CN104135197A - Speed regulating control strategy for sensorless permanent magnet synchronous motor - Google Patents
Speed regulating control strategy for sensorless permanent magnet synchronous motor Download PDFInfo
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- CN104135197A CN104135197A CN201410404242.7A CN201410404242A CN104135197A CN 104135197 A CN104135197 A CN 104135197A CN 201410404242 A CN201410404242 A CN 201410404242A CN 104135197 A CN104135197 A CN 104135197A
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- permanent magnet
- magnet synchronous
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Abstract
The invention belongs to the field of control over a permanent magnet synchronous motor, and relates to a speed regulating control strategy for a sensorless permanent magnet synchronous motor. The speed regulating control strategy is characterized in that a three-phase current of the permanent magnet synchronous motor is detected, the current under an alpha and beta coordinate system is obtained through Clarke conversion, and the current under the dq coordinate system is obtained through Park conversion; a sliding-mode observer is designed according to a mathematic model of the permanent magnet synchronous motor under the alpha and beta two-phase static coordinate system; a hyperbolic tangent function is used as a switching function; a sliding-mode face is selected; the estimation value of the rotor position is obtained through counter electromotive force; a speed estimator is adopted for estimating the speed; a Lyapunov function is selected, and an adaptive law is obtained through the stability condition; According to the speed regulating control strategy, the structural switching discontinuity is relieved, the buffeting is obviously weakened, the rapidness, the robustness and the dynamic performance are improved, when an error exists in the estimation value of the rotor position, the speed estimation error is made to be within the controllable range, and the rotating speed estimation precision is improved.
Description
Technical field
The present invention relates to permagnetic synchronous motor control field, relate in particular to a kind of without transducer PMSM Speed control strategy.
Background technology
The speed adjusting performance of motor affects industrial production and energy utilization rate.The feature that permagnetic synchronous motor is high with its power density, torque ratio is high, efficiency is high, reliability is high, loss is little, volume is little, lightweight and simple in structure, is widely used in the multiple fields such as electric automobile, Aero-Space navigation, household electrical appliance, rail trolley buses.The accurate control of permagnetic synchronous motor needs position and the velocity information of rotor, in its governing system, in order to obtain rotary speed information accurately, conventionally mechanical pick-up device need to be installed, this has just increased motor volume, has increased system cost, has reduced system robustness.
Along with scientific and technological development, for avoiding installing the deficiency that mechanical pick-up device produces, permagnetic synchronous motor is controlled the focus that becomes current research without transducer.Realizing the method that permagnetic synchronous motor controls without transducer has: the closed-loop policy on the method based on motor ideal mathematics model, observer basis, the method based on signal injection etc.Sliding mode observer method, with its simple algorithm and stronger robustness, is applied by numerous scholars.Yet traditional sliding mode observer is usingd signum function as switching function, has obvious chattering phenomenon, and calculate rotating speed by the method for direct differentiation, there will be the problem that estimation precision is not high.Meanwhile, stator resistance resistance when motor moves can become large because of heating.These factors all can affect the performance of control system.
Summary of the invention
For the problems referred to above, propose a kind ofly without transducer PMSM Speed control strategy, to have weakened chattering phenomenon the estimation precision of rotating speed while having improved motor operation.
The invention discloses a kind ofly without transducer PMSM Speed control strategy, comprise following concrete steps.
Detect three-phase current ia, ib and the ic of permagnetic synchronous motor, through Clarke, conversion obtains the electric current under α β coordinate system
,
, through Park, conversion obtains current i d, the iq under dq coordinate system.
Under α β two-phase rest frame, the Mathematical Modeling of permagnetic synchronous motor is:
。
Wherein,
be respectively phase current, back electromotive force, phase voltage in two-phase rest frame,
for stator inductance,
for stator resistance,
for magnetic linkage,
for electric angle speed,
for rotor-position.
Design sliding mode observer is:
。
Wherein,
be respectively
estimated value,
for observer gain.
The error of current estimation value and actual value is defined as:
,
.
With hyperbolic tangent function as switching function:
。
Choosing sliding-mode surface is:
。
Once reach sliding-mode surface, system trajectory will rest on this sliding-mode surface always.At this moment evaluated error is zero, has:
。
Back electromotive force can be expressed as:
。
Because
, can obtain
span:
,
.Therefore
.
