CN114696675A - Rotor position angle and speed detection method and control method based on improved back electromotive force method - Google Patents

Rotor position angle and speed detection method and control method based on improved back electromotive force method Download PDF

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Publication number
CN114696675A
CN114696675A CN202011577483.3A CN202011577483A CN114696675A CN 114696675 A CN114696675 A CN 114696675A CN 202011577483 A CN202011577483 A CN 202011577483A CN 114696675 A CN114696675 A CN 114696675A
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flux linkage
motor
value
speed
rotor
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魏振
赵武玲
任祥正
彭树文
赵楠
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Research Institute of Physical and Chemical Engineering of Nuclear Industry
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Research Institute of Physical and Chemical Engineering of Nuclear Industry
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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
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a method for detecting a position angle and a speed of a rotor based on an improved back electromotive force method and a control method thereof, wherein the detection method comprises (I) parameter coordinate transformation; (II) calculating an initial value of the flux linkage; (III) calculating the amplitude and the phase of the flux linkage; (IV) flux linkage adaptive compensation; (V) calculating a final value of the flux linkage; (VI) calculating the position angle and the speed of the rotor; the control method comprises the following steps: the method comprises the following steps of (I) positioning and starting a motor; (II) improving a counter-potential algorithm; (III) controlling the switching of the motor; (IV) controlling the rotating speed current; and (V) space vector algorithm. The method adopts an improved back electromotive force algorithm, replaces the original flux linkage integral method with a self-adaptive compensation algorithm, eliminates an integral initial value error and a direct current offset error, and can more accurately detect the back electromotive force of the motor, thereby effectively improving the position detection precision of the back electromotive force method.

Description

Rotor position angle and speed detection method and control method based on improved back electromotive force method
Technical Field
The invention belongs to the field of permanent magnet synchronous motor control, and particularly relates to a rotor position angle and speed detection method and a control method based on an improved back electromotive force method.
Background
The alternating current permanent magnet synchronous motor has been widely applied in the field of industrial control due to the advantages of high-efficiency energy utilization rate, excellent mechanical performance and the like. The permanent magnet synchronous motor usually adopts a vector control mode, the mode needs to detect the position angle of a rotor at any time for operation control, the position angle of the rotor is usually obtained by adopting a mechanical position sensor, but the existence of the mechanical sensor increases the volume and the cost of the motor, reduces the reliability of a system and also limits the popularization and application in some special occasions, so that a plurality of permanent magnet synchronous motors adopt a position-sensor-free detection algorithm at present.
The back electromotive force method is based on the electromagnetic relation in the permanent magnet synchronous motor, the position of the rotor is estimated by detecting the stator current and the stator voltage of the motor in real time, the algorithm has the advantages of simplicity, high efficiency and easiness in implementation, however, when the motor speed is low, due to the fact that enough large back electromotive force cannot be obtained, the estimation accuracy of the position of the rotor is not high, meanwhile, the traditional back electromotive force method has the problem of flux linkage integral direct current offset and the problem of initial value, and the estimation accuracy of the back electromotive force method is further influenced.
Disclosure of Invention
The present invention is proposed to overcome the disadvantages in the prior art, and an object of the present invention is to provide a method for detecting a rotor position angle and a rotor speed based on an improved back emf method and a control method thereof.
The invention is realized by the following technical scheme:
a rotor position angle and speed detection method based on an improved back emf method comprises the following steps:
(I) parametric coordinate transformation
According to the collected current and voltage values of the motor, coordinate transformation is carried out, and the current and voltage are converted into current and voltage of a two-phase coordinate system;
(II) calculating the initial value of the flux linkage
Calculating a flux linkage initial value of first-order inertia integral according to the current and voltage values after coordinate transformation;
(III) calculating the amplitude and phase of the flux linkage
According to the flux linkage vector values, conversion from Cartesian coordinates to a polar coordinate system is completed, and the amplitude and the phase of flux linkage are calculated;
(IV) flux linkage adaptive compensation
Calculating an orthogonal deviation value of the flux linkage and the back electromotive force, wherein the deviation value is subjected to PI regulator to obtain a flux linkage compensation amplitude value, then the flux linkage compensation value is obtained through polar coordinate to Cartesian coordinate conversion, and the flux linkage compensation value is subjected to low-pass filtering and then flux linkage compensation;
(V) calculating the final value of the flux linkage
Adding the initial flux linkage value of the first-order inertia integral with the flux linkage compensation value after low-pass filtering to obtain a final flux linkage value;
(VI) calculating rotor position angle and speed
Calculating a rotor position angle of the motor according to the final value of the flux linkage, and performing low-pass filtering according to the rotor position angle to obtain the rotating speed of the motor;
in the above technical solution, the initial value of the flux linkage is calculated by using an improved integrator, and the improved integrator is:
Figure RE-GDA0002965910370000021
in the formula: z is a radical of formulaα、zβIs the compensation value of the flux linkage integral.
