CN104320034A - Permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method - Google Patents
Permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method Download PDFInfo
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- CN104320034A CN104320034A CN201410594477.7A CN201410594477A CN104320034A CN 104320034 A CN104320034 A CN 104320034A CN 201410594477 A CN201410594477 A CN 201410594477A CN 104320034 A CN104320034 A CN 104320034A
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Abstract
The invention relates to a permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method. The permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method comprises the steps that high-frequency current is injected in connected two phase series connection windings, and high-frequency components in the phase voltage of three-phase windings including disconnected phase windings are extracted; correlated variables of observation errors of rotor position angles are obtained through multiplying units, low pass filters, adding devices and links such as the transformation of coordinates based on the relations between the high-frequency phase voltage and the rotor position angles, the correlated variables of the observation errors of the rotor position angles are sent to a PI controller and an integrator in sequence, and the output of the integrator in a steady state is observation values of the rotor position angles. By means of the permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method, the rotor positions obtained when a permanent magnet brushless direct current motor operates at a low speed and the zero speed in a two-phase connection mode can be accurately and reliably observed, the application range is wide, and the achieving cost is low.
Description
Technical field
The present invention relates to motor rotor position detection technique field, particularly permanent-magnet brushless DC electric machine low speed and zero-speed rotor position observation method under a kind of two-phase conduction mode.
Background technology
Structure is simple, exert oneself large and efficiency high because it has for permanent-magnet brushless DC electric machine (BLDCM), in the fields such as national defence, Aero-Space, robot, industrial stokehold, precision machine tool, automotive electronics, household electrical appliance and office automation, obtain good application, to the research of its High Performance Control Strategies, there is important theory significance and use value.At present two kinds are mainly contained to the research of its control strategy: PWM closed control and direct torque control (DTC).
Compared with traditional sine-wave permanent magnet synchronous motor, permanent-magnet brushless DC electric machine rotor back electromotive force is designed to square wave in theory, flow through square wave current so in the windings, the amplitude of square wave current is regulated to control electromagnetic torque, any instantaneous only have two-phase stator winding connect realize energy converting between mechanical, and third phase stator winding is unsettled does not have electric current, this winding conduction mode is called two-phase conduction mode.
In order to realize the reliable change of current of winding, most permanent-magnet brushless DC electric machine is built-in Hall element, exports three-way switch signal, realizes the change of current of winding current accordingly.But from system reliability service and reduction system cost angle, wish that realizing position-sensor-free runs.For current closed-loop PWM system, the position-sensor-free scheme of main employing has High Frequency Injection, based on first-harmonic modelling, except High Frequency Injection, the minimum speed that other scheme position-sensor-free runs only has about 100r/min, the bottleneck running minimum speed like this can bring two main adverse effects: 1) motor is by a zero speed closed loop load difficulty in starting, even occurs starting unsuccessfully.This is due to pole low rotation speed area, and rotor-position measured value is extremely inaccurate, cause the winding current change of current and controlling electromagnetic torque incorrect.For this reason, other householder methods can only be adopted to carry out starter motor, such as: syllogic starts method, pre-determined bit starts method, frequency and voltage boosting synchronous averaging method, voltage interpolation startup method etc.Load capacity when these assistant starting methods restrict electric motor starting to a certain extent, also constrains the slow-speed of revolution of drive system pole simultaneously and runs.2) position-sensor-free effective operation speed adjustable range is narrower.Although high frequency electrocardiography theoretical method can realize zero rotating speed to run, the High Frequency Injection of existing literature research requires that motor is in three and is conducted model, and achievement in research cannot be applied to two-phase conduction mode.If adopt three-phase conduction mode on permanent-magnet brushless DC electric machine, then fundamentally wear away the initial starting point of this kind of design of electrical motor.
Although the technical research of current closed-loop PWM system position-sensor-free is more, but it is also little for the research of the position-sensor-free technology of direct torque control BLDCM Drive System, existing technology is all based on measurable voltage, the magnitude of current, and the fundamental mathematical model by motor builds observer method.From the experimental result of open source literature, can the minimum speed of stable operation to be about the corresponding electric frequency of 60r/min(be 5Hz).