The estimated value of rotor-position is:
。
Conventionally the method for calculating rotating speed is:
。
Yet the accuracy of this method is not high.If the estimated value of rotor-position exists error, speed estimation error will be very large.So adopt speed estimator to solve this problem.
。
Wherein,
be respectively the ratio, the integral coefficient that are greater than zero,
for
estimated value,
for
integrated value.
Choosing Lyapunov function is:
。
Wherein,
.
To this Lyapunov function differentiate, can obtain:
。
Can obtain thus:
。
By above-mentioned condition, obtain:
。
By above-mentioned analysis, can be obtained
, meet stability condition.
Accompanying drawing explanation
Fig. 1 is without transducer PMSM Speed control system theory diagram.
Fig. 2 is the sliding mode observer theory diagram with speed estimator.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
Fig. 1 is without transducer PMSM Speed control system theory diagram.
The invention discloses a kind ofly without transducer PMSM Speed control strategy, comprise following concrete steps.
By current sensor, detect three-phase current ia, ib and the ic of permagnetic synchronous motor, through Clarke, conversion obtains the electric current under α β coordinate system
,
, through Park, conversion obtains current i d, the iq under dq coordinate system.
According to the Mathematical Modeling of permagnetic synchronous motor under α β two-phase rest frame, design sliding mode observer Sliding Mode Current Observer, as shown in Figure 2.
With hyperbolic tangent function as switching function.
Choose sliding-mode surface, once reach sliding-mode surface, system trajectory will rest on this sliding-mode surface always.At this moment, evaluated error is zero.
By back electromotive force, obtain the estimated value of rotor-position.
Adopt speed estimator, to improve rotating speed estimated accuracy.
Choose Lyapunov function, by stability condition, draw adaptive law.
Claims (3)
1. without a transducer PMSM Speed control strategy, it is characterized in that: by current sensor, detect three-phase current ia, ib and the ic of permagnetic synchronous motor, through Clarke, conversion obtains the electric current under α β coordinate system
,
, through Park, conversion obtains current i d, the iq under dq coordinate system; According to the Mathematical Modeling of permagnetic synchronous motor under α β two-phase rest frame, design sliding mode observer; With hyperbolic tangent function as switching function; Choose sliding-mode surface; By back electromotive force, obtain the estimated value of rotor-position; For improving rotating speed estimated accuracy, adopt speed estimator; Choose Lyapunov function, by stability condition, draw adaptive law.
2. the switching function of sliding mode observer as claimed in claim 1, is characterized in that: with continuous hyperbolic tangent function, as switching function, weakened significantly chattering phenomenon, described switching function design is as follows:
Wherein,
,
.
3. speed estimator as claimed in claim 1, is characterized in that: when the estimated value of rotor-position exists error, make speed estimation error in controlled range, improved rotating speed estimated accuracy, speed estimator design is as follows:
Wherein,
be respectively the ratio, the integral coefficient that are greater than zero,
for
estimated value,
for
integrated value.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104601076A (en) * | 2015-02-15 | 2015-05-06 | 电子科技大学 | Design method of sensorless sliding mode observer for electrical vehicle motor |
| CN104953915A (en) * | 2015-07-14 | 2015-09-30 | 东南大学 | Permanent magnet synchronous motor sliding-mode control strategy based on novel reaching law |
| CN105915142A (en) * | 2016-04-18 | 2016-08-31 | 浙江大学 | PMSM (permanent magnet synchronous motor) rotor position and rotating speed estimation method based on decoupling adaptive observer |
| CN107707168A (en) * | 2017-11-02 | 2018-02-16 | 宁波工程学院 | A kind of method for controlling permanent magnet synchronous motor based on double-current observer |
| CN107800345A (en) * | 2017-11-02 | 2018-03-13 | 宁波工程学院 | A kind of method for controlling permanent magnet synchronous motor based on observer |
