CN115242154A - Self-adaptive smooth switching method for starting I-f to position sliding mode observer - Google Patents
Self-adaptive smooth switching method for starting I-f to position sliding mode observer Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
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- H02P25/022—Synchronous motors
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- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- 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
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Abstract
The invention discloses a self-adaptive smooth switching method for starting an I-f to position sliding mode observer, which comprises the following steps: 1) Establishing an I-f control system based on a dq axis coordinate system, and controlling the rotation of the permanent magnet synchronous motor by using the I-f control system; 2) Realizing the pre-positioning of the rotor and enabling the rotating speed of the rotor of the permanent magnet synchronous motor to reach the switching rotating speed; 3) Calculating the position of the rotor in real time by using a sliding-mode observer, estimating an angle by using the sliding-mode observer, and calculating an angle difference of I-f control; 4) Reducing the angle difference of I-f control until the open-loop shafting and the sliding mode estimated shafting are overlapped; 5) In the open-loop shafting andwhen the angle difference of the sliding mode shafting is 0 degree, the switching angle difference delta theta is removed I‑f And (3) controlling the permanent magnet synchronous motor to enter a position sensor-free closed-loop control state. The invention can realize the switching from I-f to the sliding mode observer under different starting loads.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a self-adaptive smooth switching method from I-f starting to a position sliding mode observer.
Background
The permanent magnet synchronous motor has the advantages of high power density, high reliability and the like, and is widely applied to the industrial fields such as new energy automobiles, aerospace and the like.
In the control of the permanent magnet synchronous motor, the vector control has excellent control performance. In the design of a vector control system, rotation speed information needs to be acquired for rotation speed closed-loop control, and rotor position information needs to be acquired for coordinate transformation, which depend on a position sensor. In order to reduce the cost and the volume of the system and improve the environmental adaptability of the system, the position of the rotor can be estimated by a position-sensorless control algorithm by utilizing current and voltage signals, so that a position sensor is replaced. Aiming at a permanent magnet synchronous motor running at medium and high speed, the position of a rotor is estimated mainly according to a motor model, wherein the sliding mode observer is widely applied due to the characteristics of high robustness and insensitivity to motor parameter change.
The sliding-mode observer mainly obtains extended back electromotive force containing rotating speed information by constructing a sliding-mode surface, but the extended back electromotive force is small at low speed, so that the position of a motor rotor cannot be effectively observed. Therefore, the rotating speed needs to be increased to the rotating speed at which the sliding mode observer normally works, namely the switching rotating speed, by adopting an I-f control method in the low-speed stage. At present, due to the I-f open loop control and the power angle change caused by uncertain load in the switching process, the problems of rotating speed fluctuation, even switching failure, poor load adaptability, load debugging and the like can occur when the I-f is switched to the sliding mode.
The currently used methods are mainly a direct switching method and a weighting coefficient transition method. In the direct switching method, when the load is no load or light load, the angle difference is large, the state change before and after switching is large, the current can be changed violently to cause large torque and rotating speed fluctuation, and the risk of switching failure exists. In the weighting coefficient transition method, the complexity and complexity of debugging can be increased due to the difference and uncertainty of the setting of the weighting coefficient, and meanwhile, the change of a power factor angle in the transition process can cause the inconsistency of the states before and after switching and certain current mutation can occur. The two methods have obvious defects and have certain risk of switching failure.
Disclosure of Invention
The invention aims to provide a self-adaptive smooth switching method for starting an I-f to a position sliding-mode observer, which comprises the following steps of:
1) Establishing an I-f control system based on a dq axis coordinate system, and controlling the permanent magnet synchronous motor to rotate by using the I-f control system;
the step of controlling the rotation of the motor using the I-f control system includes:
1.1 Collecting A-phase stator current i A B-phase stator current i B And C-phase stator current i C And performing Clark transformation to obtain alpha-axis current i under an alpha-beta static two-phase coordinate axis system α And beta axis current i β ；
1.2 For α axis current i) α And beta axis current i β Carrying out Park conversion to obtain d-axis current i under dq rotation coordinate shafting d And q-axis current i q ；
The Park transformation is as follows:
in the formula, theta i ＝∫ω * dt-pi/2 is the angle. Omega * Is an open-loop speed reference value.
1.3 Setting d-axis current set value i d_ref Obtaining the speed feedback value omega of the permanent magnet synchronous motor for zero est Sum velocity set point ω ref And calculating by a PID controller to obtain a given value i of the q-axis current q_ref ；
1.4 Based on d-axis current set value i d_ref Q-axis current given value i q_ref D axis current i d And q-axis current i q D-axis output voltage U is calculated by utilizing a PID controller d_Pidout And q-axis output voltage U q_Pidout ；
1.5 To d-axis output voltage U d_Pidout And q-axis output voltage U q_Pidout Performing inverse Park conversion, and calculating through an SVPWM module to obtain a switching signal of the power device;
1.6 To apply the switching signal of the power device to the three-phase inverter circuit, thereby controlling the rotation of the permanent magnet synchronous motor.
2) Realizing the pre-positioning of the rotor, and enabling the rotating speed of the rotor of the permanent magnet synchronous motor to reach the switching rotating speed;
the method for realizing the pre-positioning of the rotor comprises a six-step positioning method.
The step of achieving pre-positioning of the rotor comprises: six basic voltage vectors with preset amplitudes are sequentially generated at regular time according to the rotation direction of the motor, the switching state of the inverter corresponding to the last basic voltage vector is (1, 0), and the stator magnetomotive force generated by the motor is in the A-axis direction of a three-phase static coordinate system, namely the d-axis of the rotor is at the 0-degree position.
In step 2), after pre-positioning of the rotor is realized, the q-axis current i of the permanent magnet synchronous motor q_ref The direction of the generated magnetic field is aligned with the actual d axis of the motor rotor, and the magnetic field generated by the stator starts to rotate and drags the rotor to move until the rotating speed of the rotor movement reaches the switching rotating speed.
