CN115566953A - Control method and device for variable-angle injection motor, electronic equipment and storage medium - Google Patents

Control method and device for variable-angle injection motor, electronic equipment and storage medium Download PDF

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Publication number
CN115566953A
CN115566953A CN202211261643.2A CN202211261643A CN115566953A CN 115566953 A CN115566953 A CN 115566953A CN 202211261643 A CN202211261643 A CN 202211261643A CN 115566953 A CN115566953 A CN 115566953A
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China
Prior art keywords
axis
shaft
response
rotor position
current
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Chinese (zh)
Inventor
李文涛
陶顺兴
黄伟宏
梁倬
曾仁杰
肖燕武
高嘉琪
董路通
陈晓芬
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Guangdong Power Grid Co Ltd
Huizhou Power Supply Bureau of Guangdong Power Grid Co Ltd
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Guangdong Power Grid Co Ltd
Huizhou Power Supply Bureau of Guangdong Power Grid Co Ltd
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Priority to CN202211261643.2A priority Critical patent/CN115566953A/en
Publication of CN115566953A publication Critical patent/CN115566953A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a control method and device for a variable-angle injection motor, electronic equipment and a storage medium. The control method of the variable-angle injection motor comprises the following steps: in estimating the axis of rotation
Figure DDA0003891215830000011
The first high frequency signal is injected with the axis leading by any phi angle. And extracting the response current of a q' axis under a rotor position extraction axis, wherein the rotor position extraction axis is an axis of which the estimated rotation axis leads by an angle phi. Response current according to q' axisThe actual rotor position of the permanent magnet synchronous motor is determined. In estimating the axis of rotation
Figure DDA0003891215830000012
After the first high-frequency signal is injected into the shaft in advance by any phi angle, the response current of the q' shaft can be directly extracted under the corresponding rotor position extraction shafting, and the response current is in the estimated rotating shafting
Figure DDA0003891215830000013
The shaft leads any phi angle to inject the first high-frequency signal, so that the extracted response current of the q' shaft cannot influence the fundamental frequency current, and the accuracy of the extracted rotor position is improved.

Description

Control method and device for variable-angle injection motor, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of motor control, in particular to a control method and device of a variable-angle injection motor, electronic equipment and a storage medium.
Background
In the current and rotating speed double closed loop of the vector control of the permanent magnet synchronous motor, a current loop is used as an inner loop of the vector control, and a rotating speed loop is used as an outer loop. In the position-free control of the permanent magnet synchronous motor, the acquisition of the rotor position in the rotating speed ring often has deviation, and further, the situation that a position sensor fails possibly exists, and in order to ensure the realization of the position-free control of the permanent magnet synchronous motor, the estimation is often carried out
Figure BDA0003891215810000011
Shaft or
Figure BDA0003891215810000012
The shaft is injected with a high frequency voltage signal to extract an estimated rotor position. But under evaluation
Figure BDA0003891215810000013
Shaft or
Figure BDA0003891215810000014
The high-frequency voltage signal injected into the shaft can affect the fundamental frequency current, so that the fundamental frequency current repeatedly passes through 0, and the accuracy of the position of the rotor is affected.
Disclosure of Invention
The invention provides a method of estimating
Figure BDA0003891215810000015
Shaft or
Figure BDA0003891215810000016
The high-frequency voltage signal is injected into the shaft to solve the problem that the fundamental frequency current is influenced when the high-frequency voltage signal is injected, and the accuracy of the extracted rotor position is improved.
According to an aspect of the present invention, there is provided a control method of a variable angle injection motor, including:
in estimating the axis of rotation
Figure BDA0003891215810000017
Injecting a first high-frequency signal into the shaft at any phi angle in advance;
extracting response current of a q' axis under a rotor position extraction axis, wherein the rotor position extraction axis is an axis of which the estimated rotation axis leads the phi angle;
and determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.
Optionally, the determining an actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis includes:
determining an estimation function containing a rotor error according to the response current of the q' axis;
and determining the actual rotor position of the permanent magnet synchronous motor according to the estimation function.