In the above technical solution, the amplitude of the compensation value of the flux linkage integral is limited,
Figure RE-GDA0002965910370000022
in the formula
Figure RE-GDA0002965910370000031
Is the magnitude of the flux linkage.
In the above technical solution, the flux linkage is compensated by using a self-adaptive compensation method.
A permanent magnet synchronous motor control method based on a rotor position angle and speed detection method of an improved back emf method comprises the following steps:
(I) positioning and starting of motor
After entering a motor starting program, pre-positioning the motor, starting the motor by adopting an I-F vector control mode, and bringing the motor to a set switching rotating speed;
(II) improved back emf algorithm
Calculating an orthogonal deviation value of a flux linkage and a back electromotive force, obtaining a flux linkage compensation value through a PI regulator, coordinate transformation and a low-pass filter, and adding the flux linkage compensation value and a first-order inertia integral of the back electromotive force to obtain a flux linkage value so as to calculate the position and the angular speed of a rotor of the motor;
(III) Motor switching control
After the motor reaches a set rotating speed, executing a motor switching strategy, and switching to a rotating speed and current double-closed-loop vector control algorithm;
(IV) rotational speed Current control
According to the rotating speed and the current feedback value of the motor, PI control regulation of a speed loop and a current loop is completed, park inverse transformation is carried out, and a voltage reference value is calculated;
(V) space vector algorithm
And adjusting the output voltage reference value according to the rotating speed and the current, executing a space vector algorithm, calculating the duty ratio, outputting a PWM signal, and controlling the three-phase inverter bridge driving motor to operate.
In the above technical solution, the method for pre-positioning the motor includes: twice zeroing positioning method.
In the above technical solution, the twice-zeroing positioning method specifically includes: firstly, a sufficiently large 90-degree voltage vector is introduced to a q axis of a motor stator to position a rotor in a 90-degree direction; and then a sufficient zero-degree voltage vector is applied to the q axis of the stator of the motor, so that the rotor is positioned to zero degrees.
In the technical scheme, the 90-degree voltage vector is 10% -30% of the rated voltage; the zero-degree voltage vector is 10% -30% of the rated voltage.
In the technical scheme, in the motor positioning and starting stage (I), the simulation angle theta' is generated by using software to replace the real rotor angle theta to complete the motor starting.
In the above technical solution, the motor switching strategy specifically includes: increasing the exciting current idTo a certain value and controlling the torque current iqAnd (4) regularly decreasing, and switching to a rotating speed and current dual-loop control mode when the difference value delta theta between the rotor angle theta and the simulation angle theta' is zero or smaller than a set range.
The invention has the beneficial effects that:
the invention provides a rotor position angle and speed detection method and a control method based on an improved back electromotive force method, wherein an improved back electromotive force algorithm is adopted, an adaptive compensation algorithm is used for replacing an original flux linkage integral method, an integral initial value error and a direct current offset error are eliminated, the back electromotive force of a motor can be detected more accurately, and therefore the position detection precision of the back electromotive force method is effectively improved.
Drawings
FIG. 1 is a schematic block diagram of an adaptive compensation modified integrator employed in the present invention;
fig. 2 is a control schematic diagram of the vector control id 0 based on which the present invention is based;
fig. 3 is a main flow chart of a permanent magnet synchronous motor control method based on an improved back emf method;
FIG. 4 is a sub-flowchart of the PMSM control method based on the improved back emf method of the present invention;
fig. 5 is a flow chart of the method for detecting the position angle and the speed of the rotor based on the improved back emf method.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following will further describe the technical solution of the present invention based on the method for detecting the position angle and speed of the rotor and the method for controlling the same by using the improved back emf method through specific embodiments with reference to the drawings of the specification.