Make a general survey of the permanent-magnet brushless DC electric machine position-sensor-free Status of Research of current two-phase conduction mode, motor is in the technology comparative maturity in middle and high rotating speed district, but low speed and zero rotating speed position-sensor-free technical research or a blank, and be a difficult point.
Summary of the invention
The object of the present invention is to provide a kind of permanent-magnet brushless DC electric machine low speed and zero-speed rotor position observation method, the method accurately, reliably can observe the rotor-position of permanent-magnet brushless DC electric machine under two-phase conduction mode when low speed and zero-speed operation, applied range, realizes cost low.
For achieving the above object, technical scheme of the present invention is: a kind of permanent-magnet brushless DC electric machine low speed and zero-speed rotor position observation method, the method injects high-frequency current in two of conducting is in series winding, extracts the three-phase windings phase voltage high frequency components comprising not conducting phase winding; Based on the relation of high frequency phase voltage and rotor position angle, rotor position angle observation error correlated variables is obtained by multiplier, low pass filter, adder, coordinate transform link etc., and described rotor position angle observation error correlated variables is delivered to PI controller, integrator successively, export during integrator stable state and be rotor position angle measured value.
Further, described permanent-magnet brushless DC electric machine low speed and zero-speed rotor position observation method, comprise the following steps:
(1) in two of conducting is in series winding, injected frequency is the high-frequency current of ω;
(2) to three-phase windings phase voltage
u a ,
u b ,
u c sampling, is the band-pass filter of ω respectively through centre frequency, exports three corresponding frequency voltage components
u ag ,
u bg ,
u cg ;
(3) respectively by described frequency voltage components
u ag ,
u bg ,
u cg give multiplier and low pass filter successively, export three DC component after signal receiving
lPF(
u ag cos
ω t),
lPF(
u bg cos
ω t),
lPF(
u cg cos
ω t);
(4) by DC quantity 0,
,
be connected to three three-position switches simultaneously
s 2,
s 3,
s 4and the station that staggers successively, to make three-position switch
s 2,
s 3,
s 4the DC quantity that exports at any one time mutually of conducting be
, 0,
or
,
, 0 or 0,
,
; By described DC component
lPF(
u ag cos
ω t),
lPF(
u bg cos
ω t),
lPF(
u cg cos
ω t) and respectively by described three-position switch
s 2,
s 3,
s 4the DC quantity correspondence that exports mutually of conducting give three adders, demodulate three DC voltage component further
u aD ,
u bD ,
u cD ;
,
,
l dm ,
l qm be respectively d, q direction of principal axis main inductance peak value in phase winding inductance,
l s σ1
,
m s σ1
be respectively the mutual leakage inductance in winding self-inductance between leakage inductance and winding;
(5) by described DC voltage component
u aD ,
u bD ,
u cD give 3/2 coordinate transform link, export
αaxle direct voltage
u α D ,
βaxle direct voltage
u β D ;
(6) will
u α D ,
u β D , and according to the rotor position angle measured value fed back
calculate the rotating coordinate system angle obtained
give Rotating Transition of Coordinate link, export the variable relevant to rotor position angle observation error
axle direct voltage
; Described
θ r0
for rotating coordinate system angle correction;
(7) by variable
give pi regulator, output rotor angular rate measured value during pi regulator stable state
;
(8) by rotor angular rate measured value
deliver to integrator, output rotor position angle measured value during integrator stable state
:
.
Further, in step (1), adopt closed-loop control to inject high-frequency current in two of conducting is in series winding, comprise the following steps:
(1.1) high frequency signal generator produces high frequency orthogonal reference signals sin respectively
ω t, cos
ω t;
(1.2) according to high frequency sinusoidal signal sin
ω tand high-frequency current amplitude
i m , calculate the high-frequency current set-point injected in the windings
i g *=
i m sin
ω t;
(1.3) to three-phase windings electric current
i a ,
i b ,
i c sampling, is the band-pass filter of ω respectively through centre frequency, exports three corresponding high-frequency current component
i ag ,
i bg ,
i cg ;
(1.4) by described high-frequency current component
i ag ,
i bg ,
i cg be connected to three-position switch
s 1, according to three-position switch
s 1conducting situation, export three-position switch
s 1the corresponding high-frequency current of conducting, i.e. high-frequency current value of feedback
i g ;
(1.5) high-frequency current set-point is calculated
i g *with high-frequency current value of feedback
i g error, and given high-frequency current controller, exported the conducting series connection winding wire voltage high frequency voltage given value controlling high-frequency current
u g *;
(1.6) conducting to be connected winding wire voltage high frequency voltage given value
u g *with conducting series connection winding wire voltage fundamental voltage given value
u t *give stator winding voltage PWM link simultaneously, then through power switch drived control three-phase inverter, realize motor torque closed-loop control, in two of conducting is in series winding, inject high-frequency current simultaneously
i m sin
ω t.
