CN112886877A - Motor rotor positioning method based on high-frequency injection - Google Patents
Motor rotor positioning method based on high-frequency 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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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Abstract
The invention discloses a motor rotor positioning method based on high-frequency injection, which comprises the steps of injecting a high-frequency square wave voltage signal into a d axis of an observation rotor, and collecting q-axis inductance through an inductance measuring instrument; obtaining rotor position error information according to the q-axis inductance, and designing an observer based on the permanent magnet synchronous motor; inputting the rotor position error information to the observer to further obtain an estimated initial value of the rotor position; identifying the polarity of the magnetic pole by comparing the change condition of the response amplitude of the d-axis high-frequency current; and compensating the estimated initial value of the rotor position according to the magnetic pole polarity identification result so as to obtain the actual initial position of the rotor. The invention has the advantages of high convergence speed, insensitivity to sampling errors, small phase delay and high positioning accuracy.
Description
Technical Field
The invention relates to the technical field of position detection, in particular to a motor rotor positioning method based on high-frequency injection.
Background
Permanent Magnet Synchronous Motors (PMSM) have the characteristics of high power density and high torque-to-current ratio, and are widely applied to the fields of industrial fields, electric automobiles, household appliances and the like.
At present, a plurality of methods for estimating the initial position of the PMSM rotor have been proposed in succession, wherein a typical method is to observe the rotor position by using a method based on salient pole tracking (high-frequency signal injection method) and then identify the polarity of the magnetic pole by using a short pulse voltage injection method or a second harmonic component method, but the method has inaccurate detection angle and large error under a loaded state, so that the high performance requirement of a cooperative robot cannot be met.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the invention provides a motor rotor positioning method based on high-frequency injection, which can avoid the influence caused by sampling delay and effectively reduce the measurement error.
In order to solve the technical problems, the invention provides the following technical scheme: injecting a high-frequency square wave voltage signal into a d axis of an observation rotor, and collecting q-axis inductance through an inductance measuring instrument; obtaining rotor position error information according to the q-axis inductance, and designing an observer based on the permanent magnet synchronous motor; inputting the rotor position error information to the observer to further obtain an estimated initial value of the rotor position; identifying the polarity of the magnetic pole by comparing the change condition of the response amplitude of the d-axis high-frequency current; and compensating the estimated initial value of the rotor position according to the magnetic pole polarity identification result so as to obtain the actual initial position of the rotor.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: the high-frequency square-wave voltage signal comprises,
wherein the content of the first and second substances,
for said injected high-frequency square-wave voltage signal, VhFor injecting the amplitude of the high-frequency square wave, phisprIs a unit square wave function, and t is an injection time.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: the unit square wave function includes a square wave of,
wherein T is a square wave period, Tm(T) is the remainder of said T divided by said T.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: the extracting of the rotor position error information comprises removing a fundamental frequency current component and an inverter switching frequency harmonic component through a band-pass filter; demodulating the high-frequency carrier current signal by using the high-frequency pulse sinusoidal voltage signal; and filtering the demodulated high-frequency carrier current signal by using a low-pass filter.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: the demodulated high-frequency carrier current signal comprises,
wherein the content of the first and second substances,
and r represents a rotating rotor for the demodulated high-frequency carrier current signal.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: the rotor position error information further includes an expression of the rotor position error information as follows:
wherein ε is the rotor position error information, ZqThe impedance of the q-axis, a is the rotor position error coefficient, and Δ θ is the rotor position estimation error angle.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: the observer comprises an open-loop transfer function G(s) of the observer as follows:
wherein J is moment of inertia, τ1、τ2Is the lead time constant of the observer,
is a first-order inertia element, and s is a pole.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: if the amplitude of the d-axis high-frequency response current is increased, the magnetic pole at the position of the rotor is an S pole, and the estimated initial value of the position of the rotor needs to be compensated, wherein the compensation value is 180 degrees; otherwise, the magnetic pole at the position of the rotor is an N pole, and compensation is not needed.
