CN103997263A - Transformer substation patrol robot position detecting method based on high-frequency injection method - Google Patents

Transformer substation patrol robot position detecting method based on high-frequency injection method Download PDF

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CN103997263A
CN103997263A CN201410231921.9A CN201410231921A CN103997263A CN 103997263 A CN103997263 A CN 103997263A CN 201410231921 A CN201410231921 A CN 201410231921A CN 103997263 A CN103997263 A CN 103997263A
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rotor
pmsm
initial
observer
theta
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CN103997263B (en
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余海涛
孟高军
胡敏强
黄磊
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Southeast University
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Southeast University
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Abstract

The invention discloses a transformer substation patrol robot position detecting method based on a high frequency injection method. According to the method, an initial position tracking closed-loop control system, a rotating high frequency voltage injection method, a PMSM inductance identification model, a multiple-salient-pole decoupling observer and a rotor position anti-interference observer are combined together to conduct rotor position angle detection. By means of the transformer substation patrol robot position detecting method based on the high frequency injection method, the smooth starting of the transformer substation patrol robot PMSM is achieved, and precise, effective and real-time detection of the rotor position information of the transformer substation patrol robot PMSM can be achieved.

Description

A kind of substation inspection robot method for detecting position based on high-frequency signal injection
Technical field
The present invention relates to a kind of substation inspection robot method for detecting position based on high-frequency signal injection, initial position closed-loop tracking control system, rotation high frequency signal injection method, PMSM inductance identification model, multiple salient pole decoupling zero observer and the anti-interference observer of rotor-position are combined and carry out rotor position angle detection.
Background technology
At present, in the robot system of various structures, owing to adopting, the scheme efficiency of permagnetic synchronous motor (PMSM) is higher, and therefore this scheme has consequence.Particularly, in Power Robot and small scale robot, PMSM is because these advantages have obtained more application.But generally, the drive motors employing mechanical position sensor of robot detects rotating speed and the rotor position of motor, as photoelectric encoder and resolver.But the existence of mechanical sensor has brought a lot of drawbacks: 1) Connection Element between motor and controller increases, hole interference performance variation, has reduced system reliability; 2) strengthen motor bulk and volume, reduced power density, increased hardware cost and the maintenance cost of system; 3) in high temperature and strong corrosive environment, will make sensor performance variation, even lose efficacy, cause motor driven systems normally to work.
And can carry out accurately estimating to be the precondition that magneto alternator High Performance Control Strategies (vector control or Direct Torque) and position-sensor-free operation realize to initial position of rotor, also be to be related to whether smoothly starting of robot, and can realize the key issue of maximum torque starting; Therefore, it is one of the focus of engineering technological research and difficulties that initial position of rotor detects always, especially in Power Robot, because what robot carried out is operating as basic is operation with high pressure, the circuit detecting is abnormally dangerous, inaccurate if initial position of rotor detects, and can cause the repercussion of Power Robot to rotate, result is likely because misoperation destroys whole power circuit and robot, the serious high voltage short circuit that even can cause.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of substation inspection robot method for detecting position based on high-frequency signal injection, initial position closed-loop tracking control system, rotation high frequency signal injection method, PMSM inductance identification model, multiple salient pole decoupling zero observer and the anti-interference observer of rotor-position are combined, in effectively substation inspection robot PMSM initial position of rotor being estimated, the postrun rotor position information of real-time detection substation inspection robot PMSM that can be accurate and effective.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A kind of substation inspection robot method for detecting position based on high-frequency signal injection, initial position closed-loop tracking control system, rotation high frequency signal injection method, PMSM inductance identification model, multiple salient pole decoupling zero observer and the anti-interference observer of rotor-position are combined and carry out rotor position angle detection, specifically comprise the steps:
(1) in the time that PMSM initial position of rotor detects, adopt initial position closed-loop tracking control system, first, the in the situation that of open current loop, rotate in two-phase under coordinate system, inject high-frequency voltage signal, by building rotor-position closed-loop tracking system, estimate PMSM initial position of rotor;
(2) after substation inspection robot operation, adopt rotation high frequency signal injection method to detect in real time PMSM rotor-position, realize the tracking of the phase place to negative phase-sequence high-frequency current by software phase-lock loop, thereby obtain azimuth error, adopt pi regulator to regulate the error of azimuth to make it to go to zero simultaneously, make the estimated value of PMSM rotor-position converge on actual value θ r, right make time diffusion, obtain PMSM rotor velocity for fear of the impact of the multiple saliency of PMSM motor, in the structure of high frequency signal injection method, add dual salient pole decoupling zero observer; For solve the situation of the rotor-position distortion estimator that may cause due to external interference under high speed, add the anti-interference observer of rotor-position;
(3) each has the voltage vector of three linear independences in the PWM cycle, these three voltage vectors cause the variation of d/q shaft voltage, simultaneously in conjunction with PMSM inductance identification model, utilize real-time recurrence method to carry out on-line identification to the d/q axle inductance of PMSM, and the inductance parameters obtaining is input in pi regulator, negative phase sequence current amplitude is compensated, the position to PMSM more accurately to observe.
