CN103701386B - Based on the acquisition methods of the full rank flux observer of the Speed Sensorless Induction Motor of observation magnetic linkage error - Google Patents

Abstract

Based on the acquisition methods of the full rank flux observer of the Speed Sensorless Induction Motor of observation magnetic linkage error, belong to flux observer field, speed-sensorless control full rank.Solve existing speed-less sensor vector control system when motor low cruise, because parameter of electric machine error is comparatively large, causes the observation accuracy of full rank flux observer low, finally cause the problem of system run all right difference.Full rank flux observer Error Feedback matrix coefficient is obtained: observer limit real part is less than asynchronous machine limit real part according to following criterion, and be all negative, the zero pole point real part of estimation rotating speed transfer function is all negative, utilize the error estimating magnetic linkage and true magnetic linkage, guarantee system is when motor low cruise, be equivalent to current model, during system motor high-speed cruising, be equivalent to voltage model.Utilize rotor flux phase error coefficient i _λestimation rotary speed precision is increased with introducing rotor flux amplitude error coefficient k.Specifically be used in speed-sensorless control field.

Description

Acquisition method of asynchronous motor speed sensorless full-order flux linkage observer based on flux linkage error observation

Technical Field

The invention belongs to the field of vector control full-order flux linkage observers without speed sensors.

Background

The asynchronous motor vector control technology can realize the decoupling of torque and flux linkage, and has good dynamic characteristics and steady-state characteristics, so the asynchronous motor vector control technology is widely applied to industrial systems. In many industrial occasions, motors are required to stably operate in low rotating speed areas, such as a hoist, a winch, an excavator and the like, but because a rotating speed sensor required for control is expensive and is very easy to damage, the reliability of a speed regulating system is reduced, and the maintenance cost is increased. When the vector control system without the speed sensor runs at a low speed, the system is easy to operate unstably due to large motor parameter errors. In summary, in order to avoid using a rotation speed sensor and prolong the service life of a system, the research of a speed-sensor-free vector control low-speed stable operation scheme is necessary.

The vector control without the speed sensor estimates the flux linkage of the stator and the rotor by utilizing a state equation set formed by a dynamic model of the asynchronous motor according to the principle of an observer, and introduces error feedback to improve the observation precision of a state variable. Because the observer contains the variable information of the rotor rotating speed, the rotating speed of the rotor can be observed according to the rotating speed self-adaptation law designed by the observer principle. However, the flux linkage observation accuracy and the rotating speed observation accuracy are closely related to motor parameters, and when the motor parameters are inaccurate, the stable operation of the motor, especially the low-speed operation of the motor, is greatly influenced. When the motor runs at medium and high speed, the back electromotive force of the motor is large, so the influence of parameters on a control system is relatively small, and the vector control system without the speed sensor can keep stable running. However, when the motor operates at a low speed (below 30 rpm), the back electromotive force of the motor is small, the influence of motor parameters is large, and if the parameters are inaccurate, the estimation of flux linkage and the rotating speed of the rotor is inaccurate, so that control failure is caused. The parameters of the asynchronous motor cannot be accurately obtained in actual work, and the parameters of the motor can be greatly changed after the motor runs for a long time, so that the control of the motor to run at low speed and extremely low speed (below 15 rpm) can realize good rotating speed precision and stability with certain difficulty.

From the current vector control technology without a speed sensor, the observation method of flux linkage is mainly divided into the following two types: 1) and (5) open-loop magnetic linkage observation. Open-loop flux linkage observation is a flux linkage calculation method based on a motor dynamic equation, and can be divided into a voltage model method, a current model method and an open-loop full-order flux linkage observer, wherein the voltage model method comprises stator resistance parameters, so that the voltage model method is not suitable for low-speed operation of a motor, and similarly, the current model is not suitable for high-speed operation of the motor. And the open-loop full-order flux linkage observer has no error feedback compensation term, so the system robustness is poor. 2) And (5) closed-loop flux linkage observation. Compared with an open-loop flux linkage observation system, the closed-loop flux linkage observation introduces an error feedback item, and the robustness of the system is improved. The method can be divided into model reference self-adaptation, a closed-loop full-order flux linkage observer, a closed-loop reduced-order flux linkage observer and a Kalman filter method. At present, a closed-loop full-order flux linkage observer is more applied. For the method, the problems mainly solved are the problems of flux linkage observation accuracy and system stability, and the requirements are met by reasonably designing an error feedback matrix and a rotating speed self-adaption law. However, in the prior art, the accuracy requirement of the observed flux linkage or the stability requirement of the system is only met singly by designing an error feedback matrix. No design method capable of simultaneously satisfying two requirements has been reported.

Disclosure of Invention

The invention provides an acquisition method of a full-order flux linkage observer of an asynchronous motor speed sensorless based on an observation flux linkage error, and aims to solve the problem that when an existing speed sensorless vector control system operates at a low speed of a motor, the observation accuracy of the full-order flux linkage observer is low due to large motor parameter errors, and finally the operation stability of the system is poor.

