CN110601622B - Method and device for detecting position of motor rotor and computer storage medium - Google Patents
Method and device for detecting position of motor rotor and computer storage medium Download PDFInfo
- Publication number
- CN110601622B CN110601622B CN201910691282.7A CN201910691282A CN110601622B CN 110601622 B CN110601622 B CN 110601622B CN 201910691282 A CN201910691282 A CN 201910691282A CN 110601622 B CN110601622 B CN 110601622B
- Authority
- CN
- China
- Prior art keywords
- current
- value
- moment
- current moment
- phase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The application discloses a method and a device for detecting the position of a motor rotor and a computer storage medium, wherein the detection method comprises the following steps: obtaining a phase current observation value and a phase voltage observation value of the motor at the current moment in a two-phase static coordinate system; estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment; calculating a phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment; inputting the phase current error value at the current moment into a proportional resonant controller to obtain an opposite potential observed value at the current moment; and calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment so as to obtain the position of the motor rotor. By the mode, the adaptive resonance control is used as the approach rate of the sliding mode observer, so that the adverse effect of buffeting in the traditional method is avoided, an additional low-pass filter and a phase compensation link thereof can be eliminated, and the observation precision and the steady-state performance are improved.
Description
Technical Field
The present disclosure relates to the field of motor technologies, and in particular, to a method and an apparatus for detecting a position of a motor rotor, and a computer storage medium.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of light weight, small volume, high operating efficiency and the like, and is widely applied to the fields of household appliances and industrial automation. The conventional motor driving system needs to detect the rotor position of the motor through a position sensor, which not only increases the cost, but also causes the system reliability to be reduced.
In recent years, a position sensorless control technology suitable for a permanent magnet synchronous motor is rapidly developed, and how to accurately measure the position of a motor rotor becomes a problem to be solved urgently.
The sliding-mode observer is a commonly used motor rotor position detection method, and processes a phase current estimation error through a sliding-mode approach rate to obtain an opposite electromotive force observation value, and then performs phase calculation on the opposite electromotive force observation value to obtain the rotating speed and rotor position information of a motor. In the prior art, a sign function or a saturation function is used as a sliding mode surface approach rate to process phase current estimation errors so as to obtain an observed value of opposite electromotive force. Because a sign function or a saturation function is adopted as the sliding mode surface approach rate, a buffeting phenomenon is necessarily caused, and low-pass filtering and phase compensation are usually required to be carried out on an opposite potential observation value, so that the system design is complicated, the performance of the observer is reduced, and the control performance of the motor is further influenced.
Disclosure of Invention
In order to solve the above problems, the present application provides a method and an apparatus for detecting a position of a rotor of a motor, and a computer storage medium, wherein adaptive resonance control is used as an approach rate of a sliding mode observer, so that a detrimental effect of buffeting in a conventional method is avoided, an additional low-pass filter and a phase compensation link thereof can be eliminated, and observation accuracy and steady-state performance are improved.
The technical scheme adopted by the application is as follows: a method for detecting the position of a rotor of an electric motor is provided, which comprises the following steps: obtaining a phase current observation value and a phase voltage observation value of the motor at the current moment in a two-phase static coordinate system; estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment; calculating a phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment; inputting the phase current error value at the current moment into a proportional resonant controller to obtain an opposite potential observed value at the current moment; and calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment so as to obtain the position of the motor rotor.
The step of estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment comprises the following steps: and estimating the estimated value of the phase current at the current moment according to the phase voltage observed value at the current moment, the phase current estimated value obtained at the previous moment, the electrical angular frequency obtained at the previous moment and the opposite potential observed value obtained at the previous moment.
Wherein, the step of estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment, the phase current estimation value obtained at the previous moment, the electrical angular frequency obtained at the previous moment and the opposite potential observation value obtained at the previous moment comprises the following steps: calculating a voltage difference value between a phase voltage observed value at the current moment and a voltage characteristic value at the previous moment to obtain an inductance voltage value at the current moment; the voltage characteristic value is the sum of a stator resistance voltage value corresponding to the phase current estimated value obtained at the previous moment, a differential inductance voltage value corresponding to the electrical angular frequency and the cross axis phase current estimated value obtained at the previous moment and an opposite potential observation value obtained at the previous moment; calculating a current differential value according to the inductance voltage value and the shaft inductance at the current moment; and estimating the phase current estimated value at the current moment according to the current difference value and the phase current estimated value obtained at the previous moment.
