CN104009697B - Substation inspection robot uses the method for mixing observation device detection positional information - Google Patents

Abstract

The invention discloses a kind of method that substation inspection robot uses mixing observation device detection positional information, initial position detection closed-loop control system, hybrid observer, model reference normalization algorithm, fuzzy controller, saliency compensating controller and hybrid observer are combined, with rotor-position and the velocity information of accurate and effective detection substation inspection robot.The inventive method can be accurate and effective the detection position of substation inspection robot and velocity information.

Description

Substation inspection robot uses the method for mixing observation device detection positional information

Technical field

The present invention relates to a kind of method that substation inspection robot uses mixing observation device detection positional information, will be initial Position is detected closed-loop control system, model reference normalization algorithm, fuzzy controller, saliency compensating controller and mixes Conjunction observer combines, with rotor-position and the velocity information of accurate and effective detection substation inspection robot.

Background technology

At present, in the robot system of various structures, owing to using the scheme efficiency of permagnetic synchronous motor (PMSM) Higher, the most this scheme has consequence.Particularly in Power Robot and small scale robot, PMSM More application has been obtained due to these advantages.But, generally, the driving motor of robot uses mechanical type Position sensor detects rotating speed and the rotor position of motor, such as photoelectric encoder and rotary transformer.But, mechanical type The existence of sensor brings a lot of drawback: 1) connecting element between motor and controller increases, and hole interference performance becomes Difference, reduces system reliability；2) increase motor bulk and volume, decrease power density, add and be The hardware cost of system and maintenance cost；3) in high temperature with strong corrosive environment, sensor performance will be made to be deteriorated, even lose Effect, causes motor driven systems normally to work.

And can accurately estimate initial position of rotor be magneto alternator High Performance Control Strategies (vector controlled Or Direct Torque) and the precondition of position-sensor-free operation realization, also it is to be related to robot start the most smoothly, And the key issue of maximum torque starting can be realized；Therefore, initial position of rotor detection always engineering technological grinds One of the focus studied carefully and difficulties, especially in Power Robot, because the operation that robot is carried out is essentially height Press operation, the circuit of detection is abnormally dangerous, if initial position of rotor detection is inaccurate, can cause the anti-of Power Robot Ringing and rotate, result is likely because maloperation destroys whole power circuit and robot, and serious even can cause high pressure short Road.

The core of sensor is that the real time position of rotor and speed can be estimated by control system accurately, conventional without sensing The control method of device can be divided into 2 classes:

1, the open loop using motor ideal model calculates method, such as direct computing method, counter electromotive force integration method etc., based on opening The computational methods of ring are simply direct, and dynamic property is preferable；But rely on the parameter of electric machine when calculating, and motor runtime parameter is total It is among change, so will certainly affect the accuracy of rotor position estimate；And when motor speed is the lowest, anti-electricity Kinetic potential is the least, together with easy and various interference signal is entrained in, and signal to noise ratio step-down so that back-emf is difficult to detect；Institute In this way it is not appropriate for during or low speed static for motor estimating without sensing station；

2, the rotor-position identification scheme injected based on outside high-frequency signals, as rotated high frequency signal injection method, rotating height Frequently voltage injection method and rotation high frequency current injection；High Frequency Injection is by injecting high frequency to motor three-phase windings Signal (voltage or current signal), relies on the saliency of rotor self or due to the saturated saliency caused, makes The magnetic field that high-frequency signal produces by the modulating action of rotor with salient pole, therefore in high-frequency signal will with rotor position information, From stator current or voltage, demodulate out the positional information that just can extract rotor again by high-frequency signal；This method Relying on extrinsic motivated signal, be not rely on rotating speed, but the time required for estimation rotor-position is longer, position quantity updates Frequency is the highest, so High Frequency Injection is motor is static and has during low speed and preferably estimates effect.

Summary of the invention

Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of substation inspection robot to adopt With mixing observation device detection positional information method, it is possible to make permagnetic synchronous motor under full speed can perfection stably Run.