The method for acquiring the full-order flux linkage observer of the asynchronous motor without a speed sensor based on the flux linkage error observation is realized based on the existing full-order flux linkage observer and is characterized by comprising the following steps of,

step one, when the following 3 conditions are met, obtaining 4 error feedback coefficients, wherein the 4 error feedback coefficients are g respectively₁、g₂、g₃And g₄Substituting the obtained 4 error feedback coefficients

$G={\left[\begin{array}{cccc}{g}_1& {-g}_2& g_3& {-g}_4\\ g_2& g_1& g_4& g_3\end{array}\right]}^T$ (formula 1)

In (b), a compound of formula (I),

wherein G represents an error feedback matrix of the observer,

the 3 conditions are, respectively,

the first condition is as follows: the real part of the observer pole is smaller than the real part of the asynchronous motor pole and is negative,

and a second condition: the real parts of the zero poles of the estimated rotating speed transfer functions are all negative numbers,

and (3) carrying out a third condition: the error between the estimated flux linkage and the real flux linkage is utilized to ensure that the system is equivalent to a current model when the motor runs at a low speed, and the system is equivalent to a voltage model when the motor runs at a high speed;

step two, according to a known rotating speed self-adaptive law equation:

${\widehat{\mathrm{\ω}}}_r=k_1(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})-k_2(e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})$ (formula 2) of the reaction mixture,

obtaining the self-adaptive law equation of the rotating speed after deformation

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3) of the reaction mixture,

wherein,which is indicative of the estimated rotational speed of the motor,

k₁the gain in the stator current error is represented,

e_iαrepresenting the error component of the estimated stator current in relation to the actual stator current on the horizontal axis in the stationary frame,

representing the component of the estimated rotor flux linkage in the vertical axis of the stationary frame,

e_iβrepresenting the error component of the estimated stator current in comparison to the actual stator current on the vertical axis in the stationary frame,

expression estimation of rotor flux linkageThe horizontal axis component in the stationary coordinate system,

k₂the gain in the flux linkage error of the rotor is shown,

e_λαrepresenting the error component of the estimated rotor flux linkage in the horizontal axis in the stationary frame compared to the actual rotor flux linkage,

representing the component of the estimated rotor flux linkage in the vertical axis of the stationary frame,

e_λβrepresenting the error component of the estimated rotor flux linkage compared to the actual rotor flux linkage on the vertical axis in the stationary frame,

representing the horizontal axis component of the estimated rotor flux linkage in the stationary frame,

k_prepresenting the proportional gain of the proportional-integral controller,

k_irepresenting the integral gain of the proportional-integral controller,

i_sqrepresents the vertical axis component of the actual stator current in a rotating coordinate system,

representing the vertical axis component of the estimated rotor current in a rotating coordinate system,

representing the horizontal axis component of the estimated rotor flux linkage in the rotating coordinate system,

k represents the rotor flux linkage amplitude error coefficient,

i_sdto representThe horizontal axis component of the actual stator current in the rotating coordinate system,

representing the horizontal axis component of the estimated stator current in a rotating coordinate system,

i_λrepresents the rotor flux linkage phase error coefficient,

step three, replacing the error feedback matrix G of the observer obtained in the step one with the error feedback matrix in the existing full-order flux linkage observer, and carrying out the self-adaptive law equation of the rotating speed after deformation obtained in the step two

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3)

And replacing a rotation speed self-adaptation law in the existing full-order flux linkage observer, namely, successfully obtaining the full-order flux linkage observer of the asynchronous motor without a speed sensor based on the observed flux linkage error.

In the second step, according to the known rotation speed adaptive law equation:

${\widehat{\mathrm{\ω}}}_r=k_1(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})-k_2(e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})$ (formula 2) of the reaction mixture,

obtaining the self-adaptive law equation of the rotating speed after deformation

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3)

The specific process of (A) is as follows,

in the (formula 2), the first and second substrates are,

$e_{\mathrm{i\α}}=i_{\mathrm{s\α}}-{\hat{i}}_{\mathrm{s\α}}$ (formula 4) of the reaction mixture,

$e_{\mathrm{i\β}}=i_{\mathrm{s\β}}-{\hat{i}}_{\mathrm{s\β}}$ (formula 5) of the reaction mixture,

$e_{\mathrm{\λ\α}}={\mathrm{\λ}}_{\mathrm{r\α}}-{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}$ (equation 6) of the following formula,

$e_{\mathrm{\λ\β}}={\mathrm{\λ}}_{\mathrm{r\β}}-{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}$ (formula 7) of the reaction mixture,

wherein i_sαRepresenting the actual value of the stator current component in the horizontal axis in the stationary coordinate,

representing an estimate of the horizontal axis stator current component in stationary coordinates,

i_sβrepresenting the actual value of the stator current component on the vertical axis in stationary coordinates,representing an estimate of the vertical axis stator current component in stationary coordinates,

λ_rαrepresenting the actual value of the rotor flux linkage component in the horizontal axis at rest,representing estimates of the rotor flux linkage components in the horizontal axis at rest,

λ_rβrepresenting the actual value of the flux linkage component of the rotor on the vertical axis in stationary coordinates,

representing an estimate of the rotor flux linkage component on the vertical axis in stationary coordinates,

substituting (formula 4) to (formula 7) into (formula 2)In (b), the following is obtained after simplification: $e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}={\mathrm{\λ}}_{\mathrm{r\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-{\mathrm{\λ}}_{\mathrm{r\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=\sqrt{{\mathrm{\λ}}_{\mathrm{r\α}}^2+{\mathrm{\λ}}_{\mathrm{r\β}}^2}\·\sqrt{{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}^2+{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}^2}\left(\frac{{\mathrm{\λ}}_{\mathrm{r\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-{\mathrm{\λ}}_{\mathrm{r\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}}{\sqrt{{\mathrm{\λ}}_{\mathrm{r\α}}^2+{\mathrm{\λ}}_{\mathrm{r\β}}^2}\·\sqrt{{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}^2+{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}^2}}\right)$ (equation 8) of the above-mentioned formula,

assuming an actual rotor flux linkage vector under a stationary coordinate systemAnd estimating rotor flux linkage vectorThe included angles with the α coordinate axes are theta and theta respectivelyAnd theta andthe difference is △ θ, so, based on the fact that the rotor flux linkage vector rotation speed is equal to the stator current vector rotation speed, (equation 8) is modified to yield:

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=\left|{\stackrel{\→}{\mathrm{\λ}}}_r\right|\·\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|(\sin \widehat{\mathrm{\θ}}\cos \mathrm{\θ}-\cos \widehat{\mathrm{\θ}}\sin \mathrm{\θ})=-\sin \mathrm{\Δ\θ}({\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|}^2+\mathrm{\Δ\λ}|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\left|\right)$ (formula 9)

Wherein,for the estimated rotor flux linkage amplitude,for the actual rotor flux linkage amplitude, △ λ is the amplitude error of the actual rotor flux linkage from the estimated rotor flux linkage, and △ λ is 0,

order to

$k={\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|}^2+\mathrm{\Δ\λ}\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|$ (equation 10) of the following formula,

wherein k is the error coefficient of the rotor flux linkage amplitude,

in the asynchronous motor, the space rotation speeds of the rotor flux linkage vector, the stator flux linkage vector and the stator current vector are consistent, and the space rotation speeds of the rotor flux linkage vector, the stator flux linkage vector and the stator current vector are also consistent in an observer, so that the error between the actual rotor flux linkage rotation angle and the estimated rotor flux linkage rotation angle is equal to the error between the actual stator current vector rotation angle and the observed stator current rotation angle, and the error is obtained by utilizing the cosine theorem,

$\sin \mathrm{\Δ\θ}=\frac{|i_{\mathrm{sq}}{\hat{i}}_{\mathrm{sd}}-i_{\mathrm{sd}}{\hat{i}}_{\mathrm{sq}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\stackrel{\widehat{\→}}{i}}_s\right|}$ (formula 11) of the reaction mixture,

wherein,representing the actual stator current vector and,representing the estimated stator current vector magnitude,

substituting (equation 10) and (equation 11) into (equation 9) to obtain

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=-k\frac{|i_{\mathrm{sq}}{\hat{i}}_{\mathrm{sd}}-i_{\mathrm{sd}}{\hat{i}}_{\mathrm{sq}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\stackrel{\widehat{\→}}{i}}_s\right|}$ (in the formula 12),

will be provided withInto the formula (12) in the above formula,

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=-k\frac{\left|i_{\mathrm{sq}}\right||i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\stackrel{\widehat{\→}}{i}}_s\right|}$ (equation 13) of the above-mentioned formula,

using PI regulators (k)_p+k_iDt) replacement of k in (formula 2)₁And k₂And substituting (equation 13) into (equation 2)In (1) obtaining ${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}].$

The prior full-order flux linkage observer comprises A, B, C, G, 1/s, a rotation speed adaptive rate, an angle calculation module, an adder and two subtracters, wherein A represents a full-order flux linkage observation matrix, B represents a voltage input matrix, C represents a current output matrix, 1/s represents an integral operation,

the adder is used for summing the B output voltage signal, the A output observation signal and the G output error compensation signal to obtain a rotor flux linkage differential signal,

1/s is used for carrying out integral operation on the rotor flux linkage differential signal output by the adder to obtain a rotor flux linkage signal, and respectively sending the rotor flux linkage signal to a C, an A, an angle calculation module and a rotating speed self-adaptive rate,

c is used for outputting the horizontal axis component of the estimated stator current under the rotating coordinate systemAnd estimating the longitudinal axis component of the stator current in the rotating coordinate system

Wherein, a subtracter is used for rotating the transverse axis component i under the coordinate system for the input actual stator current_sdAnd estimating the horizontal axis component of the stator current in the rotating coordinate systemMaking difference, obtaining error signal of transverse axis component of stator current under rotating coordinate system, and sending the error signal of transverse axis component of stator current under rotating coordinate system to rotating speed adaptive rate and G,

another subtracter is used for rotating the longitudinal axis component i under the coordinate system for the input actual stator current_sqAnd estimating the vertical axis component of the stator current in the rotating coordinate systemMaking difference, obtaining error signal of vertical axis component of stator current in rotating coordinate system, and simultaneously sending the error signal of vertical axis component of stator current in rotating coordinate system to rotating speed self-adaptive rate and G,

the angle calculation module is used for performing angle calculation on the rotor magnetic linkage signal, the A is used for outputting an observation signal, the rotating speed self-adaption rate is used for outputting a rotating speed feedback signal, and the rotating speed feedback signal is sent to the A.

The full-order flux linkage observer of the asynchronous motor speed sensorless based on the flux linkage error observation acquired by the invention is particularly applied to a universal frequency converter speed sensorless vector control system, and a logic mechanism schematic diagram of the universal frequency converter speed sensorless vector control system is particularly shown in FIG. 3.

The method is carried out based on the rotor flux linkage orientation under a two-phase rotating coordinate system, the rotating speed of a rotating dq coordinate system is consistent with the rotating speed of a rotor flux linkage vector, a d axis is coincided with the rotor flux linkage vector, the rotating angle of the rotor flux linkage vector is calculated, the stator current three-phase stationary coordinate system and the two-phase rotating coordinate system are transformed by utilizing the angle, and the transformation formula is as follows:

$\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_U\\ i_V\\ i_W\end{array}\right]$ and $\left[\begin{array}{c}{i}_{\mathrm{sd}}\\ i_{\mathrm{sq}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{s\α}}\\ i_{\mathrm{s\β}}\end{array}\right]$

wherein θ is the rotor magnetic field rotation angle calculated by using the estimated rotor flux linkage, and the calculation formula is as follows:

wherein i_sαRepresenting the component of the horizontal axis i of the static coordinate system of the actual stator current_sβRepresenting the vertical axis component, i, of the actual stator current in the stationary frame_URepresenting the first phase, i, of the three-phase stator current_VRepresenting a second phase of three-phase stator current, i_WRepresenting the three-phase stator current and the third phase,

and finally, forming a current inner ring of the vector control system by using the current instruction and the sampled and decomposed dq-axis current, outputting instruction voltage, and generating a switching signal to control the on-off of a switching tube after SVPWM modulation so as to finally achieve the purpose of variable frequency speed regulation.