Optionally, before extracting the response current of the q' axis under the rotor position extraction axis, the method includes:
injecting a second high-frequency signal at any angle delta in the estimated rotation axis system;
determining the phase difference between the high-frequency current response and the fundamental frequency current response in the static shafting according to the injected second high-frequency signal;
extracting in said estimated axis of rotation
Figure BDA0003891215810000021
After the shaft is advanced by any phi angle and is injected into the first high-frequency signal, estimating the position of the rotating shaft system
Figure BDA0003891215810000022
Shaft and
Figure BDA0003891215810000023
current response of the shaft;
when the rotor position estimation error is equal to zero, the estimated rotation shaft system is in
Figure BDA0003891215810000024
After the shaft advances any phi angle and injects the first high-frequency signal,
Figure BDA0003891215810000025
shaft and
Figure BDA0003891215810000026
and the phase difference of the current of the shaft is equal to the phase difference of the medium-high frequency current response and the fundamental frequency current response of the static shaft system after the second high-frequency signal is injected at any angle delta in the estimated rotating shaft system.
Optionally, the determining, according to the injected second high-frequency signal, a phase difference between a high-frequency current response and a fundamental-frequency current response in the stationary shafting, includes:
determining a first high frequency current response generated by the first split injection signal excitation according to a first split injection signal;
determining a second high frequency current response generated by the second split injection signal excitation according to a second split injection signal;
determining a high-frequency current response in a stationary shafting according to the first high-frequency current response and the second high-frequency current response;
determining the phase difference of the high-frequency current response and the fundamental frequency current response in the static shafting according to the high-frequency current response and the fundamental frequency current response in the static shafting;
wherein the first split injection signal and the second split injection signal are respectively decomposed into the estimated rotation axis for the second high frequency signal
Figure BDA0003891215810000031
Shaft and
Figure BDA0003891215810000032
the signal of the shaft.
Optionally, the extracting is in the estimated rotation axis system
Figure BDA0003891215810000033
After the shaft is injected into the first high-frequency signal in advance of any phi angle, estimating the position in the rotating shaft system
Figure BDA0003891215810000034
Shaft and
Figure BDA0003891215810000035
a current response of the shaft, comprising:
extracting high-frequency current responses of a d axis and a q axis of a rotating shaft system;
extracting fundamental frequency current responses of a d axis and a q axis of a rotating shaft system;
high frequency current response and fundamental frequency current response according to the d-axis and the q-axisDetermining in said estimated rotation axis system
Figure BDA0003891215810000036
Shaft and
Figure BDA0003891215810000037
the current response of the shaft.
According to another aspect of the present invention, there is provided a control apparatus of a variable angle injection motor, including:
a first injection module for estimating the rotation axis
Figure BDA0003891215810000038
Injecting a first high-frequency signal into the shaft at any phi angle in advance;
a first current extraction module for extracting the response current of the q' axis under a rotor position extraction axis system, wherein the rotor position extraction axis system is in the estimated rotation axis system
Figure BDA0003891215810000039
A shafting with a shaft leading by the phi angle;
and the rotor position determining module is used for determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.
Optionally, the rotor position determining module includes:
an estimation function determination unit for determining an estimation function containing a rotor error from the response current of the q' axis;
and the rotor position determining unit is used for determining the actual rotor position of the permanent magnet synchronous motor according to the estimation function.
Optionally, the control device for the variable-angle injection motor further includes:
the second input module is used for injecting a second high-frequency signal at any angle delta in the estimated rotating shafting;
the second current extraction module is used for determining the phase difference between the high-frequency current response and the fundamental frequency current response in the static shafting according to the injected second high-frequency signal;
a third current extraction module for extracting the current in the estimated rotation axis system
Figure BDA0003891215810000041
After the shaft is advanced by any phi angle and is injected into the first high-frequency signal, estimating the position of the rotating shaft system
Figure BDA0003891215810000042
Shaft and
Figure BDA0003891215810000043
current response of the shaft;
a phase difference determination module for estimating the rotation axis system when the rotor position estimation error is equal to zero
Figure BDA0003891215810000044
After the first high-frequency signal is injected into the axis in advance of any phi angle,
Figure BDA0003891215810000045
shaft and
Figure BDA0003891215810000046
and the phase difference of the current of the shaft is equal to the phase difference of the medium-high frequency current response and the fundamental frequency current response of the static shaft system after the second high-frequency signal is injected at any angle delta in the estimated rotating shaft system.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of controlling a variable angle injection motor according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the method for controlling a variable angle injection motor according to any one of the embodiments of the present invention when the computer instructions are executed.
