CN112234895B - Control method, equipment and system for back electromotive force and rotation angle estimation of alternating current motor - Google Patents
Control method, equipment and system for back electromotive force and rotation angle estimation of alternating current motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention provides a control method, equipment, a system and a storage medium for estimating back electromotive force and a rotation angle of an alternating current motor, wherein the control method comprises the following steps: s1: estimating back electromotive force corresponding to the alpha axis and back electromotive force corresponding to the beta axis through alpha axis information, beta axis information and a reduced order back electromotive force observer to obtain an alpha axis back electromotive force estimated value and a beta axis back electromotive force estimated value; s2: and calculating an electric angular velocity value and an electric angular value corresponding to the alternating current motor according to the alpha axis counter electromotive force estimated value and the beta axis counter electromotive force estimated value through a rotation angle reconstructor. Compared with the traditional motor back electromotive force and corner estimation method, the method provided by the invention has the characteristics of easiness in realization, simplicity in parameter adjustment and the like, and effectively simplifies the calculation amount of electric angle value estimation.
Description
Technical Field
The invention relates to the field of alternating current motor control, in particular to a method, equipment, a system and a storage medium for controlling back electromotive force and rotation angle estimation of an alternating current motor.
Background
An "ac motor" is a machine for converting mechanical energy and ac electrical energy into each other. Due to the huge development of ac power systems, ac motors have become the most commonly used motors at this stage. Compared with the direct current motor, the alternating current motor has the advantages of simple structure, convenience in manufacturing, strong firmness and the like because a commutator (the commutation of the direct current motor) is not arranged, and the motor with high rotating speed, high voltage, large current and large capacity is easy to manufacture.
In the working process of the alternating current motor, in order to effectively inhibit the torque fluctuation of the motor, the alternating current motor, particularly a permanent magnet synchronous motor, generally adopts a space vector control mode, and the electric angle position of the motor needs to be detected in real time in the vector control mode of the motor, so that the coordinate transformation of the motor current is realized. In the field of industrial control of ac motors, in order to reduce the hardware cost of the system, a position sensing detection method without motor rotation angle estimation is generally adopted instead of a position sensing detection method using an encoder.
For a position-sensorless control system of an alternating current motor, the internal state of the system can be reconstructed through an observer by detecting the current output value of the motor, so that the back electromotive force required by the rotation angle calculation is obtained. Methods for calculating the back electromotive force of the motor comprise a sliding mode observer estimation method, a Longbeige observer estimation method and the like, wherein a motor corner observer realizes real-time detection of the electrical angle of the motor by estimating the back electromotive force of the motor. Although the methods are applied to the actual motor control to a certain extent, the traditional observer method has the problems of complex parameter adjustment, large calculation amount, easy interference on back electromotive force observation and the like, the control precision of the motor is reduced, and the application of the traditional motor rotation angle observer is limited. Therefore, it is necessary to research and design a new back electromotive force estimation strategy of the ac motor, so as to simplify parameter adjustment of ac motor control and improve the rotational speed control accuracy of the ac motor.
Disclosure of Invention
The invention aims to provide a technical scheme for controlling the back electromotive force and the rotation angle estimation of an alternating current motor aiming at the defects in the prior art, and the technical scheme is used for solving the problems of complex parameter adjustment, large calculation amount and the like in the existing estimation method for the electrical angle of the motor.
The object of the invention can be achieved by the following technical measures:
the invention provides a control method for back electromotive force and rotation angle estimation of an alternating current motor in a first aspect, which comprises the following steps:
s1: estimating back electromotive force corresponding to the alpha axis and back electromotive force corresponding to the beta axis through the alpha axis information, the beta axis information and the reduced order back electromotive force observer to obtain an alpha axis back electromotive force estimated value and a beta axis back electromotive force estimated value;
s2: and calculating an electric angular velocity value and an electric angular value corresponding to the alternating current motor according to the alpha axis counter electromotive force estimated value and the beta axis counter electromotive force estimated value through a rotation angle reconstructor.
