CN114301348B - Control method and control system for pulse vibration high-frequency injection position-free sensor - Google Patents
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Abstract
The invention provides a control method and a control system for pulse vibration high-frequency injection position-free sensor, which can obtain high-frequency inductance L dh through d-axis current I d and q-axis current I q in the current running state, and then calculate and obtain high-frequency voltage U dhref to be injected through high-frequency inductance L dh; or directly sampling the actual high-frequency current I dh, and outputting a target high-frequency voltage U dhref through a difference delta I dh between the target high-frequency current I dhref and the actual high-frequency current I dh; or the target frequency voltage U dhref is directly obtained by calculation of the d-axis current I d and the q-axis current I q under the current running state through the deep learning neural network, and the high frequency voltage U dhref obtained by the three modes can enable the actual high frequency current I dh to be in a preset range and not to be higher or lower, so that the noise problem and the signal extraction difficulty problem of the system can be avoided.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a control method and a control system for pulse vibration high-frequency injection position-free sensors.
Background
High performance speed control of permanent magnet synchronous motors generally requires position sensors, such as rotary encoders, photoelectric encoders, and the like. The installation position sensor has the advantages of high cost, large volume and low mechanical reliability, and can also bring concentricity problem during installation, and the adoption of a high-reliability position-sensor-free control algorithm is an effective solution.
The existing six-phase permanent magnet synchronous motor sensorless control methods based on motor counter electromotive force are invalid because the motor counter electromotive force is small or zero when the motor runs at low speed or zero speed.
When the permanent magnet synchronous motor runs at zero low speed, a high-frequency voltage signal injection algorithm based on motor salient pole effect is usually adopted, and different types of voltage signals can be injected under different reference coordinate systems, wherein a mature high-frequency pulse vibration square wave voltage signal injection method is adopted.
The pulse vibration high-frequency voltage injection method is to inject a high-frequency sinusoidal voltage signal onto a direct axis of an estimated two-phase rotating coordinate system, thereby generating a high-frequency pulse vibration magnetic field, the voltage signal can excite a motor to generate an inductance saturation effect, so that the surface-mounted permanent magnet synchronous motor presents 'saliency', the rotor position and the rotating speed can be obtained after the response signal is demodulated by detecting high-frequency current response containing rotor position information, and the control without a position sensor is realized; the control method of the position-free sensor based on high-frequency signal injection depends on salient pole characteristics of the motor, does not depend on motor parameters and counter potential, realizes high-precision control at low speed and zero speed through position estimation, and has wide application prospect.
Referring to fig. 1, in a conventional pulse vibration high-frequency injection method, when a high-frequency voltage U dh is injected on the d axis and a high-frequency voltage U dh with constant amplitude is injected, when the fundamental wave current Id of an operating working point is reduced, the magnetic saturation degree of a motor is reduced, the L dh is increased, the high-frequency current I dh is reduced, and the problem of difficult signal extraction is generated; when the fundamental wave current Id of the operation working point becomes larger, the magnetic saturation degree of the motor is enhanced, L dh is reduced, the high-frequency current I dh becomes larger, and the control system can generate noise.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide a control method and a control system of a pulse vibration high-frequency injection position-free sensor, which can keep high-frequency current basically unchanged.
The invention discloses a control method of pulse vibration high-frequency injection position-free sensor, which comprises the following steps: setting a preset range of fluctuation of the high-frequency current I dh; Obtaining d-axis current I d and q-axis current I q of an inverter of the permanent magnet synchronous motor in a current running state, and obtaining inductance L dh of the inverter in the current running state through d-axis current I d and q-axis current I q; The high frequency voltage U dh is regulated according to formula I dh＝Udh/ωh·Ldh so that the high frequency current I dh does not exceed a preset range, where ωh·l dh is the d-axis high frequency impedance of the motor, ωh is the high frequency injection frequency; Or setting a target high-frequency current I dhref, sampling an actual high-frequency current I dh in real time, obtaining a difference delta I dh between the target high-frequency current I dhref and the actual high-frequency current I dh, Inputting the difference value delta I dh into a closed-loop regulator, outputting a target frequency voltage U dhref by the closed-loop regulator, and injecting a high frequency voltage according to the value of the target frequency voltage U dhref; Or obtaining d-axis current I d and q-axis current I q of the inverter of the permanent magnet synchronous motor in the current running state, obtaining target high-frequency voltage U dh corresponding to the current d-axis current I d and q-axis current I q through deep learning neural network calculation, And injecting a high-frequency voltage according to the value of the target high-frequency voltage U dhref.
Preferably, the obtaining the inductance L dh under the current operating state through the d-axis current I d and the q-axis current I q includes: an offline table of d-axis current I d, q-axis current I q and inductance L dh is established, and inductance L dh corresponding to different d-axis currents I d and q-axis current I q is found according to the offline table.