Further, described three-phase windings electric current
i a ,
i b ,
i c respectively through the band stop filter filtering that centre frequency is ω, export three corresponding fundamental current components
i af ,
i bf ,
i cf ; By fundamental current component
i af ,
i bf ,
i cf and rotor position angle measured value
input current PWM closed-loop control or direct torque control algorithm link, calculate conducting series connection winding wire voltage fundamental voltage given value
u t *.
Further, in step (2), if the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
Further, in step (3), if the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
Further, in step (4), if the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
Further, in step (5), described 3/2 coordinate transform link exports
u α D ,
u β D for:
。
Further, in step (6), the output of described Rotating Transition of Coordinate link is:
Wherein,
for the variable relevant to rotor position angle observation error,
for
axle direct voltage.
Further, in step (7) a metallic, the rotor angular rate measured value exported during described pi regulator stable state
for:
Wherein
k pv for proportionality coefficient,
k pv >0,
k iv for integral coefficient,
k iv >0.
Measure compared with rotor position angle method and existing rotor position angle observation procedure with the existing rotor-position sensor that installs additional, the invention has the beneficial effects as follows: 1) adopt rotor position observation method of the present invention, based on the high frequency model independent of motor first-harmonic model, achieve motor low speed and zero rotating speed rotor-position angle observation, effectively expand drive control system of permanent-magnetic brushless DC motor position-sensor-free range of operation, improve the reliability of drive system and the load capacity of low speed and zero rotating speed position-sensor-free operational system; 2) different from existing three-phase conducting type high frequency electrocardiography permanent-magnet brushless DC electric machine rotor-position observation program, the present invention efficiently solve permanent-magnet brushless DC electric machine two be in series conducting time rotor-position observation a difficult problem, adopt the inventive method, motor still works in two-phase conducting state, reduce drive system overall losses, still maintain the succinct advantage of permanent-magnet brushless DC electric machine two-phase switch control strategy; 3) adopt rotor-position observation program of the present invention, without the need to adding the accurate observation of rotor position angle when any ancillary hardware circuit can realize synchronous motor low speed and zero-speed, drive system hardware cost does not increase.
Accompanying drawing explanation
Fig. 1 has permanent-magnet brushless DC electric machine low speed of the present invention and zero-speed drived control theory diagram.
In figure,
s a1
,
s a2
---the upper and lower power tube switching signal of A phase brachium pontis is 1 expression conducting, is that 0 expression turns off;
s b1
,
s b2
---the upper and lower power tube switching signal of B phase brachium pontis;
s c1
,
s c2
---the upper and lower power tube switching signal of C phase brachium pontis.
i a ,
i b ,
i c ---three-phase windings electric current;
i ag ,
i bg ,
i cg ---three-phase windings high-frequency current component;
i af ,
i bf ,
i cf ---three-phase windings fundamental current component;
u a ,
u b ,
u c ---three-phase windings phase voltage;
u ag ,
u bg ,
u cg ---three-phase windings frequency voltage components;
θ r0
---rotating coordinate system angle correction, when AB is conducted,
θ r0
=30 °, when BC is conducted,
θ r0
=270 °, when CA is conducted,
θ r0
=150 °;
,
---be respectively the measured value of rotor angular rate and rotor position angle;
i m ,
ω---be respectively and inject high-frequency current amplitude and frequency;
,
,
,
l dm ,
l qm be respectively d, q direction of principal axis main inductance peak value in phase winding inductance,
l s σ1
,
m s σ1
be respectively the mutual leakage inductance in winding self-inductance between leakage inductance and winding;
i g ---high-frequency current value of feedback;
u t *,
u g *---be respectively the series connection winding wire voltage given value controlling electromagnetic torque and high-frequency current;
u s *---series connection two-phase winding wire voltage given value;
u dC ---DC bus-bar voltage.
