CN112117943B - Novel IPMSM high-frequency square wave injection position-sensorless control - Google Patents

Novel IPMSM high-frequency square wave injection position-sensorless control Download PDF

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CN112117943B
CN112117943B CN202010986788.3A CN202010986788A CN112117943B CN 112117943 B CN112117943 B CN 112117943B CN 202010986788 A CN202010986788 A CN 202010986788A CN 112117943 B CN112117943 B CN 112117943B
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rotor position
current
frequency
square wave
signal
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CN112117943A (en
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彭思齐
蒋雨函
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Xiangtan University
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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
    • 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
    • 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
    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
    • 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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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a control method of a permanent magnet synchronous motor position-less sensor combining a high-frequency square wave current injection method with a tangent phase-locked loop, which comprises the steps of firstly injecting a high-frequency square wave current signal on a direct axis of an estimated synchronous rotating coordinate system, wherein the current has direct current quantity and alternating current quantity, and introducing a resonance regulator into a PI (proportional integral-resonance) controller of an alternating-direct axis current loop so as to form a PIR (proportional integral-resonance) controller; to be output via PIR controller
Figure DDA0002689522570000011
Outputting signals with rotor position information through inverse Park conversion
Figure DDA0002689522570000012
To pair
Figure DDA0002689522570000013
Sampling at two adjacent moments, summing the samples, inputting the summed samples into a tangent phase-locked loop module to estimate the rotating speed
Figure DDA0002689522570000014
And rotor position angle
Figure DDA0002689522570000015
The invention has no filter in the whole control process, simplifies the system structure, ensures the system bandwidth, avoids phase delay, improves the system precision, and reduces the complexity of PI parameter setting in the phase-locked loopAnd the method has wide application value in the low-speed-domain position-free sensor of the permanent magnet synchronous motor.

Description

Novel IPMSM high-frequency square wave injection position-sensorless control
Technical Field
The invention belongs to the field of permanent magnet synchronous motor control, relates to a non-sensing control method for high-frequency signal injection, and particularly relates to a simple and feasible system model for realizing non-position sensor control in a low-speed domain of a permanent magnet synchronous motor by combining a high-frequency square wave current injection method and a tangent phase-locked loop
Background
Because of its characteristics of simple structure, small volume, high power density and high efficiency, a Permanent Magnet Synchronous Motor (PMSM) is widely used in occasions with high precision and high dynamic performance requirements, such as electric automobiles, cranes and elevators. Compared with an asynchronous motor, the permanent magnet synchronous motor has the characteristics of high power factor, measurable rotor parameters, excellent control performance and the like, but the cost is high, so that in order to reduce the cost, the rotor position information and the speed information are estimated through an algorithm to replace a mechanical sensor to realize a permanent magnet synchronous motor double closed-loop vector control strategy, and the problems of complex installation, easiness in external interference, high cost, limited application environment and the like caused by the mechanical sensor can be effectively solved. Therefore, the sensorless control of the permanent magnet synchronous motor is becoming a popular direction for many researchers to study.
To realize a permanent magnet synchronous motor position sensorless, two methods are usually adopted: one is based on signal injection, and the principle is to estimate the rotor position by using the saliency of the motor, and the following are commonly used: a pulsating voltage injection method and a rotating high-frequency voltage injection method; the other method is to use an observer to observe the back electromotive force in the dynamic model to extract the rotor position information. According to the mathematical model of the permanent magnet synchronous motor, the back electromotive force is known to be related to the electrical angular velocity, so that the back electromotive force is obvious only at medium and high speeds, which is beneficial to observation and extraction. However, when the rotating speed is in a low speed domain, the back electromotive force is small, and accurate observation cannot be performed, so that the observation error of the rotor position is large in the low speed domain by the above method. The high-frequency signal injection method can well solve the problem of rotor position estimation in a low-speed domain, such as a rotating high-frequency voltage injection method and a pulse vibration voltage injection method, wherein sine wave injection is adopted in both the methods, so that the requirement on the accuracy of signal extraction is very high, and the phase is seriously delayed due to the large use of a filter, so that the observation precision is reduced, and the cost is also increased. Therefore, the research structure is simple, the stability is better, and the high-frequency injection method with higher precision can greatly increase the practicability.