The control method for the variable-angle injection motor provided by the embodiment of the invention comprises the following steps: in estimating the axis of rotation
Figure BDA0003891215810000047
The first high frequency signal is injected with the axis leading by any phi angle. And extracting the response current of a q' axis under a rotor position extraction axis, wherein the rotor position extraction axis is an axis of which the estimated rotation axis leads by an angle phi. And determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis. In estimating the axis of rotation
Figure BDA0003891215810000048
After the first high-frequency signal is injected into the shaft in advance by any phi angle, the response current of the q' shaft can be directly extracted under the corresponding rotor position extraction shafting, and the response current is in the estimated rotating shafting
Figure BDA0003891215810000049
The first high-frequency signal is injected by the shaft advancing any phi angle, so that the extracted response current of the q' shaft can not influence the fundamental frequency current, and the accuracy of the extracted rotor position is further improved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a control method for a variable-angle injection motor according to an embodiment of the present invention;
fig. 2 is a positional relationship diagram of an estimated rotating shaft system, an actual stationary shaft system, and a rotor position extracting shaft system of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method of a variable-angle injection motor according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device of a variable-angle injection motor according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing a method for controlling a variable-angle injection motor according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a control method for a variable-angle injection motor according to an embodiment of the present invention, where the present embodiment is applicable to a case where a permanent magnet synchronous motor is controlled based on a position-free control technique, and the method may be executed by a control device for the variable-angle injection motor, where the control device may be implemented in a form of hardware and/or software. As shown in fig. 1, the method includes:
s110: in estimating the axis of rotation
Figure BDA0003891215810000061
The first high frequency signal is injected with the axis leading by any phi angle.
Fig. 2 is a position relationship diagram of an estimated rotating shaft system, an actual stationary shaft system, and a rotor position extracting shaft system of a permanent magnet synchronous motor according to an embodiment of the present invention, where the estimated rotating shaft system includes
Figure BDA0003891215810000062
Shaft and
Figure BDA0003891215810000063
the actual rotating shafting comprises a d axis and a q axis, the actual static shafting comprises an alpha axis and a beta axis, and the rotor position extracting shafting comprises a d 'axis and a q' axis. Wherein,
Figure BDA0003891215810000064
in order to estimate the position of the rotor under the shafting, theta is the position of the rotor under the actual rotating shafting, and delta theta is the estimation error of the position of the rotor. In analyzing the vector control of the permanent magnet synchronous motor, the direct current motor control idea is often adopted, the coordinates of a three-phase static ABC system are transformed to a static shafting alpha beta, and then the static shafting alpha beta is transformed to a rotating dq shafting, so that the coupling relation between variables is removed.
S120: and extracting the response current of a q' axis under a rotor position extraction axis, wherein the rotor position extraction axis is an axis of which the estimated rotation axis leads by an angle phi.
Experimentally verified in estimating the axis of rotation
Figure BDA0003891215810000071
After the first high-frequency signal is injected with the axis advanced by any phi angle, the response current of the d 'axis and the response current of the q' axis under the rotor position extraction axis can be directly extracted respectively in the axis system of which the estimated rotating axis system is advanced by the phi angle, namely the rotor position extraction axis system in the embodiment. Since the equation for the response current of the d 'axis includes some poorly calculated factor, the response current of the q' axis is extracted for the subsequent calculation of the actual rotor position of the motor.
Wherein the response current of the q' axis
Figure BDA0003891215810000072
Where Ugammac is the injected first high frequency signal, deltaθ is the rotor position estimation error, L d Is a direct axis (d-axis) inductor, L q Is a quadrature (q-axis) inductor.
S130: and determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.
And determining a rotor error estimation function f (delta theta) according to the response current of the q' axis, phase-locking the rotor position estimation error delta theta to 0 through a phase-locked loop, and determining the actual rotor position of the permanent magnet synchronous motor when the estimated rotor position is equal to the actual rotor position. The f (delta theta) formula contains a rotor position estimation error, the actual rotor position is equal to the estimated rotor position through phase locking to 0, and the estimated rotor position obtained at the moment is the actual rotor position.
In estimating the axis of rotation
Figure BDA0003891215810000073
After the first high-frequency signal is injected into the shaft in advance by any phi angle, the response current of the q' shaft can be directly extracted under the corresponding rotor position extraction shafting, and the response current is in the estimated rotating shafting
Figure BDA0003891215810000074
Shaft advanceThe first high-frequency signal is injected at any phi angle, so that the extracted response current of the q' axis cannot influence the fundamental frequency current, and the accuracy of the extracted rotor position is improved.