Beneficial effect: the substation inspection robot method for detecting position based on high-frequency signal injection provided by the invention, initial position closed-loop tracking control system, rotation high frequency signal injection method, PMSM inductance identification model, multiple salient pole decoupling zero observer and the anti-interference observer of rotor-position are combined, there is following beneficial effect: 1, adopt closed-loop tracking control system, can detect very accurately the initial position of rotor of substation inspection robot PMGM, effectively improve the shortcoming such as algorithm execution time length, enforcement complexity that existing method exists; 2, in the impact while of avoiding the multiple saliency of motor, solved the situation that may cause the distortion of observer rotor-position under high speed due to external interference; 3, by PMSM inductance identification model on-line identification d/q axle inductance, and the inductance parameters obtaining is input in pi regulator, realized substation inspection robot PMSM is observed more accurately; 4, save hardware cost and maintenance adult, improved anti-interference and the robustness of system simultaneously.
Brief description of the drawings
Fig. 1 is rotation high-frequency voltage signal injecting principle figure;
Fig. 2 is the dual salient pole decoupling zero observer model figure for high frequency signal injection method;
Fig. 3 is the rotor-position hole interference observer Observation principle figure for high frequency signal injection method;
Fig. 4 is initial position closed-loop tracking control system;
Fig. 5 is substation inspection robot control block diagram;
Fig. 6 is the rotor-position of actual measurement and the comparison diagram that this patent scheme detects.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
A kind of substation inspection robot method for detecting position based on high-frequency signal injection, initial position closed-loop tracking control system, rotation high frequency signal injection method, PMSM inductance identification model, multiple salient pole decoupling zero observer and the anti-interference observer of rotor-position are combined and carry out rotor position angle detection, specifically comprise the steps:
(1) in the time that PMSM initial position of rotor detects, adopt initial position closed-loop tracking control system, first, the in the situation that of open current loop, rotate in two-phase under coordinate system, inject high-frequency voltage signal, by building rotor-position closed-loop tracking system, estimate PMSM initial position of rotor;
(2) after substation inspection robot operation, adopt rotation high frequency signal injection method to detect in real time PMSM rotor-position, realize the tracking of the phase place to negative phase-sequence high-frequency current by software phase-lock loop, thereby obtain azimuth error, adopt pi regulator to regulate the error of azimuth to make it to go to zero simultaneously, make the estimated value of PMSM rotor-position converge on actual value θ r, right make time diffusion, obtain PMSM rotor velocity for fear of the impact of the multiple saliency of PMSM motor, in the structure of high frequency signal injection method, add dual salient pole decoupling zero observer; For solve the situation of the rotor-position distortion estimator that may cause due to external interference under high speed, add the anti-interference observer of rotor-position;
(3) each has the voltage vector of three linear independences in the PWM cycle, these three voltage vectors cause the variation of d/q shaft voltage, simultaneously in conjunction with PMSM inductance identification model, utilize real-time recurrence method to carry out on-line identification to the d/q axle inductance of PMSM, and the inductance parameters obtaining is input in pi regulator, negative phase sequence current amplitude is compensated, the position to PMSM more accurately to observe.
Illustrated with regard to design philosophy of the present invention below.
As shown in Figure 1, the angular frequency of establishing rotation high-frequency voltage signal is ω to the principle that rotation high-frequency voltage signal injects i, amplitude is v si, rotate high-frequency voltage signal be expressed as:
v qdsi s = v qsi s v dsi s = v si cos ( ω i t ) - sin ( ω i t ) = v si e jω i t - - - ( 1 )
Wherein: for the q axle component of high frequency voltage; for the d axle component of high frequency voltage.