Stator winding voltage PWM sequential chart in Fig. 2 embodiment of the present invention.
In figure,
t s ,
t t ,
t g ---be respectively the digital control cycle, control the electromagnetic torque time and control the high-frequency current time;
In Fig. 3 embodiment of the present invention AB two be in series conducting time fundamental current or electromagnetic torque, high-frequency current Hysteresis control structure chart.
In Fig. 4 embodiment of the present invention AB two be in series conducting time fundamental current or electromagnetic torque, high-frequency current PI control structure figure.
Coordinate system definition schematic diagram in Fig. 5 embodiment of the present invention.
In figure,
α β---stator rest frame, wherein
αaxle and the dead in line of A phase winding; Dq---2 times of actual speed rotating coordinate systems, dq with
α βangle is 2
θ r +
θ r0
;
d ' q '---2 times of observation rotating speed rotating coordinate systems,
d ' q 'with
α βangle is
;
for rotor-position observation error.
Drive system hardware structure diagram in Fig. 6 embodiment of the present invention.
Embodiment
Below in conjunction with drawings and the specific embodiments, the invention will be further described.
Permanent-magnet brushless DC electric machine low speed and zero-speed drived control theory diagram are as shown in Figure 1.Alternating voltage through diode rectification, then is filtered into DC bus-bar voltage through electric capacity C
u dC after, be added on the three phase inverter bridge of control permanent-magnet brushless DC electric machine three-phase windings voltage.Permanent-magnet brushless DC electric machine three-phase windings current sampling data
i a ,
i b ,
i c fundamental current component is exported after the band stop filter filtering that centre frequency is ω
i af ,
i bf ,
i cf ; Electric current PWM closed-loop control or direct torque control algorithm link are according to the fundamental current component of input
i af ,
i bf ,
i cf and rotor position angle measured value
, calculate conducting series connection winding wire voltage fundamental voltage given value
u t *; If do not have rotor-position to observe link,
u t *directly through stator winding voltage PWM link, by power switch drive part, control the two-phase winding terminal voltage chopping of conducting, to realize fundamental current amplitude or electromagnetic torque closed-loop control.Rotor position angle measured value
can adopt position transducer, such as rotary encoder etc. are measured, but owing to there is the lead-in wire between controller and position transducer, reduce the reliability of drive system, and the existence of transducer too increases the cost of drive system in addition.
For this reason, the present invention proposes a kind of permanent-magnet brushless DC electric machine low speed and zero-speed rotor position observation method, in two of conducting is in series winding, injects high-frequency current, extract the three-phase windings phase voltage high frequency components comprising not conducting phase winding; Based on the relation of high frequency phase voltage and rotor position angle, rotor position angle observation error correlated variables is obtained by multiplier, low pass filter, adder, coordinate transform link etc., and described rotor position angle observation error correlated variables is delivered to PI controller, integrator successively, export during integrator stable state and be rotor position angle measured value.
If two-phase conduction mode drive control system of permanent-magnetic brushless DC motor adopts PWM closed control strategy, then the rotor position angle by means of observation can realize the accurate change of current, realizes the sensorless strategy of PWM closed control system.If drive system adopts Strategy of Direct Torque Control, then the rotor position angle of observation, rotor flux is utilized to build the current model of stator flux observer with rotor position angle relational model and motor inductance parameter; Meanwhile, utilize rotor back electromotive force to calculate the measured value of electromagnetic torque with rotor position angle relational model, rotor magnetic linkage and galvanometer, realize the sensorless strategy of direct Torque Control.
Concrete, permanent-magnet brushless DC electric machine low speed of the present invention and zero-speed rotor position observation method, as shown in Figure 1, comprise the following steps:
(1) in two of conducting is in series winding, the high frequency sinusoidal pulsating electric current that fixed frequency is ω is injected in a discrete pattern.
(2) to three-phase windings phase voltage
u a ,
u b ,
u c sampling, is the band-pass filter of ω respectively through centre frequency, exports three corresponding frequency voltage components
u ag ,
u bg ,
u cg .
If the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
(3) respectively by described frequency voltage components
u ag ,
u bg ,
u cg give multiplier and low pass filter successively, export three DC component after signal receiving
lPF(
u ag cos
ω t),
lPF(
u bg cos
ω t),
lPF(
u cg cos
ω t).
