CN113992087A - Method and system for estimating and controlling full-speed-domain sensorless position of motor - Google Patents
Method and system for estimating and controlling full-speed-domain sensorless position of 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
- H02P21/13—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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a method and a system for estimating and controlling a full-speed domain sensorless position of a motor, which comprises the following steps of firstly, extracting a normalized signal of a rotor flux linkage during high-speed operation in the motor by a rotor flux linkage observer; secondly, extracting a normalized high-frequency current derivative envelope signal when the motor runs at zero speed and low speed based on a square wave injection estimator; then, a non-linear transition algorithm based on the normalized flux linkage and the normalized envelope curve completes the stable switching from the zero low speed operation to the medium-high speed operation; and finally, by adding a high-order term of the rotor estimation error, the anti-interference capability of the system is enhanced, and the convergence speed of the estimator is increased. Compared with the traditional phase-locked loop technology, the method has the advantages of high estimation precision, good anti-interference capability and stronger anti-noise capability; the device can be simultaneously suitable for zero-speed, low-speed, medium-speed and high-speed running states and cover a full-speed domain; compared with the traditional transition strategy based on angle switching, the switching process is stable.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a method and a system for estimating and controlling a full-speed-domain sensorless position of a motor.
Background
Permanent magnet synchronous, brushless dc motors are widely used in industry because of their high power density, small size, good speed regulation performance and other features. In order to obtain the position and speed information of the motor rotor, position sensors such as a hall sensor, a photoelectric encoder and a rotary transformer are usually required to be installed on a rotating shaft, so that the size and the cost of the motor are increased, and the sensors are easily damaged under severe environments such as high temperature, high humidity, dust, vibration, electromagnetic interference and the like, so that the reliability of the system is reduced.
Existing sensorless algorithms are mainly classified into two categories: one is a back-emf-based estimation method suitable for high speed operation in motors. The method is essentially to directly calculate or construct an observer to obtain the position or speed information of the motor rotor by using the back electromotive force generated when the motor rotor rotates. This method usually uses the conventional PID-type phase-locked loop technology, but it cannot accurately and quickly track the position and speed signals of the rotor when the system status changes rapidly. And because the back electromotive force signal that the motor produced when low-speed operation is weak, noise or the uncertainty of motor parameter that the measurement process introduces can make the position and the speed value of estimation produce great deviation, seriously influence the stationarity that the motor runs, and when the motor is static, back electromotive force signal amplitude is 0, can't calculate rotor position and speed at this moment. The other type is a high-frequency signal injection method suitable for the static or low-speed running state of the motor, which utilizes the structural saliency or the saturated saliency of the motor and needs to superpose high-frequency signals on the basis of voltage commands in the original magnetic field orientation control method. Under the action of the salient poles of the motor, the amplitude or the phase of a high-frequency current excited by a high-frequency voltage signal can change along with the change of the position of the rotor. At the moment, the position or the speed of the rotor can be obtained only by processing the high-frequency current signal, but when the rotating speed of the motor is higher, the estimation precision of the high-frequency injection method can be influenced by a counter electromotive force signal generated by the rotation of the motor. In order to realize sensorless control of the motor in the full-speed domain, two algorithms are combined, and the switching of the estimated position and the estimated speed is carried out by adopting a linear weighting algorithm in the transition region of the two methods. However, this method may generate large speed fluctuation during the switching process to affect the control performance. In addition, the conventional sensorless position estimation method also limits the capability of quick response due to the slow convergence speed, and is not favorable for being applied to a scene in which the load or input needs to change rapidly.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a method and a system for estimating and controlling a full-speed-domain sensorless position of a motor, which have the advantages of high estimation precision, good anti-interference capability and stronger anti-noise capability.