The DC response of the three-phase inverter output motor under the excitation of rotation high-frequency voltage signal is will with after filter BPF filtering, obtain dq axle high-frequency current through band for:
i qdi = i dqs _ ip s + i dqs _ in s = i ip e j ( w r ( t ) - π / 2 ) + i in e j ( 2 θ r - w r ( t ) + π / 2 ) - - - ( 2 )
In formula, the amplitude of positive and negative phase-sequence current component is respectively:
i ip = [ ΣL ΣL 2 - ΔL 2 ] U si w i i in = [ ΔL ΣL 2 - Δ L 2 ] U si w i
Wherein, Σ L=(L d+ L q)/2 are the mean value of d, q axle inductance, Δ L=(L d-L q)/2 are half poor inductance of d, q axle inductance; for positive-phase-sequence current component; for negative phase sequence current component; i ipfor positive-phase-sequence current DC component; i infor negative phase sequence current DC component; w r(t) be PMSM spinner velocity; W (t) is for injecting the PMSM rotor-position angular speed reflecting after high frequency voltage, i.e. the position angle of PMSM rotor when low speed segment position; Owing to only having negative phase sequence current component the position angle information θ that comprises PMSM rotor r, therefore first pass through high pass filter SFF by positive-phase-sequence current component filtering, then allow negative phase sequence current component first be multiplied by obtain after, then be multiplied by after, can obtain azimuth error ε and be:
Wherein: for negative phase sequence current q axle component; for negative phase sequence current d axle component; for the estimated value of PMSM rotor-position, θ rfor the actual value of PMSM rotor; Adopt pi regulator to regulate the error of azimuth to make it to go to zero simultaneously, just can make the estimated value of PMSM rotor-position converge on actual value θ r, right make time diffusion, just can estimate PMSM rotor velocity
In formula (2), the Mathematical Modeling of substation inspection robot PMSM has only considered to depend on the space salient pole of rotor structure.And in practice, motor has multiple salient pole, comprise non-linear produced multiple salient pole and the saturated salient pole causing of rotor, stator and inverter.
The multiple salient pole of substation inspection robot PMSM under the good injection of rotation high-frequency voltage signal can pass through complex vector and the expression of electric current, and formula (2) can be write as:
i qdi = i dqs _ ip s + i dqs _ in s = i ip _ 1 e j ( w r ( t ) - π / 2 ) + Σ k i in _ 2 k e j ( 2 θ r - w r ( t ) + π / 2 ) - - - ( 4 )
In formula, i ip_1≈ i ip; i in_2≈ i in.
Salient pole when k=0 is by the DC offset in the caused negative phase-sequence carrier wave of the asymmetry coordinate system of motor dissymmetrical structure and current measurement; In the time of k=1, space salient pole component caused by the inductance difference of d axle and q axle.Magnetic saturation when other salient poles (k=± 1, ± 2, ± 3, ± 4) under loading condition impact, is called the saturated salient pole causing, through test of many times checking, obtains the electric current complex vector that substation inspection robot PMSM causes by multiple salient pole and is similar to:
i qdi = i ip _ 1 e j ( θ t ( t ) - π / 2 ) + i in _ 0 e j ( 2 θ r 1 - θ t ( t ) + π / 2 ) + i in _ 2 e j ( 2 θ r 1 - θ t ( t ) + π / 4 ) + i in _ - 2 e j ( - 2 θ r 1 - θ t ( t ) + π / 4 ) + i in _ 4 e j ( 4 θ r 1 - θ t ( t ) + π / 8 ) + i in _ - 4 e j ( - 4 θ r 1 - θ t ( t ) + π / 8 ) + i in _ 6 e j ( 2 θ r 1 - θ t ( t ) + π / 12 ) + i in _ 8 e j ( 2 θ r 1 - θ t ( t ) + π / 24 ) - - - ( 5 )
The 1st of formula (5) is the positive sequence component of high-frequency current, and the 2nd is in the time of k=0, the static salient pole of motor, and the 3rd is in the time of k=1, by the caused electric current negative sequence component of inductance difference of d axle and q axle.While from the 4th to the 8th being respectively k=-1, k=± 2, k=3 and k=4, affected by the magnetic saturation loading condition, by the salient pole of saturated introduction, remaining salient pole because of amplitude very little, its impact can be left in the basket, to can be taked the method for decoupling zero in PMSM by saturated other salient poles that cause, Fig. 2 is to the 6th tracking observer schematic diagram that carries out decoupling zero in formula (5) under rest frame.In like manner, also can use the same method other are carried out to decoupling zero.
May cause the situation of observer rotor-position distortion estimator due to external interference, according to the mechanical movement model of PMSM, the equivalent structure figure of the rotor-position hole interference observer shown in can structural map 3.Position error signal is observed by linear feedback structural regime, thereby realizes the observation to rotor-position.The second-order differential item of electromagnetic torque regard the equivalence input of observer as, thereby can take into account the different wind speed disturbance situation of lower rate that changes of different wind speed, make observer have enough holes to disturb ability.