If the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
(4) by DC quantity 0,
,
be connected to three three-position switches simultaneously
s 2,
s 3,
s 4and the station that staggers successively, to make three-position switch
s 2,
s 3,
s 4the DC quantity that exports at any one time mutually of conducting be
, 0,
or
,
, 0 or 0,
,
; By described DC component
lPF(
u ag cos
ω t),
lPF(
u bg cos
ω t),
lPF(
u cg cos
ω t) and respectively by described three-position switch
s 2,
s 3,
s 4the DC quantity correspondence that exports mutually of conducting give three adders, demodulate three DC voltage component further
u aD ,
u bD ,
u cD ;
,
,
l dm ,
l qm be respectively d, q direction of principal axis main inductance peak value in phase winding inductance,
l s σ1
,
m s σ1
be respectively the mutual leakage inductance in winding self-inductance between leakage inductance and winding.
If the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
(5) by described DC voltage component
u aD ,
u bD ,
u cD give 3/2 coordinate transform link, export
αaxle direct voltage
u α D ,
βaxle direct voltage
u β D :
,
.
(6) will
u α D ,
u β D , and according to the rotor position angle measured value fed back
calculate the rotating coordinate system angle obtained
give Rotating Transition of Coordinate link, described in
θ r0
for rotating coordinate system angle correction, when AB is conducted,
θ r0
=30 °, when BC is conducted,
θ r0
=270 °, when CA is conducted,
θ r0
=150 °, export the variable relevant to rotor position angle observation error
axle direct voltage
:
Wherein,
for the variable relevant to rotor position angle observation error,
for
axle direct voltage.
(7) by variable
give pi regulator, output rotor angular rate measured value during pi regulator stable state
:
Wherein
k pv for proportionality coefficient,
k pv >0,
k iv for integral coefficient,
k iv >0.
(8) by rotor angular rate measured value
deliver to integrator, output rotor position angle measured value during integrator stable state
:
.
In step (1), adopt closed-loop control to inject high-frequency current in two of conducting is in series winding, comprise the following steps:
(1.1) high frequency signal generator produces high frequency orthogonal reference signals sin respectively
ω t, cos
ω t;
(1.2) according to high frequency sinusoidal signal sin
ω tand high-frequency current amplitude
i m , calculate the high-frequency current set-point injected in the windings
i g *=
i m sin
ω t;
(1.3) to three-phase windings electric current
i a ,
i b ,
i c sampling, is the band-pass filter of ω respectively through centre frequency, exports three corresponding high-frequency current component
i ag ,
i bg ,
i cg ;
(1.4) by described high-frequency current component
i ag ,
i bg ,
i cg be connected to three-position switch
s 1, according to three-position switch
s 1conducting situation, export three-position switch
s 1the corresponding high-frequency current of conducting, i.e. high-frequency current value of feedback
i g ;
(1.5) high-frequency current set-point is calculated
i g *with high-frequency current value of feedback
i g error, and given high-frequency current controller, exported the conducting series connection winding wire voltage high frequency voltage given value controlling high-frequency current
u g *;
(1.6) conducting to be connected winding wire voltage high frequency voltage given value
u g *with conducting series connection winding wire voltage fundamental voltage given value
u t *give stator winding voltage PWM link simultaneously, then through power switch drived control three-phase inverter, realize motor torque closed-loop control, in two of conducting is in series winding, inject high-frequency current simultaneously
i m sin
ω t.
Described three-phase windings electric current
i a ,
i b ,
i c respectively through the band stop filter filtering that centre frequency is ω, export three corresponding fundamental current components
i af ,
i bf ,
i cf ; By fundamental current component
i af ,
i bf ,
i cf and rotor position angle measured value
input current PWM closed-loop control or direct torque control algorithm link, calculate conducting series connection winding wire voltage fundamental voltage given value
u t *.