The method is characterized in that a universal frequency converter non-speed sensor vector control system is used for driving and controlling an induction motor, the induction motor has the following parameters of 380V rated voltage, 15.4A rated current, 7.5Kw rated power, 1440R/min rated rotating speed, 50Hz rated frequency, 5000P/R lines of a rotating speed detection encoder, and after 1028 times of subdivision, the total number is 5 × 10⁶；

Fig. 4 is a waveform diagram of the rotation speed of the rotor under the vector control with the speed sensor, the number of lines of the speed sensor adopted in fig. 4 is 1000P/R, and it can be seen from fig. 4 that the rotation speed still has 3rpm fluctuation even under the control with the speed sensor because of the fluctuation of the load of 6% of rated torque and the application of the high-precision encoder detection device, so that it can be concluded that the low-speed performance of the motor under the vector control without the speed sensor is similar to that of the motor under the vector control with the speed sensor, thereby the effectiveness of the method provided by the invention can be known. Fig. 5 is a waveform diagram of the rotation speed in the case of the speed sensorless vector control, and the rotation speed fluctuation does not change much in the speed sensorless vector control of fig. 4 as compared with the speed sensorless vector control of fig. 5,

fig. 6 is a waveform diagram of the rotor speed when the load fluctuation is 34% of the rated torque under the condition of the vector control without the speed sensor, and by using the disturbance rejection test of the full-order flux linkage observer of the asynchronous motor speed sensorless based on the flux linkage error obtained by the present invention when the load fluctuation is 34% of the rated torque, the system can still be kept stable in the extremely low speed operation state, specifically referring to fig. 7 to 10, when the vector control with the speed sensor is provided in fig. 7, the 1.5rpm speed instructs 100% of the rated load, the load fluctuation is 6%, when the vector control with the speed sensor is provided in fig. 8, the 1.5rpm speed instructs 100% of the rated load, the vector control without the speed sensor is provided in fig. 9, the 1.5rpm speed instructs 100% of the rated load, the load fluctuation is 6%, the vector control without the speed sensor is provided in fig. 10, the 1.5rpm speed instructs 100% of the rated load, the load fluctuation is 6%, and compared with the speed sensor vector control, the speed sensor-free vector control has the advantages that the effect is similar when the motor operates at the extremely low speed, the stable operation of the system can be kept, and the severe change does not occur.

In order to simultaneously ensure the observation accuracy and the system stability of the observer, the error feedback matrix coefficient of the full-order flux linkage observer is designed according to the following criteria: (1) the real part of the observer pole is smaller than the real part of the asynchronous motor pole and is negative, so that the convergence speed of the observed flux linkage is higher than that of the real flux linkage; (2) the real part of the zero pole of the transfer function of the estimated rotating speed is negative, so that the estimated rotating speed can be converged under any system gain; (3) the error between the estimated flux linkage and the real flux linkage is utilized to ensure that the system is equivalent to a current model when the motor runs at a low speed, and the system is equivalent to a voltage model when the motor runs at a high speed, so that the amplitude error and the phase error of the observed flux linkage are reduced; and designing a rotor flux linkage phase error coefficient i in a rotating speed self-adaption law according to the phase angle error of the estimated flux linkage and the actual flux linkage_λAnd introducing a rotor flux linkage amplitude error coefficient k to increase the precision of the estimated rotating speed.

The method has the advantages that the problems of system flux linkage estimation accuracy and stability are solved by respectively utilizing the self-adaptive law of the rotating speed and the full-order flux linkage error feedback matrix, so that the motor can be ensured to stably run for a long time at a very low rotating speed (1.5 rpm) under the condition of no speed sensor. And the introduced parameters are less, so that the method has stronger universality. When the motor runs at an extremely low speed, the accuracy of the full-order flux observer of the asynchronous motor speed sensorless based on the flux linkage error observation is improved by more than 30%, so that the speed regulating system can run stably.

Drawings

Fig. 1 is a schematic logical structure diagram of a conventional full-order flux linkage observer according to a third embodiment;

FIG. 2 is a schematic diagram of a logical structure of a rotational speed adaptive law equation after deformation according to a first embodiment of the present invention; wherein PI is proportional-integral controller ""represents a subtracter""means an adder and is a bit-stream adder,

FIG. 3 is a schematic diagram of the logic structure of the universal transducer non-speed sensor vector control system according to the present invention; wherein,in order to be the rotating speed instruction signal,in order to be the flux linkage command signal,is the horizontal axis component under the static coordinate system of the stator current command,the stator current commands the vertical axis component of the stationary frame,in order to be a stator voltage vector,representing a stator voltage vector instruction, wherein SVPWM is space vector pulse width modulation, dq \ αβ represents rotation coordinate transformation, and αβ \ abc represents static coordinate transformation;

FIG. 4 is a waveform of rotor speed with speed sensor vector control;

FIG. 5 is a waveform of rotor speed without speed sensor vector control;

FIG. 6 is a waveform of rotor speed at 34% rated torque with no speed sensor vector control;

FIG. 7 is a waveform of rotor speed when the induction motor is operating at 1.5rpm with speed sensor vector control;

FIG. 8 is a waveform diagram of stator current, torque current and flux linkage current for an induction motor operating at 1.5rpm with speed sensor vector control;

FIG. 9 is a waveform of rotor speed when the induction motor is operating at 1.5rpm without speed sensor vector control;

FIG. 10 is a graph of stator current, torque current and flux linkage current waveforms for an induction motor operating at 1.5rpm with no speed sensor vector control.