The step of calculating the phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment comprises the following steps: calculating the difference value between the estimated value of the current alpha-axis current at the current moment and the observed value of the current alpha-axis current at the current moment to obtain an alpha-axis current error value at the current moment; and calculating the difference value between the estimated value of the current beta-axis current at the current moment and the observed value of the current beta-axis current at the current moment to obtain a current error value of the current beta-axis current at the current moment.
The method comprises the following steps of inputting a phase current error value at the current moment into a proportional resonant controller to obtain an opposite potential observed value at the current moment, wherein the steps comprise: establishing a proportional resonance controller according to the resonance gain coefficient and the self-adaptive resonance transfer function; inputting the phase current error value at the current moment into a proportional resonant controller to calculate an opposite potential observed value at the current moment; the transfer function of the proportional resonant controller in the frequency domain is Ksw+ R(s), wherein KswR(s) is an adaptive resonant transfer function,
for the electrical angular frequency, K, obtained at the previous momentrIs the resonance gain coefficient, s is the laplacian operator, and λ is the damping coefficient. The specific discretization implementation form of the proportional resonant controller is not limited.
The step of calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment comprises the following steps: calculating a position observation error value at the current moment according to the opposite potential observation value at the current moment; normalizing the position observation error value at the current moment; and calculating the current-time electrical angular frequency of the motor rotor according to the position observation error value of the current time after the normalization processing.
Wherein, the step of normalizing the position observation error value comprises: and calculating the ratio of the position observation error value to the electrical angular frequency obtained at the previous moment so as to normalize the position observation error value.
The step of calculating the current moment electrical angular frequency of the motor rotor according to the position observation error value after the normalization processing comprises the following steps: correcting the position observation error value after the normalization processing by using the proportionality coefficient to obtain a first position characteristic value; integrating the position observation error value after the normalization processing, and correcting by using an integral coefficient to obtain a second position characteristic value; and calculating the sum of the first position characteristic value and the second position characteristic value as the current moment electrical angular frequency of the motor rotor.
After the step of calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment, the method further comprises the following steps: and performing integral operation on the electrical angular frequency of the motor rotor at the current moment to obtain the position information of the motor rotor at the current moment.
After the step of calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment, the method further comprises the following steps: and adjusting the gain coefficient of the proportional resonant controller in the transfer function of the frequency domain according to the observed value of the opposite potential at the current moment.
Another technical scheme adopted by the application is as follows: the detection device for the rotor position of the motor comprises a processor and a memory, wherein the memory is used for storing program data, and the processor realizes the detection method when executing the program data.
Another technical scheme adopted by the application is as follows: there is provided a computer storage medium for storing program data which, when executed by a processor, implements a detection method as described above.
According to the detection method for the position of the motor rotor, the self-adaptive resonance controller is used as a sliding mode approach rate to process phase current errors to obtain an opposite potential observation value; and carrying out phase processing on the opposite potential observed value to obtain the information of the rotating speed and the position of the rotor of the motor. Through the mode, the self-adaptive resonance controller can perform self-adaptive compensation on the opposite potential observed values under different frequencies, effectively avoids the buffeting problem generated during high sliding mode gain, and improves the steady-state characteristic of the system. In addition, in the prior art, the sliding mode observer and the low-pass filter are required to be matched for detecting the position of the permanent magnet motor rotor, and high-precision rotor position information can be obtained without low-pass filtering.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow chart diagram illustrating a first embodiment of a method for detecting a rotor position of an electric machine provided herein;
FIG. 2 is a schematic diagram illustrating a comparison between three-phase stationary coordinates and two-phase stationary coordinates in a first embodiment of a method for detecting a rotor position of an electric machine according to the present disclosure;
FIG. 3 is a schematic diagram of the frequency characteristics of the resonant controller in an alternative embodiment;
FIG. 4 is a schematic flow chart diagram illustrating a second embodiment of a method for detecting a rotor position of an electric machine provided herein;
FIG. 5 is a signal flow diagram of a second embodiment of a method of detecting a rotor position of an electric machine provided herein;
FIG. 6 is a waveform illustrating a speed response of an embodiment of the present application under an operating condition;
FIG. 7 is a schematic diagram of an estimated angle error under a condition of the present application;
FIG. 8 is a schematic structural diagram illustrating an embodiment of an apparatus for detecting a rotor position of an electric machine provided herein;
FIG. 9 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a method for detecting a rotor position of a motor provided in the present application, where the method includes:
step 11: and obtaining a phase current observation value and a phase voltage observation value of the motor at the current moment in a two-phase static coordinate system.