3) Calculating the position of the rotor and the estimated angle of the sliding-mode observer in real time by using the sliding-mode observer, and calculating the angle difference between the estimated angle and the I-f control angle;
the method comprises the following steps of utilizing a sliding-mode observer to calculate the position of a rotor in real time, estimating an angle of the sliding-mode observer, and calculating the angle difference between the estimated angle and an I-f control angle:
3.1 A α -axis current i in the stationary two-phase coordinate axis of α β α Beta axis current i β Alpha axis voltage u α Beta axis voltage u β Inputting the current into a sliding-mode observer, and iteratively outputting an alpha-axis current observed value of the stator
Stator beta axis current observed value
3.2 Respectively calculate the observed values of the stator alpha axis currents
And alpha axis current i α Error of (1), stator beta axis current observed value
And beta axis current i β Thereby obtaining a discrete high frequency switching signal v α And a high frequency switching signal v β ；
3.3 For high-frequency switching signals v) using a first-order low-pass filter α And a high frequency switching signal v β Filtering to obtain expanded back electromotive force with position information
And expanding the counter electromotive force
Namely:
in the formula, ω c Is the cut-off frequency; s is the complex frequency;
3.4 Pair of extended counter electromotive forces
And expanding the counter electromotive force
Normalization processing is carried out, and the phase-locked loop is utilized to carry out the expansion back electromotive force after the normalization processing
And expanding the counter electromotive force
Calculating to obtain the estimated angle of the sliding-mode observer
Namely:
in the formula, k PLL_p And k PLL_i Respectively representing a proportional coefficient and an integral coefficient in a phase-locked loop proportional integral algorithm, wherein 1/s represents a continuous integral link in a frequency domain;
3.5 Estimate angle to sliding-mode observer
And open loop set angle theta of I-f control system I-f Making a difference to obtain an angle difference of I-f control
The sliding-mode observer is as follows:
in the form of matrix
L d 、L q D-axis and q-axis inductances, respectively; omega e And R represents an electrical angular velocity and a resistance, respectively;
wherein, the sliding mode control rate V α Sliding mode control rate V β Respectively as follows:
in the formula, k is a sliding mode gain.
4) Reducing the angle difference of I-f control until the open-loop shafting and the sliding mode estimated shafting are superposed;
the step of reducing the angle difference of I-f control until the open-loop shafting and the sliding mode estimated shafting are coincident comprises the following steps:
4.1 Calculates a switching angle difference Δ θ I-f_init And used as the initial value of the variable; wherein the switching angle difference Delta theta I-f_init As follows:
4.2 Calculate the current actual q-axis current value i q Namely:
in the formula (I), the compound is shown in the specification,
is a reference current;
4.3 Current actual q-axis current value i) q Providing the output to a speed ring PI controller as initial output, and immediately accessing to a rotating speed ring PI controller to ensure that the rotating speed of the motor is stable; the position used for coordinate transformation in equation (1) is the estimated rotor position and the switching angle difference Δ θ I-f_init Summing, thereby ensuring that no angle jump exists at the switching instant;
4) Active control of the angular difference Δ θ using a switching angle controller I-f (t) is gradually decreased to open the loop d * -q * The shafting is close to the d-q shafting until the shafting is superposed;
at an angular difference Δ θ I-f When changed, the q-axis current reference value is updated as follows:
the switching angle controller is as follows:
in the formula k t Is the angle transition coefficient, k ω As coefficient of rotation speed fluctuation, t 0 To enter the initial moment of this phase, Δ ω e And (t) is a real-time fluctuation value of the rotating speed.
5) When the angle difference between the open-loop shafting and the sliding-mode shafting is 0 degree, the switching angle difference delta theta is removed I-f And (3) controlling the permanent magnet synchronous motor to enter a position sensor-free closed-loop control state.
The technical effect of the present invention is needless to say that the present invention provides an adaptive smooth switching method, by which the electromagnetic torque of the motor can be continuously controlled in the switching process, and smooth and stable transition from open-loop control to closed-loop control under different loads is realized.
The method realizes smooth and stable transition from open-loop control to closed-loop control under different load conditions by keeping the effective electromagnetic torque constant in the switching process. The method can solve the problem of smooth switching from I-f to the sliding mode observer.
The method can realize the switching from I-f to the sliding-mode observer under different starting loads;
the method keeps the electromagnetic torque of the motor unchanged in the switching process, so that the rotating speed and the current of the motor cannot change suddenly in the switching process, and the switching reliability and stability are improved.
Drawings
FIG. 1 is a block diagram of a method for adaptive smooth switching from I-f open-loop control to a sliding-mode observer;
FIG. 2 is a schematic diagram of a six-step pre-positioning process;
FIG. 3 is a schematic diagram illustrating the relative position change of the stator and the rotor during the I-f control process;
FIG. 4 is a block diagram of an I-f control system;
fig. 5 (a) - (c) are schematic diagrams of control processes of an open-loop tracking phase, an adaptive transition phase and a closed-loop control phase in the adaptive closed-loop switching algorithm.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and modifications can be made without departing from the technical idea of the invention and the scope of the invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1-5, an adaptive smooth switching method of I-f launch to a position sliding mode observer, comprising the steps of:
1) Establishing an I-f control system based on a dq axis coordinate system, and controlling the rotation of the permanent magnet synchronous motor by using the I-f control system;
the step of controlling the rotation of the motor using the I-f control system includes:
1.1 Collecting A-phase stator current i A B-phase stator current i B And C-phase stator current i C And performing Clark transformation to obtain alpha-axis current i under an alpha-beta static two-phase coordinate axis system α And beta axis current i β ；
1.2 For α axis current i) α And beta axis current i β Carrying out Park conversion to obtain d-axis current i under dq rotation coordinate shafting d And q-axis current i q ；
The Park transformation is as follows:
in the formula, theta i ＝∫ω * dt-pi/2 is the angle. Omega * Is an open loop speed reference value.