Stator winding voltage PWM sequential chart as shown in Figure 2, complete digital control cycle
t s in, the voltage of controlling torque
u t *action time is
t t ; Control the voltage of high-frequency current closed loop
u g *action time is
t g , final conducting series connection two-phase winding wire voltage
u s *=
u t *+
u g *.To be in series conducting for AB two, when system adopts hystersis controller and PI controller, fundamental current or torque closed loop, high-frequency current closed-loop structure illustrate with Fig. 3 and Fig. 4 further, drive two power switch signal of C phase brachium pontis
s c1
,
s c2
be 0, represent and turn off C phase switch, the not conducting of C phase winding, fundamental current or controlling electromagnetic torque device output violent change are
, high-frequency current closed loop controller output violent change is
.Rotor position angle view angle electric current PWM being controlled or needs in direct torque control algorithm
replacement can realize sensorless strategy when permanent-magnet brushless DC electric machine low speed and zero-speed are run, and improves reliability and the low speed load capacity of drive system.In the drive system adopting all-digitized demodulator, the present invention is adopted not need to add hardware in addition, rotor position angle when low speed and zero-speed can be observed exactly, achieve sensor-less operation when permanent-magnet brushless DC electric machine low speed and zero-speed, reduce the hardware cost of drive system.
Step (1.5) and step (1.6), according to hystersis controller, corresponding algorithm is as shown in Figure 3; According to PI controller, corresponding algorithm as shown in Figure 4.
In the embodiment of the present invention, drive system hardware configuration as shown in Figure 6, comprising: rectification circuit, filter capacitor, three-phase inverter, salient pole type permanent-magnet brushless DC electric machine, three-phase windings current collection circuit, three-phase windings phase voltage Acquisition Circuit, three-phase windings phase voltage band pass filter, isolation drive, central controller, man-machine interface.Also suitable DC power supply can be adopted to provide three-phase inverter DC bus-bar voltage.In inverter, power tube adopts IGBT or other high frequency power switching tube, and central controller adopts DSP or other large scale digital control chip.Winding current Acquisition Circuit adopts Hall current sensor to form with the operational amplifier mode of combining, and connects the differential operational amplifier mode of combining and form after also can adopting winding string power resistor.Adopt Hall scheme effectively can realize the electrical isolation of control loop and major loop, adopt winding string power resistor scheme can reduce drive system cost.Winding phase voltage Acquisition Circuit adopts Hall voltage transducer to form with the operational amplifier mode of combining, and also can adopt parallel resistance, connect the voltage follower mode of combining be made up of operational amplifier and form after dividing potential drop.Three-phase windings phase voltage band pass filter can adopt resistance, electric capacity and operational amplifier to build, also can according to winding phase voltage collection value software simulating.Winding current Acquisition Circuit and winding phase voltage Acquisition Circuit export (or three-phase windings phase voltage band pass filter exports), and weak voltage signal delivers to central controller A/D modular converter.Rotor position angle is observed according to the signal obtained and rotor position angle observation procedure of the present invention, again according to rotor position angle, the stator phase currents fundametal compoment of observation, calculated the control signal that should send by current closed-loop PWM algorithm or Strategy of Direct Torque Control, go the switch motion of the power switch pipe in control inverter via isolation drive.
Its general principles is described below:
After considering motor salient pole phenomenon, permanent-magnet brushless DC electric machine three-phase windings voltage balance equation derivation result is as follows:
（1）
Wherein,
ω r for the angular rate that actual rotor rotates;
rfor stator winding resistance;
e a ,
e b ,
e c be respectively three-phase windings permanent magnet and rotate the back electromotive force produced.
In being in series winding at motor two, injected frequency is
ωhigh-frequency signal, and
ω>>
ω r , namely in the very low situation of motor speed, motor high-frequency signal voltage equilibrium equation is as follows:
（2）
If (a)
aBhigh-frequency current is injected in phase winding, and
,
, then as follows by obtaining corresponding three-phase frequency voltage components in three-phase current expression formula substitution formula (2):
（3）
（4）
（5）
By frequency voltage components
u ag ,
u bg ,
u cg successively with high-frequency reference signal cos
ω tmutually multiplied:
（6）
（7）
（8）
Will
,
,
be after 0.1 ω low pass filter filtering respectively through cut-off frequency:
（9）
（10）
（11）
In order to observe rotor position angle, formula (9) ~ (11) are changed to further:
（12）
（13）
（14）
If inject high-frequency current in (b) BC phase winding, and
,
, then three-phase current expression formula is substituted in formula (2) to be similar in (a) and derives corresponding three-phase dc component of voltage is as follows:
（15）
（16）
（17）
If inject high-frequency current in (c) CA phase winding, and
,
, then three-phase current expression formula is substituted in (2) to be similar in (a) and derives corresponding three-phase dc component of voltage is as follows:
（18）
（19）
（20）
Setting parameter
θ r0
, when the conducting of AB phase winding,
θ r0
=30 °; When the conducting of BC phase winding,
θ r0
=270 °; When the conducting of CA phase winding,
θ r0
=150 °.Then according to Fig. 5, will
u aD ,
u bD ,
u cD rotation transformation is arrived
dqcoordinate system:
（21）
Again will
rotation transformation is to observation
in coordinate system:
（22）
Obviously wherein,
with rotor position angle observation error
relevant.