The permanent magnet synchronous motor is composed of a stator, a rotor, an end cover and the like. Structurally, a permanent magnet synchronous machine differs from other types of machines primarily in that the rotor has permanent magnets and can be configured into different magnetic circuit configurations. According to the position difference of the permanent magnet on the rotor, the rotor magnetic circuit structure of the common permanent magnet synchronous motor can be divided into three types: surface, embedded and embedded.
In a permanent magnet synchronous motor, there are two general categories of coordinate systems used: a static coordinate system with a coordinate system placed on the stator mainly comprises an ABC three-phase static coordinate system and an alpha beta two-phase static coordinate system; a dq two-phase synchronous rotating coordinate system placed on and rotating with the rotor.
Optionally, in this step, three-phase currents and three-phase voltages of the motor are sampled, and a phase current observed value and a phase voltage observed value in the two-phase stationary coordinate system are obtained through coordinate transformation.
As shown in fig. 2, fig. 2 is a schematic diagram illustrating a comparison between a three-phase stationary coordinate and a two-phase stationary coordinate in a first embodiment of the method for detecting a rotor position of a motor provided by the present application, in this embodiment, an α axis and an a axis are defined to coincide with each other, and a β axis is defined to lead an α axis by 90 ° counterclockwise.
Then the transformation relationship between the ABC three-phase stationary coordinate system and the α β two-phase stationary coordinate system can be established according to different constraints.
Wherein, the current transformation relation is as follows:
wherein iA、iB、iCIs a phase current observed value i under an ABC three-phase static coordinate systemα、iβIs phase current observed value under an alpha beta two-phase static coordinate system, C is a transformation coefficient, and when the selection power is not changed under the constraint condition, the transformation coefficient C is
When the constraint condition of constant amplitude is selected, the transformation coefficient C is
Wherein, the voltage variation relation is as follows:
wherein u isA、uB、uCIs a phase voltage observed value u under an ABC three-phase static coordinate systemα、uβIs phase voltage observed value under alpha beta two-phase static coordinate system, C is transformation coefficient, and when the selection power is not changed, the transformation coefficient C is
When the constraint condition of constant amplitude is selected, the transformation coefficient C is
Step 12: and estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment.
Alternatively, the estimated value of the phase current at the current moment may be calculated according to a voltage model of the motor in the two-phase stationary coordinate system.
Wherein, step 12 may specifically be: and estimating the estimated value of the phase current at the current moment according to the phase voltage observed value at the current moment, the phase current estimated value obtained at the previous moment, the electrical angular frequency obtained at the previous moment and the opposite potential observed value obtained at the previous moment.
For example, a voltage difference value between a phase voltage observed value at the current moment and a voltage characteristic value at the previous moment can be calculated to obtain an inductance voltage value at the current moment; the voltage characteristic value is the sum of a stator resistance voltage value corresponding to the phase current estimated value obtained at the previous moment, a differential inductance voltage value corresponding to the electrical angular frequency and the cross axis phase current estimated value obtained at the previous moment and an opposite potential observation value obtained at the previous moment; calculating a current differential value according to the inductance voltage value and the shaft inductance at the current moment; and estimating the phase current estimated value at the current moment according to the current difference value and the phase current estimated value obtained at the previous moment. In a specific embodiment, the following discretization formula can be used for calculation:
wherein the content of the first and second substances,
and
is an estimate of the phase current at the present time,
and
is the estimated phase current value u at the previous momentα(i)And uβ(i)Is the phase voltage observation at the current time,
and
for the phase current estimate that has been obtained at the previous time,
and
for the opposite potential observations that have been obtained at the previous time,
for the electrical angular frequency, R, obtained at the previous momentsIs a phase resistance, LdAnd LqIs an axis inductance, T, under a two-phase rotating coordinate systemsIs the sampling period.
