CN115173774A - Permanent magnet synchronous motor position sensorless control method and system - Google Patents
Permanent magnet synchronous motor position sensorless control method and system Download PDFInfo
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Abstract
The invention discloses a position-sensorless control method and a position-sensorless control system for a permanent magnet synchronous motor, and the position-sensorless control method for the permanent magnet synchronous motor comprises the steps of establishing an improved sliding-mode observer based on a supercoiling algorithm, and making the following changes to a sliding-mode observer (STA-SMO) method based on the supercoiling algorithm by the improved sliding-mode observer based on the supercoiling algorithmFurther: on one hand, a sign function sign in a sliding mode control function of the STA-SMO is replaced by a proportional resonant controller PR, and on the other hand, a back emf observer is established for inhibiting back emf harmonics to obtain estimated back emf
And
and finally, calculating the rotating speed and the rotor position angle of the permanent magnet synchronous motor to realize the control of the permanent magnet synchronous motor. Compared with the conventional sliding mode observer (STA-SMO) method based on the supercoiling algorithm, the method can reduce buffeting, effectively inhibit counter electromotive force harmonic components, reduce position errors and improve the estimation accuracy of the rotor position.
Description
Technical Field
The invention relates to a motor rotor position prediction technology of a built-in permanent magnet synchronous motor, in particular to a permanent magnet synchronous motor position-sensorless control method and system.
Background
An Interior Permanent Magnet Synchronous Motor (IPMSM) is widely applied in various fields due to the advantages of high power density, high efficiency, simple structure and the like. In vector control, motor rotor position information is typically obtained by a position encoder mounted on the motor, and is the basis for implementing coordinate transformation and vector control. However, in the fields of wind power generation and new energy, the motors are often operated in harsh environments, and the use of encoders may reduce the reliability of the system. In order to improve the reliability of the system, the technology without position sensor has been the research focus of the scholars. Currently, the position sensorless control techniques can be mainly classified into two categories: the first type is a high-frequency signal injection method based on salient pole characteristics of a motor, the method is suitable for zero and low rotating speed domains, and the method can be divided into a pulse oscillation high-frequency injection method, a square wave high-frequency injection method and a rotating high-frequency injection method according to different injection signals. The other type is a model method based on back electromotive force, the method is suitable for medium and high rotating speed domains, and the algorithm for observing the rotor position based on the back electromotive force comprises a model reference self-adaptive method, a Kalman filter method and a sliding-mode observer method.
In various models, the sliding-mode observer is widely applied to working conditions of medium and high rotating speeds due to the characteristics of strong disturbance resistance, fast dynamic response, insensitivity to parameter change of the sliding-mode observer and the like. The conventional sliding mode observer has the problem of buffeting, and a low-pass filter is widely used in the sliding mode observer to reduce the buffeting, but the introduction of the low-pass filter generates phase shift. To reduce jitter, the documents H.Kim, J.Son and J.Lee, et al.A High-Speed sizing Mode Observer for the Sensorless Speed Control of a PMSM [ J ]. IEEE Transactions on Industrial Electronics,2011,58 (9): 4069. And K.Chen, B.Song, Y.Xao and L.xu, et al.an Improved sizing Mode Observer for the Sensorless Vector Control of PMSM A sizing Study [ C ]//2019 Chip Automation Consistency (CAC), handtzhou, china,2019. Substitution of a saturation function for a sign function is proposed, but because of the introduction of a low pass filter, a phase shift still exists. In order to solve the problems and simplify a control system, a high-order sliding mode observer is provided. A sliding mode observer (STA-SMO) based on a supercoiling algorithm is applied to the position-sensor-free control of a permanent magnet synchronous motor, and the position estimation jitter and the observation error can be reduced. The following describes a sliding-mode observer based on the supercoiling algorithm:
the mathematical model of the built-in permanent magnet synchronous motor under the two-phase static coordinate system is as follows:
in the above formula, i α And i β Is a current value, L, under a two-phase stationary coordinate system d And L q D-axis inductance and q-axis inductance, omega, of a permanent magnet synchronous motor respectively e Is the electrical angular velocity, u, of a permanent magnet synchronous machine α And u β Stator voltages in a two-phase stationary coordinate system, e α And e β Respectively the estimated back emf.