Technical scheme: for achieving the above object, the technical solution used in the present invention is:

Substation inspection robot uses the method for mixing observation device detection positional information, by initial position detection closed loop control System processed, model reference normalization algorithm, fuzzy controller, saliency compensating controller and hybrid observer are combined in Together, with rotor-position and the velocity information of accurate and effective detection substation inspection robot, following step is specifically included Rapid:

(1) initial position closed-loop tracking control system is used when PMSM initial position of rotor detects, first at electric current In the case of open loop, rotate in two-phaseInject high-frequency voltage signal under coordinate system, follow the tracks of by building rotor-position Closed-loop system, estimates PMSM initial position of rotor；

(2), after substation inspection robot runs, use hybrid observer that robot location's information is carried out real-time online Detection, the structure of described mixing viewer is: use the mode that high frequency injection observer and sliding mode observer combine, and The PMSM initial position of rotor detected is processed by fuzzy controller；

High frequency injects the Cleaning Principle of observer: by software phase-lock loop realize to the phase place of negative phase-sequence high frequency electric with Track, thus obtain azimuth error, use the error of pi regulator regulation azimuth to be allowed to go to zero simultaneously, make PMSM The estimate of rotor-positionConverge on actual value θ_r；

The Cleaning Principle of sliding mode observer is: estimate extension counter electromotive force EEMF initially with sliding mode observer, Constitute sliding-mode surface by the error between detection electric current and observation electric current subsequently extension counter electromotive force EEMF is observed, To obtain rotor-position detected value

High frequency, for substituting traditional weighting algorithm, is injected the detection error of observer and sliding mode observer by fuzzy controller ε and error rate d ε is as the input of fuzzy controller, PMSM rotor position informationAs fuzzy controller Output；

(3) speed of service of PMSM is obtained by model reference normalization algorithmAnd by the speed of serviceFeedback In fuzzy controller in hybrid observer, regulation hybrid cytokine a (e), the speed of serviceHybrid cytokine a (e) can be changed The shape of function, according to the different speeds of serviceAdjust high frequency and inject observer and the sliding mode observer shadow to controlling output Ring, it is thus achieved that different control characteristics；

(4) run under the low speed to solve PMSM, the error that saliency is brought, use SVPWM technology Control, PWM cycle has the V of three kinds of linear independences each time_m、V_nAnd V_lVoltage vector, each of which voltage Vector, correspond to different response current values and becomes i_αβm、i_αβnAnd i_αβl, according to the voltage vector of twice linear independence of front and back And the current-responsive value produced calculates inductance matrix, thus calculate cross, straight axle inductance, and by anti-for cross, straight axle inductance It is fed to high frequency and injects observer and sliding mode observer, saliency is compensated.

Beneficial effect: the substation inspection robot that the present invention provides uses the side of mixing observation device detection positional information Method, by initial position detection closed-loop control system, hybrid observer, model reference normalization algorithm, fuzzy controller, Saliency compensating controller and hybrid observer combine, and have a characteristic that 1, use position-sensor-free Techniques save hardware cost and maintenance adult, improve anti-interference and the robustness of system simultaneously；2, use initially Position detection closed-loop control system, it is possible to extremely accurate detect the initial position of rotor of motor, it is possible to achieve robot Start smoothly, and torque capacity startup can be realized；3, the method using hybrid observer detection positional information, can To realize the real-time online detection of the positional information of full speed period, improve the steady of substation inspection robot system simultaneously Qualitative and accuracy；4, use normalization algorithm to estimate the robot speed of service, can avoid angle differential is obtained speed And the measurement noise error introduced.

Accompanying drawing explanation

Fig. 1 is rotary high frequency signal injection method schematic diagram；

Fig. 2 is the extension counter electromotive force detection method schematic diagram with sliding mode observer；

Fig. 3 is voltage vector based on SVPWM and current-responsive variation diagram；

Fig. 4 is the hybrid observer with fuzzy controller；

Fig. 5 is the schematic diagram of fuzzy controller；

Fig. 6 is mixed function factor curve figure；

Fig. 7 is the speed estimate device block diagram of normalization algorithm；

Fig. 8 is initial position closed-loop tracking control system.

Detailed description of the invention

Below in conjunction with the accompanying drawings the present invention is further described.

Substation inspection robot uses the method for mixing observation device detection positional information, by initial position detection closed loop control System processed, model reference normalization algorithm, fuzzy controller, saliency compensating controller and hybrid observer are combined in Together, with rotor-position and the velocity information of accurate and effective detection substation inspection robot, following step is specifically included Rapid:

(1) initial position closed-loop tracking control system is used when PMSM initial position of rotor detects, first at electric current In the case of open loop, rotate in two-phaseInject high-frequency voltage signal under coordinate system, follow the tracks of by building rotor-position Closed-loop system, estimates PMSM initial position of rotor；

(2), after substation inspection robot runs, use hybrid observer that robot location's information is carried out real-time online Detection, the structure of described mixing viewer is: use the mode that high frequency injection observer and sliding mode observer combine, and The PMSM initial position of rotor detected is processed by fuzzy controller；