Disclosure of Invention
The invention aims to solve the problems of difficult signal extraction, limited bandwidth, complex structure and large rotor position estimation error caused by phase delay caused by using a large number of filters.
The invention provides a method for injecting a high-frequency square wave current signal into a straight axis of an estimated synchronous rotating coordinate system; meanwhile, a method for extracting signals without a filter is provided for extracting signals with rotor position information; and rotor position estimation is achieved in conjunction with a tangent phase locked loop. The invention has the advantages of convenient calculation, simple algorithm structure, higher precision and better stability.
The technical scheme adopted for solving the technical problems is as follows:
the invention provides a control method of a filter-free high-frequency square wave current injection method combined with a tangent phase-locked loop, aiming at simplifying the system structure and simultaneously improving the control performance of a permanent magnet synchronous motor in a low-speed domain without a position sensor, comprising the following steps:
injecting a high-frequency square wave current signal under a direct axis of a synchronous rotating coordinate system, wherein the injection signal can be expressed as follows:
Figure BDA0002689522550000011
where A is the amplitude of the injected signal, k is the discrete system sampling instant,
Figure BDA0002689522550000012
the high-frequency current components injected under d and q axes under the synchronous rotating coordinate system are estimated respectively.
Because the frequency of the injected signal is far greater than the fundamental wave frequency of the permanent magnet synchronous motor, and the sensibility is far greater than the resistibility, the influence of the resistance and the cross coupling term on the motor can be ignored, and the mathematical model of the permanent magnet synchronous motor is simplified into a pure sensibility load:
Figure BDA0002689522550000021
wherein p is a differential operator; l isd、LqDirect axis and quadrature axis inductors; u. ofd、uq、id、iqVoltage and current components of an IPMSM on d and q axes in a synchronous rotating coordinate system are respectively converted into a static coordinate system through a permanent magnet synchronous motor mathematical model of a pure inductive load by a reverse Park
Figure BDA0002689522550000022
The purpose of the sensorless control is to omit the use of a mechanical position sensor in the vector control of the permanent magnet synchronous motor, thereby greatly reducing the cost and the dependence of a system on the position sensor in the control process. It is assumed that the estimated rotor position obtained by the algorithm is able to track the actual rotor position well, i.e. the rotor error is close to 0. This can be seen as
Figure BDA0002689522550000023
Figure BDA0002689522550000024
The above equation is simplified by matrix multiplication calculation.
Figure BDA0002689522550000025
When the rotor position is estimated to track, the integral operation is carried out on two sides of the above formula:
Figure BDA0002689522550000026
the formula shows that the output voltage of the quadrature-direct axis current loop under the static coordinate system contains the rotor position information thetae. Therefore, the method can detect the AC and DC in a static coordinate systemOutput voltage of the axis current loop, i.e.
Figure BDA00026895225500000213
Thereby obtaining rotor position information. The high frequency injection method is used for extracting signals with rotor position information, and a filter is often used for extraction, so that the bandwidth of a system is limited, the phase is delayed, and the occupation of resources is increased.
The extracted signal
Figure BDA0002689522550000028
Divided by the signal
Figure BDA0002689522550000029
Can mix ALdsign (A) is eliminated, so that positive and negative judgment of high-frequency signals is avoided, and tan theta is obtainedeAccording to the general formula of the tangent function in the trigonometric function:
Figure BDA00026895225500000210
when in use
Figure BDA00026895225500000211
When it comes to
Figure BDA00026895225500000212
Adjusting the position error of the rotor by a PI controller to obtain an estimated rotating speed
Figure BDA0002689522550000031
Obtaining an estimated rotor position by an integrator
Figure BDA0002689522550000032
Will estimate the rotational speed
Figure BDA0002689522550000033
And subtracting the given rotating speed to obtain a rotating speed error, and adjusting the rotating speed error through a rotating speed outer ring PI controller.
