CN103997263B - A kind of substation inspection robot method for detecting position based on high-frequency signal injection - Google Patents

Abstract

The invention discloses 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 decou-pled observation device and the anti-interference observer of rotor-position are combined and carries out rotor position angle detection.The present invention is realizing while substation inspection robot PMSM starts smoothly, the rotor position information of real-time detection substation inspection robot PMSM that can be accurate and effective.

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, dual salient pole decou-pled observation device and the anti-interference observer of rotor-position are combined and carries out rotor position angle detection.

Background technology

At present, in the robot system of various structure, owing to adopting the scheme efficiency of permagnetic synchronous motor (PMSM) higher, therefore this scheme has consequence.Particularly in Power Robot and small scale robot, PMSM obtains more application due to these advantages.But generally, the drive motors of robot adopts mechanical position sensor to detect rotating speed and the rotor position of motor, as photoelectric encoder and resolver.But the existence of mechanical sensor brings a lot of drawback: the Connection Element 1) between motor and controller increases, hole interference performance is deteriorated, and reduces system reliability; 2) increase motor bulk and volume, decrease power density, add hardware cost and the maintenance cost of system; 3) in high temperature and strong corrosive environment, sensor performance will be made to be deteriorated, even to lose efficacy, cause motor driven systems normally to work.

And can carry out accurately estimating to be that magneto alternator High Performance Control Strategies (vector control or Direct Torque) and position-sensor-free run the precondition realized to initial position of rotor, also be related to robot whether to start smoothly, and the key issue of maximum torque starting can be realized; Therefore, it is one of the focus and difficulties that engineering technological is studied 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 detected is abnormally dangerous, if initial position of rotor detects inaccurate, the repercussion of Power Robot can be caused to rotate, result is likely because misoperation destroys whole power circuit and robot, and serious even can cause high voltage short circuit.

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, dual salient pole decou-pled observation device and the anti-interference observer of rotor-position are combined, effective substation inspection robot PMSM initial position of rotor is estimated while, 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, dual salient pole decou-pled observation device and the anti-interference observer of rotor-position are combined and carries out rotor position angle detection, specifically comprise the steps:

(1) adopt initial position closed-loop tracking control system when PMSM initial position of rotor detects, first when open current loop, rotate in two-phase injecting high-frequency voltage signal under coordinate system, by building rotor-position closed-loop tracking system, estimating PMSM initial position of rotor;

(2) after substation inspection robot runs, rotation high frequency signal injection method is adopted to detect PMSM rotor-position in real time, the tracking to the phase place of negative phase-sequence high-frequency current is realized by software phase-lock loop, thus 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 in order to avoid the impact of the multiple saliency of PMSM motor, the structure of high frequency signal injection method adds dual salient pole decou-pled observation device; For solving the situation of the rotor position estimate distortion that may cause due to external interference at high speeds, 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 change of d/q shaft voltage, simultaneously in conjunction with PMSM inductance identification model, the d/q axle inductance of real-time recurrence method to PMSM is utilized to carry out on-line identification, and the inductance parameters obtained is input in pi regulator, negative phase sequence current amplitude is compensated, to observe the position of PMSM more accurately.

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, dual salient pole decou-pled observation device and the anti-interference observer of rotor-position are combined, there is following beneficial effect: 1, adopt closed-loop tracking control system, the initial position of rotor of substation inspection robot PMGM can be detected very accurately, effectively improve the shortcoming such as algorithm execution time length, enforcement complexity that existing method exists; 2, avoiding the impact of the multiple saliency of motor simultaneously, the situation that may cause the distortion of observer rotor-position at high speeds due to external interference is solved; 3, by PMSM inductance identification model on-line identification d/q axle inductance, and the inductance parameters obtained is input in pi regulator, achieves and observes more accurately substation inspection robot PMSM; 4, save hardware cost and maintenance adult, improve anti-interference and the robustness of system simultaneously.

Accompanying drawing explanation

Fig. 1 is for rotating high-frequency voltage signal injecting principle figure;

Fig. 2 is the dual salient pole decou-pled observation device illustraton of model 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 rotor-position and the comparison diagram that detects of this patent scheme of actual measurement.