1.3 Setting d-axis current set value i d_ref Obtaining the speed feedback value omega of the permanent magnet synchronous motor for zero est Sum velocity set point ω ref And calculating by a PID controller to obtain a given value i of the q-axis current q_ref ；
1.4 Based on d-axis current set value i d_ref Q-axis current given value i q_ref D axis current i d And q-axis current i q D-axis output voltage U is calculated by utilizing a PID controller d_Pidout And q-axis output voltage U q_Pidout ；
1.5 To d-axis output voltage U d_Pidout And q-axis output voltage U q_Pidout Performing inverse Park conversion, and calculating through an SVPWM module to obtain a switching signal of the power device;
1.6 To apply the switching signal of the power device to the three-phase inverter circuit, thereby controlling the rotation of the permanent magnet synchronous motor.
2) Realizing the pre-positioning of the rotor and enabling the rotating speed of the rotor of the permanent magnet synchronous motor to reach the switching rotating speed;
the method for realizing the pre-positioning of the rotor comprises a six-step positioning method.
The step of achieving pre-positioning of the rotor comprises: six basic voltage vectors with preset amplitudes are sequentially generated at regular time according to the rotation direction of the motor, the switching state of the inverter corresponding to the last basic voltage vector is (1, 0), and the stator magnetomotive force generated by the motor is in the A-axis direction of a three-phase static coordinate system, namely the d-axis of the rotor is at the 0-degree position.
In step 2), after pre-positioning of the rotor is realized, the q-axis current i of the permanent magnet synchronous motor q_ref The direction of the generated magnetic field is aligned with the actual d axis of the motor rotor, and the magnetic field generated by the stator starts to rotate and drags the rotor to move until the rotating speed of the rotor movement reaches the switching rotating speed.
3) Calculating the position of the rotor and the estimated angle of the sliding-mode observer in real time by using the sliding-mode observer, and calculating the angle difference between the estimated angle and the I-f control angle;
the method comprises the following steps of utilizing a sliding-mode observer to calculate the position of a rotor in real time, estimating an angle of the sliding-mode observer, and calculating the angle difference between the estimated angle and an I-f control angle:
3.1 A) the alpha-axis current i under the stationary two-phase coordinate axis system of alpha beta α Beta axis current i β Alpha axis voltage u α Beta axis voltage u β Inputting the obtained value into a sliding-mode observer, and iteratively outputting a stator alpha-axis current observed value
Observed value of stator beta axis current
3.2 Respectively calculate stator α -axis current observed values
And alpha axis current i α Error of (2), stator beta axis current observed value
And beta axis current i β Thereby obtaining a discrete high frequency switching signal v α And a high frequency switching signal v β ；
3.3 For high-frequency switching signals v) using a first-order low-pass filter α And a high frequency switching signal v β Filtering to obtain expanded back electromotive force with position information
And expanding the counter electromotive force
Namely:
in the formula, omega c Is the cut-off frequency; s is the complex frequency;
3.4 Pair of extended counter electromotive forces
And expanding the counter electromotive force
Normalization processing is carried out, and the phase-locked loop is utilized to expand the back electromotive force after normalization processing
And expanding the counter electromotive force
Calculating to obtain the estimated angle of the sliding-mode observer
Namely:
in the formula, k PLL_p And k PLL_i Respectively a proportional coefficient and an integral coefficient in a proportional-integral algorithm of the phase-locked loop, wherein 1/s represents a continuous integral link in a frequency domain;
3.5 Estimated angle to sliding-mode observer
And open loop set angle theta of I-f control system I-f Making a difference to obtain an angle difference of I-f control
The sliding-mode observer is as follows:
in the form of matrix
L d 、L q D-axis and q-axis inductances, respectively; omega e And R represents an electrical angular velocity and a resistance, respectively;
wherein, the sliding mode control rate V α Sliding mode control rate V β Respectively as follows:
in the formula, k is a sliding mode gain.
4) Reducing the angle difference of I-f control until the open-loop shafting and the sliding mode estimated shafting are overlapped;
the step of reducing the angle difference of I-f control until the open-loop shafting and the sliding mode estimated shafting are coincident comprises the following steps:
4.1 Calculates a switching angle difference Δ θ I-f_init And used as the initial value of the variable; wherein the switching angle difference Delta theta I-f_init As follows:
4.2 Calculate the current actual q-axis current value i q Namely:
in the formula (I), the compound is shown in the specification,
is a reference current;
4.3 Current actual q-axis current value i) q Providing the output to a speed ring PI controller as initial output, and immediately accessing to a rotating speed ring PI controller to ensure that the rotating speed of the motor is stable; the position used for coordinate transformation in equation (1) is the estimated rotor positionThe sum of the angle difference of the I-f, thereby ensuring that no angle mutation exists at the switching moment;
4) Active control of the switching angle difference Delta theta by means of a switching angle controller I-f Is gradually decreased to open loop d * -q * The shafting is close to the d-q shafting until the shafting is superposed;
at a switching angle difference Δ θ I-f When changed, the q-axis current reference value is updated as follows:
the switching angle controller is as follows:
in the formula k t Is the angle transition coefficient, k ω As coefficient of rotation speed fluctuation, t 0 To enter the initial moment of this phase, Δ ω e And (t) is a real-time fluctuation value of the rotating speed.
5) When the angle difference between the open-loop shafting and the sliding-mode shafting is 0 degree, the switching angle difference delta theta is removed I-f And (3) controlling the permanent magnet synchronous motor to enter a position sensor-free closed-loop control state.