The tangent phase-locked loop adjusts the rotor position error by using a simple PI controller, so that the rotor position error is close to 0, namely the rotor position is estimated to track the actual rotor position, and the action effect of a position sensor is replaced.
The invention needs to add a resonance regulator in the traditional current loop PI controller, because the sampling current is converted into direct current quantity through Park conversion for feedback in vector control, PI control can only realize no-static-error regulation and good dynamic performance on the direct current quantity, the invention needs to add the resonance regulator in the traditional PI control because a square wave signal with positive and negative changes is injected into a direct axis in a synchronous coordinate system, and the injected signal is an alternating current quantity, so that the output of the resonance regulator is superposed on the output of the PI control, and no-static-error control and good tracking performance on the direct current quantity and the alternating current quantity can be simultaneously carried out. The resonance adjuster transfer function is:
Figure BDA0002689522550000034
xi is damping ratio, wcFor the frequency of the injected signal, KRFor the resonant regulator coefficient
The invention has the following technical characteristics:
1. the frequency of the injected high-frequency square wave signal is 1000Hz, and the amplitude of the injected signal is 20V.
2. The current loop is a PIR controller, the damping ratio xi is 0, and the coefficient K of the resonance regulatorRFrequency w of the injected signal 1c＝1000。
3. The parameter of the permanent magnet synchronous motor is stator resistance RsQuadrature axis inductance L of 0.0551 Ωq0.012H, direct axis inductance Ld0.00525H, permanent magnet flux linkage psif0.446, the pole pair number p is 2, and the moment of inertia J is 0.074N · M.
4. According to the filter-free signal extraction method, in a discrete system, integral can be regarded as summing of the state of the current sampling moment and the state of the last sampling moment, and therefore the rotor position information can be extracted through simple addition algebraic operation.
The control system model combining the filter-free high-frequency current injection method with the tangent phase-locked loop has the advantages that:
1. the high-frequency current square wave injection method is provided, because the influence of high-frequency harmonics in the feedback current on a system is small, compared with a voltage injection method, the use of a low-pass filter in the feedback current injection method is omitted, and the structure is simpler.
2. The method for providing the integral discretization is used for processing the signal with the rotor position information, so that the accuracy of extracting the signal with the rotor position information is improved, and the complexity in the signal extracting process is simplified. The use of a filter is effectively avoided, the phase delay is avoided, and the system bandwidth is increased.
3. The phase locking is carried out on the position of the rotor by adopting the tangent phase-locked loop, the system structure can be simplified, the positive and negative judgment on the high-frequency injection signal is effectively avoided, and the sensitivity of the system to the high-frequency injection signal is effectively reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic block diagram of the filter-less high frequency square wave current injection method in combination with a tangent phase locked loop according to the present invention
FIG. 2 is a schematic diagram of a tangent phase locked loop
FIG. 3 is a bode diagram for PIR control
Fig. 4 is a simulation diagram of rotor position simulink under the condition that the filter-free high-frequency injection method provided by the embodiment of the invention is combined with the tangent phase-locked loop rotation speed mutation.
Fig. 5 is a simulation diagram of the rotation speed simulink under the condition that the filter-free high-frequency injection method provided by the embodiment of the invention is combined with the tangent phase-locked loop rotation speed mutation.
Fig. 6 is a simulation diagram of rotor position error simulink under the condition that the filter-free high-frequency injection method provided by the invention is combined with the tangent phase-locked loop rotation speed mutation.
Fig. 7 is a simulation diagram of the rotor position simulink under the condition of the sudden load of the filter-free high-frequency injection method combined with the tangent phase-locked loop provided by the implementation of the invention.