The machine performance equation of Fig. 3 the first half can be expressed as:
X . = AX + Bu - - - ( 6 )
y=CX??????????(7)
In formula: X . = T . e T e w r θ r T , u = T . . e , y=θ r A = 0 0 0 0 1 0 0 0 0 1 J 0 0 0 0 P n 0 , B = 1 0 0 0 , C = 0 0 0 1 , P nnumber of pole-pairs; J is moment of inertia.
The state equation of the anti-interference observer of rotor-position can be expressed as:
X ^ . = 0 0 0 0 1 0 0 0 0 1 J ^ 0 0 0 0 P n 0 X ^ + 1 0 0 0 u + l 1 l 2 l 3 J ^ l 4 J ^ ( y - y ^ ) - - - ( 8 )
In defined formula (8) for feedback matrix.
According to the structure of the anti-interference observer shown in Fig. 3, can set up the biography letter relational expression of anti-interference observation error and perturbing torque:
Δθ r 2 ( s ) = θ ^ r 2 ( s ) - θ r 2 ( s ) = - J ^ J s 2 J ^ s 4 + l 4 s 3 + l 3 s 2 + l 2 s + l 1 T d ( s ) - - - ( 9 )
T in formula d(s) be the perturbing torque because wave fluctuates or other extraneous factors cause.
Estimating two-phase rotation in coordinate system, PMSM voltage equation can be expressed as:
u ^ d u ^ q = - R + L d D - w ^ r L q w ^ r L q R + L d D i ^ d i ^ q - 0 L q - L q 0 i ^ d i ^ q × ( D Δθ r ) + E ex - sin Δθ r cos Δθ r - - - ( 10 )
with refer to respectively axle and voltage and current under axle, L d, L qrefer to respectively the inductance under d axle and q axle, D is differential operator, θ rfor rotor physical location, for estimated position, E exfor back electromotive force constant.
Because in SVPWM control technology, the voltage vector at every turn applying is linear independence, thus response transient current also can time become, therefore by PMSM estimation rotate in two-phase mathematical Modeling (10) discretization under in coordinate system is ignored D Δ θ simultaneously r, can obtain:
i ^ d ( k ) i ^ q ( k ) = A i ^ d ( k - 1 ) i ^ q ( k - 1 ) + B u ^ d ( k - 1 ) u ^ q ( k - 1 ) + C - - - ( 11 )
Wherein,
A = a 11 a 12 a 21 a 22 = - RL o ΔT + L d L q L d L q I + - RΣLΔT L d L q · Q ( 2 Δθ r ) + w ^ r ( L d 2 + L q 2 ) ΔT 2 L d L q J - w ^ r ( L d 2 - L q 2 ) ΔT 2 L d L q · S ( 2 Δθ r )
B = b 11 b 12 b 21 b 22 = ΔLΔT L d L q I - ΣLΔT L d L q Q ( 2 Δ θ r ) ;
C = c 11 c 21 w r ψ f ΔT L q sin Δθ r - cos Δθ r ; I = 1 0 0 1 ; J = 0 - 1 1 0 ;
Q ( 2 Δθ r ) = cos 2 Δθ r sin 2 Δθ r sin 2 Δθ r - cos 2 Δθ r ; S ( 2 Δθ r ) = - sin 2 Δθ r cos 2 Δθ r cos 2 Δθ r sin 2 Δθ r
According to Real-time recursive algorithm, formula (11) can be rewritten into:
i ^ d ( k ) i ^ q ( k ) = A B C · i ^ d ( k - 1 ) i ^ q ( k - 1 ) u ^ d ( k - 1 ) u ^ q ( k - 1 ) 1 T - - - ( 12 )
Matrix in formula [A B C] is the parameter value that needs estimation.
Transposition is got on formula (12) both sides simultaneously, and order:
Y ( k ) = i ^ d ( k + 1 ) i ^ q ( k + 1 ) - - - ( 13 )
U ( k ) = i ^ d ( k ) i ^ q ( k ) u ^ d ( k ) u ^ q ( k ) - - - ( 14 )
θ ( k ) = A T B T C T = a 11 a 21 a 12 a 22 b 11 b 21 b 12 b 22 c 11 c 12 - - - ( 15 )
Can find out d, q axle inductance L d, L qbe comprised in matrix B definition:
M 1 = b 11 + b 22 = 2 ΔLΔT L d L q - - - ( 16 )
M 2 = ( b 11 - b 22 ) 2 + ( b 12 - b 21 ) 2 = - 2 ΣLΔT L d L q - - - ( 17 )
Utilize the M in formula (16) 1and M 2, can obtain the estimation expression formula of d, q axle inductance:
L ^ d = 2 ΔT M 1 + M 2 - - - ( 18 )
L ^ q = 2 ΔT M 1 - M 2 - - - ( 19 )
From formula (15)~(19), variable M 1and M 2be to be calculated by diagonal element in matrix B, therefore, pass through M 1and M 2calculate d, q axle inductance in actual motion, the inductance of real-time identification with feed back to position estimation pi regulator, can obtain and estimate more accurately information.