Step 13: and calculating a phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment.
Optionally, calculating a difference between the estimated value of the current α -axis and the observed value of the current α -axis to obtain an error value of the current α -axis; and calculating the difference value between the estimated value of the current beta-axis current at the current moment and the observed value of the current beta-axis current at the current moment to obtain a current error value of the current beta-axis current at the current moment.
In a specific embodiment, the phase current error value at the current moment can be calculated according to the following formula:
wherein the content of the first and second substances,
and
is the current phase current estimate at the current time iα(i)And iβ(i)Is the observed value of the phase current at the current moment.
Optionally, a subtractor may be used to implement the above-mentioned functions.
Step 14: and inputting the phase current error value at the current moment into the proportional resonance controller to obtain an opposite potential observed value at the current moment.
Optionally, step 14 may specifically be: establishing a proportional resonance controller according to the resonance gain coefficient and the self-adaptive resonance transfer function; and inputting the phase current error value at the current moment into the proportional resonance controller to calculate the opposite potential observed value at the current moment.
The transfer function of the proportional resonant controller in the frequency domain is Ksw+ R(s), wherein KswR(s) is an adaptive resonant transfer function,
for the electrical angular frequency, K, obtained at the previous momentrIs the resonance gain coefficient, s is the laplacian operator, and λ is the damping coefficient. The specific discretization realization form of the transfer function of the proportional resonant controller is not limited.
Fig. 3 is a schematic diagram of the frequency characteristics of the resonant controller in an alternative embodiment, as shown in fig. 3.
Step 15: and calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment so as to obtain the position of the motor rotor.
The electrical angular frequency, i.e. the angular frequency of the motor rotor, by which the angular velocity (rotational speed) of the motor rotor can be further calculated, thereby determining the position information of the motor rotor.
Different from the prior art, in the method for detecting the position of the motor rotor in the embodiment, an opposite potential observation value is obtained by processing a phase current error by taking the adaptive resonance controller as a sliding mode approach rate; and carrying out phase processing on the opposite potential observed value to obtain the information of the rotating speed and the position of the rotor of the motor. Through the mode, the self-adaptive resonance controller can perform self-adaptive compensation on the opposite potential observed values under different frequencies, effectively avoids the buffeting problem generated during high sliding mode gain, and improves the steady-state characteristic of the system. In addition, in the prior art, the sliding mode observer and the low-pass filter are required to be matched for detecting the position of the permanent magnet motor rotor, and high-precision rotor position information can be obtained without low-pass filtering.
Referring to fig. 4, fig. 4 is a schematic flow chart of a second embodiment of a method for detecting a rotor position of a motor provided in the present application, where the method includes:
step 41: and obtaining a phase current observation value and a phase voltage observation value of the motor at the current moment in a two-phase static coordinate system.
Step 42: and estimating the estimated value of the phase current at the current moment according to the phase voltage observed value at the current moment, the phase current estimated value obtained at the previous moment, the electrical angular frequency obtained at the previous moment and the opposite potential observed value obtained at the previous moment.
Alternatively, the estimated value of the phase current at the current moment may be calculated according to a voltage model of the motor in the two-phase stationary coordinate system.
For example, the following discretization formula can be used for calculation:
wherein the content of the first and second substances,
and
is an estimate of the phase current at the present time,
and
is the estimated phase current value u at the previous momentα(i)And uβ(i)Is the phase voltage observation at the current time,
and
for the phase current estimate that has been obtained at the previous time,
and
for the opposite potential observations that have been obtained at the previous time,
for the electrical angular frequency, R, obtained at the previous momentsIs a phase resistance, LdAnd LqIs an axis inductance, T, under a two-phase rotating coordinate systemsIs the sampling period.