The supercoiling Algorithm (STA for short) is proposed by Levant, and its basic form is:
in the above formula, x i In order to be a state variable, the state variable,
is an estimate of the state variable and,
k i is the sliding mode coefficient, rho i Is a perturbation term, i =1,2,t denotes time.
In order to obtain the position information of the rotor, a sliding mode observer (STA-SMO) based on a supercoiled algorithm is established by taking the estimated stator current under a static coordinate system as a state variable:
in the above formula, the first and second carbon atoms are,
and
is a current observed value under a two-phase static coordinate system, R is the stator resistance of the permanent magnet synchronous motor, and L d And L q Respectively a d-axis inductor and a q-axis inductor of the permanent magnet synchronous motor,
estimated electrical angular velocity, u, for a permanent magnet synchronous machine α And u β Stator voltages, k, in a two-phase stationary frame 1 And k 2 Is the sliding mode coefficient, i α And i β The current value under the two-phase static coordinate system,
and
respectively current error in two-phase static coordinate system, sign is a sign function, and disturbance term thereof
And
comprises the following steps:
the sliding mode control function is as follows:
in the above formula, k 1 And k 2 Is a coefficient of a sliding mode,
and
the sign is a sign function for the current error in the two-phase static coordinate system.
Subtracting the formula (1) from the formula (3) to obtain a current error equation under the static coordinate system as follows:
in the above formula, the explanation of each symbol is shown in the formula (1) and the formula (3).
When the stator current reaches the sliding surface, the stator current observed value converges to the actual value, and at this time:
combining equations (6) and (7) thus yields a back electromotive force of:
the sliding mode coefficient k can be known from the supercoiling algorithm 1 、k 2 Proportional and integral coefficients similar to PI. k is a radical of formula 2 Static error can be eliminated to suppress high frequency buffeting, and k 1 Ensuring a fast dynamic response of the observer. After obtaining the back emf information from equation (8), the estimated rotational speed and rotor position angle can be calculated from equation (9).
A sliding mode observer based on a supercoiling algorithm adopts a discontinuous sign function, and buffeting can be generated. And harmonic components are contained in the counter electromotive force, so that the position error is increased, and the accuracy of position observation is influenced.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: compared with the traditional STA-SMO method, the method and the system can reduce buffeting, effectively inhibit counter potential harmonic components, reduce position errors and improve the estimation accuracy of the rotor position.
In order to solve the technical problems, the invention adopts the technical scheme that:
a permanent magnet synchronous motor position sensorless control method comprises the following steps:
s1, according to a given angular speed, a PI regulator
And estimating angular velocity
The difference value of (A) is obtained as a q-axis reference current
d-axis reference current
Is 0; collecting three-phase currents of a, b and c, and obtaining d-axis current i through coordinate transformation d And q-axis current i q (ii) a Reference the d-axis current
And d-axis current i d The difference value is input into a PI regulator to obtain a d-axis reference voltage
Reference the q-axis current
And d-axis current i q The difference value is input into a PI regulator to obtain a d-axis reference voltage
S2, the d-axis reference voltage is converted into a reference voltage
And q-axis reference voltage
Obtaining alpha-axis voltage u through coordinate transformation α And beta axis voltage u β (ii) a The alpha axis voltage u is measured α And beta axis voltage u β Inputting into SVPWM sine pulse modulation module, and outputting duty ratio signal S via SVPWM sine pulse modulation module a 、S b 、S c Then the duty ratio signal S a 、S b 、S c The input inverter controls the on and off of the inverter to drive the permanent magnet synchronous motor;
s3, obtaining alpha-axis current i by coordinate transformation of the collected a, b and c three-phase currents α And beta axis current i β And applying the alpha axis current i α And beta axis current i β And alpha axis voltage u α And beta axis voltage u β Establishing a proportion resonance-based supercoil sliding-mode observer serving as an input signal, wherein the proportion resonance-based supercoil sliding-mode observer is based on a supercoil algorithmA sign function sign in a sliding mode control function of the sliding mode observer is obtained by replacing a proportional resonant controller PR;
s4, establishing a back electromotive force observer, and controlling a sliding mode control function z of the supercoiled sliding mode observer based on the proportional resonance α And z β Inputting a back emf observer to obtain an estimated back emf
And
s5, estimating the counter electromotive force
And
and calculating the rotating speed and the rotor position angle of the permanent magnet synchronous motor by an arc tangent function method so as to realize the control of the permanent magnet synchronous motor.