Example two
Fig. 2 is a flowchart of a control method for a variable-angle injection motor according to a second embodiment of the present invention, and with reference to fig. 2, the method includes:
s111: and injecting a second high-frequency signal at any angle delta in the estimated rotation axis system.
S121: and determining the phase difference between the high-frequency current response and the fundamental frequency current response in the static shafting according to the injected second high-frequency signal.
Optionally, a first high frequency current response generated by the first split injection signal excitation is determined from the first split injection signal.
The second high frequency signal can be decomposed into two equivalent signals, a first decomposed injection signal and a second decomposed injection signal, the first decomposed injection signal is injected into the estimated rotation axis system
Figure BDA0003891215810000081
In axis, second split injection signal injected into estimated axis of rotation
Figure BDA0003891215810000082
A shaft.
After the second high-frequency signal is injected into the estimated rotating shaft system, the voltage expression of the estimated rotating shaft system is as follows:
Figure BDA0003891215810000083
wherein,
Figure BDA0003891215810000084
for estimating the rotation axis after injecting the second high-frequency signal
Figure BDA0003891215810000085
The voltage of the shaft is such that,
Figure BDA0003891215810000086
for estimating the rotation axis after injecting the second high-frequency signal
Figure BDA0003891215810000087
The voltage of the shaft. A is the first split injection signal and B is the second split injection signal.
By
Figure BDA0003891215810000088
The first high frequency current response caused by the individual excitation is:
Figure BDA0003891215810000089
the first high frequency current response comprises
Figure BDA00038912158100000810
First sub-current response induced in alpha axis of static shafting
Figure BDA00038912158100000811
And is composed of
Figure BDA00038912158100000812
Second sub-current response induced in beta axis of static shafting
Figure BDA00038912158100000813
Wherein,
Figure BDA00038912158100000814
Figure BDA00038912158100000815
in order to estimate the rotor position under the shafting, theta is the rotor position under the actual rotating shafting, delta theta is the rotor position estimation error,
Figure BDA00038912158100000816
is composed of
Figure BDA00038912158100000817
The high-frequency current response generated on the alpha axis of the static shafting,
Figure BDA00038912158100000818
is composed of
Figure BDA00038912158100000819
High frequency current response, L, generated on the beta axis of a stationary shafting 1 Is mean value inductance, L 2 For differential inductance, U γ c1 is the amplitude of the injected signal.
A second high frequency current response generated by excitation of the second split injection signal is determined from the second split injection signal. Wherein the first and second decomposed injection signals are decomposed to the estimated rotation axis for the second high frequency signal
Figure BDA0003891215810000091
Shaft and
Figure BDA0003891215810000092
the signal of the shaft.
In principle the same as the first high-frequency current response determination is made by
Figure BDA0003891215810000093
The second high frequency current response caused by the individual excitation is:
Figure BDA0003891215810000094
the second high-frequency current response comprises
Figure BDA0003891215810000095
Third sub-current response induced in alpha axis of static shafting
Figure BDA0003891215810000096
And is composed of
Figure BDA0003891215810000097
Fourth sub-current response induced in beta axis of static shafting
Figure BDA0003891215810000098
Wherein,
Figure BDA0003891215810000099
and determining the high-frequency current response in the static shafting according to the first high-frequency current response and the second high-frequency current response.
The high frequency current response formula is:
Figure BDA00038912158100000910
the high-frequency current response in the static shafting comprises the current response I of an alpha axis αc And current response I of the beta axis βc Wherein
Figure BDA00038912158100000911
and determining the phase difference of the high-frequency current response and the fundamental frequency current response in the static shafting according to the high-frequency current response and the fundamental frequency current response in the static shafting.
The magnitude function of the high frequency current response in the stationary shafting is:
Figure BDA0003891215810000101
I αcF is the current amplitude of the alpha axis in the stationary shafting, I βcF Is the current amplitude, T, of the beta axis in the stationary shafting 1 Is the period of current response in the stationary shafting.
The vector angle of the high-frequency current can be obtained by the expression of the high-frequency current, and the vector of the high-frequency current is superposed with the vector of the fundamental frequency current, so that the phase difference between the high-frequency current response and the fundamental frequency current response can be obtained:
Figure BDA0003891215810000102
s131: extracting in estimated axis of rotation
Figure BDA0003891215810000103
After the first high-frequency signal is injected into the shaft at any phi angle ahead of the shaft, the estimation in the rotating shaft system is carried out
Figure BDA0003891215810000104
Shaft and
Figure BDA0003891215810000105
the current response of the shaft.