Example 2:
an adaptive smooth switching method of an I-f starting-to-position sliding-mode observer comprises the following steps:
1) Establishing an I-f control system based on a dq axis coordinate system, and controlling the permanent magnet synchronous motor to rotate by using the I-f control system;
2) Realizing the pre-positioning of the rotor and enabling the rotating speed of the rotor of the permanent magnet synchronous motor to reach the switching rotating speed;
3) Calculating the position of the rotor and the estimated angle of the sliding-mode observer in real time by using the sliding-mode observer, and calculating the angle difference between the estimated angle and the I-f control angle;
4) Reducing the angle difference of I-f control until the open-loop shafting and the sliding mode estimated shafting are overlapped;
5) In the open ring shaftWhen the angle difference between the system and the sliding mode shaft system is 0 degree, the switching angle difference delta theta is released I-f And (3) controlling the permanent magnet synchronous motor to enter a position sensor-free closed-loop control state.
Example 3:
an adaptive smooth switching method of an I-f starting to position sliding-mode observer, the main content of which is shown in embodiment 2, wherein the step of controlling the rotation of the motor by using the I-f control system comprises the following steps:
1) Collecting A-phase stator current i A B-phase stator current i B And C-phase stator current i C And performing Clark transformation to obtain alpha-axis current i under an alpha-beta static two-phase coordinate axis system α And beta axis current i β ；
2) For alpha axis current i α And beta axis current i β Performing Park conversion to obtain d-axis current i under dq rotation coordinate shafting d And q-axis current i q ；
3) Setting d-axis current given value i d_ref Obtaining the speed feedback value omega of the permanent magnet synchronous motor for zero est Given value of sum speed ω ref And calculating by a PID controller to obtain a q-axis current set value i q_ref ；
4) According to d-axis current given value i d_ref Q-axis current given value i q_ref D-axis current i d And q-axis current i q D-axis output voltage U is calculated by utilizing a PID controller d_Pidout And q-axis output voltage U q_Pidout ；
5) Output voltage U to d axis d_Pidout And q-axis output voltage U q_Pidout Performing inverse Park conversion, and calculating through an SVPWM module to obtain a switching signal of the power device;
6) And applying a switching signal of the power device to the three-phase inverter circuit so as to control the permanent magnet synchronous motor to rotate.
Example 4:
an adaptive smooth switching method for starting an I-f to a position sliding mode observer is mainly disclosed in an embodiment 2, wherein Park transformation is as follows:
in the formula, theta i ＝∫ω * dt-pi/2 is the angle.
Example 5:
a self-adaptive smooth switching method of an I-f starting-to-position sliding-mode observer is disclosed in embodiment 2, wherein the method for realizing the pre-positioning of a rotor comprises a six-step positioning method.
Example 6:
an adaptive smooth switching method for starting an I-f to a position sliding mode observer is mainly disclosed in embodiment 2, wherein the step of realizing pre-positioning of a rotor comprises the following steps: and sequentially generating six basic voltage vectors with preset amplitudes at regular time according to the rotation direction of the motor, so that the switching state of the inverter corresponding to the last basic voltage vector is (1, 0), the stator magnetomotive force generated by the motor is in the A-axis direction of the three-phase static coordinate system, and the linear distance between the position of the d-axis of the rotor and the origin of the coordinate is smaller than a preset distance threshold value.
Example 7:
a self-adaptive smooth switching method of an I-f starting-to-position sliding-mode observer is disclosed in an embodiment 2, wherein in the step 2), after pre-positioning of a rotor is realized, a q-axis current I of a permanent magnet synchronous motor q_ref The direction of the generated magnetic field is aligned with the actual d axis of the motor rotor, and the magnetic field generated by the stator starts to rotate and drags the rotor to move until the rotating speed of the rotor movement reaches the switching rotating speed.
Example 8:
the main contents of an adaptive smooth switching method for starting an I-f to a position sliding-mode observer are shown in an embodiment 2, wherein the steps of utilizing the sliding-mode observer to calculate the position of a rotor and the estimated angle of the sliding-mode observer in real time and calculating the angle difference between the estimated angle and the I-f control angle comprise the following steps:
1) The alpha axis current i under the alpha beta static two-phase coordinate axis system α Beta axis current i β Alpha axis voltage u α Beta axis voltage u β Inputting the obtained value into a sliding-mode observer, and iteratively outputting a stator alpha-axis current observed value
Stator beta axis current observed value
2) Respectively calculating the alpha-axis current observed values of the stator
And alpha axis current i α Error of (1), stator beta axis current observed value
And beta axis current i β Thereby obtaining a discrete high frequency switching signal v α And a high frequency switching signal v β ；
3) Switching high frequency signal v by first order low pass filter α And a high frequency switching signal v β Filtering to obtain expanded back electromotive force with position information
And expanding the counter electromotive force
Namely:
in the formula, ω c Is the cut-off frequency; s is the complex frequency;
4) For expanding counter electromotive force
And expanding the counter electromotive force
Normalization processing is carried out, and the phase-locked loop is utilized to carry out the expansion back electromotive force after the normalization processing
And expanding the counter electromotive force
Resolving to obtain the estimated angle of the sliding-mode observer
Namely:
in the formula, k PLL_p And k PLL_i Respectively representing a proportional coefficient and an integral coefficient in a phase-locked loop proportional integral algorithm, wherein 1/s represents a continuous integral link in a frequency domain;
5) Estimating angle of sliding-mode observer
And open loop set angle theta of I-f control system I-f Making a difference to obtain an angle difference of I-f control
Example 9:
an adaptive smooth switching method for starting an I-f to a position sliding mode observer is mainly disclosed in embodiment 2, wherein the sliding mode observer is as follows:
in the form of matrix
L d 、L q D-axis and q-axis inductances, respectively;
wherein, the sliding mode control rate V α Sliding mode control rate V β Respectively as follows:
example 10:
an adaptive smooth switching method for starting an I-f to a position sliding mode observer is mainly disclosed in an embodiment 2, wherein the step of reducing the angle difference of I-f control until an open-loop shafting and a sliding-mode estimated shafting are coincident comprises the following steps:
1) Calculating a switching angle difference Delta theta I-f_init And used as the initial value of the variable; wherein the switching angle difference Delta theta I-f (t 0 ) As follows:
2) Calculating the current actual q-axis current value i q Namely:
in the formula (I), the compound is shown in the specification,
is a reference current;
3) The current actual q-axis current value i is measured q The output is provided for a speed loop PI controller to be used as initial output and is immediately connected into a rotating speed loop PI controller so as to enable the motor to keep stable rotating speed; the position used by coordinate transformation is the sum of the estimated rotor position and the angle difference between I and f, so that the condition that the angle mutation does not exist at the switching moment is ensured;
4) Actively controlling the switching angle difference Delta theta by using a switching angle controller I-f Is gradually decreased to open loop d * -q * The shafting is close to the d-q shafting until the shafting is superposed;
at a switching angle difference Δ θ I-f When changed, the q-axis current reference value is updated as follows:
example 11:
an adaptive smooth switching method for starting an I-f to a position sliding mode observer is mainly disclosed in embodiment 2, wherein a switching angle controller is as follows:
in the formula k t Is the angle transition coefficient, k ω As coefficient of rotation speed fluctuation, t 0 To enter the initial moment of this phase, Δ ω e And (t) is a real-time fluctuation value of the rotating speed.