| CN108258949A (en) * | 2018-02-02 | 2018-07-06 | 上海交通大学 | A kind of rotor-position adaptive estimation method of noninductive permanent magnet synchronous motor |
| CN108880351A (en) * | 2018-06-28 | 2018-11-23 | 上海应用技术大学 | The evaluation method and system of permanent-magnet synchronous motor rotor position |
| CN109600082A (en) * | 2018-10-25 | 2019-04-09 | 郑州大学 | A kind of permanent-magnet synchronous motor rotor position full-order sliding mode observation device and method |
| CN110649852A (en) * | 2019-09-23 | 2020-01-03 | 河海大学常州校区 | Permanent magnet synchronous motor robust fault-tolerant control method adopting sliding mode estimation |
| CN110971167A (en) * | 2019-12-24 | 2020-04-07 | 江苏大学 | Variable-gain adaptive detection filter-based variable-leakage-flux motor position sensorless control method |
| US11922941B2 (en) | 2016-05-10 | 2024-03-05 | Google Llc | Implementations for voice assistant on devices |
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| KR20110094454A (en) * | 2010-02-16 | 2011-08-24 | 부산대학교 산학협력단 | Method for speed sensorless control of permanent magnet synchronous motor |
| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
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| CN103647490A (en) * | 2013-09-27 | 2014-03-19 | 天津大学 | Permanent magnet motor sliding mode control strategy |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104601076A (en) * | 2015-02-15 | 2015-05-06 | 电子科技大学 | Design method of sensorless sliding mode observer for electrical vehicle motor |
| CN104953915A (en) * | 2015-07-14 | 2015-09-30 | 东南大学 | Permanent magnet synchronous motor sliding-mode control strategy based on novel reaching law |
| CN104953915B (en) * | 2015-07-14 | 2017-06-30 | 东南大学 | A kind of permagnetic synchronous motor sliding mode control strategy based on Reaching Law |
| CN105915142B (en) * | 2016-04-18 | 2018-04-10 | 浙江大学 | A kind of permanent-magnet synchronous motor rotor position and turn count method based on decoupling self-adaptive observer |
| CN105915142A (en) * | 2016-04-18 | 2016-08-31 | 浙江大学 | PMSM (permanent magnet synchronous motor) rotor position and rotating speed estimation method based on decoupling adaptive observer |
| US11922941B2 (en) | 2016-05-10 | 2024-03-05 | Google Llc | Implementations for voice assistant on devices |
| CN107800345B (en) * | 2017-11-02 | 2020-07-21 | 宁波工程学院 | Permanent magnet synchronous motor control method based on observer |
| CN107800345A (en) * | 2017-11-02 | 2018-03-13 | 宁波工程学院 | A kind of method for controlling permanent magnet synchronous motor based on observer |
| CN107707168A (en) * | 2017-11-02 | 2018-02-16 | 宁波工程学院 | A kind of method for controlling permanent magnet synchronous motor based on double-current observer |
| CN108258949A (en) * | 2018-02-02 | 2018-07-06 | 上海交通大学 | A kind of rotor-position adaptive estimation method of noninductive permanent magnet synchronous motor |
| CN108880351A (en) * | 2018-06-28 | 2018-11-23 | 上海应用技术大学 | The evaluation method and system of permanent-magnet synchronous motor rotor position |
| CN109600082A (en) * | 2018-10-25 | 2019-04-09 | 郑州大学 | A kind of permanent-magnet synchronous motor rotor position full-order sliding mode observation device and method |
| CN109600082B (en) * | 2018-10-25 | 2022-02-18 | 郑州大学 | Permanent magnet synchronous motor rotor position full-order sliding mode observation device and method |
| CN110649852A (en) * | 2019-09-23 | 2020-01-03 | 河海大学常州校区 | Permanent magnet synchronous motor robust fault-tolerant control method adopting sliding mode estimation |
| CN110649852B (en) * | 2019-09-23 | 2021-08-10 | 河海大学常州校区 | Permanent magnet synchronous motor robust fault-tolerant control method adopting sliding mode estimation |
| CN110971167A (en) * | 2019-12-24 | 2020-04-07 | 江苏大学 | Variable-gain adaptive detection filter-based variable-leakage-flux motor position sensorless control method |
| CN110971167B (en) * | 2019-12-24 | 2021-10-12 | 江苏大学 | Variable leakage motor position sensorless control method based on detection filter |
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Application publication date: 20141105 |