CN102237841A - Device for estimating position of position-free sensor for PMSM (permanent magnet synchronous motor) - Google Patents
Device for estimating position of position-free sensor for PMSM (permanent magnet synchronous motor) Download PDFInfo
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- CN102237841A CN102237841A CN2011100878915A CN201110087891A CN102237841A CN 102237841 A CN102237841 A CN 102237841A CN 2011100878915 A CN2011100878915 A CN 2011100878915A CN 201110087891 A CN201110087891 A CN 201110087891A CN 102237841 A CN102237841 A CN 102237841A
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Abstract
The invention discloses a device for estimating the position of a position-free sensor for a PMSM (permanent magnet synchronous motor), comprising an electromagnetic torque computation module, a control module, a velocity increment computation module, a velocity estimation module and a position estimation module. The invention provides an implementation method of a hardware circuit for estimating the position of the position-free sensor for the PMSM, which is implemented by controlling a skip TDM (time division multiplex) state machine of a state machine on the basis of ensuring control accuracy. Because the computation can be finished in a single period, occupation conditions of hardware resources realized by a position estimation algorithm based on a stator flux linkage vector equation are reduced greatly on the basis of ensuring the time accuracy required by the normal operation of a motor.
Description
Technical field
The present invention relates to permagnetic synchronous motor control field, particularly a kind of device that is applied to the position-sensor-free location estimation of permagnetic synchronous motor.
Background technology
At present, permagnetic synchronous motor control method commonly used is SVPWM (space vector pulse duration modulation) algorithm based on voltage vector.The core of algorithm is the decoupling zero of stator current, rotor current, and the position that need know rotor is calculated in decoupling zero.Traditional method is to use position transducer to obtain positional information, but because mechanical position sensor low precision not only, and has increased the volume and the cost of system.So the control algolithm of no transducer has obtained increasing concern.
Location-estimation algorithm mainly contains following two classes: the first kind is based on the method for motor desired voltage equation, as based on the location-estimation algorithm of stator magnetic linkage vector equation, back-emf method, extended Kalman filter method etc.; Second class is based on the method for motor non-ideal characteristic, as high-frequency signal injection method etc.These location-estimation algorithm implement all very complicated, and the difficulty that hardware circuit is realized is very big.With respect to other location-estimation algorithm, based on the location-estimation algorithm of stator magnetic linkage vector equation, moderate accuracy can satisfy the requirement of permagnetic synchronous motor control.Simultaneously, have serialized characteristics, only need carry out corresponding computing in proper order, get final product complete operation based on the location-estimation algorithm of stator magnetic linkage vector equation.The feasible location-estimation algorithm based on the stator magnetic linkage vector equation of serialized characteristics relatively is easy to realize on hardware circuit.
Summary of the invention
One of purpose of the present invention provides a kind of device that is applied to the position-sensor-free location estimation of permagnetic synchronous motor.
According to an aspect of the present invention, provide a kind of device that is applied to the position-sensor-free location estimation of permagnetic synchronous motor to comprise: state machine, electromagnetic torque computing module, speed increment computing module, velocity estimation module and position estimation module; Wherein, described state machine is exported the Mode Control Code that is used to control calculating to described electromagnetic torque computing module, electromagnetic torque computing module, speed increment computing module, velocity estimation module and position estimation module; Described electromagnetic torque computing module calculates electromagnetic torque T under the control of described state machine
eDescribed speed increment computing module is under the control of described state machine, according to described electromagnetic torque T
eComputational speed increment Delta ω; Described velocity estimation module is estimated speed omega according to described speed increment Δ ω under the control of described state machine; Described position estimation module is under the control of described state machine, and ω estimates described motor rotor position according to the speed increment Δ.
By the device that is applied to the position-sensor-free location estimation of permagnetic synchronous motor provided by the invention, realized the resource multiplex of complicated algorithm on FPGA and reduced the realization cost.
Description of drawings
Fig. 1 is the structure chart of the device of the position-sensor-free location estimation that is applied to permagnetic synchronous motor that provides of the embodiment of the invention;
Fig. 2 is state machine state redirect figure shown in Figure 1.
The object of the invention, function and advantage will be in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
A kind of characteristics that are applied to the position-sensor-free position estimation device of permagnetic synchronous motor based on the location-estimation algorithm of stator magnetic linkage vector equation provided by the invention can be finished by order and calculate electromagnetic torque T
e, computational speed increment Delta ω, velocity estimation and location estimation computing, thereby finish whole algorithm.Wherein, mainly utilize following two formula based on the location-estimation algorithm of stator magnetic linkage vector equation: electromagnetic torque
(1), speed increment
(2) calculate i
dBe direct-axis current, i
qFor handing over shaft current, permanent magnet synchronous motor inductance parameters L
d, L
q, J is the rotor moment of inertia of motor, and p is the number of pole-pairs of motor, and B is the viscous friction coefficient of motor, T
lBe loading moment, T
lIt is load torque.By calculating T
e, Δ ω adds up at Δ ω and promptly gets estimating speed, and speed is added up is the estimated position then.