Example 1
A rotor position angle and speed detection method based on an improved back emf method comprises the following steps:
(I) transformation of parametric coordinates
According to the collected current and voltage values of the motor, coordinate transformation is carried out, and the current and voltage are converted into current and voltage of a two-phase coordinate system;
(II) calculating the initial value of the flux linkage
Calculating a flux linkage initial value of first-order inertia integral according to the current and voltage values after coordinate transformation;
(III) calculating the amplitude and phase of the flux linkage
According to the flux linkage vector value, the conversion from a Cartesian coordinate to a polar coordinate system is completed, and the amplitude and the phase of flux linkage are calculated;
(IV) flux linkage adaptive compensation
Calculating an orthogonal deviation value of the flux linkage and the back electromotive force, wherein the deviation value is subjected to PI regulator to obtain a flux linkage compensation amplitude value, then the flux linkage compensation value is obtained through polar coordinate to Cartesian coordinate conversion, and the flux linkage compensation value is subjected to low-pass filtering and then flux linkage compensation;
(V) calculating the final value of the flux linkage
Adding the initial flux linkage value of the first-order inertia integral with the flux linkage compensation value after low-pass filtering to obtain a final flux linkage value;
(VI) calculating rotor position angle and speed
And calculating the position angle of the motor rotor according to the final value of the flux linkage, and performing low-pass filtering according to the position angle of the rotor to obtain the rotating speed of the motor.
The improvement of the present invention and the advantageous effects thereof are described in detail below by comparison with the conventional back-emf method.
The basic principle of the conventional back-emf method based on the invention is as follows:
the stator flux linkage of the permanent magnet synchronous motor in an alpha-beta coordinate system can be expressed as follows:
Figure RE-GDA0002965910370000061
in the formula: i.e. iα,iβ-stator α, β axis currents;
uα,uβ-stator α, β axis voltage;
ψα,ψβ-flux linkage of stator α, β axes;
Rs-stator resistance.
The rotor position and angular velocity estimated from the back emf method are:
Figure RE-GDA0002965910370000062
Figure RE-GDA0002965910370000063
in the above formula:
Figure RE-GDA0002965910370000064
Ld-direct axis inductance of the motor winding;
Lq-quadrature inductance of the motor winding;
as can be seen from the formulas (1), (2) and (3), the traditional back electromotive force integration method has a pure integration link, and an integration initial value error and a direct current offset error are easily introduced to cause the saturation of an integrator, so that the estimation precision of the position of the motor rotor is influenced, and the problem is overcome by adopting an improved back electromotive force method.
The basic principle of the improved back-emf method adopted by the invention is as follows:
the invention adopts an improved integrator to replace the original flux linkage integrator:
Figure RE-GDA0002965910370000071
in the above formula zα、zβThe compensation value for the flux linkage integral is typically designed as a saturation function and its amplitude is limited.
Figure RE-GDA0002965910370000072
In the above formula
Figure RE-GDA0002965910370000073
Is the magnitude of the flux linkage.
The improved integrator has the advantages of a pure integrator and a low-pass filter, can eliminate amplitude attenuation of the low-pass filter, can inhibit direct-current components in a stator flux linkage, and improves detection accuracy of the flux linkage. In the vector control mode of the permanent magnet synchronous motor, the amplitude of the stator flux linkage is a variable value and is not limited, in order to enable the method to be suitable for the vector control mode, a self-adaptive compensation method is adopted to replace a saturation function to compensate the flux linkage, and the self-adaptive compensation improves the principle structure diagram of an integrator, as shown in fig. 1.