Optionally, the high-frequency current responses of the d axis and the q axis of the rotating shaft system are extracted.
Estimating in the axis of rotation
Figure BDA0003891215810000106
Injecting a first high-frequency signal U into the shaft in advance of any phi angle γC Then, the high-frequency current response of the d axis of the rotating shaft system is extracted
Figure BDA0003891215810000107
And q-axis high frequency current response
Figure BDA0003891215810000108
Comprises the following steps:
Figure BDA0003891215810000109
and extracting the fundamental frequency current responses of the d axis and the q axis of the rotating shafting.
Estimating in the axis of rotation
Figure BDA00038912158100001010
Injecting a first high-frequency signal U into the shaft in advance of any phi angle γC Then, extracting the d-axis fundamental frequency current response of the rotating shafting
Figure BDA00038912158100001011
And q-axis high frequency current response
Figure BDA00038912158100001012
Comprises the following steps:
Figure BDA00038912158100001013
determining and estimating in the axis system of rotation from the high-frequency current response and fundamental current response of the d-axis and q-axis
Figure BDA0003891215810000111
Shaft and
Figure BDA0003891215810000112
the current response of the shaft.
Estimating in the axis of rotation
Figure BDA0003891215810000113
Injecting a first high-frequency signal U into the shaft in advance of any phi angle γC After that, estimating in the axis of rotation
Figure BDA0003891215810000114
Current response of shaft
Figure BDA0003891215810000115
And
Figure BDA0003891215810000116
current response of shaft
Figure BDA0003891215810000117
Comprises the following steps:
Figure BDA0003891215810000118
wherein,
Figure BDA0003891215810000119
Figure BDA00038912158100001110
s141: when the rotor position estimation error is equal to zero, the position in the rotating shaft system is estimated
Figure BDA00038912158100001111
After the first high-frequency signal is injected into the axis in advance of any phi angle,
Figure BDA00038912158100001112
shaft and
Figure BDA00038912158100001113
and the phase difference of the current of the shaft is equal to the phase difference of the high-frequency current response and the fundamental frequency current response in the static shaft system after the second high-frequency signal is injected at any angle delta in the estimated rotating shaft system.
As the rotor position estimation error delta theta approaches 0,
Figure BDA00038912158100001114
current response of shaft
Figure BDA00038912158100001115
And
Figure BDA00038912158100001116
current response of shaft
Figure BDA00038912158100001117
Comprises the following steps:
Figure BDA00038912158100001118
from the above formula, the shafting is estimated
Figure BDA0003891215810000121
Shaft and
Figure BDA0003891215810000122
the phase difference γ of the currents of the shafts is:
Figure BDA0003891215810000123
wherein,
Figure BDA0003891215810000124
in conclusion, it is verified that when the rotor position estimation error is equal to zero, the rotation axis system is estimated to be in the middle
Figure BDA0003891215810000125
After the first high-frequency signal is injected into the axis in advance of any phi angle,
Figure BDA0003891215810000126
shaft and
Figure BDA0003891215810000127
and the phase difference of the current of the shaft is equal to the phase difference gamma of the high-frequency current response and the fundamental frequency current response in the static shaft system after the second high-frequency signal is injected at any angle delta in the estimated rotating shaft system. Therefore, in step S161, in estimating the rotation axis system
Figure BDA0003891215810000128
After the shaft is advanced by any phi angle and is injected with the first high-frequency signal, the response current of a q' shaft below a rotor position extraction shafting can be directly extracted so as to determine the actual rotor position of the permanent magnet synchronous motor.
S151: in estimating the axis of rotation
Figure BDA0003891215810000129
The first high frequency signal is injected with the axis leading by any phi angle.
S161: and extracting the response current of a q' axis under a rotor position extraction axis, wherein the rotor position extraction axis is an axis of which the estimated rotation axis leads by an angle phi.
The response current of the q' axis is:
Figure BDA00038912158100001210
s171: and determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.
When the rotor position estimation error Δ θ approaches zero, it can be found that:
Figure BDA00038912158100001211
optionally, an estimation function containing rotor error is determined from the response current of the q' axis.