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, dual salient pole decou-pled observation device and the anti-interference observer of rotor-position are combined and carries out rotor position angle detection, specifically comprise the steps:

(1) adopt initial position closed-loop tracking control system when PMSM initial position of rotor detects, first when open current loop, rotate in two-phase injecting high-frequency voltage signal under coordinate system, by building rotor-position closed-loop tracking system, estimating PMSM initial position of rotor;

(2) after substation inspection robot runs, rotation high frequency signal injection method is adopted to detect PMSM rotor-position in real time, the tracking to the phase place of negative phase-sequence high-frequency current is realized by software phase-lock loop, thus 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 in order to avoid the impact of the multiple saliency of PMSM motor, the structure of high frequency signal injection method adds dual salient pole decou-pled observation device; For solving the situation of the rotor position estimate distortion that may cause due to external interference at high speeds, 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 change of d/q shaft voltage, simultaneously in conjunction with PMSM inductance identification model, the d/q axle inductance of real-time recurrence method to PMSM is utilized to carry out on-line identification, and the inductance parameters obtained is input in pi regulator, negative phase sequence current amplitude is compensated, to observe the position of PMSM more accurately.

Just design philosophy of the present invention is illustrated below.

Rotate the principle of high-frequency voltage signal injection as shown in Figure 1, if the angular frequency rotating high-frequency voltage signal is ω _i, amplitude is v _si, then high-frequency voltage signal is rotated be expressed as:

$v_{qdsi}^s=\left[\begin{array}{c}{v}_{qsi}^s\\ v_{dsi}^s\end{array}\right]=v_{si}\left[\begin{array}{c}\cos \left({\mathrm{\ω}}_{i}t\right)\\ -\sin \left({\mathrm{\ω}}_{i}t\right)\end{array}\right]=v_{si}{e}^{{\mathrm{j\ω}}_{i}t}---\left(1\right)$

Wherein: for the q axle component of high frequency voltage; for the d axle component of high frequency voltage.

The DC response rotating the three-phase inverter output motor under high-frequency voltage signal excitation is will after band pass filter BPF filtering, obtain dq axle high-frequency current for:

$i_{qdi}=i_{dqs\_ip}^s+i_{dqs\_in}^s-=i_{ip}{e}^{j\left(w_r\right(t)-\mathrm{\π}/2)}+i_{in}{e}^{j(2{\mathrm{\θ}}_r-w_r(t)+\mathrm{\π}/2)}---\left(2\right)$

In formula, the amplitude of positive and negative phase-sequence current component is respectively:

$\left\{\begin{array}{c}{i}_{ip}=p\[\frac{\ΣL}{\ΣL^2-{\mathrm{\ΔL}}^2}\]\frac{U_{si}}{w_i}\\ i_{in}=p\[\frac{\mathrm{\Δ}L}{\ΣL^2-{\mathrm{\ΔL}}^2}\]\frac{U_{si}}{w_i}\end{array}\right.$

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 _rt () is PMSM spinner velocity; W (t) for injecting the PMSM rotor-position angular speed reflected after high frequency voltage, i.e. the position angle of PMSM rotor during low speed segment position; Owing to only having negative phase sequence current component comprise the position angle information θ of 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 is:

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 only considers the space salient pole depending on rotor structure.And in practice, motor has multiple salient pole, comprise non-linear the produced multiple salient pole of rotor, stator and inverter and the saturated salient pole caused.

The multiple salient pole of substation inspection robot PMSM under the injection rotating high-frequency voltage signal can by the complex vector of electric current and expression, and namely formula (2) can be write as:

$i_{qdi}=i_{dqs\_ip}^s+i_{dq\_\sin }^s=i_{ip\_1}{e}^{j\left(w_r\right(t)-\mathrm{\π}/2)}+\underset{k}{\Σ}{i}_{in\_2k}{e}^{j(2{\mathrm{\θ}}_r-w_r(t)+\mathrm{\π}/2)}---\left(4\right)$

In formula, i _{ip_1}≈ i _ip; i _{in_2}≈ i _in.

Salient pole during k=0 is the DC offset in the negative phase-sequence carrier wave coordinate system caused by the asymmetry of motor dissymmetrical structure and current measurement; As k=1, space salient pole component caused by the inductance difference of d axle and q axle.Magnetic saturation impact time other salient poles (k=± 1, ± 2, ± 3, ± 4) under loading condition, is called the saturated salient pole caused, and through test of many times checking, obtains electric current complex vector that substation inspection robot PMSM causes by multiple salient pole and is similar to:

$\begin{array}{c}{i}_{qdi}=i_{ip\_i}{e}^{j\left({\mathrm{\θ}}_t\right(t)-\mathrm{\π}/2)}+i_{in\_0}{e}^{j(2{\mathrm{\θ}}_{r1}-{\mathrm{\θ}}_t(t)+\mathrm{\π}/2)}+\\ i_{in\_2}{e}^{j(2{\mathrm{\θ}}_{r1}-{\mathrm{\θ}}_t(t)+\mathrm{\π}/4)}+i_{in\_-2}{e}^{j(-2{\mathrm{\θ}}_{r1}-{\mathrm{\θ}}_t(t)+\mathrm{\π}/4)}+\\ i_{in\_4}{e}^{j(4{\mathrm{\θ}}_{r1}-{\mathrm{\θ}}_t(t)+\mathrm{\π}/8)}+i_{in\_-4}{e}^{j(-4{\mathrm{\θ}}_{r1}-{\mathrm{\θ}}_t(t)+\mathrm{\π}/8)}+\\ i_{in\_6}{e}^{j(2{\mathrm{\θ}}_{r1}-{\mathrm{\θ}}_t(t)+\mathrm{\π}/12)}+i_{in\_8}{e}^{j(2{\mathrm{\θ}}_{r1}-{\mathrm{\θ}}_t(t)+\mathrm{\π}/24)}\end{array}---\left(5\right)$

The 1st of formula (5) is the positive sequence component of high-frequency current, and the 2nd is as k=0, the static salient pole of motor, and the 3rd is as k=1, by the electric current negative sequence component caused by the inductance difference of d axle and q axle.Affect by the magnetic saturation loading condition when being k=-1, k=± 2, k=3 and k=4 respectively from the 4th to the 8th, by the salient pole of saturated introduction, remaining salient pole because of amplitude very little, its impact can be left in the basket, to the method can being taked decoupling zero in PMSM by saturated other salient poles caused, Fig. 2 is the tracking observer schematic diagram the 6th in formula (5) being carried out to decoupling zero under rest frame.In like manner, also can use the same method and decoupling zero is carried out to other.

The situation of observer rotor position estimate distortion may be caused due to external interference, according to the mechanical movement model of PMSM, can shown in structural map 3 rotor-position hole interference observer equivalent structure figure.Position error signal is observed by linear feedback structural regime, thus realizes the observation to rotor-position.The second-order differential item of electromagnetic torque regard the equivalent inpnt of observer as, thus the different wind speed disturbance situation of different wind speed lower rate that changes can be taken into account, make observer have enough holes to disturb ability.

The machine performance equation of Fig. 3 the first half can be expressed as:

$\stackrel{\·}{X}=AX+Bu---\left(6\right)$

y＝CX(7)

In formula:

$\stackrel{\·}{X}={\left[\begin{array}{cccc}{\stackrel{\·}{T}}_e& T_e& w_r& {\mathrm{\θ}}_r\end{array}\right]}^T,u={\stackrel{\·\·}{T}}_e,y={\mathrm{\θ}}_r,A=\left[\begin{array}{cccc}0& 0& 0& 0\\ 1& 0& 0& 0\\ 0& \frac{1}{J}& 0& 0\\ 0& 0& P_n& 0\end{array}\right],B=\left[\begin{array}{c}1\\ 0\\ 0\\ 0\end{array}\right],C=\left[\begin{array}{c}0\\ 0\\ 0\\ 1\end{array}\right],$ 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:

In defined formula (8) $\left[\begin{array}{cccc}{l}_1& l_2& \frac{l_3}{\hat{J}}& \frac{l_4}{\hat{J}}\end{array}\right]$ For feedback matrix.

The structure of the anti-interference observer according to Fig. 3, the biography letter relational expression of anti-interference observation error and perturbing torque can be set up:

${\mathrm{\Δ\θ}}_{r2}\left(s\right)={\widehat{\mathrm{\θ}}}_{r2}\left(s\right)-{\mathrm{\θ}}_{r2}\left(s\right)=\frac{-\frac{\hat{J}}{J}{s}^2}{\hat{J}{s}^4+l_4{s}^3+l_3{s}^2+l_{2}s+l_1}{T}_d\left(s\right)---\left(9\right)$

T in formula _d(s) perturbing torque for causing because of wave fluctuation or other extraneous factors.