Optionally, the function expression of the supercoiled sliding-mode observer based on the proportional resonance, which is established in step S3, is as follows:
in the above-mentioned formula, the compound has the following structure,
and
is a current observed value under a two-phase static coordinate system, R is the stator resistance of the permanent magnet synchronous motor, and L d And L q Respectively a d-axis inductor and a q-axis inductor of the permanent magnet synchronous motor,
estimated electrical angular velocity, u, for a permanent magnet synchronous machine α And u β Stator voltages, k, in a two-phase stationary frame 1 And k 2 Is the sliding mode coefficient, i α And i β The current value is the current value under the two-phase static coordinate system,
and
h represents the proportional resonant controller PR,
t represents time, G PR Representing the transfer function of the proportional resonant controller PR.
Optionally, the sliding-mode control function z of the superspiral sliding-mode observer based on proportional resonance in step S3 α And z β The functional expression of (a) is:
in the above formula, k 1 And k 2 Is a coefficient of a sliding mode,
and
h represents the proportional resonant controller PR, which is the current error in the two-phase stationary coordinate system,
t represents time, G PR Representing the transfer function of the proportional resonant controller PR.
Optionally, the transfer function of the proportional resonant controller PR is:
in the above formula, G PR (s) is the transfer function of the proportional resonant controller PR, k p Is a proportionality coefficient, k r Is the resonance coefficient, omega 0 To the resonant frequency, ω c For the cut-off frequency, s is the complex variable in the transfer function.
Optionally, the functional expression of the back emf observer established in step S4 is:
in the above formula, the first and second carbon atoms are,
and
respectively, for the estimation of the back-emf,
for the estimated electrical angular velocity of the permanent magnet synchronous machine, l is the gain of the back-emf observer
Optionally, the gain of the back emf observer is an adaptive observer gain, i.e. l = k ω e Where k is a constant coefficient, ω e Is the electrical angular velocity of the permanent magnet synchronous motor.
Optionally, the calculation function expression of the rotation speed and the rotor position angle of the permanent magnet synchronous motor in step S5 is as follows:
in the above-mentioned formula, the compound has the following structure,
is the rotor position angle and t is time.
In addition, the invention also provides a position sensorless control system of the permanent magnet synchronous motor, which comprises a microprocessor and a memory which are connected with each other, wherein the microprocessor is programmed or configured to execute the steps of the position sensorless control method of the permanent magnet synchronous motor.
Furthermore, the present invention also provides a computer-readable storage medium, in which a computer program is stored, the computer program being programmed or configured by a microprocessor to perform the steps of the permanent magnet synchronous motor position sensorless control method.
Compared with the prior art, the invention mainly has the following advantages: the position sensorless control method of the permanent magnet synchronous motor adopts the improved sliding mode observer based on the supercoiling algorithm, the sign function sign in the sliding mode control function of the sliding mode observer based on the supercoiling algorithm is obtained by replacing the proportional resonance controller PR, the buffeting can be reduced by utilizing the continuity of the proportional resonance controller PR, the counter potential observer is established, the counter potential harmonic component can be effectively inhibited, the position error is reduced, and the estimation accuracy of the rotor position is improved.
Drawings
FIG. 1 is a control schematic diagram of a sliding mode observer (STA-SMO) based on a supercoiling algorithm.
FIG. 2 is a schematic diagram of a basic flow of a method according to an embodiment of the present invention.
Fig. 3 is a control schematic diagram of an improved STA-SMO in an embodiment of the present invention.
Fig. 4 is a bode diagram of the proportional resonant controller PR in the embodiment of the present invention.