Step 43: and calculating a phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment.
Alternatively, the phase current error value at the current moment may be calculated according to the following formula:
wherein the content of the first and second substances,
and
is the current phase current estimate at the current time iα(i)And iβ(i)Is the observed value of the phase current at the current moment.
Step 44: and inputting the phase current error value at the current moment into the proportional resonance controller to obtain an opposite potential observed value at the current moment.
The transfer function of the proportional resonant controller in the frequency domain is Ksw+ R(s), wherein KswR(s) is an adaptive resonant transfer function,
for the electrical angular frequency, K, obtained at the previous momentrIs the resonance gain coefficient, s is the laplacian operator, and λ is the damping coefficient. The specific discretization implementation of the proportional resonant controller is not limiting.
Step 45: and calculating a position observation error value at the current moment according to the opposite potential observation value at the current moment.
Alternatively, the position observation error value at the current time may be calculated according to the following formula:
wherein the content of the first and second substances,
as an opposite potential observation value at the present time,
is the position information that has been obtained at the previous moment of the rotor of the motor.
Step 46: and normalizing the position observation error value at the current moment.
Optionally, the position observation error value at the current time may be normalized according to the following formula:
wherein the content of the first and second substances,
the position observation error value for the current time instant,
the electrical angular frequency that has been obtained at the previous moment.
Step 47: and calculating the current-time electrical angular frequency of the motor rotor according to the current-time position observation error value after the normalization processing.
Optionally, the electrical angular frequency of the rotor of the motor at the current moment may be calculated according to the following discretization formula:
wherein the content of the first and second substances,
is the observation error value of the current time position after normalization processing, KpIs a proportionality coefficient, S(i)And S(i-1)Integral values, K, of the current and previous time, respectivelyiAs an integral coefficient, TsIs the sampling time.
Alternatively, this step may be implemented using a Proportional Integrator (PI) or a proportional-integral-differentiator (PID). In addition, the method can also be realized by adopting a high-order observation method such as a Luneberger observer.
Further, after the electrical angular frequency at the current time is obtained, the electrical angular frequency at the current time of the motor rotor may be integrated according to the following formula to obtain the position information of the motor rotor at the current time:
wherein the content of the first and second substances,
the electrical angular frequency of the rotor of the motor at the present moment.
In addition, the electrical angular frequency at the time of acquisition of the current time
Then, the proportional gain coefficient K in the proportional resonant controller can be further adjustedswAnd a resonant gain coefficient KrAnd (6) adjusting. Specifically, a linear adjustment strategy, i.e., a dynamic adjustment characteristic in which two gain coefficients increase linearly with the increase of the motor rotation speed, may be adopted. Of course, in other embodiments, the proportional gain factor KswAnd a resonant gain coefficient KrOr may be two values determined. It can be understood that the online adjustment strategy for the gain factor of the proportional resonator may be implemented in many different ways, such as calculation through different expressions, or updating through online table look-up after obtaining the offline calculation.
In addition, it can be understood that in step 45 described above, the resulting rotor position information at the current time can be seen
Also used for calculating the position observation error value in the next moment
A feedback is formed.
As shown in fig. 5, fig. 5 is a signal flow diagram of a second embodiment of the method for detecting the rotor position of the motor provided by the present application.
With reference to the flowchart of fig. 4, the work flow of this embodiment is as follows: sampling three-phase current and voltage of the motor, and obtaining a current component i under a static two-phase coordinate system through coordinate transformationα、iβAnd a voltage component uα、uβ. In a sliding-mode observer, a current estimated value is calculated according to a voltage model of a motor under a two-phase static coordinate system
Then according to the current component iα、iβAnd current estimation
Calculating phase current error value delta iα、Δiβ. In a proportional resonator, the phase current error value Δ i is determined according toα、ΔiβCalculating an inverse potential observation
Reuse of counter potential observations in phase processing
Performing phase processing to obtain electrical angular frequency
And rotor position information
It will be appreciated that in the above process, the counter-potential observations are calculated
Feeding back to the sliding-mode observer for correcting the approach rate of the sliding-mode observer at the next moment, and calculating the obtained electrical angular frequency
And is also used for correcting the approach rate of the sliding mode observer at the next moment and for correcting the gain coefficient of the resonance function of the proportional resonator.
