CN110620537A - PMSM sensorless control strategy based on ADRC and high-frequency square wave injection - Google Patents
PMSM sensorless control strategy based on ADRC and high-frequency square wave injection 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
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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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
- 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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a PMSM sensorless control strategy based on improved ADRC and high-frequency square wave injection, which injects continuous high-frequency square wave voltage signals into a d axis of a vector control synchronous rotation coordinate system of a permanent magnet synchronous motor, wherein the frequency of the signals is equal to the switching frequency of an inverter; in a single high-frequency signal injection period, through twice current sampling, the separation processing process of fundamental wave current and high-frequency response current is simplified, and a filter is not needed; the fundamental current is used for current feedback in vector control, the high-frequency current comprises rotor position information, the position error information is decoupled by adopting an alpha-beta axis high-frequency response signal cross multiplication method, and then the rotor position is observed by a Luenberger position tracking observer; in the aspect of speed controller, a modified linear active disturbance rejection controller is used instead of the PI controller. The method can improve the bandwidth of the sensorless control system and has higher dynamic response speed and disturbance resistance.
Description
Technical Field
The invention relates to the technical field of vector control systems of Permanent Magnet Synchronous Motors (PMSM), in particular to a PMSM sensorless control strategy technology based on ADRC and high-frequency square wave injection.
Background
Permanent Magnet Synchronous Motors (PMSM) have the advantages of high power density, high efficiency, good dynamic performance, etc., and have been widely used in the fields of industrial fields, electric vehicles, household appliances, etc. In a high-performance alternating-current transmission system, a sensorless control strategy becomes a research hotspot in the field of motor control by the characteristics of small volume, low cost, high reliability and the like.
According to the range of the control speed of the motor, the PMSM sensorless control technology can be mainly divided into two categories: medium-high speed and zero-low speed; and the middle-high speed control estimates the position and the rotating speed of the rotor by relying on the back electromotive force or flux linkage information in the three-phase voltage model. When the motor runs at zero low speed, the back electromotive force is too small, and the useful signal-to-noise ratio is low, so that the rotor position information needs to be acquired by utilizing the salient pole characteristic of the motor, namely, a high-frequency signal injection method is adopted. The traditional high-frequency signal injection method uses sinusoidal signals, the signal processing process is complex, a filter link is needed to filter high-frequency response signals, the filter can delay the response signals, the system bandwidth is narrowed, the traditional speed controller adopts PI control, the response speed is low, and overshoot is easy to occur.
The method adopts a sensorless improved algorithm based on high-frequency square wave signal injection, improves the injection frequency and current sampling process of high-frequency signals, simplifies the processing of fundamental wave current and high-frequency response current, and does not need to use a filter in the whole process; in the aspect of a speed controller, an improved linear active disturbance rejection controller is adopted as the speed controller of the system, and simulation results show that the bandwidth of the improved sensorless control system is improved, and the improved sensorless control system has higher dynamic response speed and disturbance rejection performance.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide a PMSM sensorless control strategy technique based on ADRC and improved high-frequency square wave signal injection.
In order to achieve the purpose, the invention adopts the following technical scheme:
a PMSM sensorless control strategy based on ADRC and improved high-frequency square wave signal injection is characterized in that: injecting a high-frequency square wave voltage signal with specific frequency, extracting and separating fundamental current and high-frequency response current, decoupling a position error signal and estimating a rotating speed position, and designing an improved linear ADRC speed controller.
And injecting a high-frequency square wave voltage signal with a specific frequency, namely injecting a square wave voltage signal with the frequency equal to the frequency of the PWM carrier signal on the d axis of the estimated rotor synchronous rotation coordinate system.
The square wave voltage signal has the expression ofIn the formula (I), the compound is shown in the specification,respectively observing high-frequency voltage components injected under d and q axes; u. ofhInjecting high-frequency square wave voltage amplitude; k is the discrete sampling instant.
The extraction separation of the fundamental current from the high-frequency response current comprises: i after coordinate transformation of three-phase current after high-frequency square wave signal inputabInvolving a fundamental current and a high-frequency response current, iab＝iabf+iabhThe fundamental current is extracted to form a current closed loop. The frequency of the square wave signal adopted in the method is equal to the frequency of the PWM carrier signal, and since the frequency of the square wave signal is far higher than the frequency of the fundamental wave, the fundamental wave current signal is considered to be unchanged at adjacent sampling moments, the amplitude of the high-frequency response current is equal, and the signs are opposite. Fundamental current idqfCan be calculated from two successive sampling points of the sampled current value, i.e.