The technical scheme is as follows: the invention relates to a motor full-speed domain sensorless position estimation and control method, which comprises the following steps:
(1) extracting a normalization signal of a rotor flux linkage during high-speed running in the motor through a rotor flux linkage observer;
(2) extracting a normalized high-frequency current derivative envelope signal when the motor runs at zero speed and low speed based on a square wave injection estimator;
(3) the non-linear transition algorithm based on the normalized flux linkage and the normalized envelope line completes the stable switching from the zero low speed operation to the medium and high speed operation;
(4) by adding the high-order term of the rotor estimation error, the anti-interference capability of the full-speed-domain sensorless position estimation and control system of the motor is enhanced, and the convergence speed of the estimator is increased.
Further, the step (1) includes the steps of:
(11) establishing a fundamental wave mathematical model of the motor under a two-phase static coordinate system:
wherein u isα、uβAnd iα、iβStator voltage and stator current under a two-phase static shafting respectively, R is stator phase resistance, LdAnd LqAre stator dq-axis inductances, θ, respectivelyeIs the rotor electrical angle, ωeIs the electrical angular velocity of the rotor,. psifIs the rotor flux linkage;
(12) establishing a reduced order state observer
Wherein, γi(i ═ 1 … 4) is the observer gain;
the projection of the rotor flux linkage vector under a static two-phase coordinate system is obtained; sgn (×) is a sign taking function;
is an estimate of the position of the rotor,
is an estimation of rotor speedEvaluating;
(13) obtaining the flux linkage size of the motor rotor by using a reduced order state observer: processing the obtained rotor flux linkage by a normalization method to obtain a normalization flux linkage signal Fcos、Fsin：
Further, the step (2) is realized as follows:
when the frequency of the injected signal is higher, neglecting the resistance and the counter electromotive force of the motor stator, and establishing a motor high-frequency signal model:
wherein u isdh、uqhAnd idh、iqhThe high-frequency components of the stator voltage and the stator current under the rotor synchronous shafting are respectively;
high frequency voltage signal under the estimated rotor synchronous coordinate system:
wherein, VinjThe amplitude of the injected square wave voltage is delta T, a sampling time interval is delta T, and n is the current sampling frequency;
mathematical model of the excited high-frequency current in a stationary α β coordinate system:
by substituting the difference for the differential and substituting the injected high-frequency signal
Taking envelope curve and normalizing to obtain:
further, the step (3) is realized as follows:
Gcos＝Fcos*r+Ecos(1-r)
Gsin＝Fsin*r+Esin(1-r)
wherein, ω isdAnd ωuFor the starting and ending speeds of the handover process, Gcos、GsinSine and cosine signals, lambda, respectively, of the rotor angle>0 is used to control the switching speed in the transition phase, the larger λ, the faster the switching.
Further, the step (4) is realized as follows:
Δ2ω(k)＝η1e(k)+η2e(k-1)+η3e(k-2)+η4e2(k)+η5e2(k-1)+η6e2(k-2)+η7e(k)*e(k-1)+η8e(k)e(k-2)+η9e(k-1)e(k-2)
Δω(k)＝Δω(k-1)+Δ2ω(k)
ω(k)＝ω(k-1)+Δω(k-1)+Δ2ω(k)
wherein e (K) is the equivalent error in the Kth calculation, ηi(i-1 … 9) is the estimator parameter.
Based on the same inventive concept, the invention also provides a system for estimating and controlling the full-speed-domain sensorless position of the motor, which comprises the following steps: the device comprises a speed loop controller, a d-axis current loop controller, a q-axis current loop controller, an inverse Park conversion module, a Space Vector Pulse Width Modulation (SVPWM) module, a three-phase inverter, a three-phase permanent magnet synchronous motor, a current sampling module, a Park conversion module, a Low Pass Filter (LPF), a High Pass Filter (HPF), a Clarke conversion module, a rotor flux linkage observer, a square wave injection estimator and a position estimator; the rotor flux linkage observer is realized by a microcontroller algorithm, a state observer is constructed according to input voltage and current signals, a rotor flux linkage vector is estimated by the observer, and normalization is carried out on the rotor flux linkage vector; the square wave injection estimator is realized by a microcontroller algorithm, processes an input high-frequency current signal to obtain an envelope signal of a high-frequency current derivative, and normalizes the envelope signal; and the position estimator completes the calculation of the position and the speed of the rotor according to the input normalized flux linkage and the normalized envelope signal.