Detailed Description
As shown in fig. 2, the method for controlling a permanent magnet synchronous motor without a position sensor in this embodiment includes:
s1, according to the given angular velocity, adjusting the angular velocity through a PI (proportional integral) regulator
And estimating angular velocity
The difference value of (A) is obtained as a q-axis reference current
d-axis reference current
Is 0; collecting three-phase currents of a, b and c, and obtaining d-axis current i through coordinate transformation d And q-axis current i q (ii) a Reference d-axis current
And d-axis current i d The difference value is input into a PI regulator to obtain a d-axis reference voltage
Reference q-axis current
And d-axis current i q The difference value is input into a PI regulator to obtain a d-axis reference voltage
S2, reference voltage of d axis
And q-axis reference voltage
Obtaining alpha-axis voltage u through coordinate transformation α And beta axis voltage u β (ii) a A voltage u of an alpha axis α And beta axis voltage u β Inputting SVPWM sine pulseA modulation module for outputting duty ratio signal S via SVPWM sinusoidal pulse modulation module a 、S b 、S c Then the duty ratio signal S a 、S b 、S c The input inverter controls the on and off of the inverter to drive the permanent magnet synchronous motor;
s3, obtaining alpha-axis current i by coordinate transformation of the collected a, b and c three-phase currents α And beta axis current i β And applying the alpha axis current i α And beta axis current i β And alpha axis voltage u α And beta axis voltage u β Establishing a supercoil sliding-mode observer based on proportional resonance as an input signal, wherein the supercoil sliding-mode observer based on proportional resonance is obtained by replacing a sign function sign in a sliding-mode control function of the sliding-mode observer based on a supercoil algorithm by using a proportional resonance controller PR;
s4, establishing a back-emf observer, and carrying out sliding mode control on a function z of the supercoiled sliding mode observer based on proportional resonance α And z β Inputting the back emf observer to obtain an estimated back emf
And
s5, estimating the counter electromotive force
And
and calculating the rotating speed and the rotor position angle of the permanent magnet synchronous motor by an arc tangent function method so as to realize the control of the permanent magnet synchronous motor.
The permanent magnet synchronous motor position sensorless control method establishes an improved sliding mode observer (improved STA-SMO for short) based on a supercoiling algorithm, firstly, a sign function sign in a sliding mode control function of the sliding mode observer based on the supercoiling algorithm is replaced by a proportional resonance controller PR, and then proportional resonance-based sliding mode observer is obtainedA superspiral sliding-mode observer. Secondly, a counter potential observer is established, counter potential harmonics can be effectively inhibited, and estimated counter potential is obtained
And
the proportional resonance control PR is based on an internal model principle, has extremely high gain and no phase offset at a resonance frequency point, and can accurately track an alternating current signal when being applied to a closed-loop control system. And the counter potential observer can effectively inhibit counter potential harmonics and improve the position observation accuracy. In this embodiment, the function expression of the supercoiled sliding-mode observer based on the proportional resonance, which is established in step S3, is as follows:
in the above-mentioned formula, the compound has the following structure,
and
is a current observed value under a two-phase static coordinate system, R is the stator resistance of the permanent magnet synchronous motor, and L d And L q Are respectively a d-axis inductor and a q-axis inductor of the permanent magnet synchronous motor,
estimated electrical angular velocity, u, for a permanent magnet synchronous machine α And u β Stator voltages, k, in a two-phase stationary frame 1 And k 2 Is the sliding mode coefficient, i α And i β The current value under the two-phase static coordinate system,
and
h represents the proportional resonant controller PR,
t represents time, G PR Representing the transfer function of the proportional resonant controller PR.
In this embodiment, the sliding-mode control function z of the supercoiled sliding-mode observer based on the proportional resonance in step S3 α And z β The functional expression of (a) is:
in the above formula, k 1 And k 2 Is a coefficient of a sliding mode,
and
h represents the proportional resonant controller PR, which is the current error in the two-phase stationary coordinate system,
t represents time, G PR Representing the transfer function of the proportional resonant controller PR.
Fig. 4 shows controller bode plots of an ideal proportional resonant controller PR (ideal PR) and a quasi-proportional resonant controller PR (quasi PR), where the x-axis is frequency, the y-axis of the upper graph is amplitude, and the y-axis of the lower graph is phase angle. The ideal proportional resonant controller PR, though, has infinite gain and no phase shift at the resonant point. However, the bandwidth is narrow, and the gain outside the resonance frequency point will drop sharply, which is not favorable for system stability. When the proportional resonant controller PR is applied to a motor control system, the running frequency of a motor can be shifted due to the fluctuation of the rotating speed of the motor, and the proportional resonant controller PR can not effectively inhibit harmonic waves and can cause the dynamic response of the motor to be poor. Therefore, the quasi-proportional resonant controller PR is used herein instead of the ideal proportional resonant controller PR, and specifically, the transfer function of the proportional resonant controller PR (quasi-proportional resonant controller PR) is:
in the above formula, G PR (s) is the transfer function of the proportional resonant controller PR, k p Is a proportionality coefficient, k r Is the resonance coefficient, omega 0 To the resonant frequency, ω c Is the cut-off frequency. As can be seen from fig. 4, although the quasi-proportional resonant controller PR (quasi-PR) does not have infinite gain at the resonant frequency point but also has high gain, and the bandwidth at the resonant frequency point is widened, the dynamic performance of the system is improved. Compared with a sign function, the proportional resonant controller PR is a continuous function and can effectively reduce buffeting. In summary, the supercoiled sliding mode observer based on the proportional resonance in the embodiment can reduce buffeting and improve the position observation precision.