As a preferable scheme of the method for positioning the motor rotor based on the high-frequency injection, the method comprises the following steps: the q-axis impedance comprises, from the q-axis inductance, calculating the impedance value:
Zq＝Rs+jωLq
wherein R issIs the stator resistance, j is the imaginary component, and ω is the injected square wave frequency.
The invention has the beneficial effects that: the convergence speed is high, the sampling error is insensitive, the phase delay is small, and the positioning precision is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic flowchart of a method for positioning a rotor of an electric machine based on high-frequency injection according to a first embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a magnetic saturation effect and a high-frequency current response of a method for positioning a rotor of a motor based on high-frequency injection according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of a waveform of a simulation experiment of a high-frequency injection-based motor rotor positioning method with an actual position of 17 ° according to a second embodiment of the present invention;
fig. 4 is a waveform diagram of a simulation experiment of a method for positioning a rotor of a motor based on high-frequency injection according to a second embodiment of the present invention, where an actual position is 136 °.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially in general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Meanwhile, in the description of the present invention, it should be noted that the terms "upper, lower, inner and outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operate, and thus, cannot be construed as limiting the present invention. Furthermore, the terms first, second, or third are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 2, a first embodiment of the present invention provides a method for positioning a rotor of an electric machine based on high frequency injection, including:
s1: and injecting a high-frequency square wave voltage signal into a d axis of the observation rotor, and acquiring the inductance of a q axis through an inductance measuring instrument.
It should be noted that, because the frequency of the injected square wave voltage signal is much higher than the fundamental wave operating frequency, the influence of the stator resistance voltage drop and the back electromotive force is ignored.
Specifically, the injected high-frequency square wave voltage signal is as follows:
wherein the content of the first and second substances,
for injected high-frequency square-wave voltage signals, VhFor injecting the amplitude of the square wave, phisprIs a unit square wave function, and t is an injection time.
The expression of the unit square wave function is as follows:
wherein T is a square wave period, Tm(T) is the remainder of T divided by T.
S2: and obtaining rotor position error information according to the q-axis inductance, and designing an observer based on the permanent magnet synchronous motor.
The specific steps for obtaining the rotor position error information are as follows:
removing a fundamental frequency current component and an inverter switching frequency harmonic component through a band-pass filter;
the embodiment selects the LC filter to remove fundamental frequency current components and inverter switching frequency harmonic components;
demodulating the high-frequency carrier current signal by using the high-frequency pulsating sine voltage signal:
the demodulated high-frequency carrier current signal is as follows:
wherein the content of the first and second substances,
the demodulated high-frequency carrier current signal is r, and a rotor rotates;
thirdly, filtering the demodulated high-frequency carrier current signal by using a low-pass filter to further obtain the position error information of the rotor,
the low-pass filter utilizes the principle that a capacitor passes high-frequency resistance low frequency and an inductor passes low-frequency resistance high frequency, and does not pass high frequency to be cut off by a method that the capacitor absorbs the inductor and blocks the high frequency; for the low frequency needing to be released, the characteristics of high resistance of a capacitor and low resistance of an inductor are utilized to pass through the low frequency.
The rotor position error information thus obtained is as follows:
wherein ε is rotor position error information, ZqThe impedance of the q-axis, a is the rotor position error coefficient, and Δ θ is the rotor position estimation error angle.
Calculating the impedance value of the q axis according to the inductance of the q axis:
Zq＝Rs+jωLq
wherein R issIs the stator resistance, j is the imaginary component, and ω is the injected square wave frequency.
Further, an observer was designed based on a Permanent Magnet Synchronous Machine (PMSM).
It should be noted that the permanent magnet synchronous motor provides excitation with the permanent magnet, so that the motor structure is simpler, the processing and assembly cost is reduced, a collecting ring and an electric brush which are easy to cause problems are omitted, and the running reliability of the motor is improved, and a mathematical model of the permanent magnet synchronous motor under a dq coordinate system is as follows:
wherein u isdAnd uqIs the dq-axis voltage, idAnd iqFor dq-axis current, psidAnd psiqIs dq-axis flux linkage, LdAnd LqIs dq-axis inductance, omegaeIs the rotational speed.