Example 12:
an adaptive smooth switching method of an I-f starting-to-position sliding-mode observer comprises the following steps:
(1) And establishing an I-f control system based on a dq axis coordinate system. The pre-positioning of the rotor is realized by adopting six-step positioning, and the rotor is dragged to be close to the position of 0 degree;
(2) An open loop tracking phase. Setting a proper reference current i according to the load and the working condition of the motor q* ，i d* =0, wherein the angle used for the coordinate transformation is given by open loop auto-increment.
(3) When the rotating speed of the motor reaches the rotating speed which can be operated by the sliding-mode observer, the sliding-mode observer starts to stably operate and calculates the position of the rotor and the estimated angle of the sliding-mode observer and the angle difference between the estimated angle of the sliding-mode observer and the I-f control in real time.
(4) And under the control of I-f, when the rotating speed of the motor reaches the switching rotating speed, the self-adaptive transition state is entered. The given of the current loop is changed into the output of the speed loop, and the angle of the coordinate transformation is the sum of the sliding mode estimation angle and the I-f angle difference. And continuously reducing the angle difference until the open-loop shafting and the estimated shafting of the sliding mode are superposed, and keeping the electromagnetic torque constant in the process.
(5) When the angle difference between the open-loop shafting and the sliding-mode shafting is 0 degree, the coordinate transformation angle can be completely provided by the sliding-mode angle, the angle difference is removed from the estimation angle, and the system completely enters a position-sensor-free closed-loop control state.
The specific implementation method of the step (1) comprises the following steps:
firstly, collecting the A-phase stator current i A B-phase stator current i B And C-phase stator current i C Obtaining alpha axis current i under alpha beta static two-phase coordinate shafting through Clark transformation α And beta axis current i β . Current i α And current i β D-axis current i under dq rotation coordinate shafting is obtained through Park conversion d And q-axis current i q . Wherein the angle signal of Park coordinate transformation is calculated by the reference value of open loop rotating speed.
Then, q-axis current gives i q_ref D-axis current given i d_ref Is zero. According to the current setting and the current feedback, the d-axis output can be obtained as U through the PID controller d_Pidout And q-axis output is U q_Pidout . And switching signals of each power device can be obtained through inverse Park conversion and SVPWM, and the switching signals are applied to the three-phase inverter circuit to control the motor to rotate.
Finally, before the motor starts to rotate, the rotor needs to be pre-positioned by adopting a six-step positioning method, namely, six basic voltage vectors with preset amplitudes are sequentially generated at regular time according to the rotation direction of the motor, the switching state of the inverter corresponding to the last basic voltage vector is (1, 0), the stator magnetomotive force generated by the motor is in the A-axis direction of a three-phase static coordinate system, and the d-axis of the rotor is gradually dragged to be close to the position of 0 degrees.
The specific implementation method of the step (2) is as follows:
stator current i after positioning q_ref The direction of the generated magnetic field is aligned with the actual d axis of the motor rotor, angle signals of Park conversion and reverse Park conversion start to change according to a rotating speed reference value curve, and the magnetic field generated by the stator starts to rotate and drag the rotor to move until the rotating speed of the rotor reaches the switching rotating speed.
The specific implementation method of the step (3) is as follows:
in the process of the step (2), when the rotating speed reaches the set rotating speed at which the sliding mode observer can stably observe the rotor angle, the sliding mode observer starts to calculate the rotor angle of the motor in real time.
Converting the alpha beta axis current i of the step (2) α 、i β And α β axis voltage u α 、u β Iteratively outputting the observed value of the stator current in a sliding-mode observer
Obtaining discontinuous high-frequency switching signal v according to error of observed value and actual value α And v β Obtaining extended back electromotive force containing position information through a first-order low-pass filter
And
the influence of motor parameters is eliminated through normalization processing, the electric angular speed of the permanent magnet synchronous motor is preliminarily obtained by utilizing a phase-locked loop, and the rotor angle can be obtained after integration.
After the angle of the sliding mode is obtained, the angle observed by the sliding mode and the angle difference delta theta acted in I-f control are calculated in real time I-f And (5) preparing for the step (4).
The specific implementation method of the step (4) is as follows:
first, when the rotational speed reaches the switching rotational speed under the I-f control, the calculated iq is supplied in advance to the speed loop PI controller as an initial output in order to keep the torque during the switching stable. And at the moment, the rotating speed loop PI controller is connected to enable the motor to keep stable rotating speed, and the position used by coordinate transformation is the sum of the estimated rotor position and the I-f angle difference, so that the condition that the angle mutation does not exist at the switching moment is ensured.