High frequency injects the Cleaning Principle of observer: by software phase-lock loop realize to the phase place of negative phase-sequence high frequency electric with Track, thus obtain azimuth error, use the error of pi regulator regulation azimuth to be allowed to go to zero simultaneously, make PMSM The estimate of rotor-positionConverge on actual value θ_r；

The Cleaning Principle of sliding mode observer is: estimate extension counter electromotive force EEMF initially with sliding mode observer, Constitute sliding-mode surface by the error between detection electric current and observation electric current subsequently extension counter electromotive force EEMF is observed, To obtain rotor-position detected value

High frequency, for substituting traditional weighting algorithm, is injected the detection error of observer and sliding mode observer by fuzzy controller ε and error rate d ε is as the input of fuzzy controller, PMSM rotor position informationAs fuzzy controller Output；

(3) speed of service of PMSM is obtained by model reference normalization algorithmAnd by the speed of serviceFeedback In fuzzy controller in hybrid observer, regulation hybrid cytokine a (e), the speed of serviceHybrid cytokine a (e) can be changed The shape of function, according to the different speeds of serviceAdjust high frequency and inject observer and the sliding mode observer shadow to controlling output Ring, it is thus achieved that different control characteristics；

(4) run under the low speed to solve PMSM, the error that saliency is brought, use SVPWM technology Control, PWM cycle has the V of three kinds of linear independences each time_m、V_nAnd V_lVoltage vector, each of which voltage Vector, correspond to different response current values and becomes i_αβm、i_αβnAnd i_αβl, according to the voltage vector of twice linear independence of front and back And the current-responsive value produced calculates inductance matrix, thus calculate cross, straight axle inductance, and by anti-for cross, straight axle inductance It is fed to high frequency and injects observer and sliding mode observer, saliency is compensated.

Design philosophy below in conjunction with the present invention makes further analysis and explanation.

After substation inspection robot starts, use hybrid observer that robot location's information is carried out real-time online detection, Its medium-high frequency injects the Cleaning Principle of observer:

Rotate the principle of high-frequency voltage signal injection as it is shown in figure 1, set the angular frequency rotating high-frequency voltage signal as ω_i, width Value is v_si, then high-frequency voltage signal is rotatedIt is expressed as:

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

Wherein:Q axle component for high frequency voltage；D axle component for high frequency voltage.

The DC response rotating the three-phase inverter output motor under high-frequency voltage signal excitation isWillThrough band After filtering with wave filter BPF, obtain dq axle high frequency electricFor:

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

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

$\left\{\begin{array}{c}{i}_{ip}=\[\frac{\mathrm{\Σ}L}{{\mathrm{\ΣL}}^2-{\mathrm{\ΔL}}^2}\]\frac{U_{si}}{w_i}\\ i_{in}=\[\frac{\mathrm{\Δ}L}{{\mathrm{\ΣL}}^2-{\mathrm{\ΔL}}^2}\]\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 d, q axle inductance Half poor inductance；For positive-phase-sequence current component；For negative-phase sequence electricity Flow component；i_ipFor positive-phase-sequence current DC component；i_inFor negative phase sequence current DC component；w_rT () is PMSM rotor speed Degree；w_iT () is the PMSM rotor-position angular speed reflected after injecting high frequency voltage, i.e. during low speed segment position, PMSM turns The position angle of son；Due to only negative phase sequence current componentComprise position angle information θ of PMSM rotor_r, therefore first First pass through high-pass filter SFF by positive-phase-sequence current componentFilter, then allow negative phase sequence current componentFirst it is multiplied byObtainAfter, then be multiplied byAfter, can obtain azimuth error ε is:

Wherein:For negative phase sequence current q axle component；For negative phase sequence current d axle component；For PMSM rotor The estimate of position, θ_rActual value for PMSM rotor；The error simultaneously using pi regulator regulation azimuth is allowed to Go to zero, so that it may so that the estimate of PMSM rotor-positionConverge on actual value θ_r, rightMake time diffusion, just PMSM rotor velocity can be estimated

After substation inspection robot is in running status, sliding mode observer is used to obtain PMSM rotor-position letter Breath, structured flowchart as in figure 2 it is shown, in d-q rotating coordinate system the voltage equation of PMSM be:

$\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{DL}}_d& -w_r{L}_d\\ w_r{L}_d& R+{\mathrm{DL}}_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ w_r{K}_E\end{array}\right]---\left(4\right)$

Wherein: [u_d u_q]^TFor voltage under rotating coordinate system；[i_d i_q]^TFor electric current under rotating coordinate system；R is stator electricity Resistance；D is differential operator；w_rFor rotor velocity (electrical angle)；K_EFor back electromotive-force constant；L_dFor d axle inductance；L_q For q axle inductance.