Fig. 8 is a simulation diagram of the rotation speed simulink under the condition of sudden load of the filter-free high-frequency injection method combined with the tangent phase-locked loop provided by the implementation of the invention.
Fig. 9 is a simulation diagram of the rotor position error simulink under the condition of the filter-free high-frequency injection method combined with the tangential phase-locked loop sudden load according to the embodiment of the present invention.
Detailed Description
In order to make the purpose and technical solution of the present invention more clearly understood, the following detailed description is made with reference to the accompanying drawings and examples, and the application principle of the present invention is described in detail.
The model block diagram of the filter-free high-frequency square wave current injection method combined with the tangent phase-locked loop is shown in fig. 1, the system adopts 2 PI regulators and 2 PIR controllers, wherein the 1 PI regulator and the 2 PIR controllers form a double closed-loop vector control system with rotating speed and current feedback, and the other PI is applied to the tangent phase-locked loop to regulate the position of a rotor. Three-phase current signal I of motor detected by current sensora、Ib、IcConverting the detected three-phase current signals into a stationary coordinate through Clark conversion, and converting the three-phase current signals into a synchronous rotating coordinate system through Park conversion to obtain a current value under the synchronous rotating coordinate system
Figure BDA0002689522550000041
Subtracting a feedback rotating speed obtained by differentiating the set rotating speed and the estimated position obtained by the tangent phase-locked loop at the position of the speed outer ring to obtain an error, and adjusting by a speed outer ring PI controller to obtain a given torque current IqIt is compared with the previously calculated feedback torque current
Figure BDA00026895225500000417
Subtracting to obtain quadrature axis current error, and adjusting with current inner loop PIR controller to obtain quadrature axis high frequency output voltage
Figure BDA0002689522550000043
High-frequency square wave signals generated by a square wave signal generator are added to a straight shaft, and then injected positive and negative symmetrical high-frequency square wave current signals and feedback exciting current are added
Figure BDA0002689522550000044
Subtracting to obtain direct axis current error, and adjusting by a current inner loop PIR controller to obtain direct axis high-frequency output voltage
Figure BDA0002689522550000045
The obtained quadrature-direct axis high-frequency output voltage
Figure BDA0002689522550000046
Obtaining the high-frequency output voltage under the static coordinate system through inverse Park conversion
Figure BDA0002689522550000047
The method adopts an integral discretization method, firstly samples the high-frequency output voltage at the current moment, samples two high-frequency output voltages at the previous moment through a delay device, and adds the sampled voltages at two adjacent moments by an adder, so that two signals with rotor position information can be extracted
Figure BDA0002689522550000048
The expression is as follows:
Figure BDA0002689522550000049
where k discrete system sampling instants.
Finally, the extracted signal with the rotor position information is extracted
Figure BDA00026895225500000410
Input to a tangent phase locked loop to estimate the rotor position. Combining two signals with rotor position information with FIG. 3
Figure BDA00026895225500000411
Tan theta is obtained by a dividereTan thetaeRespectively subtracted and multiplied with the estimated rotor position by a subtracter and a multiplier to obtain
Figure BDA00026895225500000412
Will be provided with
Figure BDA00026895225500000413
The sum 1 is added by an adder
Figure BDA00026895225500000414
And
Figure BDA00026895225500000415
is obtained by a divider
Figure BDA00026895225500000416
The expression of the tangent phase-locked loop is as follows:
Figure BDA0002689522550000051
wherein
Figure BDA0002689522550000052
To estimate the rotor position, θeIs the actual rotor position.