Will
deliver to pi regulator, can output rotor angular rate measured value during stable state
:
（23）
Wherein
k pv for proportionality coefficient,
k pv >0,
k iv for integral coefficient,
k iv >0.
By rotor electric rotating angular speed measured value
deliver to integrator, can output rotor position angle measured value during stable state
:
（24）
Obviously, when rotor-position angle error is less, when
, show that observation rotor position angle is greater than actual value, after being regulated by (23) PI, observation rotating speed
reduce, after (24) integration, observation rotor position angle
reduce, when observation rotor position angle
be reduced to actual value
θ r after, observation rotor position angle reaches stable state; Otherwise, when
, show that observation rotor position angle is less than actual value, after being regulated by (23) PI, observation rotating speed
increase, after (24) integration, observation rotor position angle
increase, when observation rotor position angle
increase to actual value
θ r after, observation rotor position angle reaches stable state.So adopt the present invention can be accurate and stable observe rotor position angle.
Be more than preferred embodiment of the present invention, all changes done according to technical solution of the present invention, when the function produced does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (10)
1. permanent-magnet brushless DC electric machine low speed and a zero-speed rotor position observation method, is characterized in that, the method injects high-frequency current in two of conducting is in series winding, extracts the three-phase windings phase voltage high frequency components comprising not conducting phase winding; Based on the relation of high frequency phase voltage and rotor position angle, rotor position angle observation error correlated variables is obtained by multiplier, low pass filter, adder, coordinate transform link etc., and described rotor position angle observation error correlated variables is delivered to PI controller, integrator successively, export during integrator stable state and be rotor position angle measured value.
2. permanent-magnet brushless DC electric machine low speed according to claim 1 and zero-speed rotor position observation method, is characterized in that, comprise the following steps:
(1) in two of conducting is in series winding, injected frequency is the high-frequency current of ω;
(2) to three-phase windings phase voltage
u a ,
u b ,
u c sampling, is the band-pass filter of ω respectively through centre frequency, exports three corresponding frequency voltage components
u ag ,
u bg ,
u cg ;
(3) respectively by described frequency voltage components
u ag ,
u bg ,
u cg give multiplier and low pass filter successively, export three DC component after signal receiving
lPF(
u ag cos
ω t),
lPF(
u bg cos
ω t),
lPF(
u cg cos
ω t);
(4) by DC quantity 0,
,
be connected to three three-position switches simultaneously
s 2,
s 3,
s 4and the station that staggers successively, to make three-position switch
s 2,
s 3,
s 4the DC quantity that exports at any one time mutually of conducting be
, 0,
or
,
, 0 or 0,
,
; By described DC component
lPF(
u ag cos
ω t),
lPF(
u bg cos
ω t),
lPF(
u cg cos
ω t) and respectively by described three-position switch
s 2,
s 3,
s 4the DC quantity correspondence that exports mutually of conducting give three adders, demodulate three DC voltage component further
u aD ,
u bD ,
u cD ;
,
,
l dm ,
l qm be respectively d, q direction of principal axis main inductance peak value in phase winding inductance,
l s σ1
,
m s σ1
be respectively the mutual leakage inductance in winding self-inductance between leakage inductance and winding;
(5) by described DC voltage component
u aD ,
u bD ,
u cD give 3/2 coordinate transform link, export
αaxle direct voltage
u α D ,
βaxle direct voltage
u β D ;
(6) will
u α D ,
u β D , and according to the rotor position angle measured value fed back
calculate the rotating coordinate system angle obtained
give Rotating Transition of Coordinate link, export the variable relevant to rotor position angle observation error
axle direct voltage
; Described
θ r0
for rotating coordinate system angle correction;
(7) by variable
give pi regulator, output rotor angular rate measured value during pi regulator stable state
;
(8) by rotor angular rate measured value
deliver to integrator, output rotor position angle measured value during integrator stable state
:
.