Detailed Description

The first embodiment is as follows: referring to fig. 2 to illustrate the present embodiment, the method for acquiring the full-order flux linkage observer of the asynchronous machine without a speed sensor based on flux linkage error according to the present embodiment is implemented based on the existing full-order flux linkage observer, and includes the following steps,

step one, when the following 3 conditions are met, obtaining 4 error feedback coefficients, wherein the 4 error feedback coefficients are g respectively₁、g₂、g₃And g₄Substituting the obtained 4 error feedback coefficients

$G={\left[\begin{array}{cccc}{g}_1& {-g}_2& g_3& {-g}_4\\ g_2& g_1& g_4& g_3\end{array}\right]}^T$ (formula 1)

In (b), a compound of formula (I),

wherein G represents an error feedback matrix of the observer,

the 3 conditions are, respectively,

the first condition is as follows: the real part of the observer pole is smaller than the real part of the asynchronous motor pole and is negative,

and a second condition: the real parts of the zero poles of the estimated rotating speed transfer functions are all negative numbers,

and (3) carrying out a third condition: the error between the estimated flux linkage and the real flux linkage is utilized to ensure that the system is equivalent to a current model when the motor runs at a low speed, and the system is equivalent to a voltage model when the motor runs at a high speed;

step two, according to a known rotating speed self-adaptive law equation:

${\widehat{\mathrm{\ω}}}_r=k_1(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})-k_2(e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})$ (formula 2) of the reaction mixture,

obtaining the self-adaptive law equation of the rotating speed after deformation

${\widehat{\mathrm{\ω}}}_r=k_1(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})-k_2(e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})$ (formula 3) of the reaction mixture,

wherein,which is indicative of the estimated rotational speed of the motor,

k₁the gain in the stator current error is represented,

e_iαrepresenting the error component of the estimated stator current in relation to the actual stator current on the horizontal axis in the stationary frame,

representing the component of the estimated rotor flux linkage in the vertical axis of the stationary frame,

e_iβrepresenting the error component of the estimated stator current in comparison to the actual stator current on the vertical axis in the stationary frame,

the expression estimates the horizontal axis component of the rotor flux linkage in the stationary frame,

k₂the gain in the flux linkage error of the rotor is shown,

e_λαrepresenting the error component of the estimated rotor flux linkage in the horizontal axis in the stationary frame compared to the actual rotor flux linkage,

representing the component of the estimated rotor flux linkage in the vertical axis of the stationary frame,

e_λβrepresenting the error component of the estimated rotor flux linkage compared to the actual rotor flux linkage on the vertical axis in the stationary frame,

representing the horizontal axis component of the estimated rotor flux linkage in the stationary frame,

k_pproportional integral controlThe proportional gain of the system is increased by the proportional gain,

k_irepresenting the integral gain of the proportional-integral controller,

i_sqrepresents the vertical axis component of the actual stator current in a rotating coordinate system,

representing the vertical axis component of the estimated rotor current in a rotating coordinate system,

representing the horizontal axis component of the estimated rotor flux linkage in the rotating coordinate system,

k represents the rotor flux linkage amplitude error coefficient,

i_sdrepresents the horizontal axis component of the actual stator current in the rotating coordinate system,

representing the horizontal axis component of the estimated stator current in a rotating coordinate system,

i_λrepresents the rotor flux linkage phase error coefficient,

step three, replacing the error feedback matrix G of the observer obtained in the step one with the error feedback matrix in the existing full-order flux linkage observer, and carrying out the self-adaptive law equation of the rotating speed after deformation obtained in the step two

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3)

And replacing a rotation speed self-adaptation law in the existing full-order flux linkage observer, namely, successfully obtaining the full-order flux linkage observer of the asynchronous motor without a speed sensor based on the observed flux linkage error.

The second embodiment is as follows: referring to fig. 1, the present embodiment is described, and the difference between the present embodiment and the method for acquiring a full-order flux linkage observer without a speed sensor for an asynchronous motor based on flux linkage error observation according to the first embodiment is that, in the second step, according to a known rotation speed adaptive law equation:

${\widehat{\mathrm{\ω}}}_r=k_1(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})-k_2(e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})$ (formula 2) of the reaction mixture,

obtaining the self-adaptive law equation of the rotating speed after deformation

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3)

The specific process of (A) is as follows,

in the (formula 2), the first and second substrates are,

$e_{\mathrm{i\α}}=i_{\mathrm{s\α}}-{\hat{i}}_{\mathrm{s\α}}$ (formula 4) of the reaction mixture,

$e_{\mathrm{i\β}}=i_{\mathrm{s\β}}-{\hat{i}}_{\mathrm{s\β}}$ (formula 5) of the reaction mixture,

$e_{\mathrm{\λ\α}}={\mathrm{\λ}}_{\mathrm{r\α}}-{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}$ (equation 6) of the following formula,

$e_{\mathrm{\λ\β}}={\mathrm{\λ}}_{\mathrm{r\β}}-{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}$ (formula 7) of the reaction mixture,

wherein i_sαRepresenting the actual value of the stator current component in the horizontal axis in the stationary coordinate,

representing an estimate of the horizontal axis stator current component in stationary coordinates,

i_sβrepresenting the actual value of the stator current component on the vertical axis in stationary coordinates,representing an estimate of the vertical axis stator current component in stationary coordinates,

λ_rαrepresenting the actual value of the rotor flux linkage component in the horizontal axis at rest,representing estimates of the rotor flux linkage components in the horizontal axis at rest,