Specifically, in the phase processing process, the following is specifically performed:
according to the observed value of the opposite potential obtained by calculation
Calculating a position observation error value
Error value observed for position
Is subjected to normalization processing to obtain
To pair
Observing the electrical angular frequency to obtain the electrical angular frequency
To electrical angular frequency
Integrating to obtain rotor position information
It will be appreciated that in the above process, the counter-potential observations are calculated
And rotor position information
Feedback to the process of calculating the position error, i.e. formula
And continuously updating.
Therefore, in the above embodiment, the sliding mode approach rate of the counter electromotive force of the motor is controlled by adaptive proportional resonance, and the characteristic parameters and the corresponding gains are updated on line in real time according to the information of the rotating speed or the electrical angular frequency of the motor.
The following is illustrated by a specific example:
referring to fig. 6 and 7, fig. 6 is a waveform diagram of a rotational speed response of the embodiment of the present application under a condition, and fig. 7 is a schematic diagram of an estimated angle error of the embodiment of the present application under a condition.
In the present embodiment, the operating condition is that the motor is accelerated from 1000rpm (rotational speed) to 2000rpm at time 3s, the load is suddenly applied at time 5s, the rotational speed response waveform is shown in fig. 6, and the estimated angle error is shown in fig. 7. The position observation method provided by the embodiment can well track the rotation speed change of the motor, realize position estimation without steady-state static error, and has good dynamic characteristic and high steady-state precision.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the detection apparatus for detecting the position of the rotor of the motor provided in the present application, where the detection apparatus 80 includes a processor 81 and a memory 82.
The memory 82 is used for storing program data, and the processor 81 implements the following detection method when executing the program data:
obtaining a phase current observation value and a phase voltage observation value of the motor at the current moment in a two-phase static coordinate system; estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment; calculating a phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment; inputting the phase current error value at the current moment into a proportional resonant controller to obtain an opposite potential observed value at the current moment; and calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment so as to obtain the position of the motor rotor.
It can be understood that, when the processor 81 executes the program data, the processor is further configured to implement the steps of the detection method provided in the foregoing embodiments, where the formula and the algorithm may refer to the foregoing embodiments, and the implementation principle and the effect are similar, and are not described herein again.
In addition, in the present embodiment, all the calculation processes are implemented by the processor 81, and in other embodiments, the calculation processes may also be implemented by a plurality of separate processors, for example, a sliding mode observer, a subtractor, an adaptive resonance controller, an integrator, and the like, which is not limited herein.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a computer storage medium provided in the present application, in which program data 91 is stored in the computer storage medium 90, and when the program data 91 is executed by a processor, the following detection method is implemented:
obtaining a phase current observation value and a phase voltage observation value of the motor at the current moment in a two-phase static coordinate system; estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment; calculating a phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment; inputting the phase current error value at the current moment into a proportional resonant controller to obtain an opposite potential observed value at the current moment; and calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment so as to obtain the position of the motor rotor.
Alternatively, the storage medium may be applied to the inside of a motor, the motor has a function of self-checking the position of the rotor, and the storage medium may also be applied to a special detection device for detecting the position of the rotor of the motor. In addition, the motor and the detection device may form a system.
Embodiments of the present application may be implemented in software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made according to the content of the present specification and the accompanying drawings, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (12)
1. A method for detecting the position of a rotor of an electric machine, comprising:
obtaining a phase current observation value and a phase voltage observation value of the motor at the current moment in a two-phase static coordinate system;
estimating the phase current estimation value at the current moment according to the phase voltage observation value at the current moment;
calculating a phase current error value at the current moment according to the phase current observed value at the current moment and the phase current estimated value at the current moment;
inputting the phase current error value of the current moment into a proportional resonant controller to obtain an opposite potential observed value of the current moment; wherein the transfer function of the proportional resonant controller in the frequency domain is Ksw+ R(s), wherein KswR(s) is an adaptive resonant transfer function,
for the electrical angular frequency, K, obtained at the previous momentrIs the resonance gain coefficient, s is the laplacian operator, and λ is the damping coefficient;
and calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment so as to obtain the position of the motor rotor.