Has the advantages that: compared with the prior art, the invention has the beneficial effects that: compared with the traditional phase-locked loop technology, the method has the advantages of high estimation precision, good anti-interference capability and stronger anti-noise capability; compared with a Kalman filtering algorithm, the calculation efficiency is high; the device can be simultaneously suitable for zero-speed, low-speed, medium-speed and high-speed running states and cover a full-speed domain; in the switching process of the motor from zero low speed to medium and high speed operation, the invention adopts a nonlinear transition algorithm to complete the smooth switching of two paths of sine and cosine signals of a normalized flux linkage and a normalized high-frequency current derivative envelope curve.
Drawings
FIG. 1 is a schematic diagram of a system for estimating and controlling a position of a motor in a full-speed domain without sensing;
FIG. 2 is a functional schematic diagram of a square wave injection estimator;
fig. 3 is a functional schematic diagram of a position estimator.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a full-speed-domain sensorless position estimation and control system of a motor, as shown in fig. 1, comprising: the device comprises a speed loop controller, a d-axis current loop controller, a q-axis current loop controller, an inverse Park conversion module, a Space Vector Pulse Width Modulation (SVPWM) module, a three-phase inverter, a three-phase permanent magnet synchronous motor, a current sampling module, a Park conversion module, a Low Pass Filter (LPF), a High Pass Filter (HPF), a Clarke conversion module, a rotor flux linkage observer, a square wave injection estimator and a position estimator. Wherein: the speed loop controller is realized by a microcontroller algorithm, and the main function is to give a d-axis current command value according to the current speed error; the d-axis current loop controller is realized by a microcontroller algorithm, and has the main function of giving a d-axis voltage command according to the current d-axis current error; the q-axis current loop controller is realized by a microcontroller algorithm, and has the main function of giving a q-axis voltage command according to the current q-axis current error; the inverse Park transformation module is realized by a microcontroller algorithm and mainly has the function of transforming physical quantities under a rotor synchronous coordinate system to a static two-phase coordinate system; the SVPWM module is realized by a microcontroller algorithm, and has the main function of generating six paths of PWM signals according to a voltage command under a given static two-phase coordinate system; the three-phase inverter can be realized by using a driving chip and an NMOS (N-channel metal oxide semiconductor) tube, and the main function is to complete three-phase voltage control according to six paths of PWM (pulse-width modulation) signals; the three-phase permanent magnet synchronous motor is a controlled object; the current sampling module acquires a three-phase current value of the permanent magnet synchronous motor by using methods such as a current sensor, a sampling resistor and the like; the Park transformation module is realized by a microcontroller algorithm and mainly has the function of converting physical quantities under a static three-phase coordinate system into a static two-phase coordinate system; the low pass filter LPF is realized by a microcontroller algorithm and has the main function of filtering high-frequency components in input signals; the high-pass filter HPF is realized by a microcontroller algorithm, and has the main function of filtering low-frequency components in input signals; the Clarke transformation module is realized by a microcontroller algorithm and mainly has the function of transforming physical quantities under a static two-phase shaft system into a rotor synchronous coordinate system; the rotor flux linkage observer is realized by a microcontroller algorithm, and has the main functions of constructing a state observer according to input voltage and current signals, estimating a rotor flux linkage vector by using the observer and normalizing the rotor flux linkage vector; the square wave injection estimator is realized by a microcontroller algorithm, and has the main functions of processing an input high-frequency current signal to obtain an envelope signal of a high-frequency current derivative and normalizing the envelope signal; and the position estimator completes the calculation of the position and the speed of the rotor according to the input normalized flux linkage and the normalized envelope signal. The specific process is as follows:
first, a given electrical angular velocity is applied
Angular velocity estimated by the position estimator
The difference is transmitted into a speed loop controller to obtain a quadrature axis command current