Preferably, the establishing an offline table of the d-axis current I d, the q-axis current I q, and the inductance L dh includes: acquiring a corresponding relation dataset between d-axis current I d, q-axis current I q and inductance Ldh through motor simulation, and establishing the offline table through the corresponding relation dataset; or obtaining a corresponding relation data set between the d-axis current I d, the q-axis current I q and the inductance Ldh through off-line test, and establishing the off-line table through the corresponding relation data set.
Preferably, the adjusting the high-frequency voltage U dh so that the variation value between the high-frequency currents I dh at any time does not exceed the preset variation value according to the formula I dh＝Udh/ωh·Ldh includes: and adjusting the high-frequency voltage U dh at intervals of a preset time period, so that the high-frequency current I dh at any moment does not exceed the preset range, or the high-frequency current I dh after each adjustment does not exceed the preset range.
Preferably, the adjusting the high-frequency voltage U dh with the preset time period as an interval, so that the high-frequency current I dh at any time does not exceed the preset range includes: the high-frequency current I dh is monitored in real time, and if the current high-frequency current I dh exceeds the preset range, the current high-frequency current I dh is regulated by a regulator so that the current high-frequency current I dh is located in the preset range.
Preferably, the obtaining the high-frequency voltage U dh corresponding to the different d-axis current I d and the q-axis current I q through the deep learning neural network calculation includes: the neural network learns: different d-axis currents I d and q-axis currents I q correspond to high-frequency voltages U dh within the preset range of the high-frequency currents I dh; the corresponding high-frequency voltage U dh is obtained according to different d-axis currents I d and q-axis currents I q.
The invention also discloses a control system of the pulse vibration high-frequency injection position-free sensor, which comprises a processing module and a neural network module which are connected; The processing module sets a preset range of fluctuation of the high-frequency current I dh, obtains d-axis current I d and q-axis current I q of the inverter of the permanent magnet synchronous motor in the current running state, and obtains inductance L dh in the current running state through the d-axis current I d and the q-axis current I q; The high frequency voltage U dh is regulated according to formula I dh＝Udh/ωh·Ldh so that the high frequency current I dh does not exceed a preset range, where ωh·l dh is the d-axis high frequency impedance of the motor, ωh is the high frequency injection frequency; Or the processing module sets a target high-frequency current I dhref, samples an actual high-frequency current I dh in real time, obtains a difference delta I dh between the target high-frequency current I dhref and the actual high-frequency current I dh, Inputting the difference value delta I dh into a closed-loop regulator, outputting a target frequency voltage U dhref by the closed-loop regulator, and injecting a high frequency voltage according to the value of the target frequency voltage U dhref; Or the processing module obtains d-axis current I d and q-axis current I q under the current running state of the inverter of the permanent magnet synchronous motor, obtains target high-frequency voltage U dh corresponding to the current d-axis current I d and q-axis current I q through deep learning neural network calculation, And injecting a high-frequency voltage according to the value of the target high-frequency voltage U dhref.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. Whether the high-frequency inductance L dh is obtained through the d-axis current I d and the q-axis current I q in the current running state, and then the high-frequency voltage U dhref required to be injected is obtained through calculation of the high-frequency inductance L dh; whether the actual high-frequency current I dh is directly sampled, and the target high-frequency voltage U dhref is output through the difference delta I dh between the target high-frequency current I dhref and the actual high-frequency current I dh; or the target frequency voltage U dhref is directly obtained by calculation of the d-axis current I d and the q-axis current I q in the current running state through the deep learning neural network, and the high frequency voltage U dhref obtained by the three modes can enable the actual high frequency current I dh to be in a preset range and not to be higher or lower, so that the noise problem and the signal extraction difficulty problem of the system can be avoided.
Drawings
FIG. 1 is a flow chart of a control method of a pulse vibration high-frequency injection position-free sensor provided by the invention;
Fig. 2 is a control flow chart of the present invention for inputting the difference between the target high-frequency current value I dhref and the sampled high-frequency current value I dh to the closed-loop regulator to adjust the amplitude of U dh in real time.
Detailed Description
Advantages of the invention are further illustrated in the following description, taken in conjunction with the accompanying drawings and detailed description.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and are not of specific significance per se. Thus, "module" and "component" may be used in combination.
The invention discloses a control method of pulse vibration high-frequency injection position-free sensor, which is characterized in that high-frequency current I dh is basically unchanged by regulating and controlling high-frequency voltage U dh, so that the problems of system noise and difficult signal extraction caused by high or low high-frequency current I dh are avoided, and three methods for regulating and controlling high-frequency voltage U dh are provided.