In the time that the initial position of rotor of estimating and actual initial position are enough close, i.e., there are sin (2 Δ θ) ≈ 2 Δ θ in Δ θ ≈ 0.In Fig. 1, to ε Δ θafter signal integration, obtain the first estimated value of rotor-position, can be expressed as follows:
θ ^ = ϵ Δθ · k i s = i in sin 2 Δθ r · k i s ≈ kk i s Δθ r = 2 kk i · 1 s · Δθ r - - - ( 20 )
In formula, k ifor storage gain, k i>0.
Formula (20) can be equivalent to initial position closed-loop tracking control system, its structure as shown in Figure 4, in initial position testing process, rotor-position initial estimation system is in order to realize the accurate tracking of rotor-position estimated value to actual value, and the actual rotor initial position of motor is to immobilize, it can be seen as, and the step signal of first estimating system is given, and it is I type system, and Feasible GLS estimation initial position is followed the tracks of the floating of physical location in theory.The closed loop transfer function, of this system can be write as Φ (s)=2i ink i/ (s+2i ink i), for ensureing that this system is negative feedback systems stabilisation, the limit of closed loop transfer function, must be positioned at complex plane Left half-plane, must meet i in>0, also ensured system open-loop gain on the occasion of.
With actual rotor initial position θ r∈ (pi/2, π) is example, now, and Δ θ r∈ (0, pi/2) rad, from formula (3) to ε Δ θcarry out obtaining location estimation value after PI adjusting to become gradually greatly from initial value 0rad, and the physical location θ of rotor rconstant, Δ θ rcan diminish; By the closed-loop regulating system shown in Fig. 4, final Δ θ rcan converge to 0rad and keep stable; According to can obtain rotor-position initial estimate
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (1)

1. the substation inspection robot method for detecting position based on high-frequency signal injection, it is characterized in that: initial position closed-loop tracking control system, rotation high frequency signal injection method, PMSM inductance identification model, multiple salient pole decoupling zero observer and the anti-interference observer of rotor-position are combined and carry out rotor position angle detection, specifically comprise the steps:
(1) in the time that PMSM initial position of rotor detects, adopt initial position closed-loop tracking control system, first, the in the situation that of open current loop, rotate in two-phase under coordinate system, inject high-frequency voltage signal, by building rotor-position closed-loop tracking system, estimate PMSM initial position of rotor;
(2) after substation inspection robot operation, adopt rotation high frequency signal injection method to detect in real time PMSM rotor-position, realize the tracking of the phase place to negative phase-sequence high-frequency current by software phase-lock loop, thereby obtain azimuth error, adopt pi regulator to regulate the error of azimuth to make it to go to zero simultaneously, make the estimated value of PMSM rotor-position converge on actual value θ r, right make time diffusion, obtain PMSM rotor velocity for fear of the impact of the multiple saliency of PMSM motor, in the structure of high frequency signal injection method, add dual salient pole decoupling zero observer; For solve the situation of the rotor-position distortion estimator that may cause due to external interference under high speed, add the anti-interference observer of rotor-position;
(3) each has the voltage vector of three linear independences in the PWM cycle, these three voltage vectors cause the variation of d/q shaft voltage, simultaneously in conjunction with PMSM inductance identification model, utilize real-time recurrence method to carry out on-line identification to the d/q axle inductance of PMSM, and the inductance parameters obtaining is input in pi regulator, negative phase sequence current amplitude is compensated, the position to PMSM more accurately to observe.
CN201410231921.9A 2014-05-28 2014-05-28 A kind of substation inspection robot method for detecting position based on high-frequency signal injection Expired - Fee Related CN103997263B (en)

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CN106374786A (en) * 2016-10-11 2017-02-01 天津深之蓝海洋设备科技有限公司 Low-rotary-speed control method for non-inductive and brushless direct current motor
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CN110535391B (en) * 2018-05-24 2021-06-04 广州市香港科大霍英东研究院 Servo motor angle error compensation method, system and device
CN109150028A (en) * 2018-10-11 2019-01-04 南京航空航天大学 Three-level formula synchronous motor rotor position estimating system and estimation method
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