When adopting idWhen the method is controlled as 0 (with i)d0 control method as an example, but other control algorithms such as sliding mode, fuzzy, model reference adaptive, etc.) may be used as well), given direct axis current command
Three-phase line current i obtained through current sampling modulea、ib、icObtaining actual AC-DC axis current through coordinate transformation
D-axis current to be measured
With given current command
Subtracting to obtain d-axis current error
The voltage is transmitted into a d-axis current loop controller to obtain a d-axis voltage command
Q-axis current to be measured
With given current command
Subtracting to obtain the q-axis current error
Transmitting the q-axis voltage command into a q-axis current loop controller to obtain a q-axis voltage command
In order to observe the rotor position at rest or low speed
Require a voltage command on the d-axis
Superpose high frequency square wave voltage signal
Obtaining the final dq axis voltage command value
Converting the voltage command of the dq axis into the voltage command under the alpha beta axis by using an inverse Park conversion module
Will be provided with
And inputting the signals into an SVPWM module to obtain six paths of PWM signals to control a three-phase inverter circuit so as to drive a PMSM motor. In order to obtain the position of the rotor, the current sampling module is required to obtain three-phase currents Ia, Ib and Ic of the PMSM motor. The three are used as input and transmitted into a Clarke transformation module to obtain stator current i under a two-phase static coordinate systemα、iβ. Using a low-pass filter to filter iα、iβThe middle high frequency component obtains the low frequency component of the two-phase current
On the one hand, low frequency components
Transmitting the current signal into a Clarke transformation module to obtain a current signal under a rotor synchronous coordinate system
As a feedback for the current loop, on the other hand
And transmitting the magnetic flux linkage estimation result to a rotor magnetic flux linkage observer module to finish the estimation of the rotor magnetic flux linkage at medium and high speed. When the motor runs at low speed, the high-frequency component of the stator current is obtained by using the high-pass filter
Is transmitted into a square wave estimator to obtain a normalized high-frequency current derivative envelope signal Ecos、Esin. In the full-speed domain, envelope signal E output by the square wave estimatorcos、EsinNormalized rotor flux linkage signal F output by the flux linkage estimatorcos、FsinPassing into a position estimator module to obtain the rotor position
And an estimate of velocity
The invention also provides a motor full-speed domain sensorless position estimation and control method, which specifically comprises the following steps:
step 1: and extracting a normalized signal of the rotor flux linkage during high-speed running in the motor through a rotor flux linkage observer.
Firstly, establishing a fundamental wave mathematical model of the motor under a two-phase static coordinate system:
wherein u isα、uβAnd iα、iβStator voltage and stator current under a two-phase static shafting respectively, R is stator phase resistance, L0And L1Common mode inductance and differential mode inductance, L, respectivelydAnd LqAre stator dq-axis inductances, θ, respectivelyeIs the rotor electrical angle, ωeIs the electrical angular velocity of the rotor,. psifIs the rotor flux linkage, Q (θ)e) Is a transformation matrix related to the rotor position.
According to the model, the following reduced order state observer is established:
wherein, γi(i ═ 1 … 4) is the observer gain;
the projection of the rotor flux linkage vector under a static two-phase coordinate system is obtained; sgn (×) is a sign taking function;
is an estimate of the position of the rotor,
is an estimate of the rotor speed.
And obtaining the flux linkage size of the motor rotor by using the state observer. In order to reduce the influence of the amplitude change of the rotor flux linkage of the motor on the bandwidth of the position estimator, the invention adopts a normalization method to process the obtained rotor flux linkage to obtain a normalization flux linkage signal Fcos、Fsin：
Step 2: and extracting a normalized high-frequency current derivative envelope signal when the motor runs at zero speed and low speed based on a square wave injection estimator.
When the rotor runs at low speed, the back electromotive force signal of the rotor is too small, and the closed-loop control of the position and the speed of the rotor needs to be completed by means of an additional injection signal. The present invention adopts a square wave signal injection method, and a high frequency signal demodulation method thereof is shown in fig. 2. When the frequency of the injected signal is high, the resistance and the counter electromotive force of the motor stator can be ignored, and at the moment, a motor high-frequency signal model is established as follows:
wherein u isdh、uqhAnd idh、iqhStators under the synchronous shafting of the rotorA voltage high frequency component and a stator current high frequency component.