By adopting the existing STA-SMO method based on proportional resonance, buffeting can be effectively reduced. However, considering the non-linearity of the inverter, the magnetic flux space harmonic and other factors, the back electromotive force contains a large amount of harmonic waves, and the accuracy of the estimated rotating speed and position can be affected. In order to improve the accuracy of estimating the position angle, the present embodiment employs a back emf observer. The observer can extract the back emf signal, eliminating harmonic components in the back emf. The expression of the back-emf is:
on the basis of equation (13), the present embodiment constructs a back emf observer, and specifically, the functional expression of the back emf observer established in step S4 of the present embodiment is:
in the above-mentioned formula, the compound has the following structure,
and
respectively, for the estimation of the back-emf,
the method is characterized in that the method is used for estimating the electrical angular velocity of the permanent magnet synchronous motor, and l is the gain of a counter electromotive force observer, and the observer can effectively filter harmonic components in the counter electromotive force and improve the position observation precision.
As a preferred implementation, the gain l of the back emf observer in this embodiment is an adaptive observer gain, that is:
l＝kω e ，(15)
in this embodiment, the expression of the calculation function of the rotational speed and the rotor position angle of the permanent magnet synchronous motor in step S5 is as shown in formula (9).
As shown in fig. 3, the improved sliding mode observer based on the supercoiled algorithm (improved STA-SMO) in this embodiment improves the method of the sliding mode observer based on the supercoiled algorithm (STA-SMO): firstly, a sign function sign in a sliding mode control function of the STA-SMO is replaced by a proportional resonant controller PR, so that buffeting can be effectively reduced; secondly, considering the adverse effect of counter potential harmonics on the position observer, establishing a counter potential observer for inhibiting the counter potential harmonics and obtaining the filtered estimated counter potential
And
and finally, calculating the rotating speed and the rotor position angle of the permanent magnet synchronous motor by adopting an arc tangent function method shown in the formula (9) so as to realize the control of the permanent magnet synchronous motor. By improving in two aspects, compared with the traditionalCompared with the STA-SMO control method, the STA-SMO method improved by the embodiment can reduce buffeting, effectively inhibit counter electromotive force harmonic components, reduce position errors and improve the estimation accuracy of the rotor position.
In addition, the present embodiment also provides a position sensorless control system of a permanent magnet synchronous motor, which includes a microprocessor and a memory connected to each other, wherein the microprocessor is programmed or configured to execute the steps of the position sensorless control method of the permanent magnet synchronous motor.