The first is to obtain the high-frequency voltage U dh by formula calculation, and adjust the high-frequency current I dh by adjusting the high-frequency voltage U dh so as not to exceed a preset range. Specific:
Setting a preset range of fluctuation of the high-frequency current I dh, wherein the preset range is a range in which the high-frequency current I dh does not cause the problems of system noise and signal extraction difficulty;
Obtaining d-axis current I d and q-axis current I q of an inverter of the permanent magnet synchronous motor in a current running state, and obtaining inductance L dh of the inverter in the current running state through d-axis current I d and q-axis current I q;
According to the formula I dh＝Udh/ωh·Ldh (in which ωh·l dh is the d-axis high-frequency impedance of the motor, ωh is the high-frequency injection frequency), when the high-frequency voltage U dh with constant amplitude is injected, the magnitude of the high-frequency current I dh is inversely proportional to the inductance L dh, and when the inductance L dh is known, the value of the high-frequency current I dh can be output, so that the high-frequency current I dh can be adjusted by adjusting the high-frequency voltage U dh, so that the high-frequency current I dh does not exceed the preset range.
Preferably, the inductance L dh in the current running state is obtained through the d-axis current I d and the q-axis current I q, and the inductance L dh corresponding to the different d-axis currents I d and q-axis currents I q can be found according to the offline table by establishing the offline table of the d-axis current I d, the q-axis current I q and the inductance L dh.
Specifically, a corresponding relation data set among the d-axis current I d, the q-axis current I q and the inductance Ldh is obtained through motor simulation, and an offline table is built through the corresponding relation data set. Or obtaining a corresponding relation data set between the d-axis current I d, the q-axis current I q and the inductance Ldh through off-line test, and establishing an off-line table through the corresponding relation data set.
Preferably, the high-frequency voltage U dh is adjusted at intervals of a preset time period, so that the high-frequency current I dh at any time does not exceed a preset range, or the high-frequency current I dh after each adjustment does not exceed the preset range.
It will be appreciated that there are two types of adjustment results, one is to simply ensure that the high frequency current I dh does not exceed the preset range after each adjustment, and the other is to ensure that the high frequency current I dh does not exceed the preset range after each adjustment, and also to ensure that the time between each adjustment process, the high frequency current I dh does not exceed the preset range, which requires a real-time monitoring mechanism.
Specifically, when the high-frequency current I dh at any time is made not to exceed the preset range, the method of monitoring the high-frequency current I dh in real time can be adopted, and if the current high-frequency current I dh exceeds the preset range, the current high-frequency current I dh is regulated by the regulator so that the current high-frequency current I dh is within the preset range.
The second is to set the target frequency current I dhref, see fig. 2, collect current data from the motor in real time, obtain d-axis current I d through coordinate transformation from abc natural coordinate axis to dq axis, filter d-axis current I d through high-pass filter to obtain actual high-frequency current I dh, obtain difference Δi dh between target frequency current I dhref and actual high-frequency current I dh, input difference Δi dh into the closed-loop regulator, output target frequency voltage U dhref from the closed-loop regulator, and input the value of target frequency voltage U dhref to the motor through coordinate transformation from dq axis to abc natural coordinate axis.
In the second method, the amplitude of the high-frequency current I dh is obtained through current sampling, the difference value between the target high-frequency current value I dhref and the sampled high-frequency current value I dh is input into a closed-loop regulator, and the amplitude of the U dh is regulated in real time, so that the high-frequency current I dh can be kept constant.
Thirdly, obtaining d-axis current I d and q-axis current I q of the inverter of the permanent magnet synchronous motor in the current running state, directly calculating and outputting target high-frequency voltage U dh corresponding to the current d-axis current I d and q-axis current I q through a deep learning neural network, and finally injecting high-frequency voltage according to the value of the target high-frequency voltage U dhref.
Firstly, a neural network learning process is carried out, and the earlier stage comprises the steps of collecting a large amount of test data or actual working data to form training set data, and training through the training set data. The training set data comprises high-frequency voltages U dh corresponding to different d-axis currents I d and q-axis currents I q within a preset range of the high-frequency currents I dh, and the corresponding high-frequency voltages U dh are obtained according to the different d-axis currents I d and q-axis currents I q.
The invention also discloses a control system of the pulse vibration high-frequency injection position-free sensor, which comprises a processing module and a neural network module which are connected, wherein the processing module can be understood as a motor controller.
The method comprises the steps that a preset range of fluctuation of high-frequency current I dh can be set through a processing module, d-axis current I d and q-axis current I q in the current running state of an inverter of a permanent magnet synchronous motor are obtained, and inductance L dh in the current running state is obtained through d-axis current I d and q-axis current I q; the high-frequency voltage U dh is regulated according to the formula I dh＝Udh/ωh·Ldh so that the high-frequency current I dh does not exceed a preset range, wherein ωh.L dh is the d-axis high-frequency impedance of the motor and ωh is the high-frequency injection frequency.