Further, estimating back electromotive force corresponding to the α axis and back electromotive force corresponding to the β axis from the α axis information and the β axis information "includes:
the intermediate variables were calculated using the following formula
And
wherein iα(k) Is the current value i corresponding to the alpha axis of the current sampling period of the alternating current motorβ(k) Is the current value v corresponding to the beta axis of the current sampling period of the alternating current motorα(k) The voltage value v corresponding to the alpha axis of the current sampling period of the alternating current motorβ(k) The voltage value corresponding to the beta axis of the current sampling period of the alternating current motor is obtained;
and
the intermediate variable value of the next sampling period corresponding to the current sampling period,
and
the intermediate variable value of the current sampling period; rsIs the phase resistance value of the AC motor; l issIs the synchronous inductance value of the AC motor; t issIs the sampling period of the current loop;
the value of the electrical angular velocity of the current sampling period; the value range of the parameter h is 0<h<1；
Based on intermediate variables
And
the estimated values of the alpha axis and beta axis counter electromotive force of the alternating current motor are calculated according to the following formula
And
wherein the content of the first and second substances,
is the counter electromotive force estimated value corresponding to the alpha axis of the current sampling period of the alternating current motor,
and the back electromotive force estimation value is the back electromotive force estimation value corresponding to the beta axis of the current sampling period of the alternating current motor.
Further, step S2 includes:
calculating the corresponding electrical angle value of the alternating current motor according to the following formula:
wherein psimIs the magnetic flux of the motor, p is the magnetic pole pair number of the motor, and t (k) is a time sequence;
calculating the corresponding electrical angle value of the alternating current motor according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,
and the current sampling period is the electric angle value of the alternating current motor.
Further, step S2 further includes:
wherein the content of the first and second substances,
the electric angle value of the alternating current motor in the previous sampling period of the current period.
Further, the method comprises:
adjusting electrical angular velocity using PI controller
Making the input of the alternating current motor corner reconstructor be zero;
the output of the PI controller is the electrical angular velocity of the AC motor
Electrical angular velocity
Obtaining the electric angle value of the alternating current motor after integral calculation
A second aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps according to the first aspect of the application.
A third aspect of the invention provides a control apparatus for back emf and angle estimation of an ac motor, the control apparatus comprising a memory, a processor and a computer program stored on the memory and running on the processor, the processor when executing the computer program implementing the steps of the method of the first aspect of the application.
A fourth aspect of the present invention provides a control system for estimating back electromotive force and a rotation angle of an ac motor, where the control system includes a reduced order back electromotive force observer, a rotation angle reconstructor, a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor is configured to execute the computer program to control the reduced order back electromotive force observer and the rotation angle reconstructor to implement the steps of the method according to the first aspect of the present application.
The invention provides a control method, equipment, a system and a storage medium for estimating back electromotive force and rotation angle of an alternating current motor, which are different from the prior art, wherein the control method comprises the following steps: s1: estimating back electromotive force corresponding to the alpha axis and back electromotive force corresponding to the beta axis through the alpha axis information, the beta axis information and the reduced order back electromotive force observer to obtain an alpha axis back electromotive force estimated value and a beta axis back electromotive force estimated value; s2: and calculating an electric angular velocity value and an electric angular value corresponding to the alternating current motor according to the alpha axis counter electromotive force estimated value and the beta axis counter electromotive force estimated value through a rotation angle reconstructor. Compared with the traditional motor back electromotive force and rotation angle estimation method, the method provided by the invention estimates the electrical angle value of the motor based on the reduced-order back electromotive force observer and the motor rotation angle reconstructor, the reduced-order back electromotive force observer is easy to realize, the parameter adjustment is simple, and the calculation amount of electrical angle value estimation is effectively simplified.
Drawings
Fig. 1 is a flowchart of a control method for back emf and corner estimation of an ac motor in accordance with the present invention;
FIG. 2 is a control block diagram of an alternating current motor based on a reduced-order back electromotive force observer and a corner reconstructor, according to the present invention;
FIG. 3 is a functional block diagram of a reduced order back EMF observer in accordance with the present invention;
FIG. 4 is a functional block diagram of a corner reconstructor to which the present invention relates;
FIG. 5 is a schematic diagram of a step response curve of an AC motor according to the present invention from zero speed start to 1000 rpm;
FIG. 6 is a schematic diagram of the curves for an AC motor of the present invention operating at a constant speed of 3000 rpm;
FIG. 7 is a schematic illustration of an acceleration curve for an AC motor of the present invention when the speed of the AC motor changes from 500rpm to 3000 rpm;
FIG. 8 is a schematic representation of the response curve of the AC motor of the present invention to a 0.5 N.m load spike when operating at 3000 rpm;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to make the description of the present disclosure more complete and complete, the following description is given for illustrative purposes with respect to the embodiments and examples of the present invention; it is not intended to be the only form in which the embodiments of the invention may be practiced or utilized. The embodiments are intended to cover the features of the various embodiments as well as the method steps and sequences for constructing and operating the embodiments. However, other embodiments may be utilized to achieve the same or equivalent functions and step sequences.