Finally, the error between the actual rotor position and the estimated rotor position is adjusted through a PI controller and then is subjected to integrator to obtain an estimated rotor position angle
Figure BDA0002689522550000053
The PIR control is to introduce a resonance regulator into a conventional PI controller, and in combination with the Bode diagram of the PIR controller shown in FIG. 2, it can be seen that the PIR control has high gain at a direct current quantity and a specific frequency, and the gains of other frequencies are small. It is possible to realize good tracking performance for the alternating current component even when the direct current component is adjusted without a dead error. A transfer function of the PIR controller:
Figure BDA0002689522550000054
wherein KpIs a proportionality coefficient, KiIs the integral coefficient, KRCoefficient of resonance regulator, wcIs the frequency of the injected high frequency signal.
In summary, in the embodiments of the present invention, a filter-free high-frequency square wave current injection is combined with a tangent phase-locked loop to realize the position-sensor-free control of the permanent magnet synchronous motor in the low-speed domain. Injecting a high-frequency square wave current signal into the straight shaft, extracting the signal with rotor position information by a simple addition method, avoiding the use of a filter, simplifying the structure, increasing the system bandwidth, avoiding phase delay and improving the stability and precision of the system; because a high-frequency square wave current signal is injected into the direct axis, the current has both direct current and alternating current, so that the conventional PI controller of a current loop is replaced by a PIR controller, the good control performance of the direct current and the alternating current is realized, and the phase angle condition of a system is improved; and finally, the rotor position is estimated by adopting a tangent phase-locked loop, so that the positive and negative judgment of the injected high-frequency square wave signal is avoided, the sensitivity of the system to the injected signal is reduced, and the parameter setting of PI control in the phase-locked loop is simplified.
The application effect of the invention is described in detail by combining a Matlab/simulink simulation diagram as follows:
FIG. 4 is a rotor position simulation diagram for a sudden change in rotational speed according to the present invention; FIG. 5 is a diagram of the simulation of the rotation speed of the present invention in case of sudden change of the rotation speed; FIG. 6 is a simulation diagram of rotor position error under the condition of sudden change of the rotating speed of the present invention; FIG. 7 is a rotor position simulation under a sudden load condition in accordance with the present invention; FIG. 8 is a graph of the speed simulation under a sudden load condition according to the present invention; FIG. 9 is a simulation of rotor position error under a sudden load condition in accordance with the present invention. The simulation graphs show that the filter-free high-frequency current square wave injection method combined with the tangent phase-locked loop has good accuracy under the conditions of sudden change of the rotating speed and sudden load, the error between the estimated rotor position and the actual rotor position is small, and the rotating speed tracking effect is good, so that the accuracy and the effectiveness of the method are proved.

Claims (3)

1. A control method for realizing a position-sensorless permanent magnet synchronous motor without a filter high-frequency square wave current injection method and a tangent phase-locked loop in a low-speed domain is characterized by comprising the following steps:
(1) injecting high-frequency square wave current signals on a direct axis in an estimated synchronous rotating coordinate, wherein the quantity of alternating current and direct current in the quantity of alternating current and direct current, introducing a resonance regulator into a direct-alternating current loop (PI) controller, and constructing a proportional integral-resonance (PIR) controller to obtain output high-frequency voltage signals on the synchronous rotating coordinate system
Figure FDA0003484413590000011
Obtaining high-frequency voltage signals on a static coordinate system with rotor position information through inverse Park change
Figure FDA0003484413590000012
(2) Method for processing signals with rotor position by adopting integral discretization method
Figure FDA0003484413590000013
Extracting, namely sampling the high-frequency output voltage at the current moment, sampling two high-frequency output voltages at the previous moment through a delayer, and adding the sampling voltages at two adjacent moments by using an adder to extract the position information of the rotor;
(3) estimating the rotor position by combining the tangent phase-locked loop to obtain the rotor position error
Figure FDA0003484413590000014
Adjusting the error by a PI adjuster to obtain an estimated rotating speed