In the formula idq(k)、idqf(k) Respectively representing sampling current and fundamental current at k sampling time; subscript h denotes a high frequency signal; f represents the fundamental wave signal.
The position error signal decoupling and rotational speed position estimation comprises: and transforming the extracted high-frequency response current to an alpha beta static coordinate system through a dq axis coordinate axis to obtain a high-frequency response current signal envelope in the alpha beta static coordinate system as follows:when the position tracker converges, Δ θe0; is provided withDecoupling position error information by adopting an alpha-beta axis high-frequency response signal cross multiplication method, wherein the principle is shown in FIG. 2;and observing the position of the rotor by a Luenberger position tracking observer, wherein the principle is shown in figure 3.
In the formula Iαh、IβhRespectively, high-frequency response current envelopes under a static alpha beta axis;is a d-axis lower high frequency voltage; the subscript h represents the high frequency component; the superscript r denotes the rotor shafting;estimating an error for the location; l ═ L (L)d+Lq) The inductance mean value is/2, and Δ L ═ L (L)d-Lq) And/2 is the inductance difference.
The improved linear ADRC speed controller design includes: expanding the state observer:linear feedback control rate:control amount:
in the formula, y is the output signal of the controlled object; z is a radical of1A tracking signal of y; z is a radical of2Is a disturbance observed value; beta is a1、β2Correcting the gain for the output error of the extended state observer; b0To compensate for a factor z2/b0The compensation quantity is used for compensating the internal and external disturbance of the object; u. of0An output signal obtained for a linear error feedback control rate; u is the final control signal after compensating for the disturbance.
The invention has the beneficial effects that:
according to the invention, the frequency of the injected square wave signal is increased to the switching frequency of the inverter, and the current sampling is performed twice in a single high-frequency signal injection period, so that the processing process of fundamental wave current and high-frequency response current is simplified, and a filter is not required; in the aspect of a speed controller, an improved linear active disturbance rejection controller is used to replace a PI controller, and the bandwidth of an improved sensorless control system is improved, and the improved sensorless control system has higher dynamic response speed and disturbance rejection performance.
Drawings
FIG. 1 is a block diagram of a high frequency signal injection sensorless control of the present invention; FIG. 2 is a position error signal decoupling; FIG. 3 is a Luenberger position tracking observer; FIG. 4 is a test chart of the width of the rotating speed loop; FIG. 5 is a current loop bandwidth test chart; FIG. 6 shows the rotational speed mutation response based on PI, NLADRC, LADRC; FIG. 7 is a PI, NLADRC, LADRC based abrupt load response;
in fig. 1, a high-frequency square wave signal injection method; 2. an ADRC speed controller; 3. space Vector Pulse Width Modulation (SVPWM) and inverter; 4. permanent Magnet Synchronous Machines (PMSM).
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description below:
referring to fig. 1, the PMSM sensorless control strategy for ADRC and improved high-frequency square wave signal injection according to the present embodiment is applied to improve the reliability of a Permanent Magnet Synchronous Motor (PMSM) vector control system, and mainly includes: high-frequency square wave signal injection method 1; ADRC speed controller 2; space Vector Pulse Width Modulation (SVPWM) 3; an inverter 4; a Permanent Magnet Synchronous Motor (PMSM) 5.
Square wave signals are injected in the observed rotor d-axis:
wherein the content of the first and second substances,respectively observing high-frequency voltage components injected under d and q axes; u. ofhInjecting high-frequency square wave voltage amplitude; k is the discrete sampling instant.
I after coordinate transformation of three-phase currentabComprises fundamental wave current and high-frequency response current, satisfies formula (2)
iab＝iabf+iabh (2)
The frequency of the adopted square wave signal is equal to that of the PWM carrier signal, and the frequency of the square wave signal is far higher than that of the fundamental wave, so that the fundamental wave current signal is considered to be unchanged at adjacent sampling moments, the amplitude of the high-frequency response current is equal, and the signs are opposite; thus the fundamental current idqfCan be calculated from two successive sampling points of the sampled current value, i.e.