λ_rβrepresenting the actual value of the flux linkage component of the rotor on the vertical axis in stationary coordinates,

representing an estimate of the rotor flux linkage component on the vertical axis in stationary coordinates,

substituting (formula 4) to (formula 7) into (formula 2)In (b), the following is obtained after simplification: $e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}={\mathrm{\λ}}_{\mathrm{r\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-{\mathrm{\λ}}_{\mathrm{r\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=\sqrt{{\mathrm{\λ}}_{\mathrm{r\α}}^2+{\mathrm{\λ}}_{\mathrm{r\β}}^2}\·\sqrt{{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}^2+{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}^2}\left(\frac{{\mathrm{\λ}}_{\mathrm{r\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-{\mathrm{\λ}}_{\mathrm{r\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}}{\sqrt{{\mathrm{\λ}}_{\mathrm{r\α}}^2+{\mathrm{\λ}}_{\mathrm{r\β}}^2}\·\sqrt{{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}^2+{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}^2}}\right)$ (equation 8) of the above-mentioned formula,

assuming an actual rotor flux linkage vector under a stationary coordinate systemAnd estimating rotor flux linkage vectorThe included angles with the α coordinate axes are theta and theta respectivelyAnd theta andthe difference is △ θ, so, based on the fact that the rotor flux linkage vector rotation speed is equal to the stator current vector rotation speed, (equation 8) is modified to yield: $e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=\left|{\stackrel{\→}{\mathrm{\λ}}}_r\right|\·\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|(\sin \widehat{\mathrm{\θ}}\cos \mathrm{\θ}-\cos \widehat{\mathrm{\θ}}\sin \mathrm{\θ})=-\sin \mathrm{\Δ\θ}({\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|}^2+\mathrm{\Δ\λ}|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\left|\right)$ (formula 9)

Wherein,for the estimated rotor flux linkage amplitude,for the actual rotor flux linkage amplitude, △ λ is the amplitude error of the actual rotor flux linkage from the estimated rotor flux linkage, and △ λ is 0,

order to

$k={\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|}^2+\mathrm{\Δ\λ}\left|{\stackrel{\widehat{\→}}{\mathrm{\λ}}}_r\right|$ (equation 10) of the following formula,

wherein k is the error coefficient of the rotor flux linkage amplitude,

in the asynchronous motor, the space rotation speeds of the rotor flux linkage vector, the stator flux linkage vector and the stator current vector are consistent, and the space rotation speeds of the rotor flux linkage vector, the stator flux linkage vector and the stator current vector are also consistent in an observer, so that the error between the actual rotor flux linkage rotation angle and the estimated rotor flux linkage rotation angle is equal to the error between the actual stator current vector rotation angle and the observed stator current rotation angle, and the error is obtained by utilizing the cosine theorem,

$\sin \mathrm{\Δ\θ}=\frac{|i_{\mathrm{sq}}{\hat{i}}_{\mathrm{sd}}-i_{\mathrm{sd}}{\hat{i}}_{\mathrm{sq}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\stackrel{\widehat{\→}}{i}}_s\right|}$ (formula 11) of the reaction mixture,

wherein,representing the actual stator current vector and,representing the estimated stator current vector magnitude,

substituting (equation 10) and (equation 11) into (equation 9) to obtain

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=-k\frac{|i_{\mathrm{sq}}{\hat{i}}_{\mathrm{sd}}-i_{\mathrm{sd}}{\hat{i}}_{\mathrm{sq}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\stackrel{\widehat{\→}}{i}}_s\right|}$ (in the formula 12),

will be provided withInto the formula (12) in the above formula,

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=-k\frac{\left|i_{\mathrm{sq}}\right||i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\stackrel{\widehat{\→}}{i}}_s\right|}$ (equation 13) of the above-mentioned formula,

using PI regulators (k)_p+k_iDt) replacement of k in (formula 2)₁And k₂And substituting (equation 13) into (equation 2) to obtain ${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}].$

The third concrete implementation mode: referring to fig. 3 to explain the present embodiment, the difference between the present embodiment and the method for acquiring a full-order flux linkage observer of an asynchronous motor non-speed sensor based on observed flux linkage error described in the first embodiment is that the existing full-order flux linkage observer includes a, B, C, G, 1/s, a rotation speed adaptation rate, an angle calculation module, an adder and two subtractors, where a represents a full-order flux linkage observation matrix, B represents a voltage input matrix, C represents a current output matrix, and 1/s represents an integration operation,

the adder is used for summing the B output voltage signal, the A output observation signal and the G output error compensation signal to obtain a rotor flux linkage differential signal,

1/s is used for carrying out integral operation on the rotor flux linkage differential signal output by the adder to obtain a rotor flux linkage signal, and respectively sending the rotor flux linkage signal to a C, an A, an angle calculation module and a rotating speed self-adaptive rate,

c is used for outputting the horizontal axis component of the estimated stator current under the rotating coordinate systemAnd estimating the longitudinal axis component of the stator current in the rotating coordinate system

Wherein, a subtracter is used for rotating the transverse axis component i under the coordinate system for the input actual stator current_sdAnd estimating the horizontal axis component of the stator current in the rotating coordinate systemMaking difference, obtaining error signal of transverse axis component of stator current under rotating coordinate system, and sending the error signal of transverse axis component of stator current under rotating coordinate system to rotating speed adaptive rate and G,

another subtracter is used for rotating the longitudinal axis component i under the coordinate system for the input actual stator current_sqAnd estimating the vertical axis component of the stator current in the rotating coordinate systemMaking difference, obtaining error signal of vertical axis component of stator current in rotating coordinate system, and simultaneously sending the error signal of vertical axis component of stator current in rotating coordinate system to rotating speed self-adaptive rate and G,

the angle calculation module is used for performing angle calculation on the rotor magnetic linkage signal, the A is used for outputting an observation signal, the rotating speed self-adaption rate is used for outputting a rotating speed feedback signal, and the rotating speed feedback signal is sent to the A.