Figure FDA0003484413590000015
Then obtaining the estimated rotor position by an integrator
Figure FDA0003484413590000016
Wherein theta iseIs the actual rotor position angle;
in (1) the signal with rotor position information
Figure FDA0003484413590000017
The calculation process of (2) is as follows:
the method comprises the following steps: injecting a high-frequency square wave signal with positive and negative symmetry on the direct-axis current:
Figure FDA0003484413590000018
where A is the amplitude of the injected signal, k is the discrete system sampling instant,
Figure FDA0003484413590000019
respectively estimating high-frequency current components injected under d and q axes under a synchronous rotating coordinate system;
step two: because the frequency of the injected signal is far higher than the fundamental frequency of the motor and the sensibility is far greater than the resistibility, the mathematical model of the permanent magnet synchronous motor is regarded as the sensibility load, and the mathematical model under the static coordinate of the permanent magnet synchronous motor is obtained through coordinate transformation:
Figure FDA00034844135900000110
combining the high-frequency square wave current signal in the step I, the estimated rotor position obtained by the algorithm is supposed to be capable of well tracking the actual rotor position, namely the rotor error is close to 0, which can be regarded as
Figure FDA00034844135900000111
Figure FDA00034844135900000112
Simplifying the above formula through matrix multiplication calculation;
Figure FDA00034844135900000113
wherein
Figure FDA00034844135900000114
High-frequency response voltage on alpha and beta axes under a static coordinate system; thetaeIs the actual rotor position angle; p is a differential operator; l isd、LqDirect axis and quadrature axis inductors;
step three: from the second step, we can obtain the high-frequency response voltage signal under the static coordinate system
Figure FDA0003484413590000021
Obvious relation with the rotor position information exists, and the step two is executed
Figure FDA0003484413590000022
Integral operation is carried out on two sides to obtain the following formula;
Figure FDA0003484413590000023
wherein u isα，uβThe voltage on the alpha axis and the beta axis under a static coordinate system; thetaeIs the actual rotor position angle; p is a differential operator; l isdA direct axis inductor; signals with rotor position information
Figure FDA0003484413590000024
Inputting the input into a tangent phase-locked loop, wherein the calculation principle of the tangent phase-locked loop is as follows:
Figure FDA0003484413590000025
wherein
Figure FDA0003484413590000026
High-frequency response voltage on alpha and beta axes under a static coordinate system;θeis the actual rotor position angle;
inputting the obtained rotor position error into a PI regulator for regulation to obtain an estimated rotating speed
Figure FDA0003484413590000027
Obtaining an estimated rotor position angle after integration
Figure FDA0003484413590000028
2. The method for controlling the position-sensorless permanent magnet synchronous motor with the combination of the filter-free high-frequency square wave current injection method and the tangent phase-locked loop in the low-speed domain according to claim 1 is characterized in that: (1) in the PIR controller in the prior art, in the vector control of the conventional permanent magnet synchronous motor, the three-phase current sampled by the motor is the direct current in a synchronous rotating coordinate system obtained by performing Park conversion on the alternating current, and then the regulation rule of the conventional PI controller in the current loop is that no static difference regulation and good dynamic performance on the direct current can be realized, and no static difference regulation on the alternating current cannot be performed; a method for controlling a permanent magnet synchronous motor by combining a filter-free high-frequency square wave current injection method with a tangent phase-locked loop is characterized in that a high-frequency square wave current signal is injected into a direct axis, and the signal is an alternating current quantity, so that a resonance regulator is introduced into a conventional PI (proportional integral-resonance) controller and is reconstructed into a PIR (proportional integral-resonance) controller, and meanwhile, static-error-free regulation is carried out on the direct current quantity and the alternating current quantity.
3. The method for controlling the position-sensorless permanent magnet synchronous motor with the combination of the filter-free high-frequency square wave current injection method and the tangent phase-locked loop in the low-speed domain according to claim 1 is characterized in that: and (3) carrying out summation operation on the sampling signal at the previous moment and the sampling signal at the current moment by using an integral discretization method, and extracting a signal with rotor position information:
Figure FDA0003484413590000029
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