2. The detection method according to claim 1,
the step of estimating the estimated value of the phase current at the current moment according to the observed value of the phase voltage at the current moment comprises the following steps:
and estimating the estimated value of the phase current at the current moment according to the phase voltage observed value at the current moment, the phase current estimated value obtained at the previous moment, the electrical angular frequency obtained at the previous moment and the opposite potential observed value obtained at the previous moment.
3. The detection method according to claim 2,
the step of estimating the estimated value of the phase current at the current moment according to the observed value of the phase voltage at the current moment, the estimated value of the phase current obtained at the previous moment, the electrical angular frequency obtained at the previous moment, and the observed value of the opposite potential obtained at the previous moment includes:
calculating a voltage difference value between the phase voltage observed value at the current moment and the voltage characteristic value at the previous moment to obtain an inductance voltage value at the current moment; the voltage characteristic value is the sum of a stator resistance voltage value corresponding to the phase current estimated value obtained at the previous moment, a differential inductance voltage value corresponding to the electrical angular frequency and the cross-axis phase current estimated value obtained at the previous moment and an opposite potential observation value obtained at the previous moment;
calculating a current differential value according to the inductance voltage value and the shaft inductance at the current moment;
and estimating the phase current estimated value at the current moment according to the current difference value and the phase current estimated value obtained at the previous moment.
4. The detection method according to claim 1,
the step of calculating the current phase current error value according to the current phase current observed value and the current phase current estimated value includes:
calculating the difference value between the estimated value of the current alpha-axis current at the current moment and the observed value of the current alpha-axis current at the current moment to obtain an alpha-axis current error value at the current moment;
and calculating the difference value between the estimated value of the current beta-axis current at the current moment and the observed value of the current beta-axis current at the current moment to obtain a current error value of the current beta-axis current at the current moment.
5. The detection method according to claim 1,
the step of inputting the phase current error value at the current moment into a proportional resonant controller to obtain the observed value of the opposite potential at the current moment comprises:
establishing a proportional resonance controller according to the resonance gain coefficient and the transfer function;
and inputting the phase current error value of the current moment into the proportional resonant controller to calculate the opposite potential observed value of the current moment.
6. The detection method according to claim 1,
the step of calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment comprises the following steps:
calculating a position observation error value of the current moment according to the opposite potential observation value of the current moment;
normalizing the position observation error value at the current moment;
and calculating the current-time electrical angular frequency of the motor rotor according to the position observation error value of the current time after the normalization processing.
7. The detection method according to claim 6,
the step of normalizing the position observation error value includes:
and calculating the ratio of the position observation error value to the electrical angular frequency obtained at the previous moment so as to carry out normalization processing on the position observation error value.
8. The detection method according to claim 6,
the step of calculating the current-time electrical angular frequency of the motor rotor according to the position observation error value after the normalization processing comprises the following steps:
correcting the position observation error value after the normalization processing by using a proportionality coefficient to obtain a first position characteristic value;
integrating the position observation error value after the normalization processing, and correcting by using an integral coefficient to obtain a second position characteristic value;
and calculating the sum of the first position characteristic value and the second position characteristic value as the current moment electrical angular frequency of the motor rotor.
9. The detection method according to claim 1,
after the step of calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment, the method further comprises the following steps:
and performing integral operation on the electrical angular frequency of the motor rotor at the current moment to obtain the position information of the motor rotor at the current moment.
10. The detection method according to claim 1,
after the step of calculating the electrical angular frequency of the motor rotor at the current moment according to the observed value of the opposite potential at the current moment, the method further comprises the following steps:
and adjusting a gain coefficient of the proportional resonant controller in a transfer function of a frequency domain according to the opposite potential observed value at the current moment.
11. A device for detecting the position of a rotor of an electric machine, characterized in that the device comprises a processor and a memory, the memory being adapted to store program data, the processor, when executing the program data, implementing the detection method according to any one of claims 1-10.