Referring to Fig. 1, the embodiment of the invention provides a kind of device that is applied to the position-sensor-free location estimation of permagnetic synchronous motor to comprise electromagnetic torque computing module, state machine, speed increment computing module, velocity estimation module and position estimation module.Wherein, state machine is to described electromagnetic torque computing module, electromagnetic torque computing module, speed increment computing module, velocity estimation module and position estimation module output state control code and operand.Mode Control Code is as shown in table 1:
Table 1
| Control code | Operation |
[0014]?
| 00 | The loading operation number |
| 01 | Addition |
| 10 | Multiplication |
| 11 | Multiply accumulating |
By each state of control state machine, generate the control code of different arithmetic logical units, the source of while assigned operation number, thus finish a series of computings by state of a control redirect order.
The electromagnetic torque computing module calculates electromagnetic torque T under the control of state machine
eElectromagnetic torque calculates mould and comprises: first arithmetic element, second arithmetic element, first are written into unit, second and are written into unit and the 3rd arithmetic element.Wherein, control code 11 and operand A, B and the C of the output of the first arithmetic element accepting state machine, the operation of carrying out according to this control code is with i
dBe written into operand A, L
d-L
qBe written into operand B, will
Be written into operand C, carry out A and B and multiply each other then and C add operation mutually, promptly finish
Computing, this process was finished in a clock cycle.The control code 10 of second arithmetic element accepting state machine output, according to this control code with p and i
qBe written into operand A and B respectively, carry out multiply operation, promptly finish p*i
qComputing, this process are also finished in a clock cycle.Because the result of aforementioned calculation also needs once to multiply each other, and operand A and B can only carry out once-through operation at each clock unit, so, also need a clock cycle that the result is written into operand A and B for first arithmetic element and second arithmetic element result of computing separately.First is written into the control code 00 of unit accepting state machine output, will
Operation result be written into operand A.Second is written into the control code 00 of unit accepting state machine output, with p*i
qOperation result be written into operand B.The 3rd arithmetic element multiplies each other operand A, B and promptly gets electromagnetic torque T
e
The speed increment computing module is under the control of state machine, according to electromagnetic torque T
eComputational speed increment Delta ω.The speed increment computing module is to utilize formula
Computational speed increment Delta ω.The speed increment computing module comprises: the 4th arithmetic element, the 3rd is written into that unit, the 5th arithmetic element, the 4th are written into the unit, the 6th arithmetic element, the 5th is written into unit, the 6th and is written into unit and the 7th arithmetic element.Analyze formula
The operation of carrying out following eight states successively just can realize.Wherein, one of four states carries out computing, and one of four states is written into operation result.First state and the 7th state carry out multiplying, and the third state and the 7th state carry out multiply-add operation, and all the other one of four states are written into operation result.Wherein, control code 10 and operand A, the B of the output of the 4th arithmetic element accepting state machine, the operation of carrying out according to this control code is that p is written into operand A, t
lBe written into operand B, carry out A and B and multiply each other, promptly finish p*t
lComputing, this process was finished in a clock cycle.The 3rd is written into the control code 00 of unit accepting state machine output, with electromagnetic torque t
eOperation result be written in the special register of electromagnetic torque.Control code 11 and operand A, B and the C of the output of the 5th arithmetic element accepting state machine, the operation of carrying out according to this control code is that B is written into operand A, ω is written into operand B, with p*t
lBe loaded into operand C, carry out A and B and multiply each other then and C add operation mutually, promptly finish B* ω+p*t
lComputing, this process was finished in a clock cycle.The 4th is written into the control code 00 of unit accepting state machine output, with B* ω+p*t
lThe operation result negate be written into operand C.Control code 11 and the operand A and the B of the output of the 6th arithmetic element accepting state machine, the operation of carrying out according to this control code is that p is written into operand A, with t
eBe written into operand B, carry out A and B and multiply each other then and C add operation mutually, promptly finish p*t
e+ [(B* ω+p*t
l)] computing, this process was finished in a clock cycle.The 5th is written into the control code 00 of unit accepting state machine output, with p*t
e+ [(B* ω+p*t
l)] operation result be written into operand A.The 6th is written into the control code 00 of unit accepting state machine output, will
Operation result be written into operand B.The control code 10 of the 7th arithmetic element accepting state machine output, A is carried out in the operation of carrying out according to this control code and B multiplies each other, and promptly finishes
Computing, this process was finished in a clock cycle.