A high frequency voltage signal under the estimated rotor synchronous coordinate system as follows:
wherein, VinjIn order to inject the amplitude of the square wave voltage, Δ T is the sampling time interval, and n is the current sampling number.
The mathematical model of the excited high-frequency current in a static alpha beta coordinate system is as follows:
the difference is used to replace the differential, and the injected high-frequency signal is substituted to obtain:
when estimating the error
In time, the above equation can be simplified as:
taking the envelope curve and normalizing to obtain:
and step 3: the non-linear transition algorithm based on the normalized flux linkage and the normalized envelope curve achieves smooth switching from zero low-speed operation to medium-high-speed operation.
When the motor runs at high speed, the back electromotive force signal is stronger, and the flux linkage signal F can be normalizedcos、FsinThe position and the speed of the rotor are extracted, and at low speed, the back electromotive force signal is weak, and the normalized envelope signal E is required to be utilizedcos、EsinThe position and the speed of the rotor are obtained, and if the position and the speed are directly switched from one method to another method, the estimated position and the speed generate large fluctuation, and smooth operation of the rotor is influenced, so the method adopts a nonlinear transition algorithm based on the normalized flux linkage and the normalized envelope curve.
Gcos＝Fcos*r+ecos(1-r)
Gsin＝Fsin*r+Esin(1-r)
Wherein, ω isdAnd ωuFor the starting and ending speeds of the switching process, λ (λ)>0) Is a parameter of this transition algorithm, the larger λ, the shorter the switching process.
And 4, step 4: by adding the high-order term of the rotor estimation error, the anti-interference capability of the full-speed-domain sensorless position estimation and control system of the motor is enhanced, and the convergence speed of the estimator is increased.
The sine and cosine signal G about the rotor angle is obtainedcos、GsinThen, the actual position and angular velocity information of the rotor need to be extracted from both. The invention adopts a position estimation algorithm based on an error high-order term control strategy, and the form is as follows:
Δ2ω(k)＝η1e(k)+η2e(k-1)+η3e(k-2)+η4e2(k)+η5e2(k-1)+B6e2(k-2)+η7e(k)*e(k-1)+η8e(k)e(k-2)+η9e(k-1)e(k-2)
Δω(k)＝Δω(k-1)+Δ2ω(k)
ω(k)＝ω(k-1)+Δω(k-1)+Δ2ω(k)
wherein e (K) is the equivalent error in the Kth calculation, ηi(i-1 … 9) is the estimator parameter.
When the system estimation error is small, the high-order term of the error is approximately 0, and the first three first-order terms play a main role in the algorithm. When the system error increases, the higher-order term of the error increases more quickly, and the higher-order term of the changed error which plays a dominant role at this time has larger control amount under the same error, and the system converges more quickly.
Claims (6)
1. A full-speed-domain sensorless position estimation and control method for a motor is characterized by comprising the following steps:
(1) extracting a normalization signal of a rotor flux linkage during high-speed running in the motor through a rotor flux linkage observer;
(2) extracting a normalized high-frequency current derivative envelope signal when the motor runs at zero speed and low speed based on a square wave injection estimator;
(3) the non-linear transition algorithm based on the normalized flux linkage and the normalized envelope line completes the stable switching from the zero low speed operation to the medium and high speed operation;
(4) by adding the high-order term of the rotor estimation error, the anti-interference capability of the full-speed-domain sensorless position estimation and control system of the motor is enhanced, and the convergence speed of the estimator is increased.