Claims (3)

1. The method for acquiring the full-order flux linkage observer of the asynchronous motor without a speed sensor based on the flux linkage error observation is realized based on the existing full-order flux linkage observer and is characterized by comprising the following steps of,

step one, when the following 3 conditions are met, obtaining 4 error feedback coefficients, wherein the 4 error feedback coefficients are g respectively₁、g₂、g₃And g₄Substituting the obtained 4 error feedback coefficients

$G={\left[\begin{array}{cccc}{g}_1& {-g}_2& g_3& {-g}_4\\ g_2& g_1& g_4& g_3\end{array}\right]}^T$ (formula 1)

In (b), a compound of formula (I),

wherein G represents an error feedback matrix of the observer,

the 3 conditions are, respectively,

the first condition is as follows: the real part of the observer pole is smaller than the real part of the asynchronous motor pole and is negative,

and a second condition: the real parts of the zero poles of the estimated rotating speed transfer functions are all negative numbers,

and (3) carrying out a third condition: the error between the estimated flux linkage and the real flux linkage is utilized to ensure that the system is equivalent to a current model when the motor runs at a low speed, and the system is equivalent to a voltage model when the motor runs at a high speed;

step two, according to a known rotating speed self-adaptive law equation:

${\widehat{\mathrm{\ω}}}_r=k_1(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})-k_2(e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})$ (formula 2) of the reaction mixture,

obtaining the self-adaptive law equation of the rotating speed after deformation

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3) of the reaction mixture,

wherein,which is indicative of the estimated rotational speed of the motor,

k₁the gain in the stator current error is represented,

e_iαrepresenting the error component of the estimated stator current in relation to the actual stator current on the horizontal axis in the stationary frame,

representing the component of the estimated rotor flux linkage in the vertical axis of the stationary frame,

e_iβrepresenting the error component of the estimated stator current in comparison to the actual stator current on the vertical axis in the stationary frame,

the expression estimates the horizontal axis component of the rotor flux linkage in the stationary frame,

k₂the gain in the flux linkage error of the rotor is shown,

e_λαrepresenting the error component of the estimated rotor flux linkage in the horizontal axis in the stationary frame compared to the actual rotor flux linkage,

representing the component of the estimated rotor flux linkage in the vertical axis of the stationary frame,

e_λβrepresenting the error component of the estimated rotor flux linkage compared to the actual rotor flux linkage on the vertical axis in the stationary frame,

representing the horizontal axis component of the estimated rotor flux linkage in the stationary frame,

k_prepresenting the proportional gain of the proportional-integral controller,

k_irepresenting the integral gain of the proportional-integral controller,

i_sqrepresents the vertical axis component of the actual stator current in a rotating coordinate system,

representing the vertical axis component of the estimated rotor current in a rotating coordinate system,

representing the horizontal axis component of the estimated rotor flux linkage in the rotating coordinate system,

k represents the rotor flux linkage amplitude error coefficient,

i_sdrepresents the horizontal axis component of the actual stator current in the rotating coordinate system,

representing the horizontal axis component of the estimated stator current in a rotating coordinate system,

i_λrepresents the rotor flux linkage phase error coefficient,

step three, replacing the error feedback matrix G of the observer obtained in the step one with the error feedback matrix in the existing full-order flux linkage observer, and carrying out the self-adaptive law equation of the rotating speed after deformation obtained in the step two

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3)

And replacing a rotation speed self-adaptation law in the existing full-order flux linkage observer, namely, successfully obtaining the full-order flux linkage observer of the asynchronous motor without a speed sensor based on the observed flux linkage error.

2. The method for acquiring the full-order flux linkage observer without the speed sensor for the asynchronous motor based on the flux linkage error observation according to claim 1, wherein in the second step, according to a known rotation speed adaptive law equation:

${\widehat{\mathrm{\ω}}}_r=k_1(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})-k_2(e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})$ (formula 2) of the reaction mixture,

obtaining the self-adaptive law equation of the rotating speed after deformation

${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\mathrm{\λdt})[(i_{\mathrm{sq}}-{\hat{i}}_{\mathrm{sq}}){\widehat{\mathrm{\λ}}}_{\mathrm{rd}}+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}]$ (formula 3)

The specific process of (A) is as follows,

in the (formula 2), the first and second substrates are,

$e_{\mathrm{i\α}}=i_{\mathrm{s\α}}-{\hat{i}}_{\mathrm{s\α}}$ (formula 4) of the reaction mixture,

$e_{\mathrm{i\β}}=i_{\mathrm{s\β}}-{\hat{i}}_{\mathrm{s\β}}$ (formula 5) of the reaction mixture,

$e_{\mathrm{\λ\α}}={\mathrm{\λ}}_{\mathrm{r\α}}-{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}$ (equation 6) of the following formula,

$e_{\mathrm{\λ\β}}={\mathrm{\λ}}_{\mathrm{r\β}}-{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}$ (formula 7) of the reaction mixture,

wherein i_sαRepresenting the actual value of the stator current component in the horizontal axis in the stationary coordinate,

representing an estimate of the horizontal axis stator current component in stationary coordinates,

i_sβrepresenting the actual value of the stator current component on the vertical axis in stationary coordinates,representing an estimate of the vertical axis stator current component in stationary coordinates,

λ_rαrepresenting the actual value of the rotor flux linkage component in the horizontal axis at rest,representing estimates of the rotor flux linkage components in the horizontal axis at rest,

λ_rβrepresenting the actual value of the flux linkage component of the rotor on the vertical axis in stationary coordinates,

representing an estimate of the rotor flux linkage component on the vertical axis in stationary coordinates,

substituting (formula 4) to (formula 7) into (formula 2)In (b), the following is obtained after simplification:

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}={\mathrm{\λ}}_{\mathrm{r\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-{\mathrm{\λ}}_{\mathrm{r\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=\sqrt{{\mathrm{\λ}}_{\mathrm{r\α}}^2+{\mathrm{\λ}}_{\mathrm{r\β}}^2}\·\sqrt{{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}^2+{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}^2}\left(\frac{{\mathrm{\λ}}_{\mathrm{r\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-{\mathrm{\λ}}_{\mathrm{r\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}}{\sqrt{{\mathrm{\λ}}_{\mathrm{r\α}}^2+{\mathrm{\λ}}_{\mathrm{\β}}^2}\·\sqrt{{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}^2+{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}^2}}\right)$ (equation 8) of the above-mentioned formula,

assuming an actual rotor flux linkage vector under a stationary coordinate systemAnd estimating rotor flux linkage vectorThe included angles with the α coordinate axes are theta and theta respectivelyAnd theta andthe difference is △ θ, so, based on the fact that the rotor flux linkage vector rotation speed is equal to the stator current vector rotation speed, (equation 8) is modified to yield:

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=\left|{\stackrel{\→}{\mathrm{\λ}}}_r\right|\·\left|{\widehat{\stackrel{\→}{\mathrm{\λ}}}}_r\right|(\sin \widehat{\mathrm{\θ}}\cos \mathrm{\θ}-\cos \widehat{\mathrm{\θ}}\sin \mathrm{\θ})=-\sin \mathrm{\Δ\θ}({\left|{\widehat{\stackrel{\→}{\mathrm{\λ}}}}_r\right|}^2+\mathrm{\Δ\λ}{|\widehat{\stackrel{\→}{\mathrm{\λ}}}}_r|)$ (formula 9)

Wherein,for the estimated rotor flux linkage amplitude,for the actual rotor flux linkage amplitude, △ λ is the amplitude error of the actual rotor flux linkage from the estimated rotor flux linkage, and △ λ is 0,

order to

$k={\left|{\widehat{\stackrel{\→}{\mathrm{\λ}}}}_r\right|}^2+\mathrm{\Δ\λ}\left|{\widehat{\stackrel{\→}{\mathrm{\λ}}}}_r\right|$ (equation 10) of the following formula,

wherein k is the error coefficient of the rotor flux linkage amplitude,

the error between the actual rotor flux linkage rotation angle and the estimated rotor flux linkage rotation angle is equal to the error between the actual stator current vector rotation angle and the observed stator current rotation angle, and the error is obtained by utilizing the cosine law,

$\sin \mathrm{\Δ\θ}=\frac{|i_{\mathrm{sq}}{\hat{i}}_{\mathrm{sd}}-i_{\mathrm{sd}}{\hat{i}}_{\mathrm{sq}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\widehat{\stackrel{\→}{i}}}_s\right|}$ (formula 11) of the reaction mixture,

wherein,representing the actual stator current vector and,representing the estimated stator current vector magnitude,

substituting (equation 10) and (equation 11) into (equation 9) to obtain

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=-k\frac{|i_{\mathrm{sq}}{\hat{i}}_{\mathrm{sd}}-i_{\mathrm{sd}}{\hat{i}}_{\mathrm{sq}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\widehat{\stackrel{\→}{i}}}_s\right|}$ (in the formula 12),

will be provided withInto the formula (12) in the above formula,

$e_{\mathrm{\λ\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{\λ\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}}=-k\frac{|i_{\mathrm{sq}}{\left|\right|\hat{i}}_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}}|}{\left|{\stackrel{\→}{i}}_s\right|\·\left|{\widehat{\stackrel{\→}{i}}}_s\right|}$ (equation 13) of the above-mentioned formula,

using PI regulators (k)_p+k_iDt) replacement of k in (formula 2)₁And k₂And substituting (equation 13) into (equation 2) to obtain ${\widehat{\mathrm{\ω}}}_r=(k_p+k_i\∫\mathrm{dt})[(e_{\mathrm{i\α}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\β}}-e_{\mathrm{i\β}}{\widehat{\mathrm{\λ}}}_{\mathrm{r\α}})+k(i_{\mathrm{sd}}-{\hat{i}}_{\mathrm{sd}})i_{\mathrm{\λ}}].$

3. The method for acquiring the full-order flux linkage observer of the non-speed sensor of the asynchronous motor based on the observed flux linkage error as claimed in claim 1, wherein the existing full-order flux linkage observer comprises A, B, C, G, 1/s, a rotation speed adaptation rate, an angle calculation module, an adder and two subtractors, wherein A represents a full-order flux linkage observation matrix, B represents a voltage input matrix, C represents a current output matrix, 1/s represents an integration operation,

the adder is used for summing the B output voltage signal, the A output observation signal and the G output error compensation signal to obtain a rotor flux linkage differential signal,

1/s is used for carrying out integral operation on the rotor flux linkage differential signal output by the adder to obtain a rotor flux linkage signal, and respectively sending the rotor flux linkage signal to a C, an A, an angle calculation module and a rotating speed self-adaptive rate,

c is used for outputting the horizontal axis component of the estimated stator current under the rotating coordinate systemAnd estimating the longitudinal axis component of the stator current in the rotating coordinate system

Wherein, a subtracter is used for rotating the transverse axis component i under the coordinate system for the input actual stator current_sdAnd estimating the horizontal axis component of the stator current in the rotating coordinate systemTaking difference, the obtained stator current has a horizontal axis under a rotating coordinate systemThe error signal of the component, and sends the error signal of the horizontal axis component of the stator current under the rotating coordinate system to the rotating speed adaptive rate and G,

another subtracter is used for rotating the longitudinal axis component i under the coordinate system for the input actual stator current_sqAnd estimating the vertical axis component of the stator current in the rotating coordinate systemMaking difference, obtaining error signal of vertical axis component of stator current in rotating coordinate system, and simultaneously sending the obtained error signal of vertical axis component of stator current in rotating coordinate system to rotating speed self-adaptive rate and G,

the angle calculation module is used for performing angle calculation on the rotor magnetic linkage signal, the A is used for outputting an observation signal, the rotating speed self-adaption rate is used for outputting a rotating speed feedback signal, and the rotating speed feedback signal is sent to the A.