The working principle of the self-adaptive compensation improved integrator is as follows: firstly, the flux linkage value psiαAnd psiβConverting Cartesian coordinate system into polar coordinate system to obtain flux linkage amplitude and phase signals
Figure RE-GDA0002965910370000074
Then, the orthogonal value psi of the flux linkage and the back electromotive force is calculatedsEsIdeally, the product of complete orthogonality between the stator flux linkage and the back electromotive force is zero, when an initial value error or a direct current offset is introduced into the integrator, the orthogonality relation is no longer established, and the deviation delta e of the orthogonality is calculated by the following formula.
Figure RE-GDA0002965910370000075
The deviation delta e signal is used as the amplitude | psi of the flux linkage compensation signal after passing through the PI regulatorfI, then i psifI and phase signal
Figure RE-GDA0002965910370000076
Z is obtained by transformation between polar and cartesian coordinatesαAnd zβFlux linkage compensation is completed through a low-pass filter, and a flux linkage value psi is obtained through an adaptive compensatorαAnd psiβAnd then, estimating the rotor position and the angular speed of the motor according to the equations (2) and (3).
The self-adaptive compensation improves the integrator to separate the flux linkage amplitude from the phase, adjusts the flux linkage amplitude by detecting the orthogonal deviation value of the flux linkage and the back electromotive force, keeps the flux linkage phase angle unchanged, and essentially eliminates the problems of direct current offset and an initial integral value caused by a pure integral link.
Fig. 4 is a flowchart of an improved back emf algorithm, which is written in language C and runs in a timer interrupt subroutine of a main program of the control method, and the specific implementation manner is as follows:
(I) parametric coordinate transformation
Performing coordinate transformation according to the collected current and voltage values of the motor, and converting the current and voltage values into current and voltage of a two-phase coordinate system S1;
(II) calculating the initial value of the flux linkage
Calculating the initial value of the flux linkage of the first-order inertia integral according to the current and voltage values after the coordinate transformation, S2;
(III) calculating the amplitude and phase of the flux linkage
According to the flux linkage vector values, conversion from Cartesian coordinates to a polar coordinate system is completed, and the amplitude and the phase of flux linkage are calculated S3;
(IV) flux linkage adaptive compensation
Calculating an orthogonal deviation value of the flux linkage and the back electromotive force, wherein the deviation value is subjected to PI regulator to obtain a flux linkage compensation amplitude value, then the flux linkage compensation value is obtained through polar coordinate to Cartesian coordinate conversion, and the flux linkage compensation value is subjected to low-pass filtering and then flux linkage compensation, S4;
(V) calculating the final value of the flux linkage
Adding the initial flux linkage value of the first-order inertia integral and the flux linkage compensation value after low-pass filtering to obtain a final flux linkage value S5;
(VI) calculating rotor position angle and speed
And calculating the position angle of the motor rotor according to the final value of the flux linkage, and performing low-pass filtering according to the position angle of the rotor to obtain the rotating speed of the motor S6.
Example 2
Under the vector control mode of the permanent magnet synchronous motor, the stator current is decomposed into the exciting current i for generating a magnetic fielddAnd a torque current i for generating torqueqIn this embodiment, a surface-mounted permanent magnet synchronous motor is selected, and the torque of the motor is only equal to the torque current iqIn connection with this, surface-mount motors therefore generally employ idThe rotor position angle is detected by the improved back emf method of embodiment 1, which is a vector control method of 0.
A permanent magnet synchronous motor control method based on a rotor position angle and speed detection method of an improved back electromotive force method comprises the following steps:
(I) positioning and starting of motor
After entering a motor starting program, the motor is pre-positioned by adopting a twice zero setting positioning method, and is started by adopting an I-F vector control mode to bring the motor to a set switching rotating speed.
The motor is started by adopting an I-F vector control mode, and the exciting current IdSet to 0, torque current iqThe method is characterized in that a constant value I is set, the vector control needs a rotor position angle to participate in operation, and because the counter electromotive force of a motor is small when the motor is just started, and the counter electromotive force method cannot accurately detect the rotor angle, a simulation angle theta' generated by software is used for replacing a real rotor angle theta to complete the motor starting in the starting stage.
In back emf integration, the position of the initial stator flux linkage needs to be known, but since in a sensorless control system there is no sensor to know the current rotor position, the control system must first detect the motor rotor position, usually by rotor positioning.