Secondly, the switching angle difference delta theta is actively controlled by a switching angle controller I-f And gradually reducing the axial length of the open ring d-q to make the axial length of the open ring d-q close to the axial length of the open ring d-q until the axial length of the open ring d-q coincides with the axial length of the open ring d-q.
At a switching angle difference Δ θ I-f And when the current is changed, in order to ensure the consistency of the torque control performance in the whole process, the q-axis current reference value is output by a rotating speed loop PI controller and is obtained by combining the calculation of the angle difference.Since q-axis current may need multiple control cycles to adjust to the changed reference value, in order to reserve enough current adjusting time, the switching angle controller is arranged to operate in the control cycle of the rotating speed loop, and the angle difference delta theta is adjusted in real time according to the detected rotating speed fluctuation I-f The expression of the angle difference controller based on the idea is as follows:
in the formula k t Is the angle transition coefficient, k ω As coefficient of rotation speed fluctuation, t 0 To enter the initial moment of this phase, Δ ω e And (t) is a real-time fluctuation value of the rotating speed. When the rotation speed fluctuation becomes large, the delta theta can be automatically slowed down I-f Varying to stabilize speed, increasing k t Can accelerate the angle transition process, and set k ω The degree of rotation speed fluctuation in the switching process can be controlled.
When step (5) is finished, delta theta I-f =0, the position used for the coordinate transformation having now been compared with the estimated rotor position
Similarly, the coordinate transformation angle can be completely provided by the sliding mode angle, the angle difference is removed from the estimation angle, and the system completely enters a position sensor-free closed-loop control state.
Example 13:
an adaptive smooth switching method of an I-f starting-to-position sliding-mode observer comprises the following steps:
step (1): establishing an I-f control system based on a dq axis coordinate system, realizing pre-positioning of a rotor by adopting six-step positioning, and dragging the rotor to be close to a 0-degree position;
firstly, the collected A-phase stator current i A B phase stator current i B And C-phase stator current i C Obtaining alpha axis current i under alpha beta static two-phase coordinate shafting through Clark transformation α And beta axis current i β . Current i α And current i β D-axis current i under dq rotation coordinate shafting is obtained through Park conversion d And q-axis current i q . Wherein the angle signal of Park coordinate transformation is calculated by the reference value of open loop rotating speed.
Then, the q-axis current gives i q_ref Setting according to the actual load condition, and setting the d-axis current to be i d_ref Is zero. According to the current setting and the current feedback, the d-axis output is U through the PID controller d_Pidout And q-axis output is U q_Pidout . And switching signals of each power device can be obtained through inverse Park conversion and SVPWM, and the switching signals are applied to the three-phase inverter circuit to control the motor to rotate.
The I-f control method is that the rotor is dragged to rotate by the rotating magnetic field generated by the stator. Since I-f is open loop control, positioning is required before starting rotation in order to reliably drag the rotor to rotate. The rotor can be pre-positioned by adopting a six-step positioning method, namely, six basic voltage vectors with preset amplitudes are sequentially generated at regular time according to the rotation direction of the motor. The directions of the six voltage vectors in the present invention are 0 °, 60 °, 120 °, 180 °, 240 ° and 300 °, respectively, as shown by the yellow voltage vector in fig. 2. The inverter switch state corresponding to the last voltage vector by adopting the method is (1, 0), and the stator magnetomotive force generated by the motor is in the A-axis direction of the three-phase static coordinate system. That is, regardless of the rotor distance from the phase a winding before start-up, the rotor d-axis is gradually dragged to near the 0 ° position (the rotor d-axis is near the stator phase a winding) before I-f starts rotating, as shown in fig. 2.
Step (2): an open loop tracking phase. And setting a proper reference current iq, id =0 according to the load and the working condition of the motor, wherein the angle used for coordinate transformation is given by open loop self-increment.
And (3) through the six-step positioning in the step (1), the direction of a magnetic field generated by the stator current is basically aligned with the actual d axis of the motor rotor. Due to the power angle, the electromagnetic torque is zero when the stator and rotor magnetic fields are aligned. Along with the rotation of the stator magnetic field, a certain angle is generated between the stator magnetic field and the rotor magnetic field, the electromagnetic torque is gradually increased, and the rotor of the motor starts to rotate and increase the speed until the electromagnetic torque is larger than the load torque. The process of rotor position change during I-f start-up is shown in fig. 3. When the motor reaches a steady state, the stator magnetic field and the rotor magnetic field maintain a constant angular difference.
In the I-f control, the angle of the controller is open loop control, the position signal used in the coordinate transformation process is calculated by an open loop rotating speed reference value, and the calculation formula is as follows:
θ i ＝∫ω * dt-π/2
the I-f open loop control block diagram is shown in fig. 4. When the rotational speed is stabilized, i q* The projection component of the d axis in the synchronous d-q coordinate system only generates the magnetizing action, and the projection component of the q axis is used for generating electromagnetic torque, and for the surface-mounted PMSM, the electromagnetic torque can be expressed as follows:
and (3): and when the rotating speed of the motor reaches the rotating speed at which the sliding mode observer can operate, the sliding mode observer starts to stably operate and calculates the position of the rotor and the angle difference between the estimated angle of the sliding mode observer and the I-f control angle in real time.
Firstly, a sliding mode observer is constructed according to a voltage equation of the permanent magnet synchronous motor in a static coordinate system. Converting the alpha beta axis current i of the step (2) α 、i β And α β axis voltage u α 、u β Iteratively outputting the observed value of the stator current in a sliding-mode observer
The sliding-mode observer is designed as follows:
wherein:
the design sliding mode control rate is as follows:
then, a discontinuous high-frequency switching signal v is obtained according to the error of the observed value and the actual value α And v β Obtaining extended back electromotive force containing position information through a first-order low-pass filter
And
wherein ω is c Is the cut-off frequency.