2. The sensorless position estimation and control method for full-speed domain of motor of claim 1, wherein the step (1) comprises the steps of:
(11) establishing a fundamental wave mathematical model of the motor under a two-phase static coordinate system:
wherein u isα、uβAnd iα、iβStator voltage and stator current under a two-phase static shafting respectively, R is stator phase resistance, LdAnd LqAre stator dq-axis inductances, θ, respectivelyeIs the rotor electrical angle, ωeIs the electrical angular velocity of the rotor,. psifIs the rotor flux linkage;
(12) establishing a reduced order state observer
Wherein, γi(i 1.. 4) is the observer gain;
the projection of the rotor flux linkage vector under a static two-phase coordinate system is obtained; sgn (×) is a sign taking function;
is an estimate of the position of the rotor,
is an estimate of the rotor speed;
(13) obtaining the flux linkage size of the motor rotor by using a reduced order state observer: processing the obtained rotor flux linkage by a normalization method to obtain a normalization flux linkage signal Fcos、Fsin：
3. The sensorless position estimation and control method for full-speed domain of motor of claim 1, wherein the step (2) is implemented as follows:
when the frequency of the injected signal is higher, neglecting the resistance and the counter electromotive force of the motor stator, and establishing a motor high-frequency signal model:
wherein u isdh、uqhAnd idh、iqhThe high-frequency components of the stator voltage and the stator current under the rotor synchronous shafting are respectively;
high frequency voltage signal under the estimated rotor synchronous coordinate system:
wherein, VinjThe amplitude of the injected square wave voltage is delta T, a sampling time interval is delta T, and n is the current sampling frequency;
mathematical model of the excited high-frequency current in a stationary α β coordinate system:
by substituting the difference for the differential and substituting the injected high-frequency signal
Taking envelope curve and normalizing to obtain:
4. the sensorless position estimation and control method for full-speed domain of motor according to claim 1, wherein the step (3) is implemented as follows:
Gcos＝Fcos*r+Ecos(1-r)
Gsin＝Fsin*r+Esin(1-r)
wherein, ω isdAnd ωuFor the starting and ending speeds of the handover process, Gcos、GsinThe positive and cosine signals of the rotor angle are respectively, lambda is larger than 0 and is used for controlling the switching speed of the transition stage, and the larger lambda is, the faster the switching is.
5. The sensorless position estimation and control method for the full-speed domain of the motor according to claim 1, wherein the step (4) is implemented as follows:
Δ2ω(k)＝η1e(k)+η2e(k-1)+η3e(k-2)+η4e2(k)+η5e2(k-1)+η6e2(k-2)+η7e(k)*e(k-1)+η8e(k)e(k-2)+η9e(k-1)e(k-2)
Δω(k)＝Δω(k-1)+Δ1ω(k)
ω(k)＝ω(k-1)+Δω(k-1)+Δ2ω(k)
wherein e (K) is the equivalent error in the Kth calculation, ηi(i 1.. 9) is an estimator parameter.
6. A system for full speed sensorless position estimation and control of an electric motor using the method of any of claims 1-5, comprising: the device comprises a speed loop controller, a d-axis current loop controller, a q-axis current loop controller, an inverse Park conversion module, a Space Vector Pulse Width Modulation (SVPWM) module, a three-phase inverter, a three-phase permanent magnet synchronous motor, a current sampling module, a Park conversion module, a Low Pass Filter (LPF), a High Pass Filter (HPF), a Clarke conversion module, a rotor flux linkage observer, a square wave injection estimator and a position estimator; the rotor flux linkage observer is realized by a microcontroller algorithm, a state observer is constructed according to input voltage and current signals, a rotor flux linkage vector is estimated by the observer, and normalization is carried out on the rotor flux linkage vector; the square wave injection estimator is realized by a microcontroller algorithm, processes an input high-frequency current signal to obtain an envelope signal of a high-frequency current derivative, and normalizes the envelope signal; and the position estimator completes the calculation of the position and the speed of the rotor according to the input normalized flux linkage and the normalized envelope signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111305032.9A CN113992087B (en) | 2021-11-05 | 2021-11-05 | Full-speed-domain sensorless position estimation and control method and system for motor |
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| CN117040342A (en) * | 2023-08-10 | 2023-11-10 | 西安电子科技大学 | Motor position and speed estimation method and device based on complex normalization |
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