Formula (4) is transformed under alpha-beta rest frame, obtains:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{DL}}_{\mathrm{\α}}& -w_r{L}_{\mathrm{\α}\mathrm{\β}}\\ w_r{L}_{\mathrm{\α}\mathrm{\β}}& R+{\mathrm{DL}}_{\mathrm{\β}}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]+w_r{K}_E\left[\begin{array}{c}-{\mathrm{sin\θ}}_r\\ {\mathrm{cos\θ}}_r\end{array}\right]---\left(5\right)$

Wherein: [u_α u_β]^TFor voltage under rotating coordinate system；[i_α i_β]^TFor electric current under rotating coordinate system； L_α=L_o+L₁cos2θ_r；L_αβ=L₁sin2θ_r；L_β=L_o-L₁cos2θ；L_o=(L_d+L_q)/2； L₁=(L_d-L_q)/2；θ_rFor sea wave power generation system PMSM PMSM position angle operationally.

Formula includes θ in (4)_r、2θ_r, wherein 2 θ_rThe biggest difficulty will be brought to the calculating in later stage, therefore, It can be made to eliminate by suitable conversion, it can be seen that the asymmetric of inductance matrix is 2 θ from formula (5)_r's The main cause occurred, thus, the voltage equation (4) of the PMSM under d-q axle is rewritten as:

$\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{DL}}_d& -w_r{L}_q\\ w_r{L}_q& R+{\mathrm{DL}}_d\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ w_r{K}_E+(L_d-L_q)(w_r{i}_d-{\mathrm{di}}_q/dt)\end{array}\right]---\left(6\right)$

Formula (6) transforms under alpha-beta rest frame:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{DL}}_d& w_r(L_d-L_q)\\ -w_r(L_d-L_q)& R+{\mathrm{DL}}_d\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]+\[(w_r{K}_E+(L_d-L_q\left)\right(w_r{i}_d-\frac{{\mathrm{di}}_q}{dt})\]\left[\begin{array}{c}-{\mathrm{sin\θ}}_r\\ {\mathrm{cos\θ}}_r\end{array}\right]---\left(7\right)$

For the ease of using sliding mode observer that counter electromotive force is observed, voltage equation (4) is rewritten into the shape of electric current State equation form:

$\frac{d}{dt}\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=A\·\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]+\frac{1}{L_d}\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]+\frac{E}{L_d}\left[\begin{array}{c}{\mathrm{sin\θ}}_m\\ -{\mathrm{cos\θ}}_m\end{array}\right]---\left(8\right)$

Wherein:

$A=\frac{1}{L_d}\left[\begin{array}{cc}-R& -{\mathrm{\ω}}_r(L_d-L_q)\\ {\mathrm{\ω}}_r(L_d-L_q)& -R\end{array}\right]$

Counter electromotive force $E=\left[\begin{array}{c}{E}_{\mathrm{\α}}\\ E_{\mathrm{\β}}\end{array}\right]=\[(w_r{K}_E+\left(L_d-L_q\right)\left(w_r{i}_d-\frac{{\mathrm{di}}_q}{dt}\right)\]\left[\begin{array}{c}-{\mathrm{sin\θ}}_r\\ {\mathrm{cos\θ}}_r\end{array}\right]$

The sliding mode observer being constructed as follows:

$\frac{d}{dt}\left[\begin{array}{c}{\hat{i}}_{\mathrm{\α}}\\ {\hat{i}}_{\mathrm{\β}}\end{array}\right]=A\·\left[\begin{array}{c}{\hat{i}}_{\mathrm{\α}}\\ {\hat{i}}_{\mathrm{\β}}\end{array}\right]+\frac{1}{L_d}\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]+\frac{Z_{\mathrm{\α}\mathrm{\β}}}{L_d}---\left(9\right)$

Wherein: ${\left[\begin{array}{cc}{\hat{i}}_{\mathrm{\α}}& {\hat{i}}_{\mathrm{\β}}\end{array}\right]}^T$ For stator α and β shaft current observation, $Z_{\mathrm{\α}\mathrm{\β}}=\[h\mathrm{sgn}(\hat{i}-i_{\mathrm{\α}}),h\mathrm{sgn}(\hat{i}-i_{\mathrm{\β}})\],$ H is Synovial membrane gain, sgn is sign function.