Fig. 1 is a flowchart of a control method for estimating a back electromotive force and a rotation angle of an ac motor according to the present invention. The control method comprises the following steps:
s1: estimating the back electromotive force corresponding to the alpha axis and the back electromotive force corresponding to the beta axis through the alpha axis information, the beta axis information and the reduced order back electromotive force observer to obtain an alpha axis back electromotive force estimation value and a beta axis back electromotive force estimation value;
s2: and calculating an electric angular velocity value and an electric angular value corresponding to the alternating current motor according to the alpha axis counter electromotive force estimated value and the beta axis counter electromotive force estimated value through a rotation angle reconstructor.
As shown in fig. 2, it is a block diagram of an ac motor control based on a reduced order back electromotive force observer and a rotation angle reconstructor according to the present invention.In the control system, the alternating current motor adopts a control mode based on space vector transformation, and is different from the traditional control algorithm in that: the rotating speed (namely, the electrical angular speed) and the electrical angle of the motor are observed and calculated by a reduced-order back electromotive force observer and a rotation angle reconstructor. Current i of alpha and beta axes of reduced order counter electromotive force observerαAnd iβAnd a voltage vαAnd vβEstimating back EMF of alpha and beta axes as input values
And
and the rotating speed of the motor is observed through a corner reconstructor
And corner
The block diagram shown in fig. 2 illustrates an alternating current motor control scheme based on vector control, and the emphasis is on developing the explanation of the input source and the output information of the reduced-order back electromotive force observer and the corner reconstructor. Wherein information i is inputα(k) And iβ(k) Two-phase current i from the motora(k) And ib(k) The Clark transform of (2) is output; v. ofα(k) And vβ(k) From pair
And
and (5) outputting the Park inverse transformation. Outputting information
Go to Park transform and Park inverse transform as their angles of rotation transform; outputting information
To the input of the speed controller as an angular velocity feedback value.
In the application, a schematic block diagram of the reduced order back electromotive force observer is shown in fig. 3, a schematic block diagram of the corner reconstructor is shown in fig. 4, the reduced order back electromotive force observer is a first-order state observer, compared with a traditional observer algorithm, the algorithm is simpler and convenient to implement, only a unique parameter h needs to be adjusted, the value range of the parameter h is 0< h <1, and the size of the parameter h determines the dynamic performance of the observer.
As shown in fig. 3, the input information of the reduced back emf observer includes: i.e. iα(k)、iβ(k)、vα(k) And vβ(k) (ii) a The output information of the reduced order back electromotive force observer includes:
and
the intermediate variables of the calculation process of the reduced order back electromotive force observer comprise:
and
fig. 4 is a schematic diagram of a corner reconstructor. The corner reconstructor comprises a multiplication operation module, a sine operation module, a cosine operation module, a PI operation module and an integral operation module. The specific calculation process of the corner reconstructor is as follows: back electromotive force
And with
Product of minus back electromotive force
And
the obtained difference is regulated by a PI controller to obtain the electrical angular velocity of the motor
Electrical angular velocity
Obtaining the updated electric angle value of the motor after integral calculation
Compared with the traditional motor back electromotive force and rotation angle estimation method, the method provided by the invention estimates the electrical angle value of the motor based on the reduced-order back electromotive force observer and the motor rotation angle reconstructor, the reduced-order back electromotive force observer is easy to realize, the parameters are simple to adjust, and the calculation amount for estimating the electrical angle value is effectively simplified.
In some embodiments, estimating back electromotive force corresponding to the α axis and back electromotive force corresponding to the β axis from the α axis information and the β axis information includes:
calculating an intermediate variable using the following equation (1)
And
wherein iα(k) Is the current value i corresponding to the alpha axis of the current sampling period of the alternating current motorβ(k) Is the current value v corresponding to the beta axis of the current sampling period of the alternating current motorα(k) The voltage value v corresponding to the alpha axis of the current sampling period of the alternating current motorβ(k) The voltage value corresponding to the beta axis of the current sampling period of the alternating current motor is obtained;
and
the intermediate variable value of the next sampling period corresponding to the current sampling period,
and
the intermediate variable value of the current sampling period; rsIs the phase resistance value of the AC motor; l issIs the synchronous inductance value of the AC motor; t issIs the sampling period of the current loop;
is the electrical angular velocity value for the current sampling period,
can be obtained by direct measurement of a corner reconstructor; the value range of the parameter h is 0<h<1; based on intermediate variables
And
according to the following formula (2), the estimation values of the alpha axis and beta axis back electromotive force of the alternating current motor are obtained through calculation
And
wherein the content of the first and second substances,
is the counter electromotive force estimated value corresponding to the alpha axis of the current sampling period of the alternating current motor,
and the estimated value is the back electromotive force estimated value corresponding to the beta axis of the current sampling period of the alternating current motor.
Further, step S2 includes:
calculating the corresponding electrical angle value of the alternating current motor according to the following formula (3):
wherein psimP is the magnetic flux of the motor, and t (k) is the time sequence which refers to the time sampling sequence of the discretization formula when the computer is implemented.
Calculating the corresponding electrical angle value of the alternating current motor according to the following formula (4):
wherein the content of the first and second substances,
and the current sampling period is the electric angle value of the alternating current motor.
The method for calculating the rotation angle (i.e. the electric angle value) of the motor based on the formula (4) belongs to an open loop mode, is very sensitive to interference signals coupled in counter electromotive force, can cause the counter electromotive force to be in a non-sinusoidal state, and particularly can cause larger rotation angle estimation error when the motor runs at low speed, thereby reducing the rotation speed control precision of the motor. In order to solve the problem of the formula (4) in detecting the motor rotation angle, the present application designs a motor rotation angle reconstructor as shown in fig. 4. After the motor corner reconstructor is adopted, the back electromotive force of the alternating current motor
And
another expression form of equation (3) is shown as equation (5) below:
since the sampling frequency of the current loop of the alternating current motor is usually above 10kHz, and the rotation angle variation of the motor is small in each sampling period, the motor rotation angle reconstructor shown in fig. 4 satisfies the following formula (6):
wherein the content of the first and second substances,
the electric angle value of the alternating current motor in the previous sampling period of the current period.
Preferably, the method comprises: adjusting electrical angular velocity using PI controller
Making the input of the alternating current motor corner reconstructor be zero; the output of the PI controller is the electrical angular velocity of the AC motor
Electrical angular velocity
Obtaining the electric angle value of the alternating current motor after integral calculation
The PI controller is a linear controller which forms a control deviation from a given value and an actual output value and compares the deviationThe example and the integral form a control amount by linear combination, and control is performed on a controlled object.
The function of the PI controller mainly comprises a proportional regulation function and an integral regulation function, wherein the proportional regulation function is used for reflecting the deviation of the system in proportion, and once the deviation occurs in the system, the proportional regulation function is immediately generated for reducing the deviation. The proportion is large, so that the adjustment can be accelerated, and the error can be reduced, but the stability of the system is reduced and even the system is unstable due to the overlarge proportion. The integral adjustment function means that the system eliminates steady-state errors and improves the error-free degree. Because of the error, the integral adjustment is carried out until no difference exists, the integral adjustment is stopped, and the integral adjustment outputs a constant value. The strength of the integration depends on the integration time constant Ti, the smaller Ti, the stronger the integration. Otherwise, if Ti is large, the integral action is weak, and the stability of the system is reduced by adding integral adjustment, so that the dynamic response is slowed down. The integration is often combined with two other regulation laws to form a PI regulator or a PID regulator.
The rotation angle reconstructor adopts a closed-loop control mode, takes back electromotive forces of alpha and beta axes as input values to estimate an electrical angle as a feedback value, and adopts a PI (proportional integral) controller to adjust the rotating speed
And enabling the input of the motor rotation angle reconstructor to be zero, so that the electrical angle is advanced by the counter electromotive force by one sampling period. The output of the PI controller is the electrical angular velocity of the motor
The electric angular velocity is integrated to obtain the electric angle of the motor
Parameters of the PI controller have important influence on the response speed of speed change, the proportional gain and the integral gain of the PI controller are increased, the bandwidth of the corner reconstructor can be improved, and therefore the dynamic response performance of the corner reconstructor to the speed change is improved, but the interference of the rotating speed of the motor is increased. In practical application, the parameters of the PI controller should be reasonably adjusted in speedA reasonable compromise is made between varying responsiveness and rotational speed disturbances.
Compared with the traditional motor back electromotive force and rotation angle estimation method, the method based on the reduced-order back electromotive force observer and the motor rotation angle reconstructor, which is provided by the invention, has the advantages that: (1) the reduced-order counter electromotive force observer is easy to realize and simple in parameter adjustment; (2) the closed-loop control mode is adopted to replace open-loop control, the estimation of the electrical angle of the motor has better anti-interference capability and robustness, and the control precision of the rotating speed of the motor is improved.
In order to verify the effect of the control method for estimating the back electromotive force and the corner of the alternating current motor, the scheme provided by the application also adopts a control method based on a reduced-order back electromotive force observer and a corner reconstructor to respectively carry out experimental tests on the starting performance, the constant-speed running performance, the acceleration performance and the load change response performance of the motor. The experimental result is shown in fig. 5-8, the control method based on the reduced-order back electromotive force observer and the corner reconstructor has good starting performance and dynamic response capability, and has a small rotating speed tracking error in a set rotating speed range, so that the rotating speed control precision of the system is ensured.
Fig. 5 is a response curve of the step of the ac motor from zero speed starting to 1000rpm, where the curves in fig. 5 are from top to bottom: observing the obtained motor rotating speed curve, observing the obtained motor q-axis current curve, and observing the obtained motor rotor sine position curve. The vector control algorithm of the alternating current motor needs to perform coordinate transformation on the current of the motor, and three coordinate systems are adopted: the three-phase static coordinate system corresponds to an a axis, a b axis and a c axis; the two-phase static coordinate system corresponds to an alpha axis and a beta axis; the rotating coordinate system corresponds to the d-axis and the q-axis. Vector control of ac motors ultimately uses d-axis and q-axis currents.
Fig. 6 is a curve of the ac motor when the ac motor operates at a constant speed of 3000rpm, and the curves in fig. 6 are, from top to bottom: observing the obtained motor rotating speed curve, observing the obtained motor rotating speed error curve, observing the obtained motor rotor sine position curve, and observing the obtained motor rotor sine position error curve.
Fig. 7 is an acceleration curve of the ac motor from 500rpm to 3000rpm, where the curves in fig. 7 are, from top to bottom: observing the obtained motor rotating speed curve, observing the obtained motor rotating speed error curve, observing the obtained motor rotor sine position curve and observing the obtained motor rotor sine position error curve.
Fig. 8 is a response curve of the ac motor when operating at 3000rpm with a 0.5N · m load suddenly applied, the curves in fig. 8 being, in order from top to bottom: observing the obtained motor rotating speed curve, observing the obtained motor rotating speed error curve, observing the obtained motor rotor sine position curve, and observing the obtained motor rotor sine position error curve.
A second aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps according to the first aspect of the application.
The storage medium is a Memory, which may be a nonvolatile storage medium, and may exemplarily include, but not be limited to, a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), or a Flash Memory (Flash Memory), such as any one of the following: embedded multimedia cards (EMMC), Nor Flash, Nand Flash, and the like.
The memory may also illustratively include a buffer device for buffering data, such as a signal queue. The cache device may be a volatile storage medium, and may exemplarily include, but is not limited to, a Random Access Memory (RAM), a Static RAM (Static RAM, SRAM), a Dynamic RAM (Dynamic RAM, DRAM), a Synchronous DRAM (Synchronous DRAM, SDRAM), a Double Data Rate SDRAM (Double Data Rate SDRAM, DDR SDRAM), a DDR2, a DDR3, an Enhanced SDRAM (Enhanced SDRAM, ESDRAM), a Synchronous Link DRAM (SLDRAM), a Direct RAM (DRAM), and the like.
A third aspect of the invention provides a control apparatus for back emf and angle estimation of an ac motor, the control apparatus comprising a memory, a processor and a computer program stored on the memory and running on the processor, the processor when executing the computer program implementing the steps of the method of the first aspect of the application.
Illustratively, the memory may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.
Illustratively, the processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the system to perform desired functions. For example, a processor may include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware Finite State Machines (FSMs), Digital Signal Processors (DSPs), or a combination thereof.
A fourth aspect of the present invention provides a control system for estimating back electromotive force and a rotation angle of an ac motor, where the control system includes a reduced order back electromotive force observer, a rotation angle reconstructor, a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor is configured to execute the computer program to control the reduced order back electromotive force observer and the rotation angle reconstructor to implement the steps of the method according to the first aspect of the present application.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A method of controlling back emf and corner estimation of an ac machine, the method comprising:
s1: estimating back electromotive force corresponding to the alpha axis and back electromotive force corresponding to the beta axis through alpha axis information, beta axis information and a reduced order back electromotive force observer to obtain an alpha axis back electromotive force estimated value and a beta axis back electromotive force estimated value;
s2: calculating an electrical angular velocity value and an electrical angular value corresponding to the alternating current motor according to the alpha axis back electromotive force estimated value and the beta axis back electromotive force estimated value through a corner reconstructor;
the "estimating back electromotive force corresponding to the α axis and back electromotive force corresponding to the β axis from the α axis information and the β axis information" includes:
the intermediate variables were calculated using the following formula
And
wherein ia(k) Is the current value i corresponding to the alpha axis of the current sampling period of the alternating current motorβ(k) Is the current value v corresponding to the beta axis of the current sampling period of the alternating current motora(k) The voltage value v corresponding to the alpha axis of the current sampling period of the alternating current motorβ(k) The voltage value corresponding to the beta axis of the current sampling period of the alternating current motor is obtained;
and
the intermediate variable value of the next sampling period corresponding to the current sampling period,
and
the intermediate variable value of the current sampling period; rsIs the phase resistance value of the AC motor; l issIs the synchronous inductance value of the AC motor; t issIs the sampling period of the current loop;
the value of the electrical angular velocity of the current sampling period; the value range of the parameter h is 0<h<1; based on intermediate variables
And
the estimated values of the alpha axis and beta axis counter electromotive force of the alternating current motor are calculated according to the following formula
And
wherein the content of the first and second substances,
is the counter electromotive force estimated value corresponding to the alpha axis of the current sampling period of the alternating current motor,
and the back electromotive force estimation value is the back electromotive force estimation value corresponding to the beta axis of the current sampling period of the alternating current motor.
2. The method for controlling back emf and corner estimation of an ac motor according to claim 1, wherein step S2 includes:
calculating the corresponding electric angular velocity value of the alternating current motor according to the following formula:
wherein psimIs the magnetic flux of the motor, p is the magnetic pole pair number of the motor, and t (k) is a time sequence;
calculating the corresponding electrical angle value of the alternating current motor according to the following formula:
wherein the content of the first and second substances,
and the current sampling period is the electric angle value of the alternating current motor.
3. The method for controlling back emf and corner estimation of an ac motor of claim 2, wherein step S2 further comprises:
wherein the content of the first and second substances,
the electric angle value of the alternating current motor in the previous sampling period of the current period.
4. A method of controlling back emf and corner estimation of an ac motor as claimed in claim 1 or claim 3, comprising:
adjusting electrical angular velocity using PI controller
Making the input of the alternating current motor corner reconstructor be zero;
the output of the PI controller is the electrical angular velocity of the AC motor
Electrical angular velocity
Obtaining the electric angle value of the alternating current motor after integral calculation
5. A computer storage medium, characterized in that a computer program is stored in the computer storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 4.
6. A control device for back EMF and corner estimation of an AC motor, the control device comprising a memory, a processor and a computer program stored on the memory and run on the processor, the processor when executing the computer program implementing the steps of the method of any one of claims 1 to 4.
7. A control system for back EMF and corner estimation of an AC machine, the control system comprising a reduced order back EMF observer, a corner reconstructor, a memory, a processor and a computer program stored on the memory and run on the processor, the processor being configured to execute the computer program to control the reduced order back EMF observer and the corner reconstructor to implement the steps of the method of any of claims 1 to 4.
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