Specifically, the open-loop transfer function g(s) of the observer is designed as follows:
wherein J is moment of inertia, τ1、τ2Is the lead time constant of the observer,
is a first-order inertia element, and s is a pole.
Preferably, by adding a first order inertial element
One pole s can be eliminated approximately, and further the error influence brought by input is reduced.
S3: and identifying the polarity of the magnetic pole by comparing the change condition of the response amplitude of the d-axis high-frequency current.
By utilizing the saturation effect of a magnetic circuit, after an estimated initial value of the position of the rotor is obtained, only the d-axis current bias given direction is changed, and the magnetic pole polarity identification is completed by comparing the magnitude of the d-axis high-frequency current response amplitude.
Specifically, the magnetic circuit saturation effect and the high-frequency current response are as shown in fig. 2, when the d-axis direct current bias is given and the polarity of the rotor magnetic pole is the same (point a), the saturation degree of the stator magnetic flux k is enhanced, the incremental inductance is reduced, and the amplitude of the d-axis high-frequency response current is increased; on the contrary, when the d-axis direct current bias is given to have the opposite polarity to the rotor magnetic pole (point B), the saturation degree of the stator magnetic flux is weakened, the incremental inductance is increased, and the amplitude of the d-axis high-frequency response current is reduced.
Therefore, if the amplitude of the d-axis high-frequency response current is increased, the magnetic pole at the position of the rotor is judged to be the S pole; otherwise, the magnetic pole at the position of the rotor is judged to be the N pole.
S4: and compensating the estimated initial value of the rotor position according to the magnetic pole polarity identification result so as to obtain the actual initial position of the rotor.
If the magnetic pole at the position of the rotor is the S pole, the estimated initial value of the position of the rotor needs to be compensated, the compensation value is 180 degrees, and the estimated initial value of the position of the rotor after compensation is the actual initial position of the rotor.
If the magnetic pole at the position of the rotor is the N pole, compensation is not needed, and the estimated initial value of the rotor position at the moment is the actual initial position of the rotor.
Example 2
In order to verify and explain the technical effect adopted in the method, the angle pulling method selected in the embodiment and the method are adopted to carry out comparison test, and the test results are compared by means of scientific demonstration to verify the real effect of the method.
The main principle of the angle pulling method is to forcibly pull the rotor to a known position based on a given large current and a fixed angle, but the method has the defects that the detected angle is inaccurate in a loaded state, and the error is large, so that the high-performance requirement of a cooperative robot cannot be met.
In order to verify that the method has higher rotor positioning accuracy compared with the relative angle-pulling method, in this embodiment, the angle-pulling method and the method are respectively used for experimental comparison of the built-in permanent magnet synchronous motor.
The experimental motor parameters were as follows:
rated power: 300W; rated current: 2.5A; rated voltage: 220V; stator resistance: 1.59;
d-axis inductance: 32 mH; q-axis inductance: 55 mH.
TMS320F28035DSP of TI company is used as a main controller, a power integration module is used as an inverter, and in order to verify the position estimation accuracy, the actual position of a rotor magnetic pole is obtained by installing a Morgan absolute value encoder and is compared with an estimated value; setting a DSP system clock as 100MHz, sampling frequency as 5.5kHz, and amplitude of injected high-frequency pulse voltage as 120V; the frequency is 50 Hz; the results of the experiment are shown in table 1.
Table 1: and positioning a comparison table of the initial position result of the rotor by adopting a corner drawing method and the method.
| Angle drawing method | Method for producing a composite material | |
| Initial position identification time (ms) | 78 | 46 |
| Magnetic pole identification time (ms) | 35 | 17 |
| Convergence time of magnetic pole position (ms) | 11 | 3 |
| Position error (N pole) | 9.8° | 1.8° |
| Position error (S pole) | -5.6° | -2.1° |
Referring to fig. 3, the actual rotor position angle is measured to be 17 °, the experimental waveform of the initial rotor position judgment value is obtained by the method, the position estimation value is converged to-162.1 ° at about 20ms, then the method is continuously adopted to judge the magnetic pole polarity, the judgment result is that the current rotor position is the position of the S pole, polarity compensation is needed, the observation position of the compensated rotor is 17.9 °, and the position observation error (S pole) is-0.9 °.