Figure BDA00038912158100001212
Wherein,
Figure BDA0003891215810000131
and determining the actual rotor position of the permanent magnet synchronous motor according to the estimation function.
Because the function only contains a linear function of the rotor position estimation error information, the function is locked at 0, when the function is zero, the rotor position estimation error is 0, the obtained estimated rotor position is equal to the actual rotor position, and the actual rotor position can be obtained.
The embodiment verifies in estimating the axis of rotation
Figure BDA0003891215810000132
After the shaft is injected into the first high-frequency signal in advance of any phi angle, the response current of the q' shaft can be directly extracted under the corresponding rotor position extraction shaft system, and the feasibility of the scheme is verified. And due to being in the estimated axis of rotation
Figure BDA0003891215810000133
The axis is advanced by any phi angle to inject the first high frequencyAnd the signals enable the extracted response current of the q' axis not to influence the fundamental frequency current, so that the accuracy of the extracted rotor position is improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a control device for a variable-angle injection motor according to a third embodiment of the present invention. Referring to fig. 4, the apparatus includes:
a first injection module 01 for estimating the rotation axis
Figure BDA0003891215810000134
Injecting a first high-frequency signal into the shaft at any phi angle in advance;
a first current extraction module 02 for extracting the response current of the q' axis under a rotor position extraction axis, wherein the rotor position extraction axis is in the estimated rotation axis
Figure BDA0003891215810000135
A shafting with the shaft advanced by a phi angle;
and the rotor position determining module 03 is used for determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.
Optionally, the rotor position determining module includes:
an estimation function determination unit for determining an estimation function containing a rotor error from the response current of the q' axis;
and the rotor position determining unit is used for determining the actual rotor position of the permanent magnet synchronous motor according to the estimation function.
Optionally, the control device for a variable-angle injection motor further includes:
the second input module is used for injecting a second high-frequency signal at any angle delta in the estimated rotating shafting;
the second current extraction module is used for determining the phase difference between the high-frequency current response and the fundamental frequency current response in the static shafting according to the injected second high-frequency signal;
a third current extraction module for extracting the current in the estimated rotation axis
Figure BDA0003891215810000141
After the first high-frequency signal is injected into the shaft at any phi angle ahead of the shaft, the estimation in the rotating shaft system is carried out
Figure BDA0003891215810000142
Shaft and
Figure BDA0003891215810000143
current response of the shaft;
a phase difference determining module for estimating the center of the rotating shaft system when the rotor position estimation error is equal to zero
Figure BDA0003891215810000144
After the first high-frequency signal is injected into the axis in advance of any phi angle,
Figure BDA0003891215810000145
shaft and
Figure BDA0003891215810000146
and the phase difference of the current of the shaft is equal to the phase difference of the high-frequency current response and the fundamental frequency current response in the static shaft system after the second high-frequency signal is injected at any angle delta in the estimated rotating shaft system.
The control device of the variable-angle injection motor provided by the embodiment of the invention can execute the control method of the variable-angle injection motor provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The processor 11 performs the various methods and processes described above, such as the control method of the variable angle injection motor.
In some embodiments, the control method of the variable angle injection motor may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the above described control method of the variable angle injection motor may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g., by means of firmware) to perform the control method of the variable angle injection motor.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method of controlling a variable angle injection motor, comprising:
in estimating the axis of rotation
Figure FDA0003891215800000011
Injecting a first high-frequency signal into the shaft at any phi angle in advance;
extracting response current of a q' axis under a rotor position extraction axis system, wherein the rotor position extraction axis system is the axis system of which the estimated rotation axis system leads the phi angle;
and determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.
2. The method of claim 1, wherein determining an actual rotor position of a PMSM based on the q' axis response current comprises:
determining an estimation function containing a rotor error according to the response current of the q' axis;
and determining the actual rotor position of the permanent magnet synchronous motor according to the estimation function.
3. The method of claim 1, wherein before extracting the response current of the q' axis under the rotor position extraction axis, the method comprises:
injecting a second high-frequency signal at any angle delta in the estimated rotation axis system;
determining the phase difference between the high-frequency current response and the fundamental frequency current response in the static shafting according to the injected second high-frequency signal;
extracting in said estimated rotation axis
Figure FDA0003891215800000012
After the shaft is advanced by any phi angle and is injected into the first high-frequency signal, estimating the position of the rotating shaft system
Figure FDA0003891215800000013
Shaft and
Figure FDA0003891215800000014
current response of the shaft;
when the rotor position estimation error is equal to zero, the estimated rotating shaft system is in
Figure FDA0003891215800000015
After the first high-frequency signal is injected into the axis in advance of any phi angle,
Figure FDA0003891215800000016
shaft and
Figure FDA0003891215800000017
and the phase difference of the current of the shaft is equal to the phase difference of the medium-high frequency current response and the fundamental frequency current response of the static shaft system after the second high-frequency signal is injected at any angle delta in the estimated rotating shaft system.