12. A computer storage medium for storing program data which, when executed by a processor, implements a detection method according to any one of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691282.7A CN110601622B (en) | 2019-07-29 | 2019-07-29 | Method and device for detecting position of motor rotor and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691282.7A CN110601622B (en) | 2019-07-29 | 2019-07-29 | Method and device for detecting position of motor rotor and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110601622A CN110601622A (en) | 2019-12-20 |
| CN110601622B true CN110601622B (en) | 2021-12-28 |
Family
ID=68853158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910691282.7A Active CN110601622B (en) | 2019-07-29 | 2019-07-29 | Method and device for detecting position of motor rotor and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110601622B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946362B (en) * | 2021-03-31 | 2022-06-21 | 歌尔股份有限公司 | Resonance frequency detection method and device of vibration motor, terminal equipment and storage medium |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4895703B2 (en) * | 2006-06-28 | 2012-03-14 | 三洋電機株式会社 | Motor control device |
| CN105356798B (en) * | 2015-12-08 | 2018-07-10 | 无锡市艾克特电气股份有限公司 | A kind of permanent magnet synchronous motor open-loop control method |
| CN109936319B (en) * | 2017-12-18 | 2020-11-06 | 青岛海尔智能技术研发有限公司 | Method and device for setting parameters of rotating speed controller |
-
2019
- 2019-07-29 CN CN201910691282.7A patent/CN110601622B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110601622A (en) | 2019-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| An et al. | Frequency-adaptive complex-coefficient filter-based enhanced sliding mode observer for sensorless control of permanent magnet synchronous motor drives | |
| CN109787524B (en) | Permanent magnet synchronous motor parameter online identification method | |
| Wu et al. | Enhanced position sensorless control using bilinear recursive least squares adaptive filter for interior permanent magnet synchronous motor | |
| CN110198150B (en) | Permanent magnet synchronous motor multi-parameter online identification method | |
| Holtz | Speed estimation and sensorless control of AC drives | |
| US8159168B2 (en) | Rotor position estimator for an electrical machine | |
| CN111711398B (en) | Dynamic performance improvement method for permanent magnet synchronous motor position sensorless control system | |
| CN110165959B (en) | Active-disturbance-rejection position-sensorless control method and control device for permanent magnet synchronous motor | |
| JP2012519464A (en) | Method and apparatus for determining the position of a rotor shaft of a permanent magnet excited synchronous machine without an angle sensor based on current and voltage signals | |
| CN110557075A (en) | motor torque determination method and device and motor control system | |
| CN115173774B (en) | Permanent magnet synchronous motor sensorless control method and system | |
| CN115149867A (en) | Permanent magnet synchronous motor position sensorless control method and device | |
| Zhang et al. | Sensorless control of permanent magnet synchronous motors and EKF parameter tuning research | |
| CN110601622B (en) | Method and device for detecting position of motor rotor and computer storage medium | |
| Liu et al. | A new sensorless control strategy by high-frequency pulsating signal injection into stationary reference frame | |
| Leppanen et al. | Observer using low-frequency injection for sensorless induction motor control-parameter sensitivity analysis | |
| García et al. | On the use of high frequency inductance vs. high frequency resistance for sensorless control of AC machines | |
| CN110661466A (en) | Adaptive observer based on quasi-proportional resonance and permanent magnet synchronous motor position estimation method | |
| Zaltni et al. | Observability analysis and improved zero‐speed position observer design of synchronous motor with experimental results | |
| Yang et al. | Sliding mode control for bearingless induction motor based on a novel load torque observer | |
| Tsai et al. | Implementation of a DSP‐based speed‐sensorless adaptive control for permanent‐magnet synchronous motor drives with uncertain parameters using linear matrix inequality approach | |
| CN111726050B (en) | Method and device for determining iron loss of permanent magnet synchronous motor | |
| Kim et al. | New approach for high performance PMSM drives without rotational position sensors | |
| CN110311599B (en) | Method, system, medium, and apparatus for correcting magnetic pole position of permanent magnet synchronous motor | |
| CN117294198B (en) | Motor flux linkage compensation method, device, storage medium and controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |