CN105024615A - Permanent magnet synchronous motor low-speed sensorless control method and device - Google Patents

Abstract

The invention relates to a permanent magnet synchronous motor low-speed sensorless control method and a device, and belongs to the motor control technical field. According to the invention, a rotor position is estimated by using a high frequency rotation signal injection method, based on the permanent magnet synchronous motor vector control; a high frequency signal of a band-pass filter is processed on the foundation to complete a closed-loop control of the high frequency signal injection. The device comprises a high frequency voltage signal generating unit, a phase signal processing unit, a rotation rate control unit, a No.1 current control unit, a No.2 current control unit, a PARK reverse transformation unit, a SVPWM unit, a voltage-source inverter unit, a permanent magnet synchronous motor, a No.1 low pass filter, a No.2 low pass filter, a PARK transformaton unit, a CLARKE transformation unit, a position tracking observer unit, a coaxial high-pass filter, a No.1 band-pass filter unit, a No.2 band-pass filter, a No.1 current calculating unit and a No.2 current calculating unit. According to the invention, the method and the device can effectively avoid the error caused by the phase high-frequency signal lag and improve the rotor position estimation accuracy.

Description

A kind of permagnetic synchronous motor low speed sensorless control method and device

Technical field

The invention belongs to motor control technology field, relate to a kind of permagnetic synchronous motor low speed sensorless control method and device.

Background technology

Permagnetic synchronous motor is in the low speed even zero-speed stage, back electromotive force can become little especially or is zero and not easily detects, make to utilize the estimation error of the sensorless strategy method of back electromotive force estimated rotor position to be even unable to estimate very greatly, these methods comprise back electromotive force estimation algorithm, flux estimate algorithm method, model reference adaptive send out method, Kalman filter estimation algorithm and extended Kalman filter estimation algorithm etc.; And High Frequency Injection be rely on motor itself saliency come detection rotor position, have nothing to do with the parameter of motor own, do not rely on the back electromotive force detected, just do not rely on the rotating speed of motor yet, so the no sensor method of this estimated rotor position can be utilized at low-speed stage.

Conventional High Frequency Injection can be divided into again pulsating High Frequency Injection and rotate High Frequency Injection two kinds of forms, and wherein pulsating High Frequency Injection has structure simply, the advantages such as without the need to compensating rotor estimated angle, precision is high, and performance is good; But from the angle realized, adopt the rotor-position detection system of high-frequency rotating signal injection method to have a style of one's own, more easily realize, therefore rotate High Frequency Injection and be more suitable for practical application; But high-frequency rotating signal injection method needs by filter, this can cause certain delayed phase, makes the estimation result of rotor-position produce error.Therefore the phase delay produced by filter is compensated and rotor position estimation precision is effectively improved be necessary.

Summary of the invention

In view of this, the object of the present invention is to provide a kind of permagnetic synchronous motor low speed sensorless control method and device, the method adopts traditional high-frequency rotating signal injection method, and compensates the delayed phase that signal is produced by filter on its basis, improves estimation precision.

For achieving the above object, the invention provides following technical scheme:

A kind of permagnetic synchronous motor low speed sensorless control device, comprise high-frequency voltage signal generation unit (100), phase signal processing unit (101), rotary speed controling unit (102), a current control unit (103), No. two current control units (104), PARK inverse transformation block (105), SVPWM unit (106), voltage source inverter unit (107), permagnetic synchronous motor (108), a low pass filter unit (109), No. two low pass filter unit (110), PARK converter unit (111), CLARKE converter unit (112), position tracking observer unit (113), coaxial high-pass filter unit (114), a band-pass filter unit (115), No. two band-pass filter units (116), a current calculation unit (117), No. two current calculation units (118), wherein:

Rotational speed setup command signal D1 and speed estimate value E1 is after rotary speed controling unit (102), export the given current signal G1 of q axle, G1 and q axle stator current components R1, by after No. two current control units (104), exports q axle to determining voltage signal set-point I1; D axle given current signal X1 and d axle stator current signal F1 obtains the given voltage signal values H1 of d axle by a current control unit (103);

Under two-phase rotating coordinate system, d shaft voltage signals set-point H1 and q shaft voltage signals set-point I1 to obtain under two-phase rest frame β shaft voltage signals value K1 under α shaft voltage signals value J1 and two-phase rest frame by PARK inverse transformation block (105); The α axle of final injection rotates high-frequency voltage signal B1 and the final β axle rotation high-frequency voltage signal C1 injected is superimposed upon on α shaft voltage signals J1 and β shaft voltage signals K1 respectively;

Under two-phase rest frame, α axle and β axle value J1, K1 are by after SVPWM unit (106), switching signal L1 needed for output inverter, switching signal L1 is by after voltage source inverter unit (107), and given voltage under obtaining three-phase static coordinate system also drives permagnetic synchronous motor (108) to work;

By detecting the current value M1 obtained under three-phase static coordinate system to the stator current of permagnetic synchronous motor (108), M1 carries out coordinate transform by CLARKE converter unit (112) and obtains α shaft current under two-phase rest frame and β shaft current N1 and O1, then value P1 and the Q1 of d shaft current and q shaft current under two-phase rotating coordinate system is obtained again by PARK converter unit (111), under two phase coordinate systems, d shaft current value P1 and q shaft current value Q1 is respectively by being input to a current control unit (103) respectively as d shaft current feedback signal F1 and q shaft current feedback signal R1 after a low pass filter unit (109) and No. two low pass filter unit (110) elimination high-frequency signals and No. two current control units (104) complete closed-loop control,

Under two-phase rest frame, α shaft current N1 and β shaft current O1 is also respectively through a band-pass filter unit (115) and No. two band-pass filter unit (116) elimination Fundamental-frequency Currents, the harmonic current of low frequency and pwm switching signal obtain α axle high frequency carrier electric current S1 and β axle high frequency carrier electric current T1, high frequency carrier electric current S1 and T1 is by after coaxial high-pass filter unit (114) elimination positive sequence component, export high frequency carrier electric current negative sequence component U1, U1 obtains the rotor magnetic pole position estimated value Y1 of estimation again with middle observing unit (113) through position, Y1 is again through calculating motor speed estimated value E1, rotor magnetic pole position estimated value Y1 will be input to PARK converter unit (111) and PARK inverse transformation block (105), for coordinate transform provides rotor position angle information, and motor speed estimated value E1 will be input to rotary speed controling unit (102) as speed feedback signal completes closed-loop control,

Also obtain α axle high frequency voltage V1 and the β axle high frequency voltage W1 of delayed phase respectively through a current calculation unit (117) and No. two current calculation units (118) with the α axle high frequency carrier electric current S1 of delayed phase and β axle high frequency carrier electric current T1 through band pass filter; α axle high frequency voltage V1 and β axle high frequency voltage W1 obtains a phase component by phase signal processing unit; Phase component is compensated to it rotation high-frequency voltage signal obtaining final injection and the α axle rotation high-frequency voltage signal B1 being broken down into final injection and the β axle rotation high-frequency voltage signal C1 finally injected by the rotation high-frequency voltage signal A1 generated by high-frequency signal generation unit (100) completely phase signal processing unit (101); Complete closed-loop control.

Further, described position tracking observer unit (113) comprises an add operation unit (201), No. two add operation unit (205), subtraction unit (202), PI regulon (203), integral unit (204), a function converting unit (207), No. two function converting units (206), speed calculation unit (208);

High frequency carrier electric current negative sequence component U1 is resolved into α axle high frequency carrier electric current negative sequence component A2 and β axle high frequency carrier electric current negative sequence component F2; α axle high frequency carrier electric current negative sequence component A2 is multiplied through a multiplication unit (201) and obtains B2 together with the SIN function I2 of rotor magnetic pole position estimated value, and β axle high frequency carrier electric current negative sequence component F2 is jointly multiplied through No. two multiplication units (205) with the cosine function H2 of rotor magnetic pole position estimated value and obtains G2; B2 and G2 obtains rotor magnetic pole position error calculation formula C2 by subtraction unit (202);

Rotor magnetic pole position error calculation formula obtains the control voltage D2 of integral unit (204) by PI regulon (203) filtering noise and interference component; D2 obtains rotor magnetic pole position estimated value Y1 by integral unit again; Rotor magnetic pole position estimated value Y1 obtains the sine function I2 of rotor magnetic pole position estimated value and the cosine function value H2 of rotor magnetic pole position estimated value respectively by a function converting unit (207) and No. two function converting units (206); The sine function I2 of rotor magnetic pole position estimated value and the cosine function value H2 of rotor magnetic pole position estimated value is input to a multiplication unit (201) and No. two multiplication units (205) respectively as value of feedback again;

Rotor magnetic pole position Y1 also will pass through speed calculation unit (208) and show that speed estimate value E1 is input to rotary speed controling unit as speed feedback value.

Further, described phase signal processing unit (101) also comprises: multiplying unit (301), low pass filter unit (302), PI regulon (303), phase compensation unit (304), wherein:

After α axle high frequency voltage V1 is multiplied with a high frequency sinusoidal component B3 with a high-frequency cosine component A 3 by multiplying unit (301) respectively with β axle high frequency voltage W1, obtain one and value C3, the D3 on α axle and β axle with high-frequency AC components and DC component addition; C3 and D3, again by after low pass filter unit (302) elimination alternating current component, to obtain on α axle a DC component F3 containing phase information on a DC component E3 containing phase information and β axle; On α axle, one obtains α axle phase compensation signal G3 and β axle phase compensation signal H3 containing a DC component F3 containing phase information on the DC component E3 of phase information and β axle by PI regulon (303); Obtain high-frequency rotating voltage signal B1 that α axle finally injects and the high-frequency rotating voltage signal C1 that β axle finally injects by phase compensation unit (304) together with the high-frequency rotating voltage signal A1 that α axle phase compensation signal G3 and β axle phase compensation signal H3 and high-frequency signal generation unit (100) generate, complete the injection of the high-frequency rotating signal of phase compensation.

Present invention also offers a kind of permagnetic synchronous motor low speed sensorless control method, comprise the following steps:

1) rotary speed setting value D1 and speed estimate value E1 obtains q shaft current set-point by rotary speed controling unit; Q shaft current set-point and q shaft current detected value obtain q shaft voltage set-point I1 by No. two current control units, in like manner can obtain d shaft voltage set-point H1;

2) the voltage given value I1 under two-phase rotating coordinate system and H1 obtains magnitude of voltage J1, K1 under two-phase rest frame by PARK inverse transformation block; Obtain switching signal control inverter by SVPWM unit together after being superposed by high-frequency rotating voltage signal again and export three-phase current;

3) electric current under three-phase static coordinate system obtains current signal N1, O1 under two-phase rest frame by CLARK converter unit; Current signal P1, Q1 under two-phase rotating coordinate system is obtained again by PARK converter unit; Obtain Fundamental-frequency Current value finally by low pass filter unit filtering high-frequency signal to feed back to two current control units and complete closed loop, return step 2);

4) current signal N1, O1 under two-phase rest frame also obtain high frequency carrier current signal S1, T1 by band-pass filter unit filtering fundamental frequency and interfering frequency; The negative sequence component U1 of high frequency carrier current signal is obtained again through coaxial high pass filter elimination positive sequence component;

5) the negative sequence component U1 of high frequency carrier current signal resolves into α axle component A 2 and beta-axis component F2, utilizes heterodyne method to make A2, F2 obtain B2, G2 with the sine value of rotor estimated position and cosine value by two multiplication units respectively; Again B2 and G2 is subtracted each other and obtain error calculation formula C2;

6) principle of phase lock loop is utilized, above-mentioned steps 5) complete phase discriminator link, the site error then obtained by heterodyne method estimates C2 by a PI unit as loop filter; Last voltage controlled oscillator link utilizes an integral element to realize, and draws rotor estimated position Y1; Calculate rotating speed E1 by Y1 again and feed back to rotary speed controling unit, repeat step 1);

7) high frequency carrier current signal S1 and T1 also draws high-frequency voltage signal V1 and W1 of delayed phase by two current operating unit; After V1 with W1 is multiplied with a high frequency sinusoidal component B3 with a high-frequency cosine component A 3 respectively by multiplying unit, obtain one and value C3, the D3 with high-frequency AC components and DC component addition; C3, D3 obtain DC component E3, the F3 with phase information through low pass filter unit; Again after PI regulon, export phase compensation signal G3, H3;

8) high-frequency voltage signal generation unit generates high-frequency rotating signal B1, C1 that high-frequency rotating voltage signal A1 obtains by phase compensation unit finally injecting together with phase compensation signal G3, H3; Be superimposed upon on the given magnitude of voltage of two-phase rest frame, repeated step 2).

Beneficial effect of the present invention is: the present invention effectively avoids the error by the delayed generation of phase place high-frequency signal, improves rotor position estimation precision.

Accompanying drawing explanation

In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:

Fig. 1 is the structural representation of device of the present invention;

Fig. 2 is the structural representation of position tracking observer unit;

Fig. 3 is the structural representation of phase signal processing unit.

Embodiment

Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.

Fig. 1 is the structural representation of device of the present invention, and as shown in the figure, in the present embodiment, the concrete steps of the method for the invention are as follows:

Step 1: utilize id=0 permagnetic synchronous motor principle of vector control to complete the extraction of current signal in two-phase rest frame;

Step 1.1: as shown in Figure 1, rotational speed setup command signal D1 and speed estimate value E1 is after rotary speed controling unit (102), export the given current signal G1 of q axle, G1 and q axle stator current components R1, by after No. two current control units (104), exports q axle to determining voltage signal set-point I1.D axle given current signal X1 and d axle stator current signal F1 obtains the given voltage signal values H1 of d axle by a current control unit (103);

Step 1.2: under two-phase rotating coordinate system, d shaft voltage signals set-point H1 and q shaft voltage signals set-point I1 to obtain under two-phase rest frame β shaft voltage signals value K1 under α shaft voltage signals value J1 and two-phase rest frame by PARK inverse transformation block (105); The α axle of final injection rotates high-frequency voltage signal B1 and the final β axle rotation high-frequency voltage signal C1 injected is superimposed upon on α shaft voltage signals J1 and β shaft voltage signals K1 respectively; Wherein PARK inverse transformation block (105) principle of coordinate transformation is as follows:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right];$

Wherein, θ is the angle between two kinds of coordinate systems; u _α, u _βbe respectively magnitude of voltage J1, the K1 of α axle and β axle under two-phase rest frame; u _d, u _qbe respectively d axle and q shaft voltage set-point H1, I1 under two-phase rotating coordinate system;

Step 1.3: under two-phase rest frame, α axle and β axle value J1, K1 are by after SVPWM unit (106), switching signal L1 needed for output inverter, switching signal L1 is by after voltage source inverter unit (107), and given voltage under obtaining three-phase static coordinate system also drives permagnetic synchronous motor (108) to work;

Step 1.4: by detecting the current value M1 obtained under three-phase static coordinate system to the stator current of permagnetic synchronous motor (108), M1 carries out coordinate transform by CLARKE converter unit (112) and obtains α shaft current under two-phase rest frame and β shaft current N1 and O1, then value P1 and the Q1 of d shaft current and q shaft current under two-phase rotating coordinate system is obtained again by PARK converter unit (111), under two phase coordinate systems, d shaft current value P1 and q shaft current value Q1 is respectively by being input to a current control unit (103) respectively as d shaft current feedback signal F1 and q shaft current feedback signal R1 after a low pass filter unit (109) and No. two low pass filter unit (110) elimination high-frequency signals and No. two current control units (104) complete closed-loop control, wherein CLARK converter unit (112) and PARK converter unit (111) principle of coordinate transformation as follows:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right];$

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right];$

In formula, i _a, i _b, i _cfor the current value M1 under three-phase static coordinate system; i _α, i _βbe respectively current value N1, the O1 under two-phase rest frame; i _d, i _qbe respectively current value P1, the Q1 under two-phase rotating coordinate system;

Step 2: on the basis of permagnetic synchronous motor id=0 vector control, utilizes high-frequency rotating signal injection method to complete position Sensorless Control, and wherein tracking observer unit in position adopts principle of phase lock loop:

Step 2.1: under two-phase rest frame, α shaft current N1 and β shaft current O1 also obtains α axle high frequency carrier electric current S1 and β axle high frequency carrier electric current T1 respectively through the harmonic current of a band-pass filter unit (115) and No. two band-pass filter unit (116) elimination Fundamental-frequency Currents, low frequency and pwm switching signal, and its expression is as follows:

$\left[\begin{array}{c}{i}_{\mathrm{\α}h}\\ i_{\mathrm{\β}h}\end{array}\right]=\left[\begin{array}{c}{i}_p\cos \left({\mathrm{\ω}}_{h}t\right)+i_n\cos \left(2\mathrm{\θ}-{\mathrm{\ω}}_{h}t\right)\\ i_p\sin \left({\mathrm{\ω}}_{h}t\right)+i_n\sin \left(2\mathrm{\θ}-{\mathrm{\ω}}_{h}t\right)\end{array}\right];$

Above formula is converted to vector form obtain:

$i_h^{\mathrm{\α}\mathrm{\β}}=i_p{e}^{{\mathrm{j\ω}}_{h}t}+i_n{e}^{j\left(2\mathrm{\θ}-{\mathrm{\ω}}_{h}t\right)};$

I in formula _{α h}, i _{β h}for high frequency carrier current signal S1 and T1; θ is rotor magnetic pole position information; ω _hfor high frequency angular frequency;

Wherein, i _p, i _nbe respectively:

$i_p=\frac{u_h}{{\mathrm{\ω}}_h}\left(\frac{L_1}{L_1^2-L_2^2}\right),i_n=\frac{u_h}{{\mathrm{\ω}}_h}\left(\frac{-L_2}{L_1^2-L_2^2}\right);$

Wherein, u _hfor the amplitude of high-frequency voltage signal; L _q, L _dbe respectively cross, straight axle inductance;

Step 2.2: high frequency carrier electric current S1 and T1 is by after coaxial high-pass filter unit (114) elimination positive sequence component, and export high frequency carrier electric current negative sequence component U1, the signal after filtering is only containing position signalling i _ne ^{j2 θ}, be transformed in two-phase rest frame and be expressed as:

$\left[\begin{array}{c}{i}_n^{\mathrm{\α}}\\ i_n^{\mathrm{\β}}\end{array}\right]\left[\begin{array}{c}{i}_n\cos \left(2\mathrm{\θ}\right)\\ i_n\sin \left(2\mathrm{\θ}\right)\end{array}\right];$

Step 2.3: as shown in Figure 2, high frequency carrier current signal negative sequence component U1 component on α, β axle is A2, F2; α axle high frequency carrier electric current negative sequence component A2 is multiplied through a multiplication unit (201) and obtains B2 together with the SIN function I2 of rotor magnetic pole position estimated value, and β axle high frequency carrier electric current negative sequence component F2 is jointly multiplied through No. two multiplication units (205) with the cosine function H2 of rotor magnetic pole position estimated value and obtains G2; B2 and G2 obtains rotor magnetic pole position error calculation formula C2 by subtraction unit (202); Its principle is as follows:

$\begin{array}{c}\mathrm{\Δ}\mathrm{\θ}=i_n\cos \left(2\mathrm{\θ}\right)\sin \left(2\stackrel{\‾}{\mathrm{\θ}}\right)-i_n\sin \left(2\mathrm{\θ}\right)\cos \left(2\stackrel{\‾}{\mathrm{\θ}}\right)\\ =i_n\sin 2\left(\stackrel{\‾}{\mathrm{\θ}}-\mathrm{\θ}\right)\≈i_n\×2\left(\stackrel{\‾}{\mathrm{\θ}}-\mathrm{\θ}\right)\end{array}$

In formula, Δ θ is rotor position error calculating formula value C2; θ is rotor magnetic pole position, for the rotor magnetic pole position estimated value Y1 of setting; When C2 level off to 0 time, rotor magnetic pole position estimated value Y1 also just levels off to rotor physical location.

Step 2.4: the whole position tracking observation stage adopts PHASE-LOCKED LOOP PLL TECHNIQUE, and above-mentioned steps 2.3 utilizes heterodyne method to complete the phase discriminator link of phase-locked loop; And loop filter will be completed by a PI regulon (203); Rotor position error calculating formula value C2 obtains the control voltage D2 of voltage controlled oscillator link by PI regulon (203); Voltage controlled oscillator link is completed by integral unit (204); Last output rotor position of magnetic pole estimated value Y1, and fed back to a function converting unit (207) and No. two function converting units (206) obtain the sine function I2 of rotor magnetic pole position estimated value and the cosine function value H2 of rotor magnetic pole position estimated value; Rotor magnetic pole position estimated value Y1 also will feed back to PARK converter unit (111) and PARK inverse transformation block (105) for coordinate transform provides rotor magnetic pole position information;

Rotor magnetic pole position estimated value Y1 also will pass through speed calculation unit (208) and obtain speed estimate value E1, and speed estimate value feeds back to rotary speed controling unit again and completes closed-loop control; Wherein speed calculation unit (208) principle is as follows:

$\stackrel{\‾}{\mathrm{\ω}}=\frac{1}{P}\frac{d\stackrel{\‾}{\mathrm{\θ}}}{dt};$

Wherein for speed estimate value E1, P be motor number of pole-pairs, for rotor magnetic pole position estimated value.

Step 3: phase compensation is carried out to the high-frequency signal being formed delayed phase by band pass filter, improves rotor-position accuracy of detection;

Step 3.1: the α axle high frequency voltage V1 and the β axle high frequency voltage W1 that also obtain delayed phase through band pass filter with the θ axle high frequency carrier electric current S1 of delayed phase and β axle high frequency carrier electric current T1 respectively through a current calculation unit (117) and No. two current calculation units (118); A delayed phase will be had by the high frequency carrier electric current of band pass filter, as follows:

Wherein, 1 ' _{α h}, 1 ' _{β h}be respectively through band pass filter with the α axle high frequency carrier electric current S1 of delayed phase and β axle high frequency carrier electric current T1, it is a phase value;

By through band pass filter with the α axle high frequency carrier electric current S1 of delayed phase with β axle high frequency carrier electric current T1 is converted to α axle high frequency voltage V1 and β axle high frequency voltage W1 also must have a delayed phase:

U ' in formula _{α h}, u ' _{β h}for α axle high frequency voltage V1 and β axle high frequency voltage W1, it is a phase lag value;

Step 3.2: after α axle high frequency voltage V1 is multiplied with a high frequency sinusoidal component B3 with a high-frequency cosine component A 3 by multiplying unit (301) respectively with β axle high frequency voltage W1, obtains one and value C3, the D3 on α axle and β axle with high-frequency AC components and DC component addition; C3 and D3 is again by after low pass filter unit (302) elimination alternating current component, and to obtain on α axle a DC component F3 containing phase information on a DC component E3 containing phase information and β axle, its principle is as follows:

In formula, LPF is low pass filter;

On α axle one containing a DC component F3 containing phase information on the DC component E3 of phase information and β axle, obtain α axle phase compensation signal G3 and β axle phase compensation signal H3 by PI regulon (303); High-frequency rotating voltage signal B1 that α axle finally injects and the high-frequency rotating voltage signal C1 that β axle finally injects is obtained by phase compensation unit (304) together with the high-frequency rotating voltage signal A1 that α axle phase compensation signal G3 and β axle phase compensation signal H3 and high-frequency signal generation unit (100) generate, complete the injection of the high-frequency rotating signal of phase compensation, repeat above step until phase compensation value converges to a steady state value.

What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.

Claims (4)

1. a permagnetic synchronous motor low speed sensorless control device, it is characterized in that: comprise high-frequency voltage signal generation unit (100), phase signal processing unit (101), rotary speed controling unit (102), a current control unit (103), No. two current control units (104), PARK inverse transformation block (105), SVPWM unit (106), voltage source inverter unit (107), permagnetic synchronous motor (108), a low pass filter unit (109), No. two low pass filter unit (110), PARK converter unit (111), CLARKE converter unit (112), position tracking observer unit (113), coaxial high-pass filter unit (114), a band-pass filter unit (115), No. two band-pass filter units (116), a current calculation unit (117), No. two current calculation units (118), wherein:

Rotational speed setup command signal D1 and speed estimate value E1 is after rotary speed controling unit (102), export the given current signal G1 of q axle, G1 and q axle stator current components R1, by after No. two current control units (104), exports q axle to determining voltage signal set-point I1; D axle given current signal X1 and d axle stator current signal F1 obtains the given voltage signal values H1 of d axle by a current control unit (103);

Under two-phase rotating coordinate system, d shaft voltage signals set-point H1 and q shaft voltage signals set-point I1 to obtain under two-phase rest frame β shaft voltage signals value K1 under α shaft voltage signals value J1 and two-phase rest frame by PARK inverse transformation block (105); The α axle of final injection rotates high-frequency voltage signal B1 and the final β axle rotation high-frequency voltage signal C1 injected is superimposed upon on α shaft voltage signals J1 and β shaft voltage signals K1 respectively;