The velocity estimation module is under the control of state machine, and ω estimates speed omega according to the speed increment Δ.The velocity estimation module is according to formula ω=ω
0+ ∑
Δω carries out velocity estimation, and the formula equivalence is ω=ω
Pre+
Δω, ω
PreFor a last moment velocity estimation result, after finishing, each computing needs to preserve.The velocity estimation module comprises: the 7th is written into unit, the 8th is written into unit and the 8th arithmetic element.The 7th is written into the control code 00 of unit accepting state machine output, will
ΔThe operation result of ω is written into accumulator.The 8th is written into the control code 00 of unit accepting state machine output, with the rotating speed estimated value ω in a last moment
PreOperation result be written into operand C.Each sample rate current comes in to need finish through this series of steps the computing of one-period, then the rotating speed estimated value is kept in the memory, waits for the next time of once sampling electric current and this value is written into operand C when carrying out corresponding computing again.So last one value when constantly promptly referring to utilize last time sample rate current to carry out arriving this moment after the above-mentioned computing.The control code 01 of the 8th arithmetic element accepting state machine output, the operation of carrying out according to this control code is with operand C ω
PreWith in the accumulator
Δω carries out addition, finishes ω
Pre+
ΔThe ω computing, this process was finished in a clock cycle.Each sample rate current comes in to need finish through this series of steps the computing of one-period, then the location estimation value is kept in the memory, waits for the next time of once sampling electric current and this value is written into operand C when carrying out corresponding computing again.So last one value when constantly promptly referring to utilize last time sample rate current to carry out arriving this moment after the above-mentioned computing.
Position estimation module is estimated described motor rotor position θ according to speed increment Δ ω.Position estimation module is according to formula θ=θ
0+ ∑ ω carries out location estimation, and the formula equivalence is θ=θ
Pre+ ω, θ
PreBe the location estimation result in a last moment, and needed to preserve after each computing finishes.Position estimation module comprises: the 9th is written into unit, the tenth is written into unit and the 9th arithmetic element.The 9th is written into the control code 00 of unit accepting state machine output, will
ΔThe operation result of θ is written into accumulator.The tenth is written into the control code 00 of unit accepting state machine output, with the rotating speed estimated values theta in a last moment
PreOperation result be written into operand C.The control code 01 of the 8th arithmetic element accepting state machine output, the operation of carrying out according to this control code is with operand C θ
PreWith in the accumulator
Δθ carries out addition, finishes θ
Pre+
ΔThe θ computing, this process was finished in a clock cycle.
The present invention possesses following beneficial effect:
1, a kind of hardware circuit implementation method that is applied to the position-sensor-free location estimation of permagnetic synchronous motor provided by the invention on the basis that guarantees control precision, realizes the calculating of rotor-position by the redirect of control state machine.Because the monocycle can finish a kind of computing, on the basis that guarantees motor normal operation required time precision, greatly reduce the hardware resource that the location-estimation algorithm based on the stator magnetic linkage vector equation realizes and take situation.
2, a kind of hardware circuit implementation method that is applied to the position-sensor-free location estimation of permagnetic synchronous motor provided by the invention, real-time update can be carried out according to the state of state machine in the source of operand.
3, a kind of hardware circuit implementation method that is applied to the position-sensor-free location estimation of permagnetic synchronous motor provided by the invention, the The whole control scheme realizes on hardware circuit by algorithm optimization.This hardware circuit implementation method is easy to go up to realize at FPGA (programmable gate array), only used more than 800 logical block (LE) after comprehensive, realized the resource multiplex of complicated algorithm on FPGA and reduces and realize cost.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (6)
1. a device that is applied to the position-sensor-free location estimation of permagnetic synchronous motor is characterized in that, comprising:
State machine, electromagnetic torque computing module, speed increment computing module, velocity estimation module and position estimation module;
Wherein, described state machine is exported the Mode Control Code that is used to control calculating to described electromagnetic torque computing module, speed increment computing module, velocity estimation module and position estimation module;
Described electromagnetic torque computing module calculates electromagnetic torque T under the control of described state machine
e
Described speed increment computing module is under the control of described state machine, according to described electromagnetic torque T
eComputational speed increment Delta ω;
Described velocity estimation module is estimated speed omega according to described speed increment Δ ω under the control of described state machine;
Described position estimation module is under the control of described state machine, and ω estimates described motor rotor position according to the speed increment Δ.