Rotate in estimation two-phase in coordinate system, PMSM voltage equation can be expressed as:

$\begin{array}{c}\left[\begin{array}{c}{\hat{u}}_d\\ {\hat{u}}_q\end{array}\right]=-\left[\begin{array}{cc}R+L_{d}D& -{\hat{w}}_r{L}_q\\ {\hat{w}}_r{L}_q& R+L_{d}D\end{array}\right]\left[\begin{array}{c}{\hat{i}}_d\\ {\hat{i}}_q\end{array}\right]-\\ \left[\begin{array}{cc}0& L_q\\ -L_q& 0\end{array}\right]\left[\begin{array}{c}{\hat{i}}_d\\ {\hat{i}}_q\end{array}\right]\×\left({\mathrm{D\Δ\θ}}_r\right)+E_{ex}\left[\begin{array}{c}-{\mathrm{sin\Δ\θ}}_r\\ {\mathrm{cos\Δ\θ}}_r\end{array}\right]\end{array}---\left(10\right)$

with refer to respectively axle and voltage and current under axle, L _d, L _qrefer to the inductance under d axle and q axle respectively, D is differential operator, θ _rfor rotor physical location, for estimated position, E _exfor back electromotive force constant.

Because in SVPWM control technology, each voltage vector applied is linear independence, thus the transient current of response also can time become, therefore PMSM is rotated in two-phase in estimation mathematical Modeling (10) discretization under in coordinate system, ignores D Δ θ simultaneously _r, can obtain:

$\left[\begin{array}{c}{\hat{i}}_d\left(k\right)\\ {\hat{i}}_q\left(k\right)\end{array}\right]=A\left[\begin{array}{c}{\hat{i}}_d(k-1)\\ {\hat{i}}_q(k-1)\end{array}\right]+B\left[\begin{array}{c}{\hat{u}}_d(k-1)\\ {\hat{u}}_q(k-1)\end{array}\right]+C---\left(11\right)$

Wherein,

$\begin{array}{c}A\left[\begin{array}{cc}{a}_{11}& a_{12}\\ a_{21}& a_{22}\end{array}\right]=\frac{-{\mathrm{RL}}_o\mathrm{\Δ}T+L_d{L}_q}{L_d{L}_q}I+\frac{-R\ΣL\mathrm{\Δ}T}{L_d{L}_q}\·Q\left(2{\mathrm{\Δ\θ}}_r\right)\\ +\frac{{\hat{w}}_r(L_d^2+L_q^2)\mathrm{\Δ}L}{2L_d{L}_q}J-\frac{{\hat{w}}_r(L_d^2+L_q^2)\mathrm{\Δ}T}{2L_d{L}_q}\·S\left(2{\mathrm{\Δ\θ}}_r\right)\end{array}$

$B=\left[\begin{array}{cc}{b}_{11}& b_{12}\\ b_{21}& b_{22}\end{array}\right]=\frac{\mathrm{\Δ}L\mathrm{\Δ}T}{L_d{L}_q}I-\frac{\mathrm{\Σ}L\mathrm{\Δ}T}{L_d{L}_q}Q\left(2{\mathrm{\Δ\θ}}_r\right);$

$\begin{array}{ccc}C=\left[\begin{array}{c}{c}_{11}\\ c_{21}\end{array}\right]=\frac{w_r{\mathrm{\ψ}}_f\mathrm{\Δ}T}{L_q}\left[\begin{array}{c}{\mathrm{sin\Δ\θ}}_r\\ -{\mathrm{cos\Δ\θ}}_r\end{array}\right];& I=\left[\begin{array}{cc}1& 0\\ 0& 1\end{array}\right];& J=\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right];\end{array}$

$\begin{array}{cc}Q\left(2{\mathrm{\Δ\θ}}_r\right)=\left[\begin{array}{cc}cos2{\mathrm{\Δ\θ}}_r& sin2{\mathrm{\Δ\θ}}_r\\ sin2{\mathrm{\Δ\θ}}_r& -cos2{\mathrm{\Δ\θ}}_r\end{array}\right];& S\left(2{\mathrm{\Δ\θ}}_r\right)=\end{array}\left[\begin{array}{cc}-sin2{\mathrm{\Δ\θ}}_r& cos2{\mathrm{\Δ\θ}}_r\\ \cos 2{\mathrm{\Δ\θ}}_r& sin2{\mathrm{\Δ\θ}}_r\end{array}\right]$

According to Real-time recursive algorithm, formula (11) can be rewritten into:

$\left[\begin{array}{c}{\hat{i}}_d\left(k\right)\\ {\hat{i}}_q\left(k\right)\end{array}\right]=\left[\begin{array}{ccc}A& B& C\end{array}\right]\·{\left[\begin{array}{cc}{\hat{i}}_d(k-1){\hat{i}}_q(k-1){\hat{u}}_d(k-1){\hat{u}}_q(k-1)& 1\end{array}\right]}^T---\left(12\right)$

In formula, matrix [ABC] is the parameter value needing to estimate.