Under two-phase rest frame, α axle and β axle value J1, K1 are by after SVPWM unit (106), switching signal L1 needed for output inverter, switching signal L1 is by after voltage source inverter unit (107), and given voltage under obtaining three-phase static coordinate system also drives permagnetic synchronous motor (108) to work;

By detecting the current value M1 obtained under three-phase static coordinate system to the stator current of permagnetic synchronous motor (108), M1 carries out coordinate transform by CLARKE converter unit (112) and obtains α shaft current under two-phase rest frame and β shaft current N1 and O1, then value P1 and the Q1 of d shaft current and q shaft current under two-phase rotating coordinate system is obtained again by PARK converter unit (111), under two phase coordinate systems, d shaft current value P1 and q shaft current value Q1 is respectively by being input to a current control unit (103) respectively as d shaft current feedback signal F1 and q shaft current feedback signal R1 after a low pass filter unit (109) and No. two low pass filter unit (110) elimination high-frequency signals and No. two current control units (104) complete closed-loop control,

Under two-phase rest frame, α shaft current N1 and β shaft current O1 is also respectively through a band-pass filter unit (115) and No. two band-pass filter unit (116) elimination Fundamental-frequency Currents, the harmonic current of low frequency and pwm switching signal obtain α axle high frequency carrier electric current S1 and β axle high frequency carrier electric current T1, high frequency carrier electric current S1 and T1 is by after coaxial high-pass filter unit (114) elimination positive sequence component, export high frequency carrier electric current negative sequence component U1, U1 obtains the rotor magnetic pole position estimated value Y1 of estimation again with middle observing unit (113) through position, Y1 is again through calculating motor speed estimated value E1, rotor magnetic pole position estimated value Y1 will be input to PARK converter unit (111) and PARK inverse transformation block (105), for coordinate transform provides rotor position angle information, and motor speed estimated value E1 will be input to rotary speed controling unit (102) as speed feedback signal completes closed-loop control,

Also obtain α axle high frequency voltage V1 and the β axle high frequency voltage W1 of delayed phase respectively through a current calculation unit (117) and No. two current calculation units (118) with the α axle high frequency carrier electric current S1 of delayed phase and β axle high frequency carrier electric current T1 through band pass filter; α axle high frequency voltage V1 and β axle high frequency voltage W1 obtains a phase component by phase signal processing unit; Phase component is compensated to it rotation high-frequency voltage signal obtaining final injection and the α axle rotation high-frequency voltage signal B1 being broken down into final injection and the β axle rotation high-frequency voltage signal C1 finally injected by the rotation high-frequency voltage signal A1 generated by high-frequency signal generation unit (100) completely phase signal processing unit (101); Complete closed-loop control.

2. a kind of permagnetic synchronous motor low speed sensorless control device according to claim 1, it is characterized in that: described position tracking observer unit (113) comprises an add operation unit (201), No. two add operation unit (205), subtraction unit (202), PI regulon (203), integral unit (204), a function converting unit (207), No. two function converting units (206), speed calculation unit (208);

High frequency carrier electric current negative sequence component U1 is resolved into α axle high frequency carrier electric current negative sequence component A2 and β axle high frequency carrier electric current negative sequence component F2; α axle high frequency carrier electric current negative sequence component A2 is multiplied through a multiplication unit (201) and obtains B2 together with the SIN function I2 of rotor magnetic pole position estimated value, and β axle high frequency carrier electric current negative sequence component F2 is jointly multiplied through No. two multiplication units (205) with the cosine function H2 of rotor magnetic pole position estimated value and obtains G2; B2 and G2 obtains rotor magnetic pole position error calculation formula C2 by subtraction unit (202);

Rotor magnetic pole position error calculation formula obtains the control voltage D2 of integral unit (204) by PI regulon (203) filtering noise and interference component; D2 obtains rotor magnetic pole position estimated value Y1 by integral unit again; Rotor magnetic pole position estimated value Y1 obtains the sine function I2 of rotor magnetic pole position estimated value and the cosine function value H2 of rotor magnetic pole position estimated value respectively by a function converting unit (207) and No. two function converting units (206); The sine function I2 of rotor magnetic pole position estimated value and the cosine function value H2 of rotor magnetic pole position estimated value is input to a multiplication unit (201) and No. two multiplication units (205) respectively as value of feedback again;

Rotor magnetic pole position Y1 also will pass through speed calculation unit (208) and show that speed estimate value E1 is input to rotary speed controling unit as speed feedback value.