2. device according to claim 1 is characterized in that, the Mode Control Code of described state machine output is:
3. device according to claim 2 is characterized in that, described electromagnetic torque computing module comprises:
First arithmetic element, second arithmetic element, first are written into unit, second and are written into unit and the 3rd arithmetic element;
The control code 11 of described first arithmetic element accepting state machine output is finished
Computing;
The control code 10 of described second arithmetic element accepting state machine output is finished p*i
qComputing;
First is written into the control code 00 of unit accepting state machine output, will
Operation result be written into operand A;
Second is written into the control code 00 of unit accepting state machine output, with p*i
qOperation result be written into operand B;
The 3rd arithmetic element multiplies each other operand A, B and promptly gets electromagnetic torque T
e
4. device according to claim 2 is characterized in that, described speed increment computing module comprises:
The 4th arithmetic element, the 3rd is written into that unit, the 5th arithmetic element, the 4th are written into the unit, the 6th arithmetic element, the 5th is written into unit, the 6th and is written into unit and the 7th arithmetic element;
The control code 10 of described the 4th arithmetic element accepting state machine output is finished p*T
lComputing;
The 3rd is written into the control code 00 of unit accepting state machine output, with the operation result t of electromagnetic torque
eBe written in the special register of depositing electromagnetic torque;
The control code 11 of described the 5th arithmetic element accepting state machine output is finished B* ω+p*t
lComputing;
The 4th is written into the control code 00 of unit accepting state machine output, with B* ω+p*t
lOperation result be written into operand C;
The control code 11 of described the 6th arithmetic element accepting state machine output is finished p*t
e+ [(B* ω+p*t
l)] computing;
The 5th is written into the control code 00 of unit accepting state machine output, with p*t
e+ [(B* ω+p*t
l)] operation result be written into operand A;
The 6th is written into the control code 00 of unit accepting state machine output, will
Be written into operand B;
The control code 10 of described the 7th arithmetic element accepting state machine output, complete operation is counted A, B multiplies each other, thereby finishes
Computing obtains
Δω.
5. device according to claim 2 is characterized in that, described velocity estimation module comprises:
The 7th is written into unit, the 8th is written into unit and the 8th arithmetic element;
The 7th is written into the control code 00 of unit accepting state machine output, will
Δω is written into accumulator;
The 8th is written into the control code 00 of unit accepting state machine output, will go up a moment rotating speed estimated value ω
PreBe written into operand C;
The control code 01 of described the 8th arithmetic element accepting state machine output is finished ω
Pre+
ΔThe ω computing obtains current rotating speed estimated value ω.
6. device according to claim 2 is characterized in that, described position estimation module comprises:
The 9th is written into unit, the tenth is written into unit and the 9th arithmetic element;
The 9th is written into the control code 00 of unit accepting state machine output, will
Δθ is written into accumulator;
The tenth is written into the control code 00 of unit accepting state machine output, will go up a moment location estimation value θ
PreBe written into operand C;
The control code 01 of described the 9th arithmetic element accepting state machine output is finished θ
Pre+
ΔThe θ computing obtains current rotating speed estimated values theta.
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| CN2011100878915A CN102237841B (en) | 2011-04-08 | 2011-04-08 | Device for estimating position of position-free sensor for PMSM (permanent magnet synchronous motor) |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102437813A (en) * | 2011-12-26 | 2012-05-02 | 中国东方电气集团有限公司 | Speed sensor-less method for estimating rotor angle and revolving speed of permanent-magnet synchronous motor |
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| EP1086525B1 (en) * | 1998-06-11 | 2003-12-10 | ABB Oy | Method of minimizing errors in rotor angle estimate in synchronous machine |
| CN101375491A (en) * | 2005-12-14 | 2009-02-25 | 通用汽车环球科技运作公司 | Method and apparatus for sensorless position control of a permanent magnet synchronous motor (PMSM) drive system |
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2011
- 2011-04-08 CN CN2011100878915A patent/CN102237841B/en active Active
Patent Citations (2)
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| EP1086525B1 (en) * | 1998-06-11 | 2003-12-10 | ABB Oy | Method of minimizing errors in rotor angle estimate in synchronous machine |
| CN101375491A (en) * | 2005-12-14 | 2009-02-25 | 通用汽车环球科技运作公司 | Method and apparatus for sensorless position control of a permanent magnet synchronous motor (PMSM) drive system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102437813A (en) * | 2011-12-26 | 2012-05-02 | 中国东方电气集团有限公司 | Speed sensor-less method for estimating rotor angle and revolving speed of permanent-magnet synchronous motor |
| CN102437813B (en) * | 2011-12-26 | 2014-04-09 | 中国东方电气集团有限公司 | Speed sensor-less method for estimating rotor angle and revolving speed of permanent-magnet synchronous motor |
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