Rotor positioning typically performs chopper control on phase a, positioning the rotor at zero axis. However, if the rotor of the motor is near 180 degrees, the chopping control is performed on the phase a, the generated electromagnetic force has a phase difference of 180 degrees, the rotor cannot rotate, and the zero axis cannot be positioned.
The method for twice zero setting positioning comprises the following steps: the rotor is first oriented 90 degrees to the q-axis of the motor stator by applying a sufficiently large 90 degree voltage vector (typically 10% -30% of the nominal voltage). The motor stator q-axis is then energized with a sufficiently large zero-degree voltage vector (typically 10% -30% of nominal voltage) to position the rotor at zero degrees. Therefore, the rotor can be positioned at zero degree through two positioning operations no matter whether the initial position of the rotor of the motor is at a special position of 90 degrees or 180 degrees or not.
(II) improved back emf algorithm
Calculating an orthogonal deviation value of a flux linkage and a back electromotive force, obtaining a flux linkage compensation value through a PI regulator, coordinate transformation and a low-pass filter, and adding the flux linkage compensation value and a first-order inertia integral of the back electromotive force to obtain a flux linkage value so as to calculate the position and the angular speed of a rotor of the motor;
(III) Motor switching control
After the motor reaches a set rotating speed, executing a motor switching strategy, and switching to a rotating speed and current double-closed-loop vector control algorithm;
when the motor runs to a set rotating speed in an I-F mode, the back electromotive force method can accurately detect the rotor angle theta and then enters a switching stage, and the exciting current I is increased at the momentdTo a certain value and controlling the torque current iqThe rule is reduced, according to the principle of the self-balancing of the power angle of the permanent magnet synchronous motor, in order to keep the rotating speed of the motor, the difference value delta theta between the rotor angle theta and the simulation angle theta' is continuously reduced in the process of adjusting the power angle until the new torque balance is reached, and when the delta theta is zero or smaller than a set range, the difference value delta theta is cut offAnd switching to a rotating speed and current dual-loop control mode.
(IV) rotational speed Current control
According to the rotating speed and the current feedback value of the motor, PI control regulation of a speed loop and a current loop is completed, park inverse transformation is carried out, and a voltage reference value is calculated;
the control mode of the rotating speed current double loop is shown in figure 2, and the deviation value of the speed generates the reference value of the torque current after the PI regulation
Figure RE-GDA0002965910370000101
Feedback exciting current idTorque current iqAnd respectively comparing the deviation value with a reference value, obtaining a reference component of the voltage by a PI regulator, and generating a PWM signal to control the output of the inverter by Park inverse transformation and SVPWM (space vector pulse width modulation), thereby regulating the rotating speed and the torque of the motor.
(V) space vector algorithm
And regulating the output voltage reference value according to the rotating speed and the current, executing a space vector algorithm, calculating the duty ratio, outputting a PWM signal, and controlling the three-phase inverter bridge driving motor to operate.
Fig. 3 and 4 are vector control flowcharts based on an improved back emf algorithm, the control algorithm is programmed in a C language and runs in a DSP control board, fig. 3 is a main program flowchart, fig. 4 is a timer interrupt subroutine flowchart, the timer interrupt subroutine is executed in a main program, and the improved back emf algorithm and the rotating speed and current double loop vector control algorithm are mainly completed, and the specific implementation manner is as follows:
the specific implementation manner of the main program is as follows:
(I) start with
Program start, from the main program entry, S1;
(II) initialization
Initializing the DSP, and finishing the initialization work of a DSP peripheral clock, a watchdog, an IO port (input and output) and an interrupt vector table (S2);
(III) configuration register
Configuring a timer, a PWM register, an SCI register, and an interrupt register, and enabling a related interrupt function, S3;
(IV) initializing software parameters
Initializing relevant parameters such as a timer, a PWM duty ratio, delay time, RS232 communication software and the like, and S4;
(V) Loop waiting
Entering a main loop, and waiting for a timer interrupt to occur, S5;
(VI) executing the interrupt program and returning
And executing the timer interrupt subprogram, returning to the main program after the timer interrupt subprogram is completed, and circularly waiting S6.