Transposition is got in formula (12) both sides simultaneously, and makes:

$Y\left(k\right)=\left[\begin{array}{cc}{\hat{i}}_d(k+1)& {\hat{i}}_q(k+1)\end{array}\right]---\left(12\right)$

$U\left(k\right)=\[\begin{array}{cccc}{\hat{i}}_d\left(k\right)& {\hat{i}}_q\left(k\right)& {\hat{u}}_d\left(k\right)& {\hat{u}}_q\left(k\right)\end{array}---\left(14\right)$

$\mathrm{\θ}\left(k\right)=\left[\begin{array}{c}{A}^T\\ B^T\\ C^T\end{array}\right]=\left[\begin{array}{cc}{a}_{11}& a_{21}\\ a_{12}& a_{22}\\ b_{11}& b_{21}\\ b_{12}& b_{22}\\ c_{11}& c_{12}\end{array}\right]---\left(15\right)$

Can find out, d, q axle inductance L _d, L _qbe comprised in matrix B, definition:

$M_1=b_{11}+b_{22}=\frac{2\mathrm{\Δ}L\mathrm{\Δ}T}{L_d{L}_q}---\left(16\right)$

$M_2=\sqrt{{(b_{11}-b_{22})}^2+{(b_{12}-b_{21})}^2}=\frac{-2\mathrm{\Σ}L\mathrm{\Δ}T}{L_d{L}_q}---\left(17\right)$

Utilize the M in formula (16) ₁and M ₂, the estimation expression formula of d, q axle inductance can be obtained:

${\hat{L}}_d=\frac{2\mathrm{\Δ}T}{M_1+M_2}---\left(18\right)$

${\hat{L}}_q=\frac{2\mathrm{\Δ}T}{M_1-M_2}---\left(19\right)$

From formula (15) ~ (19), variable M ₁and M ₂be 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 information more accurately.

When the initial position of rotor estimated is enough close with actual initial position, i.e., there is sin (2 Δ θ) ≈ 2 Δ θ in Δ θ ≈ 0.In Fig. 1, to ε _{Δ θ}obtain the first estimated value of rotor-position after signal integration, can be expressed as follows:

$\widehat{\mathrm{\θ}}={\mathrm{\ϵ}}_{\mathrm{\Δ}\mathrm{\θ}}\·\frac{k_i}{s}=i_{in}\sin 2{\mathrm{\Δ\θ}}_r\·\frac{k_i}{s}\≈\frac{{\mathrm{kk}}_i}{s}{\mathrm{\Δ\θ}}_r=2{\mathrm{kk}}_i\·\frac{1}{s}\·{\mathrm{\Δ\θ}}_r---\left(20\right)$

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 detection process, rotor-position initial estimation system is to realize the accurate tracking of rotor position estimate value to actual value, and the actual rotor initial position of motor immobilizes, the step signal that it can see first estimating system as is given, and it is I type system, and Feasible GLS estimation initial position is to the DAZ gene 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 ensure that system open loop gain be 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 θ}location estimation value is obtained after carrying out PI adjustment to become large gradually from initial value 0rad, and the physical location θ of rotor _rconstant, then Δ θ _rcan diminish; By the closed-loop regulating system shown in Fig. 4, final Δ θ _r0rad can be converged to and keep stable; According to rotor-position initial estimate can be obtained

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, dual salient pole decou-pled observation device and the anti-interference observer of rotor-position are combined and carries out rotor position angle detection, specifically comprise the steps:

(1) adopt initial position closed-loop tracking control system when PMSM initial position of rotor detects, first when open current loop, rotate in two-phase injecting high-frequency voltage signal under coordinate system, by building rotor-position closed-loop tracking system, estimating PMSM initial position of rotor;

(2) after substation inspection robot runs, rotation high frequency signal injection method is adopted to detect PMSM rotor-position in real time, the tracking to the phase place of negative phase-sequence high-frequency current is realized by software phase-lock loop, thus 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 in order to avoid the impact of the multiple saliency of PMSM motor, the structure of high frequency signal injection method adds dual salient pole decou-pled observation device; For solving the situation of the rotor position estimate distortion that may cause due to external interference at high speeds, 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 change of d/q shaft voltage, simultaneously in conjunction with PMSM inductance identification model, the d/q axle inductance of real-time recurrence method to PMSM is utilized to carry out on-line identification, and the inductance parameters obtained is input in pi regulator, negative phase sequence current amplitude is compensated, to observe the position of PMSM more accurately.