Formula (9) deducts formula (8), and the state equation obtaining electric current observation error is:

When completely following condition, sliding mode observer entrance sliding formwork state:

$\&lsqb;i_{\mathrm{\&alpha;}}-{\hat{i}}_{\mathrm{\&alpha;}},i_{\mathrm{\&beta;}}-{\hat{i}}_{\mathrm{\&beta;}}\&rsqb;\frac{d}{t}\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}-{\hat{i}}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}-{\hat{i}}_{\mathrm{\&beta;}}\end{array}\right]<0---\left(11\right)$

If gain k is sufficiently large for sliding formwork, system enters synovial membrane state, has:

$\frac{d}{t}\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}-{\hat{i}}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}-{\hat{i}}_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}-{\hat{i}}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}-{\hat{i}}_{\mathrm{\&beta;}}\end{array}\right]=0---\left(12\right)$

Above formula (12) is brought into formula (10), obtains:

Z=E (13)

Z wherein includes discontinuous high-frequency signal, therefore for removing discontinuous high-frequency signal, is passed into LPF Equivalence control amount is obtained after device, it may be assumed that

$\left[\begin{array}{c}{Z}_{\mathrm{\&alpha;}}\\ Z_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{c}{E}_{\mathrm{\&alpha;}}\\ E_{\mathrm{\&beta;}}\end{array}\right]=\&lsqb;(w_r{K}_E+(L_d-L_q\left)\right(w_r{i}_d-\frac{{\mathrm{di}}_q}{dt})\&rsqb;\left[\begin{array}{c}-{\mathrm{sin\&theta;}}_r\\ {\mathrm{cos\&theta;}}_r\end{array}\right]---\left(14\right)$

By formula (14), the PMSG rotor position angle when high-speed cruising can be obtained

${\widehat{\mathrm{\&theta;}}}_{er}=arctan(-\frac{E_{\mathrm{\&alpha;}}}{E_{\mathrm{\&beta;}}})---\left(15\right)$

In order to avoid the impact of motor saliency, utilize robot system use SVPWM control technology, in real time to d, Q axle inductance carries out on-line identification, builds saliency compensating controller and compensates hybrid observer, its d, q axle electricity The resolution principle of sense is as follows:

Fig. 3 is voltage vector based on SVPWM and current-responsive variation diagram, for the current peak that will detect as electric current The variable quantity of response, inductance matrix can be expressed as:

$\begin{array}{c}\left[\begin{array}{cc}{L}_{11}& L_{12}\\ L_{21}& L_{22}\end{array}\right]=\left[\begin{array}{cc}{u}_{\mathrm{\&alpha;}1}-{\mathrm{Ri}}_{\mathrm{\&alpha;}1}& u_{\mathrm{\&alpha;}2}-{\mathrm{Ri}}_{\mathrm{\&alpha;}2}\\ u_{\mathrm{\&beta;}1}-{\mathrm{Ri}}_{\mathrm{\&beta;}1}& u_{\mathrm{\&beta;}2}-{\mathrm{Ri}}_{\mathrm{\&beta;}2}\end{array}\right]\\ {\left[\begin{array}{cc}\frac{i_{\mathrm{\&alpha;}1}}{\mathrm{\&Delta;}t}& \frac{i_{\mathrm{\&alpha;}2}}{\mathrm{\&Delta;}t}\\ \frac{i_{\mathrm{\&beta;}1}}{\mathrm{\&Delta;}t}& \frac{i_{\mathrm{\&beta;}2}}{\mathrm{\&Delta;}t}\end{array}\right]}^{-1}/H\left(t\right)=\frac{\mathrm{\&Delta;}t}{H\left(t\right)(i_{\mathrm{\&alpha;}1}{i}_{\mathrm{\&beta;}2}-i_{\mathrm{\&alpha;}2}{i}_{\mathrm{\&beta;}1})}\\ \left[\begin{array}{cc}{u}_{\mathrm{\&alpha;}1}-{\mathrm{Ri}}_{\mathrm{\&alpha;}1}& u_{\mathrm{\&alpha;}1}-{\mathrm{Ri}}_{\mathrm{\&alpha;}2}\\ u_{\mathrm{\&beta;}1}-{\mathrm{Ri}}_{\mathrm{\&beta;}1}& u_{\mathrm{\&beta;}2}-{\mathrm{Ri}}_{\mathrm{\&beta;}2}\end{array}\right]\left[\begin{array}{cc}{i}_{\mathrm{\&beta;}2}& -i_{\mathrm{\&alpha;}2}\\ -i_{\mathrm{\&beta;}1}& i_{\mathrm{\&alpha;}1}\end{array}\right]\end{array}---\left(16\right)$