3. a kind of permagnetic synchronous motor low speed sensorless control device according to claim 1, it is characterized in that: described phase signal processing unit (101) also comprises: multiplying unit (301), low pass filter unit (302), PI regulon (303), phase compensation unit (304), wherein:

After α axle high frequency voltage V1 is multiplied with a high frequency sinusoidal component B3 with a high-frequency cosine component A 3 by multiplying unit (301) respectively with β axle high frequency voltage W1, obtain one and value C3, the D3 on α axle and β axle with high-frequency AC components and DC component addition; C3 and D3, again by after low pass filter unit (302) elimination alternating current component, to obtain on α axle a DC component F3 containing phase information on a DC component E3 containing phase information and β axle; On α axle, one obtains α axle phase compensation signal G3 and β axle phase compensation signal H3 containing a DC component F3 containing phase information on the DC component E3 of phase information and β axle by PI regulon (303); Obtain high-frequency rotating voltage signal B1 that α axle finally injects and the high-frequency rotating voltage signal C1 that β axle finally injects by phase compensation unit (304) together with the high-frequency rotating voltage signal A1 that α axle phase compensation signal G3 and β axle phase compensation signal H3 and high-frequency signal generation unit (100) generate, complete the injection of the high-frequency rotating signal of phase compensation.

4. a permagnetic synchronous motor low speed sensorless control method, is characterized in that: comprise the following steps:

1) rotary speed setting value D1 and speed estimate value E1 obtains q shaft current set-point by rotary speed controling unit; Q shaft current set-point and q shaft current detected value obtain q shaft voltage set-point I1 by No. two current control units, in like manner can obtain d shaft voltage set-point H1;

2) the voltage given value I1 under two-phase rotating coordinate system and H1 obtains magnitude of voltage J1, K1 under two-phase rest frame by PARK inverse transformation block; Obtain switching signal control inverter by SVPWM unit together after being superposed by high-frequency rotating voltage signal again and export three-phase current;

3) electric current under three-phase static coordinate system obtains current signal N1, O1 under two-phase rest frame by CLARK converter unit; Current signal P1, Q1 under two-phase rotating coordinate system is obtained again by PARK converter unit; Obtain Fundamental-frequency Current value finally by low pass filter unit filtering high-frequency signal to feed back to two current control units and complete closed loop, return step 2);

4) current signal N1, O1 under two-phase rest frame also obtain high frequency carrier current signal S1, T1 by band-pass filter unit filtering fundamental frequency and interfering frequency; The negative sequence component U1 of high frequency carrier current signal is obtained again through coaxial high pass filter elimination positive sequence component;

5) the negative sequence component U1 of high frequency carrier current signal resolves into α axle component A 2 and beta-axis component F2, utilizes heterodyne method to make A2, F2 obtain B2, G2 with the sine value of rotor estimated position and cosine value by two multiplication units respectively; Again B2 and G2 is subtracted each other and obtain error calculation formula C2;

6) principle of phase lock loop is utilized, above-mentioned steps 5) complete phase discriminator link, the site error then obtained by heterodyne method estimates C2 by a PI unit as loop filter; Last voltage controlled oscillator link utilizes an integral element to realize, and draws rotor estimated position Y1; Calculate rotating speed E1 by Y1 again and feed back to rotary speed controling unit, repeat step 1);

7) high frequency carrier current signal S1 and T1 also draws high-frequency voltage signal V1 and W1 of delayed phase by two current operating unit; After V1 with W1 is multiplied with a high frequency sinusoidal component B3 with a high-frequency cosine component A 3 respectively by multiplying unit, obtain one and value C3, the D3 with high-frequency AC components and DC component addition; C3, D3 obtain DC component E3, the F3 with phase information through low pass filter unit; Again after PI regulon, export phase compensation signal G3, H3;

8) high-frequency voltage signal generation unit generates high-frequency rotating signal B1, C1 that high-frequency rotating voltage signal A1 obtains by phase compensation unit finally injecting together with phase compensation signal G3, H3; Be superimposed upon on the given magnitude of voltage of two-phase rest frame, repeated step 2).