Wherein idq(k)、idqf(k) Respectively representing sampling current and fundamental current at k sampling time; subscript h denotes a high frequency signal; f represents the fundamental wave signal.
Furthermore, when the rotating speed of the motor is low and the frequency of the injected signal is far greater than the frequency of the rotor magnetic field, the influence of the resistance drop of the stator and the back electromotive force can be ignored, so that the PMSM high-frequency voltage model satisfies the formula (4)
Wherein the content of the first and second substances,high-frequency voltage and current components under d and q axes respectively; the subscript h represents the high frequency component; the superscript r denotes the rotor shafting;
further, the dq axis is transformed to an α β stationary coordinate system, and a high-frequency current response satisfying equations (5) and (6) is obtained:
wherein iαh，iβhRespectively, high-frequency response current component under alpha-beta axis, position estimation error A coordinate transformation matrix for rotating the dq coordinate system to an alpha beta coordinate system, wherein p is a differential operator;
ideally, if a saturated saliency exists, high-frequency square wave voltage is injected into the stator winding, and the envelope curve of high-frequency response current is distributed in a sine mode after the rotor rotates for one circle. At this time, equation 5 may be equivalent to:
the envelope of the high-frequency response current signal under the alpha beta static coordinate system can be obtained as follows:
in the formula Iαh、IβhRespectively, high-frequency response current envelopes under a static alpha beta axis; l ═ L (L)d+Lq) The inductance mean value is/2, and Δ L ═ L (L)d-Lq) And/2 is the inductance difference.
When the position tracker converges, Δ θeIs equal to 0 and has
Decoupling position error information by adopting an alpha-beta axis high-frequency response signal cross multiplication method, wherein the principle is shown in FIG. 2; and observing the position of the rotor by a Luenberger position tracking observer based on a PMSM mechanical model, wherein the principle is shown in figure 3.
An improved first-order linear ADRC controller mathematical model;
further, the extended state observer satisfies the formula (10):
further, the linear feedback control rate satisfies equation (11):
further, the control amount satisfies formula (12):
wherein, y is the output signal of the controlled object; z is a radical of1A tracking signal of y; z is a radical of2Is a disturbance observed value; beta is a1、β2Correcting the gain for the output error of the extended state observer; b0To compensate for a factor z2/b0The compensation quantity is used for compensating the internal and external disturbance of the object; u. of0An output signal obtained for a linear error feedback control rate; u is the final control signal after compensating for the disturbance.
The effectiveness of the proposed PMSM sensorless control method based on ADRC and the improved high-frequency signal injection method is verified by Matlab/simulink simulation. Fig. 1 is a block diagram of a high frequency signal injection method sensorless control. The PMSM5 parameters used were: stator resistance R0.33 Ω, d-axis inductance Ld＝5.2e-4Inductance L of H, q axisq＝1.74e-4H, permanent magnetic linkage psif0.646Wb, and a moment of inertia J of 0.008kg m2The number of pole pairs P is 4, and the coefficient of viscous friction is 0. And testing the bandwidths of the rotating speed loop and the current loop before and after improvement in order to verify the transient response speed of the system. FIG. 2 is a diagram of a test of the bandwidth of a speed loop. (a) The graph shows the sine wave response of the sensorless control of the improved front band filter given a speed of 100r/min frequency up to 70Hz, and the bandwidth of the speed loop obtained before improvement is about 70 Hz; (b) the graph shows the sine wave response of the improved sensorless control given speed 100r/min frequency up to 100Hz, and the improved speed loop bandwidth is about 100 Hz. Fig. 3 is a current loop bandwidth test chart. (a) In order to give sine wave response that the frequency of the q-axis current 2A is increased to 100Hz before improvement, the current loop bandwidth of the system of the improved front-band filter is about 100 Hz; (b) to improve the sine wave response for a given current 2A frequency up to 400HZ, the frequency of the current may be adjusted toSo as to obtain the improved current loop bandwidth which can reach 400 Hz. Therefore, the improved system speed loop bandwidth is increased by 30Hz, and the current loop bandwidth is increased by 300 Hz.