WhereinR is stator resistance, Δ t be double voltage vector under SVPWM apply time Between be spaced, i_α1、i_β1、i_α2、i_β2It is respectively the current-responsive value of 1,2 voltage vectors under α β coordinate system, can see Going out, formula (16) can obtain the inductance parameters of PMSM, thus obtains d, q axle inductance, such as formula (17) and (18) Shown in

L_d=L₁+L₂=[L₁₁+L₂₂+(L₁₁-L₂₂)/cos2θ_r]/2 (17)

L_q=L₁-L₂=[L₁₁+L₂₂-(L₁₁-L₂₂)/cos2θ_r]/2 (18)

For sliding mode observer, by the L required by formula (17) and (18)_dAnd L_q, and the i detected_α、i_βWith w_rOne Play substitution formula (7) can obtain:

${\widehat{\mathrm{\&theta;}}}_{hr}=arctan(-\frac{E_{\mathrm{\&alpha;}}}{E_{\mathrm{\&beta;}}})=arctan(-\frac{u_{\mathrm{\&alpha;}}-K_1}{u_{\mathrm{\&beta;}}-K_2})---\left(19\right)$

Wherein K₁、K₂For calculating the coefficient value obtained, therefore add saliency tracking observer, directly utilize detection To α, β shaft voltage calculate, largely decrease the complexity of computing.

For high frequency electrocardiography observer, by formula (17) and (18) the inductance L of real-time identification_dAnd L_qFeedback To position estimation pi regulator, it is possible to obtain estimate information more accurately.

Mixing the main of observation device is made up of fuzzy controller, replaces traditional weighting algorithm.By tracking error ε and mistake Difference rate of change d ε is as the input of fuzzy controller, the positional information of substation inspection robotAs fuzzy controller Output, as shown in Figure 4, its concrete principle is as follows for fuzzy controller concrete structure figure:

First penetrate tracking error ε and error rate d ε be defined as:

$\left\{\begin{array}{c}\mathrm{\&epsiv;}\left(k\right)={\widehat{\mathrm{\&theta;}}}_{er}\left(k\right)-{\widehat{\mathrm{\&theta;}}}_{hr}\left(k\right)\\ d\mathrm{\&epsiv;}\left(k\right)={\widehat{\mathrm{\&theta;}}}_{er}\left(k\right)-{\widehat{\mathrm{\&theta;}}}_{er}(k-1)\end{array}\right.---\left(20\right)$

In its Fig. 4, the transmission function of reference model is:

$\frac{{\widehat{\mathrm{\&theta;}}}_{er}\left(s\right)}{{\widehat{\mathrm{\&theta;}}}_{hr}\left(s\right)}=\frac{{\mathrm{\&omega;}}_n^2}{s^2+2{\mathrm{\&zeta;\&omega;}}_{n}s+{\mathrm{\&omega;}}_n^2}---\left(21\right)$

According to transformer substation robot response, quickly and steady-state error is the system of zero.Select damping coefficientζ=1, then above-mentioned Retrain Δ t lower interval time and natural frequency ω_nBetween relation as follows:

$(1-{\mathrm{\&omega;}}_n\mathrm{\&Delta;}t)e^{-{\mathrm{\&omega;}}_n{t}_r}=0.1---\left(22\right)$

As long as Δ t gives, it is possible to obtain ω_n.And can obtain transmit function (21) discrete form:

$\frac{{\widehat{\mathrm{\&theta;}}}_{er}\left(z^{-1}\right)}{{\widehat{\mathrm{\&theta;}}}_{hr}\left(z^{-1}\right)}=\frac{a\left(e\right)(1+z^{-1}+z^{-2})}{\&lsqb;1-a\left(e\right)\&rsqb;(1+z^{-1}+z^{-2})}---\left(23\right)$

Difference equation is:

${\widehat{\mathrm{\&theta;}}}_{er}\left(k\right)=(1-a(e\left)\right)\&lsqb;-{\widehat{\mathrm{\&theta;}}}_{hr}(k-1)-{\widehat{\mathrm{\&theta;}}}_{hr}(k-2)\&rsqb;-a\left(e\right)\&lsqb;{\widehat{\mathrm{\&theta;}}}_{er}\left(k\right)+{\widehat{\mathrm{\&theta;}}}_{er}(k-1)+{\widehat{\mathrm{\&theta;}}}_{er}(k-2)\&rsqb;---\left(24\right)$