The timer interrupt subroutine is specifically implemented as follows:
(I) interrupt Start
A timer interrupt occurs, and a timer interrupt program is entered, S7;
(II) whether it has been started
Judging whether the motor is started, if so, executing an improved back electromotive force algorithm, otherwise, entering a motor positioning starting program, and S8;
(III) positioning and starting of motor
After entering a motor starting program, firstly, electrifying a direct current with enough magnitude to a motor stator winding to position a rotor to a given initial position to complete the pre-positioning of the motor, starting by adopting an I-F control mode, and bringing the motor to a set switching rotating speed S9;
(IV) improved back-emf algorithm
As shown in fig. 5, calculating an orthogonal deviation value between the flux linkage and the back electromotive force, obtaining a flux linkage compensation value through a PI regulator, coordinate transformation, and a low-pass filter, and adding the flux linkage compensation value and the back electromotive force first-order inertia integral to obtain a flux linkage value, thereby calculating a rotor position and an angular velocity of the motor, S10;
(V) whether or not handover is completed
Judging whether the motor reaches a set switching rotating speed, if so, executing a motor switching strategy, otherwise, interrupting to finish returning to a main program, and waiting for the motor to reach the set rotating speed S11;
(VI) Motor switching control
After the motor reaches the set rotating speed, executing a motor switching strategy, and switching to a rotating speed and current double closed loop vector control algorithm S12;
(VII) rotational speed Current control
According to the rotating speed of the motor and the current feedback value, PI control adjustment of a speed loop and a current loop is completed, park inverse transformation is carried out, and a voltage reference value is calculated S13;
(VIII) space vector Algorithm
According to the voltage reference value output by the speed and current regulation, executing a space vector algorithm, calculating a duty ratio and outputting a PWM signal to control the three-phase inverter bridge driving motor to operate, S14;
(IX) interrupt completion return to main program
And completing the motor operation control algorithm, and returning to the main program after the interruption is completed, S15.
The control system adopts an improved back emf algorithm and a vector control method, software programming is carried out by utilizing a DSP28335 control board, the control is realized, a motor test is carried out, and a test result shows that the control system adopting the improved back emf algorithm eliminates an integral initial value error and a direct current offset error, the detection precision of the rotor position angle is effectively improved, and meanwhile, the vector control system adopting the improved back emf algorithm has good control effect and stable precision.
The applicant declares that the above description is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be understood by those skilled in the art that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are within the scope and disclosure of the present invention.

Claims (10)

1. A rotor position angle and speed detection method based on an improved back emf method is characterized in that: the method comprises the following steps:
(I) transformation of parametric coordinates
According to the collected current and voltage values of the motor, coordinate transformation is carried out, and the current and voltage are converted into current and voltage of a two-phase coordinate system;
(II) calculating the initial value of the flux linkage
Calculating a flux linkage initial value of first-order inertia integral according to the current and voltage values after coordinate transformation;
(III) calculating the amplitude and phase of the flux linkage
According to the flux linkage vector value, the conversion from a Cartesian coordinate to a polar coordinate system is completed, and the amplitude and the phase of flux linkage are calculated;
(IV) flux linkage adaptive compensation
Calculating an orthogonal deviation value of the flux linkage and the back electromotive force, wherein the deviation value is subjected to PI regulator to obtain a flux linkage compensation amplitude value, then the flux linkage compensation value is obtained through polar coordinate to Cartesian coordinate conversion, and the flux linkage compensation value is subjected to low-pass filtering and then flux linkage compensation;
(V) calculating the final value of the flux linkage
Adding the initial flux linkage value of the first-order inertia integral with the flux linkage compensation value after low-pass filtering to obtain a final flux linkage value;
(VI) calculating rotor position angle and speed
Calculating a rotor position angle of the motor according to the final value of the flux linkage, and performing low-pass filtering according to the rotor position angle to obtain the rotating speed of the motor;
2. the method for detecting the position angle and the speed of the rotor based on the improved back emf method as claimed in claim 1, wherein: the initial value of the flux linkage is calculated by adopting an improved integrator, and the improved integrator is as follows:
Figure FDA0002864781160000021
in the formula: z is a radical ofα、zβIs the compensation value of the flux linkage integral.