And finally, eliminating the influence of motor parameters through normalization processing, preliminarily obtaining the electrical angular velocity of the permanent magnet synchronous motor by utilizing a phase-locked loop, and obtaining the rotor angle after integration. After being filtered, the electrical angular velocity is
And (3) substituting the feedforward terms of the d axis and the q axis in the step (1) for calculating.
The normalization method comprises the following steps:
the phase-locked loop method comprises the following steps:
in the formula (I), the compound is shown in the specification,
estimated electrical angle, k, for a phase-locked loop PLL_p And k PLL_i Respectively is a proportional coefficient and an integral coefficient in a phase-locked loop proportional integral algorithm, and 1/s represents a continuous integral link in a frequency domain. The electric angular velocity is obtained before the integral link
Dividing the number of pole pairs to obtain the rotating speed of the motor rotor. The real-time calculated angle difference is:
and (4): and under the control of I-f, when the rotating speed of the motor reaches the switching rotating speed, the self-adaptive transition state is entered. The given of the current loop is changed into the output of the speed loop, and the angle of the coordinate transformation is the sum of the sliding mode estimation angle and the I-f angle difference. And continuously reducing the angle difference until the open-loop shafting and the estimated shafting of the sliding mode are overlapped, and keeping the electromagnetic torque constant in the process.
When the motor runs to the switching rotating speed through I-f control, setting an angle theta according to the current open loop I-f And rotor position theta e Calculating a switching angle difference and storing the switching angle difference as an initial variable value:
the normal range of the switching angle difference is-90 DEG to 0 DEG, and the switching angle difference and the reference current i are utilized according to the position relation in figure 3 q* Calculating the current actual q-axis current value:
to keep the torque during the switching stable, i is calculated q The output is provided to a speed loop PI controller in advance to serve as initial output, a PI integrator is updated to prevent subsequent current from changing suddenly, and the self-adaptive transition stage is started after the process is completed.
The rotating speed loop PI controller is required to be connected in the transition stage to enable electricityThe machine keeps the rotation speed stable, and the position used by coordinate transformation is changed into the sum of the estimated rotor position and the difference of the switching angle
It is easy to see that the initial value of the angle at this time is equal to the given angle theta of the open loop in the previous stage I-f Identical, there is no abrupt change in angle.
Then actively controlling the switching angle difference delta theta through the switching angle controller I-f Is gradually decreased to open loop d * -q * The shafting is close to the d-q shafting until the shafting is superposed.
At a switching angle difference Δ θ I-f Q for ensuring torque control performance consistency during the whole process when changing * The shaft current reference value is obtained by combining the output of a rotating speed loop PI controller and the reverse calculation of an angle, namely:
due to q * The shaft current may need a plurality of control cycles to be adjusted to the changed reference value, so that in order to reserve enough current adjusting time, the switching angle controller is arranged to operate in a rotating speed ring control cycle, and the angle difference delta theta is adjusted in real time according to the detected rotating speed fluctuation I-f The reduction speed of (2) is based on the idea that the expression of the angle difference controller is as follows:
in the formula k t Is the angle transition coefficient, k ω As coefficient of rotation speed fluctuation, t 0 To enter the initial moment of this phase, Δ ω e And (t) is a real-time fluctuation value of the rotating speed. When the rotation speed fluctuation becomes large, the delta theta can be automatically slowed down I-f Varying to stabilize speed, increasing k t Can accelerate the angle transition process, and set k ω The degree of rotation speed fluctuation in the switching process can be controlled. The control structure at this stage is shown in FIG. 1 when the angle difference is switchedΔθ I-f After the value is reduced to 0, the closed-loop control phase is entered, and the schematic diagram of the transition process is shown in fig. 5.
And (5): when the angle difference between the open-loop shafting and the sliding-mode shafting is 0 degree, the coordinate transformation angle can be completely provided by the sliding-mode angle, the angle difference is removed from the estimation angle, and the system completely enters a position-sensor-free closed loop.
The position used by the coordinate transformation of step (4) has become the estimated rotor position
Same, so only the pair-switching angle difference Δ θ needs to be released I-f The system completely enters a position sensor-free closed-loop control state.
According to the process, the open loop angle and the estimated angle are connected through the controllable switching angle difference to avoid state mutation, the rotating speed is ensured to be stable by fully utilizing the rotating speed loop PI controller and adding the self-adaptive angle difference controller, and the rotating speed is ensured to be stable for q * The real-time correction of the shaft reference current effectively restrains the torque ripple, so that the algorithm can theoretically realize smooth and stable transition from an open loop to a closed loop under different load conditions.
Claims (10)
1. An adaptive smooth switching method for starting an I-f to a position sliding mode observer is characterized by comprising the following steps:
1) And establishing the I-f control system based on a d-q axis coordinate system, and controlling the rotation of the permanent magnet synchronous motor by using the I-f control system.
2) And pre-positioning of the rotor is realized, and the rotating speed of the rotor of the permanent magnet synchronous motor reaches the switching rotating speed.
3) Calculating the position of the rotor and the estimated angle of the sliding-mode observer in real time by using the sliding-mode observer, and calculating the angle difference between the estimated angle and the I-f control angle;
4) Reducing the angle difference of I-f control until the open-loop shafting and the sliding mode estimated shafting are superposed;
5) When the angle difference between the open-loop shafting and the sliding-mode shafting is 0 degree, the switching angle difference delta theta is removed I-f And (3) controlling the permanent magnet synchronous motor to enter a position sensor-free closed-loop control state.