A (e) is hybrid cytokine in fact, and correction unit have employed progressively descent method, exports by minimizing reference modelWith High frequency electrocardiography observer detected valueThe fuzzy parameter square carrying out blur correction mode controller of difference:

$J(k+1)=\frac{1}{2}\mathrm{\&epsiv;}{(k+1)}^2=\frac{1}{2}{\&lsqb;{\widehat{\mathrm{\&theta;}}}_{er}(k+1)-{\widehat{\mathrm{\&theta;}}}_{hr}(k+1)\&rsqb;}^2---\left(25\right)$

${\mathrm{\&Delta;c}}_{m,n}(k+1)\&Proportional;-\frac{\&part;J(k+1)}{\&part;c_{m,n}\left(k\right)}=-\mathrm{\&alpha;}\frac{\&part;J(k+1)}{\&part;c_{m,n}\left(k\right)}---\left(26\right)$

Through above process processing, its output quantity is the positional information of substation inspection robot

About in formula (23) and (24) hybrid cytokine a (e) be defined as also one of emphasis for this patent, by a (e) It is configured to:

$\left\{\begin{array}{cc}a\left(e\right)=0& {\hat{w}}_r<w_1\\ a\left(e\right)=\frac{\exp \left({\hat{w}}_r\mathrm{\&rho;}\right)-\exp \left(w_1\mathrm{\&rho;}\right)}{\exp \left(w_2\mathrm{\&rho;}\right)-\exp \left(w_1\mathrm{\&rho;}\right)}& w_1<{\hat{w}}_r\&le;w_2\\ a\left(e\right)=1& {\hat{w}}_r>w_2\end{array}\right.---\left(27\right)$

In formula: w₁And w₂It is respectively the separation of rotating speed, whenTime, only high frequency voltage observer is individually made With, whenImplement sliding mode observer detection completely, at w₁And w₂Between time, high frequency voltage observer and sliding formwork Observer detects jointly.Wherein Fig. 6 is mixed function factor curve figure.

In formula (27)Model reference normalization algorithm is used to obtain, according to formula:

${\widehat{\mathrm{\&theta;}}}_{hr}=arctan(-\frac{E_{\mathrm{\&alpha;}}}{E_{\mathrm{\&beta;}}})=arctan(-\frac{u_{\mathrm{\&alpha;}}-K_1}{u_{\mathrm{\&beta;}}-K_2})---\left(28\right)$

Robot PMSM estimated speedAvailable model obtains with reference to normalization algorithm, the structure of algorithm for estimating such as Fig. 7 institute Show, the measurement noise error that this method can be avoided that angle differential is obtained speed and introduce.

First, the counter electromotive force of α, β axle detected is normalized

$E_n=\frac{1}{\sqrt{E_{\mathrm{\&alpha;}}^2+E_{\mathrm{\&beta;}}^2}}\left[\begin{array}{c}{\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\\ {\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\end{array}\right]---\left(29\right)$

For the counter electromotive force of α, β axle, speed w_rChange is more slowly, is considered as constant, thus has:

DE/dt=w_rJE (30)

Wherein $J=\left[\begin{array}{cc}0& -1\\ 1& 0\end{array}\right].$

Above as the reference model of normalization algorithm, adjustable model is defined as:

$d\hat{E}/dt={\hat{w}}_{r}J\hat{E}+G(\hat{E}-E)---\left(31\right)$

Wherein:Output for adjustable model；For estimating speed；G is feedback loop gain, its purpose is to make Adjustable model is restrained.

When velocity estimation exists error, normalized back-emf will be caused to produce errorThis error with The output of adjustable modelTogether, following law is obtained:

K in fact_pAnd k_iFor the regulation parameter of pi regulator, after adjustable model convergence,Converge to zero, thus the speed estimated DegreeFinally converge to actual speed w_r。

Initial position detection principle:

When the initial position of rotor estimated is the most close with actual initial position, i.e. Δ θ ≈ 0, exists sin(2Δθ)≈2Δθ.In Fig. 8, to ε_ΔθObtain the first estimate of rotor-position after signal integration, can be expressed as follows:

$\widehat{\mathrm{\&theta;}}={\mathrm{\&epsiv;}}_{\mathrm{\&Delta;}\mathrm{\&theta;}}\&CenterDot;\frac{k_i}{s}=i_{in}sin2{\mathrm{\&Delta;\&theta;}}_r\&CenterDot;\frac{k_i}{s}\&ap;\frac{{\mathrm{kk}}_i}{s}{\mathrm{\&Delta;\&theta;}}_r=2{\mathrm{kk}}_i\&CenterDot;\frac{1}{s}\&CenterDot;{\mathrm{\&Delta;\&theta;}}_r---\left(33\right)$

In formula, k_iFor storage gain, k_i>0。

Formula (33) can be equivalent to initial position closed-loop tracking control system, its structure as shown in Figure 4, in initial bit During putting detection, rotor-position initial estimation system be in order to realize rotor position estimate value to actual value accurate with Track, and the actual rotor initial position of motor is to immobilize, it is considered as the step signal into first estimating system Given, it is I type system, in theory the Feasible GLS estimation initial position DAZ gene to physical location.This system Closed loop transfer function, can be write as Φ (s)=2i_ink_i/(s+2i_ink_i), for ensureing that this system is negative-feedback systems stabilisation, closed loop passes The limit of delivery function must be positioned at complex plane Left half-plane, it is necessary to meets i_in> 0, also ensure that system open loop gain is just Value.

With actual rotor initial position θ_rAs a example by ∈ (pi/2, π), now, Δ θ_r∈ (0, pi/2) rad, can by formula (3) KnowTo ε_ΔθLocation estimation value is obtained after carrying out PI regulationTo become larger from initial value 0rad, and rotor Physical location θ_rConstant, then Δ θ_rCan diminish；By the closed-loop regulating system shown in Fig. 4, final Δ θ_rCan converge to 0rad also keeps stable；According toRotor-position initial estimate can be obtained

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art For, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also Should be regarded as protection scope of the present invention.

Claims (1)

1. the method that substation inspection robot uses mixing observation device detection positional information, it is characterised in that: will just Beginning position detection closed-loop control system, model reference normalization algorithm, fuzzy controller, saliency compensating controller and Hybrid observer combines, with rotor-position and the velocity information of accurate and effective detection substation inspection robot, Specifically include following steps:

(1) initial position closed-loop tracking control system is used when PMSM initial position of rotor detects, first at electric current In the case of open loop, rotate in two-phaseInject high-frequency voltage signal under coordinate system, follow the tracks of by building rotor-position Closed-loop system, estimates PMSM initial position of rotor；

(2), after substation inspection robot runs, use hybrid observer that robot location's information is carried out real-time online Detection, the structure of described mixing viewer is: use the mode that high frequency injection observer and sliding mode observer combine, and The PMSM initial position of rotor detected is processed by fuzzy controller；

High frequency injects the Cleaning Principle of observer: by software phase-lock loop realize to the phase place of negative phase-sequence high frequency electric with Track, thus obtain azimuth error, use the error of pi regulator regulation azimuth to be allowed to go to zero simultaneously, make PMSM The estimate of rotor-positionConverge on actual value θ_r；

The Cleaning Principle of sliding mode observer is: estimate extension counter electromotive force EEMF initially with sliding mode observer, Constitute sliding-mode surface by the error between detection electric current and observation electric current subsequently extension counter electromotive force EEMF is observed, To obtain rotor-position detected value

High frequency, for substituting traditional weighting algorithm, is injected the detection error of observer and sliding mode observer by fuzzy controller ε and error rate d ε is as the input of fuzzy controller, PMSM rotor position informationAs fuzzy controller Output；

(3) speed of service of PMSM is obtained by model reference normalization algorithmAnd by the speed of serviceFeedback In fuzzy controller in hybrid observer, regulation hybrid cytokine a (e), the speed of serviceHybrid cytokine a (e) can be changed The shape of function, according to the different speeds of serviceAdjust high frequency and inject observer and the sliding mode observer shadow to controlling output Ring, it is thus achieved that different control characteristics；

(4) run under the low speed to solve PMSM, the error that saliency is brought, use SVPWM technology Control, PWM cycle has the V of three kinds of linear independences each time_m、V_nAnd V_lVoltage vector, each of which voltage Vector, correspond to different response current values and becomes i_αβm、i_αβnAnd i_αβl, according to the voltage vector of twice linear independence of front and back And the current-responsive value produced calculates inductance matrix, thus calculate cross, straight axle inductance, and by anti-for cross, straight axle inductance It is fed to high frequency and injects observer and sliding mode observer, saliency is compensated.