3. The method for detecting the position angle and the speed of the rotor based on the improved back emf method as claimed in claim 2, wherein: the magnitude of the compensation value of the flux linkage integral is limited,
Figure FDA0002864781160000022
in the formula
Figure FDA0002864781160000023
Is the magnitude of the flux linkage.
4. The method for detecting the position angle and the speed of the rotor based on the improved back emf method as claimed in claim 1, wherein: and the magnetic linkage is compensated by adopting a self-adaptive compensation method.
5. The method for controlling the permanent magnet synchronous motor by applying the method for detecting the position angle and the speed of the rotor based on the improved back electromotive force method as claimed in any one of claims 1 to 4, is characterized in that: the method comprises the following steps:
(I) positioning and starting of motor
After entering a motor starting program, pre-positioning the motor, starting the motor by adopting an I-F vector control mode, and bringing the motor to a set switching rotating speed;
(II) improved back emf algorithm
Calculating an orthogonal deviation value of a flux linkage and a back electromotive force, obtaining a flux linkage compensation value through a PI regulator, coordinate transformation and a low-pass filter, and adding the flux linkage compensation value and a first-order inertia integral of the back electromotive force to obtain a flux linkage value so as to calculate the position and the angular speed of a rotor of the motor;
(III) Motor switching control
After the motor reaches a set rotating speed, executing a motor switching strategy, and switching to a rotating speed and current double-closed-loop vector control algorithm;
(IV) rotational speed Current control
According to the rotating speed and the current feedback value of the motor, PI control regulation of a speed loop and a current loop is completed, park inverse transformation is carried out, and a voltage reference value is calculated;
(V) space vector algorithm
And adjusting the output voltage reference value according to the rotating speed and the current, executing a space vector algorithm, calculating the duty ratio, outputting a PWM signal, and controlling the three-phase inverter bridge driving motor to operate.
6. The permanent magnet synchronous motor control method based on the detection method of the rotor position angle and the speed by the improved back emf method as claimed in claim 5, wherein: the motor pre-positioning method comprises the following steps: twice zeroing positioning method.
7. The permanent magnet synchronous motor control method based on the detection method of the rotor position angle and the speed by the improved back emf method as claimed in claim 6, wherein: the twice zero setting positioning method specifically comprises the following steps: firstly, a sufficiently large 90-degree voltage vector is introduced to a q axis of a motor stator to position a rotor in a 90-degree direction; and then a sufficient zero-degree voltage vector is applied to the q axis of the stator of the motor, so that the rotor is positioned to zero degrees.
8. The permanent magnet synchronous motor control method based on the detection method of the rotor position angle and the speed by the improved back emf method as set forth in claim 7, wherein: the 90-degree voltage vector is 10% -30% of the rated voltage; the zero-degree voltage vector is 10% -30% of the rated voltage.
9. The permanent magnet synchronous motor control method based on the detection method of the rotor position angle and the speed by the improved back emf method as claimed in claim 5, wherein: and (I) in the motor positioning and starting stage, a simulation angle theta' is generated by using software to replace a real rotor angle theta to finish the motor starting.
10. The permanent magnet synchronous motor control method based on the detection method of the rotor position angle and the speed by the improved back emf method as claimed in claim 5, wherein: the motor switching strategy specifically comprises the following steps: increasing the exciting current idTo a certain value and controlling the torque current iqAnd (4) regularly decreasing, and switching to a rotating speed and current dual-loop control mode when the difference value delta theta between the rotor angle theta and the simulation angle theta' is zero or smaller than a set range.
CN202011577483.3A 2020-12-28 2020-12-28 Rotor position angle and speed detection method and control method based on improved back electromotive force method Pending CN114696675A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277890A (en) * 2023-11-17 2023-12-22 浙江禾川科技股份有限公司 Operation control method, system, equipment and storage medium of permanent magnet synchronous motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117277890A (en) * 2023-11-17 2023-12-22 浙江禾川科技股份有限公司 Operation control method, system, equipment and storage medium of permanent magnet synchronous motor
CN117277890B (en) * 2023-11-17 2024-02-13 浙江禾川科技股份有限公司 Operation control method, system, equipment and storage medium of permanent magnet synchronous motor

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