The processing module can also set the target frequency current I dhref, sample the actual high frequency current I dh in real time, obtain the difference value delta I dh between the target frequency current I dhref and the actual high frequency current I dh, input the difference value delta I dh into the closed-loop regulator, output the target frequency voltage U dhref from the closed-loop regulator, and inject the high frequency voltage according to the value of the target frequency voltage U dhref.
The d-axis current I d and the q-axis current I q of the inverter of the permanent magnet synchronous motor in the current running state can be obtained through the processing module, the target high-frequency voltage U dh corresponding to the current d-axis current I d and the q-axis current I q is obtained through calculation of a deep learning neural network, and the high-frequency voltage is injected according to the value of the target high-frequency voltage U dhref.
The three methods can realize the purpose of ensuring the high-frequency current I dh to be basically unchanged, and avoid the problems of system noise and difficult signal extraction caused by larger fluctuation of the high-frequency current I dh.
It should be noted that the embodiments of the present invention are preferred and not limited in any way, and any person skilled in the art may make use of the above-disclosed technical content to change or modify the same into equivalent effective embodiments without departing from the technical scope of the present invention, and any modification or equivalent change and modification of the above-described embodiments according to the technical substance of the present invention still falls within the scope of the technical scope of the present invention.
Claims (4)
1. A control method of pulse vibration high-frequency injection position-free sensor is characterized by comprising the following steps:
Setting a preset range of fluctuation of the high-frequency current I dh; Obtaining d-axis current I d and q-axis current I q of an inverter of the permanent magnet synchronous motor in a current running state, and obtaining inductance L dh of the inverter in the current running state through d-axis current I d and q-axis current I q; The high frequency voltage U dh is regulated according to formula I dh＝Udhωh·Ldh so that the high frequency current I dh does not exceed a preset range, where ωh·l dh is the d-axis high frequency impedance of the motor, ωh is a high frequency injection frequency, comprising: adjusting the high-frequency voltage U dh by taking a preset time period as an interval, so that the high-frequency current I dh at any moment does not exceed the preset range, or the high-frequency current I dh after each adjustment does not exceed the preset range; The high-frequency current I dh is monitored in real time, and if the current high-frequency current I dh exceeds the preset range, the current high-frequency current I dh is regulated by a regulator so that the current high-frequency current I dh is located in the preset range.
2. The control method according to claim 1, wherein the obtaining the inductance L dh in the present operation state by the d-axis current I d and the q-axis current I q includes:
An offline table of d-axis current I d, q-axis current I q and inductance L dh is established, and inductance L dh corresponding to different d-axis currents I d and q-axis current I q is found according to the offline table.
3. The control method according to claim 2, wherein the establishing an offline table of d-axis current I d, q-axis current I q, and inductance L dh includes:
Acquiring a corresponding relation dataset between d-axis current I d, q-axis current I q and inductance Ldh through motor simulation, and establishing the offline table through the corresponding relation dataset;
or obtaining a corresponding relation data set between the d-axis current I d, the q-axis current I q and the inductance Ldh through off-line test, and establishing the off-line table through the corresponding relation data set.
4. The control system of pulse vibration high-frequency injection position-free sensor is characterized by comprising a processing module and a neural network module which are connected;
The processing module sets a preset range of fluctuation of the high-frequency current I dh, obtains d-axis current I d and q-axis current I q of the inverter of the permanent magnet synchronous motor in the current running state, and obtains inductance L dh in the current running state through the d-axis current I d and the q-axis current I q; The high frequency voltage U dh is regulated according to formula I dh＝Udhωh·Ldh so that the high frequency current I dh does not exceed a preset range, where ωh·l dh is the d-axis high frequency impedance of the motor, ωh is a high frequency injection frequency, comprising: adjusting the high-frequency voltage U dh by taking a preset time period as an interval, so that the high-frequency current I dh at any moment does not exceed the preset range, or the high-frequency current I dh after each adjustment does not exceed the preset range; The high-frequency current I dh is monitored in real time, and if the current high-frequency current I dh exceeds the preset range, the current high-frequency current I dh is regulated by a regulator so that the current high-frequency current I dh is located in the preset range.
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| JP5543388B2 (en) * | 2011-01-31 | 2014-07-09 | 東芝シュネデール・インバータ株式会社 | Control device for permanent magnet synchronous motor |
| CN113381663B (en) * | 2021-07-08 | 2024-01-19 | 珠海格力电器股份有限公司 | Motor position determining method and device, motor, storage medium and processor |
| CN113783488B (en) * | 2021-08-04 | 2023-10-20 | 华中科技大学 | Permanent magnet synchronous motor full-parameter identification method and permanent magnet synchronous motor system |
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| CN104767451A (en) * | 2015-03-01 | 2015-07-08 | 宁波申菱电梯配件有限公司 | Detection method for elevator door motor unposition sensor motor rotor initial position |
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