Referring to fig. 4, the actual rotor position angle is measured to be 136 °, the experimental waveform of the initial rotor position judgment value is obtained by the method, the position estimation value is converged to 134.6 ° at about 23ms, then the method is continuously adopted to judge the magnetic pole polarity, the judgment result is that the current rotor position is the position of the N pole, the rotor observation position is 134.6 °, and the position observation error (N pole) is 1.4 °.
Therefore, the method is superior to the traditional angle-drawing method in the detection precision of both the convergence speed and the rotor position, and the precision meets the high-performance requirement of the cooperative robot.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. A motor rotor positioning method based on high-frequency injection is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
injecting a high-frequency square wave voltage signal into a d axis of the observation rotor, and collecting the inductance of a q axis through an inductance measuring instrument;
obtaining rotor position error information according to the q-axis inductance, and designing an observer based on the permanent magnet synchronous motor;
inputting the rotor position error information to the observer to further obtain an estimated initial value of the rotor position;
identifying the polarity of the magnetic pole by comparing the change condition of the response amplitude of the d-axis high-frequency current;
and compensating the estimated initial value of the rotor position according to the magnetic pole polarity identification result so as to obtain the actual initial position of the rotor.
2. The high frequency injection based motor rotor positioning method of claim 1, characterized in that: the high-frequency square-wave voltage signal comprises,
wherein the content of the first and second substances,
for said injected high-frequency square-wave voltage signal, VhFor injecting the amplitude of the high-frequency square wave, phisprIs a unit square wave function, and t is an injection time.
3. The high frequency injection based motor rotor positioning method of claim 2, characterized in that: the unit square wave function includes a square wave of,
wherein T is a square wave period, Tm(T) is the remainder of said T divided by said T.
4. The method for positioning a rotor of an electric machine based on high-frequency injection according to claim 1 or 2, characterized in that: the obtaining of the rotor position error information may include,
removing fundamental frequency current components and inverter switching frequency harmonic components through a band-pass filter;
demodulating the high-frequency carrier current signal by using the high-frequency pulse sinusoidal voltage signal;
and filtering the demodulated high-frequency carrier current signal by using a low-pass filter, and further obtaining the rotor position error information.
5. The high frequency injection based motor rotor positioning method of claim 4, wherein: the demodulated high-frequency carrier current signal comprises,
wherein the content of the first and second substances,
and r represents a rotating rotor for the demodulated high-frequency carrier current signal.
6. The high frequency injection based motor rotor positioning method of claim 4, wherein: the rotor position error information may also include,
the expression of the rotor position error information is as follows:
wherein ε is the rotor position error information, ZqThe impedance of the q-axis, a is the rotor position error coefficient, and Δ θ is the rotor position estimation error angle.
7. The method for positioning a rotor of an electric machine based on high-frequency injection according to any one of claims 2, 5 and 6, characterized in that: the observer includes a plurality of observers, each observer including,
the open-loop transfer function g(s) of the observer is as follows:
wherein J is moment of inertia, τ1、τ2Is the lead time constant of the observer,
is a first-order inertia element, and s is a pole.
8. The high frequency injection based motor rotor positioning method of claim 7, wherein: the identifying a polarity of a magnetic pole comprises,
if the amplitude of the d-axis high-frequency response current is increased, the magnetic pole at the position of the rotor is an S pole, and the estimated initial value of the position of the rotor needs to be compensated, wherein the compensation value is 180 degrees;
otherwise, the magnetic pole at the position of the rotor is an N pole, and compensation is not needed.
9. The high frequency injection based motor rotor positioning method of claim 6, wherein: the impedance of the q-axis includes,
calculating the impedance value according to the q-axis inductance:
Zq＝Rs+jωLq
wherein R issIs the stator resistance, j is the imaginary component, and ω is the injected square wave frequency.
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Application publication date: 20210601 |