3. permanent-magnet brushless DC electric machine low speed according to claim 2 and zero-speed rotor position observation method, is characterized in that, in step (1), adopts closed-loop control to inject high-frequency current in two of conducting is in series winding, comprise the following steps:
(1.1) high frequency signal generator produces high frequency orthogonal reference signals sin respectively
ω t, cos
ω t;
(1.2) according to high frequency sinusoidal signal sin
ω tand high-frequency current amplitude
i m , calculate the high-frequency current set-point injected in the windings
i g *=
i m sin
ω t;
(1.3) to three-phase windings electric current
i a ,
i b ,
i c sampling, is the band-pass filter of ω respectively through centre frequency, exports three corresponding high-frequency current component
i ag ,
i bg ,
i cg ;
(1.4) by described high-frequency current component
i ag ,
i bg ,
i cg be connected to three-position switch
s 1, according to three-position switch
s 1conducting situation, export three-position switch
s 1the corresponding high-frequency current of conducting, i.e. high-frequency current value of feedback
i g ;
(1.5) high-frequency current set-point is calculated
i g *with high-frequency current value of feedback
i g error, and given high-frequency current controller, exported the conducting series connection winding wire voltage high frequency voltage given value controlling high-frequency current
u g *;
(1.6) conducting to be connected winding wire voltage high frequency voltage given value
u g *with conducting series connection winding wire voltage fundamental voltage given value
u t *give stator winding voltage PWM link simultaneously, then through power switch drived control three-phase inverter, realize motor torque closed-loop control, in two of conducting is in series winding, inject high-frequency current simultaneously
i m sin
ω t.
4. permanent-magnet brushless DC electric machine low speed according to claim 3 and zero-speed rotor position observation method, is characterized in that, described three-phase windings electric current
i a ,
i b ,
i c respectively through the band stop filter filtering that centre frequency is ω, export three corresponding fundamental current components
i af ,
i bf ,
i cf ; By fundamental current component
i af ,
i bf ,
i cf and rotor position angle measured value
input current PWM closed-loop control or direct torque control algorithm link, calculate conducting series connection winding wire voltage fundamental voltage given value
u t *.
5. permanent-magnet brushless DC electric machine low speed according to claim 2 and zero-speed rotor position observation method, is characterized in that, in step (2), if the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
6. permanent-magnet brushless DC electric machine low speed according to claim 2 and zero-speed rotor position observation method, is characterized in that, in step (3), if the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
7. permanent-magnet brushless DC electric machine low speed according to claim 2 and zero-speed rotor position observation method, is characterized in that, in step (4), if the conducting of AB phase winding, then:
If the conducting of BC phase winding, then:
If the conducting of CA phase winding, then:
。
8. permanent-magnet brushless DC electric machine low speed according to claim 2 and zero-speed rotor position observation method, is characterized in that, in step (5), described 3/2 coordinate transform link exports
u α D ,
u β D for:
。
9. permanent-magnet brushless DC electric machine low speed according to claim 2 and zero-speed rotor position observation method, is characterized in that, in step (6), the output of described Rotating Transition of Coordinate link is:
Wherein,
for the variable relevant to rotor position angle observation error,
for
axle direct voltage.
10. permanent-magnet brushless DC electric machine low speed according to claim 2 and zero-speed rotor position observation method, is characterized in that, in step (7) a metallic, and the rotor angular rate measured value exported during described pi regulator stable state
for:
Wherein
k pv for proportionality coefficient,
k pv >0,
k iv for integral coefficient,
k iv >0.
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| CN108809157A (en) * | 2018-06-20 | 2018-11-13 | 长安大学 | A kind of three direct current generator forward direction series control system and methods |
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| CN109245632A (en) * | 2018-10-26 | 2019-01-18 | 深圳大学 | A kind of real-time rotor position detection method of the planar motor of position-sensor-free |
| CN111293931A (en) * | 2020-03-17 | 2020-06-16 | 天津大学 | High-precision low-noise brushless direct current motor position sensorless control system and method |
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