4. The method of claim 3, wherein said determining a phase difference between a high frequency current response and a fundamental frequency current response in a stationary shafting from said injected second high frequency signal comprises:
determining a first high frequency current response generated by the first split injection signal excitation according to a first split injection signal;
determining a second high frequency current response generated by the second split injection signal excitation according to a second split injection signal;
determining a high-frequency current response in a stationary shafting according to the first high-frequency current response and the second high-frequency current response;
determining the phase difference of the high-frequency current response and the fundamental frequency current response in the static shafting according to the high-frequency current response and the fundamental frequency current response in the static shafting;
wherein the first and second decomposed injection signals are decomposed to the estimated rotation axis for the second high frequency signal, respectively
Figure FDA0003891215800000021
Shaft and
Figure FDA0003891215800000022
the signal of the shaft.
5. According to claimThe method of controlling a variable angle injection motor according to claim 3, wherein said extracting of said estimated rotation axis system
Figure FDA0003891215800000023
After the shaft is injected into the first high-frequency signal in advance of any phi angle, estimating the position in the rotating shaft system
Figure FDA0003891215800000024
Shaft and
Figure FDA0003891215800000025
a current response of the shaft, comprising:
extracting high-frequency current responses of a d axis and a q axis of a rotating shaft system;
extracting fundamental frequency current responses of a d axis and a q axis of a rotating shaft system;
determining the estimated rotation axis system according to the high-frequency current response and the fundamental frequency current response of the d axis and the q axis
Figure FDA0003891215800000026
Shaft and
Figure FDA0003891215800000027
the current response of the shaft.
6. A control device for a variable angle injection motor, comprising:
a first injection module for estimating the rotation axis
Figure FDA0003891215800000028
Injecting a first high-frequency signal into the shaft at any phi angle in advance;
a first current extraction module for extracting the response current of the q' axis under a rotor position extraction axis system, wherein the rotor position extraction axis system is in the estimated rotation axis system
Figure FDA0003891215800000029
A shafting with a shaft leading by the phi angle;
and the rotor position determining module is used for determining the actual rotor position of the permanent magnet synchronous motor according to the response current of the q' axis.
7. The control device of a variable angle injection motor according to claim 6, wherein the rotor position determining module comprises:
an estimation function determination unit for determining an estimation function containing a rotor error from the response current of the q' axis;
and the rotor position determining unit is used for determining the actual rotor position of the permanent magnet synchronous motor according to the estimation function.
8. The control device of a variable angle injection motor according to claim 6, further comprising:
the second input module is used for injecting a second high-frequency signal at any angle delta in the estimated rotating shafting;
the second current extraction module is used for determining the phase difference between the high-frequency current response and the fundamental frequency current response in the static shafting according to the injected second high-frequency signal;
a third current extraction module for extracting the current in the estimated rotation axis system
Figure FDA0003891215800000031
After the shaft is injected into the first high-frequency signal in advance of any phi angle, estimating the position in the rotating shaft system
Figure FDA0003891215800000032
Shaft and
Figure FDA0003891215800000033
current response of the shaft;
a phase difference determination module for estimating the rotation axis system when the rotor position estimation error is equal to zero
Figure FDA0003891215800000034
After the shaft advances any phi angle and injects the first high-frequency signal,
Figure FDA0003891215800000035
shaft and
Figure FDA0003891215800000036
and the phase difference of the current of the shaft is equal to the phase difference of the medium-high frequency current response and the fundamental frequency current response of the static shaft system after the second high-frequency signal is injected at any angle delta in the estimated rotating shaft system.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of controlling a variable angle injection motor of any one of claims 1-5.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the method of controlling a variable angle injection motor of any one of claims 1-5 when executed.
CN202211261643.2A 2022-10-14 2022-10-14 Control method and device for variable-angle injection motor, electronic equipment and storage medium Pending CN115566953A (en)

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