2. The adaptive smooth switching method of the I-f starting to the position sliding-mode observer according to claim 1, wherein the step of controlling the rotation of the motor by the I-f control system comprises:
1) Collecting A-phase stator current i A B phase stator current i B And C-phase stator current i C And performing Clark transformation to obtain alpha-axis current i under an alpha-beta static two-phase coordinate axis system α And beta axis current i β ；
2) For alpha axis current i α And beta axis current i β Carrying out Park conversion to obtain d-axis current i under a d-q rotating coordinate shafting d And q-axis current i q ；
3) Setting d-axis current given value i d_ref Obtaining the speed feedback value omega of the permanent magnet synchronous motor for zero est Sum velocity set point ω ref And calculating by a PID controller to obtain a given value i of the q-axis current q_ref ；
4) According to d-axis current given value i d_ref Q-axis current given value i q_ref D axis current i d And q-axis current i q D-axis output voltage U is calculated by utilizing a PID controller d_Pidout And q-axis output voltage U q_Pidout ；
5) Output voltage U to d axis d_Pidout And q-axis output voltage U q_Pidout Performing inverse Park conversion, and calculating through an SVPWM module to obtain a switching signal of the power device;
6) And applying a switching signal of the power device to the three-phase inverter circuit so as to control the rotation of the permanent magnet synchronous motor.
3. The method for adaptive smooth switching of an I-f starting to a position sliding-mode observer according to claim 2, characterized in that the Park transformation is as follows:
in the formula, theta i ＝∫ω * dt-pi/2 is an angle; omega * Is an open loop speed reference value.
4. The adaptive smooth switching method of the I-f starting to the position sliding-mode observer according to claim 1, characterized in that the method for realizing the pre-positioning of the rotor comprises a six-step positioning method.
5. The method for adaptive smooth switching of an I-f startup to a position sliding-mode observer according to claim 4, wherein the step of achieving pre-positioning of the rotor comprises: six basic voltage vectors with preset amplitudes are sequentially generated at regular time according to the rotation direction of the motor, the switching state of the inverter corresponding to the last basic voltage vector is (1, 0), and the stator magnetomotive force generated by the motor is in the A-axis direction of a three-phase static coordinate system, namely the d-axis of the rotor is at the 0-degree position.
6. The self-adaptive smooth switching method from the I-f starting to the position sliding-mode observer according to claim 1, wherein in the step 2), after the pre-positioning of the rotor is realized, the q-axis current I of the permanent magnet synchronous motor is obtained q_ref The direction of the generated magnetic field is aligned with the actual d axis of the motor rotor, and the magnetic field generated by the stator starts to rotate and drags the rotor to move until the rotating speed of the rotor movement reaches the switching rotating speed.
7. The adaptive smooth switching method of the I-f starting to the position sliding-mode observer according to claim 1, wherein the step of calculating the rotor position, the estimated angle of the sliding-mode observer in real time by using the sliding-mode observer, and calculating the angle difference between the estimated angle and the I-f control angle comprises:
1) The alpha-axis current i under the alpha-beta static two-phase coordinate axis system α Beta axis current i β Alpha axis voltage u α Beta axis voltage u β Inputting the current into a sliding-mode observer, and iteratively outputting an alpha-axis current observed value of the stator
Observed value of stator beta axis current
2) Respectively calculating the alpha-axis current observed values of the stator
And alpha axis current i α Error of (1), stator beta axis current observed value
And beta axis current i β Thereby obtaining a discrete high frequency switching signal v α And a high frequency switching signal v β ；
3) Using a first order low pass filter to switch the high frequency signal v α And a high frequency switching signal v β Filtering to obtain expanded back electromotive force with position information
And expanding the counter electromotive force
Namely:
in the formula, ω c Is the cut-off frequency; s is the complex frequency;
4) For expanded counter electromotive force
And expanding the counter electromotive force
To carry outNormalizing and utilizing the phase-locked loop to expand the back electromotive force after the normalization
And expanding the counter electromotive force
Calculating to obtain the estimated angle of the sliding-mode observer
Namely:
in the formula, k PLL_p And k PLL_i Respectively representing a proportional coefficient and an integral coefficient in a phase-locked loop proportional integral algorithm, wherein 1/s represents a continuous integral link in a frequency domain;
5) Estimating angle of sliding-mode observer
And open loop set angle theta of I-f control system I-f Making a difference to obtain an angle difference of I-f control
8. The adaptive smooth switching method of the I-f starting to the position sliding-mode observer according to claim 7, characterized in that the sliding-mode observer is as follows:
in the form of matrix
L d 、L q D-axis and q-axis inductances, respectively; omega e And R represents an electrical angular velocity and a resistance, respectively;
wherein, the sliding mode control rate V α Sliding mode control rate V β Respectively as follows:
in the formula, k is a sliding mode gain.
9. The method for adaptive smooth switching of an I-f starting to a position sliding-mode observer according to claim 1, wherein the step of reducing the angular difference of the I-f control until the open-loop shafting and the sliding-mode estimated shafting coincide comprises:
1) Calculating a switching angle difference Delta theta I-f_init And used as the initial value of the variable; wherein the switching angle difference Delta theta I-f_init As follows:
2) Calculating the current actual q-axis current value i q Namely:
in the formula (I), the compound is shown in the specification,
is a reference current;
3) The current actual q-axis current value i q Providing the output to a speed ring PI controller as initial output, and immediately accessing to a rotating speed ring PI controller to ensure that the rotating speed of the motor is stable; the position used for coordinate transformation in equation (1) is the estimated rotor position and the switching angle difference Δ θ I-f_init To ensure at the switching instantThere is no abrupt change in angle;
4) Actively controlling an angle difference Delta theta by means of a switching angle controller I-f (t) is gradually decreased to open the ring d * -q * The shafting is close to the d-q shafting until the shafting is superposed;
at an angular difference Δ θ I-f When changed, the q-axis current reference value is updated as follows:
10. an adaptive smooth switching method of I-f starting to a position sliding-mode observer according to claim 9, characterized in that the switching angle controller is as follows:
in the formula k t Is the angle transition coefficient, k ω As coefficient of rotation speed fluctuation, t 0 To enter the initial moment of this phase, Δ ω e And (t) is a real-time fluctuation value of the rotating speed.
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