In order to verify the dynamic response speed and the disturbance resistance of the improved LADRC system, a working condition 1 is set: the desired speed is 100rpm, the speed is reduced to 80rpm in 0.15s, and the speed is increased to 100rpm in 0.25 s; FIG. 4 shows the rotational speed mutation responses in PI, NLADRC, LADRC; it can be seen from the figure that when the rotating speed is suddenly changed, the dynamic control performance of the NLADRC and the LADRC rotating speed is superior to that of the traditional PI control, the LADRC rotating speed sudden change response is faster, and the adjusting time is shorter. Setting a working condition 2: the desired speed is 100rpm, at 0.2s is a sudden 3N load; FIG. 5 is a PI, NLADRC, LADRC based abrupt load response; it can be seen from the figure that when the load has a sudden change, NLADRC has stronger anti-interference capability than PI control, and the influence of load change on the LADRC rotating speed is smaller, and the recovery time is shorter.
The preferred embodiments of the present invention are described without limiting the present invention, and it is obvious to those skilled in the art that other changes and modifications can be made based on the above-mentioned schemes and concepts, and any modifications within the spirit and principle of the present invention shall be covered by the protection scope of the present invention.
Claims (5)
1. A PMSM sensorless control strategy based on ADRC and high-frequency square wave injection is used for zero-low speed rotor position estimation in a sensorless control system of a permanent magnet synchronous motor, and is characterized in that: injecting a high-frequency square wave voltage signal with specific frequency, extracting and separating fundamental current and high-frequency response current, decoupling a position error signal and estimating a rotating speed position, and designing an improved linear ADRC speed controller.
2. The high-frequency square wave voltage signal injected with a specific frequency according to claim 1, wherein: injecting a square wave voltage signal with the frequency equal to the frequency of the PWM carrier signal on an estimated d axis of the rotor synchronous rotation coordinate system; the square wave voltage signal has the expression ofIn the formula (I), the compound is shown in the specification,respectively observing high-frequency voltage components injected under d and q axes; u. ofhInjecting high-frequency square wave voltage amplitude; k is the discrete sampling instant.
3. The fundamental current and the extraction separation of the high-frequency response current according to claim 1, characterized in that: i after three-phase current is subjected to coordinate transformation after high-frequency square wave signal injectionabInvolving a fundamental current and a high-frequency response current, iab＝iabf+iabhThe fundamental current is extracted to form a current closed loop. The frequency of the square wave signal adopted in the method is equal to the frequency of the PWM carrier signal, and since the frequency of the square wave signal is far higher than the frequency of the fundamental wave, the fundamental wave current signal is considered to be unchanged at adjacent sampling moments, the amplitude of the high-frequency response current is equal, and the signs are opposite. Fundamental current idqfCan be calculated from two successive sampling points of the sampled current value, i.e.In the formula idq(k)、idqf(k) Respectively representing sampling current and fundamental current at k sampling time; subscript h denotes a high frequency signal; f represents the fundamental wave signal.
4. The position error signal decoupling and rotational speed position estimation of claim 1, wherein: and transforming the extracted high-frequency response current to an alpha beta static coordinate system through a dq axis coordinate axis to obtain a high-frequency response current signal envelope in the alpha beta static coordinate system as follows:when the position tracker converges, Δ θe0; is provided withDecoupling bit by adopting alpha-beta axis high-frequency response signal cross multiplication methodError information is set, and the principle is shown in FIG. 4; and then observing the position of the rotor by a Luenberger position tracking observer, wherein the principle is shown in figure 5. In the formula Iαh、IβhRespectively, high-frequency response current envelopes under a static alpha beta axis;is a d-axis lower high frequency voltage; the subscript h represents the high frequency component; the superscript r denotes the rotor shafting;estimating an error for the location; l ═ L (L)d+Lq) The inductance mean value is/2, and Δ L ═ L (L)d-Lq) And/2 is the inductance difference.
5. The improved linear ADRC speed controller design according to claim 1, characterized by: expanding the state observer:linear feedback control rate:control amount:in the formula, y is the output signal of the controlled object; z is a radical of1A tracking signal of y; z is a radical of2Is a disturbance observed value; beta is a1、β2Correcting the gain for the output error of the extended state observer; b0To compensate for a factor z2/b0The compensation quantity is used for compensating the internal and external disturbance of the object; u. of0An output signal obtained for a linear error feedback control rate; u is the final control signal after compensating for the disturbance.
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| CN117254735A (en) * | 2023-09-15 | 2023-12-19 | 四川大学 | Position-sensor-free active disturbance rejection control method based on high-frequency square wave injection |
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