Furthermore, the present embodiment also provides a computer-readable storage medium, in which a computer program is stored, the computer program being programmed or configured by a microprocessor to perform the steps of the permanent magnet synchronous motor position sensorless control method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. A permanent magnet synchronous motor position sensorless control method is characterized by comprising the following steps:
s1, according to a given angular speed, a PI regulator
And estimating angular velocity
Obtaining a q-axis reference current from the difference
d-axis reference current
Is 0; collecting three-phase currents of a, b and c, and obtaining d-axis current i through coordinate transformation d And q-axis current i q (ii) a Will be provided withThe d-axis reference current
And d-axis current i d The difference value is input into a PI regulator to obtain a d-axis reference voltage
Reference the q-axis current
And d-axis current i q The difference value is input into a PI regulator to obtain a d-axis reference voltage
S2, the d-axis reference voltage is converted into a reference voltage
And q-axis reference voltage
Obtaining alpha-axis voltage u through coordinate transformation α And beta axis voltage u β (ii) a Applying the alpha axis voltage u α And beta axis voltage u β Inputting into SVPWM sine pulse modulation module, outputting duty ratio signal S via SVPWM sine pulse modulation module a 、S b 、S c Then the duty ratio signal S a 、S b 、S c The input inverter controls the on and off of the inverter to drive the permanent magnet synchronous motor;
s3, obtaining alpha-axis current i by coordinate transformation of the collected a, b and c three-phase currents α And beta axis current i β And applying the alpha axis current i α And beta axis current i β And alpha axis voltage u α And beta axis voltage u β Establishing a proportion resonance-based supercoil sliding-mode observer as an input signal, wherein the proportion resonance-based supercoil sliding-mode observer is a symbolic function in a sliding-mode control function of the sliding-mode observer based on a supercoil algorithmsign is obtained by replacing a proportional resonant controller PR;
s4, establishing a back-emf observer, and carrying out sliding mode control on a z control function of the superspiral sliding mode observer based on the proportional resonance α And z β Inputting the back emf observer to obtain an estimated back emf
And
s5, estimating the counter electromotive force
And
and calculating the rotating speed and the rotor position angle of the permanent magnet synchronous motor by an arc tangent function method so as to realize the control of the permanent magnet synchronous motor.
2. The position sensorless control method of the permanent magnet synchronous motor according to claim 1, wherein the function expression of the proportional resonance-based supercoiled sliding mode observer established in step S3 is as follows:
in the above formula, the first and second carbon atoms are,
and
is a current observed value under a two-phase static coordinate system, R is the stator resistance of the permanent magnet synchronous motor, and L d And L q Respectively a d-axis inductor and a q-axis inductor of the permanent magnet synchronous motor,
estimated electrical angular velocity, u, for a permanent magnet synchronous machine α And u β Stator voltages, k, in a two-phase stationary coordinate system, respectively 1 And k 2 Is the sliding mode coefficient, i α And i β The current value is the current value under the two-phase static coordinate system,
and
h represents the proportional resonant controller PR,
t represents time, G PR Representing the transfer function of the proportional resonant controller PR.
3. The position sensorless control method of the permanent magnet synchronous motor according to claim 2, wherein the sliding mode control function z of the proportional resonance-based supercoiled sliding mode observer in step S3 α And z β The functional expression of (a) is:
in the above formula, k 1 And k 2 Is a coefficient of a sliding mode,
and
h represents the proportional resonant controller PR as the current error in the two-phase stationary coordinate system,
t represents time, G PR Representing the transfer function of the proportional resonant controller PR.
4. A method for position sensorless control of a permanent magnet synchronous motor according to claim 3, characterized in that the transfer function of the proportional resonant controller PR is:
in the above formula, G PR (s) is the transfer function of the proportional resonant controller PR, k p Is a proportionality coefficient, k r Is a resonance coefficient, ω 0 Is the resonant frequency, omega c Is the cut-off frequency.
5. The permanent magnet synchronous motor position sensorless control method according to any one of claims 1 to 4, wherein the functional expression of the back emf observer established in step S4 is:
in the above-mentioned formula, the compound has the following structure,
and
respectively, the estimated back-emf is the,
is the estimated electrical angular velocity of the permanent magnet synchronous machine, l is the gain of the back emf observer.
6. The permanent magnet synchronous motor position sensorless control method according to claim 5, wherein the gain l of the back emf observer employs an adaptive observer gain.
7. The sensorless control method of a permanent magnet synchronous motor according to claim 6, wherein the functional expression of the adaptive observer gain is l = k ω e Where k is a constant coefficient, ω e Is the electrical angular velocity of the permanent magnet synchronous motor.
8. The position sensorless control method of a permanent magnet synchronous motor according to claim 1, wherein the calculation function expression of the rotation speed and the rotor position angle of the permanent magnet synchronous motor in step S5 is:
in the above formula, the first and second carbon atoms are,
is the rotor position angle and t is time.
9. A permanent magnet synchronous motor position sensorless control system comprising a microprocessor and a memory connected to each other, characterized in that the microprocessor is programmed or configured to perform the steps of the permanent magnet synchronous motor position sensorless control method according to any one of claims 1 to 8.
10. A computer-readable storage medium, in which a computer program is stored, characterized in that the computer program is adapted to be programmed or configured by a microprocessor to perform the steps of the permanent magnet synchronous motor position sensorless control method according to any one of claims 1 to 8.
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