calculation formula is shown below:
In above formula: UdcFor the DC voltage of three-phase inverter；sa、sb、scFor duty cycle signals；
S52. three-phase inverter step S51 being calculated exchanges side phase voltage ua、ub、ucCoordinate transform obtains α, β axis stator
Voltage uα, uβ。
3. permanent magnet synchronous motor method for controlling position-less sensor according to claim 1, which is characterized in that in step S5
By α, β axis stator current iα, iβAnd α, β axis stator voltage uα, uβIt substitutes into based on the adaptive of Second Order Generalized Integrator phaselocked loop
The estimation rotor position angle of sliding mode observer calculating permanent magnet synchronous motorWith estimation revolving speedSpecifically:
S51. by the α inputted, β axis stator current iα, iβAnd α, β axis stator voltage uα, uβ, α is calculated as follows, β axis expands
Open up counter electromotive force Eα、Eβ；
Wherein, Ld、LqRespectively d axle inductance and q axle inductance；To estimate current error value；ωeIt is angular rate；R is fixed
Sub- resistance；To estimate stator current；K is sliding mode observer postiive gain coefficient；Sat (s) is sinusoidal pattern saturation function；S is
Sliding-mode surface；Δ is boundary layer；
S52. the extension counter electromotive force E being calculated according to step S51αAnd Eβ, establish and revolving speed estimated based on motorIt is adaptive
Rate equation:
In formula:Revolving speed is estimated for motor；Counter electromotive force is extended for estimation；L is adaptive rate constant；
S53. estimation step S52 being calculated extends counter electromotive forceAs the input of Second Order Generalized Integrator, obtain
To the filtered estimation extension counter electromotive force of Second Order Generalized Integrator and its amount of quadrature are as follows:
In formula:WithCounter electromotive force is extended for filtered estimation；WithCounter electromotive force is extended for filtered estimation
Amount of quadrature；K is adjustment factor；
S54. the Second Order Generalized Integrator being calculated according to step S53 filtered estimation extension counter electromotive force and its orthogonal
Amount calculates input counter electromotive force:
In formula:WithTo input counter electromotive force component；
S55. the input counter electromotive force component being calculated according to step S54WithIt is input in software phase-lock loop, obtains electricity
Machine estimates revolving speedWith motor rotor position angle
In formula: KpFor proportionality coefficient, KiFor integral coefficient, p is differential operator.
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| CN111884232A (en) * | 2020-06-15 | 2020-11-03 | 国网上海市电力公司经济技术研究院 | Control method for passivity sliding mode variable structure of MMC-STATCOM |
| CN111953255A (en) * | 2020-07-27 | 2020-11-17 | 陕西航空电气有限责任公司 | Control method and control device for integrated permanent magnet synchronous motor without position sensor |
| CN111969922A (en) * | 2020-07-20 | 2020-11-20 | 四川虹美智能科技有限公司 | Method and device for determining rotating speed of motor and electronic equipment |
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| CN114123880A (en) * | 2021-11-30 | 2022-03-01 | 深圳市麦格米特驱动技术有限公司 | Motor position estimation method, motor control method and device |
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