CN105071736B - A kind of wind turbine permanent magnet synchronous motor is without sensorless rotor position detection method - Google Patents
A kind of wind turbine permanent magnet synchronous motor is without sensorless rotor position detection method Download PDFInfo
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- CN105071736B CN105071736B CN201510505326.4A CN201510505326A CN105071736B CN 105071736 B CN105071736 B CN 105071736B CN 201510505326 A CN201510505326 A CN 201510505326A CN 105071736 B CN105071736 B CN 105071736B
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Abstract
The present invention provides a kind of wind turbine permanent magnet synchronous motor without sensorless rotor position detection method, comprises the following steps：After the three-phase current that motor is detected using sensor, become three-phase current of changing commanders using Clarke conversion and Park and be transformed to two-phase ac-dc axis electric current, then produce the direct-axis voltage comprising rotor position error information from direct-axis current PI controllers and be sent to phaselocked loop rotor-position tracking proportional integration estimator, PI controls gain parameter in estimator is selected according to inverter switching device working frequency, by controlling direct-axis current to make it be zero, rotor-position and rotating speed are estimated.Method provided by the invention, permanent magnet flux linkage is only needed, without other parameters of electric machine, algorithm very simple, rotor-position and rotating speed can be accurately detected more than 20% rated speed, suitable for the wide in range HVAC of power grade, Industrial cleaning facility wind turbine permanent magnet synchronous motor.
Description
Technical field
The present invention relates to permanent magnet synchronous motor, more particularly to the purification of a kind of air-conditioning, workshop, building heating and ventilation project, communication base
Stand, the permanent magnet synchronous motor of the field matched with blower such as rail vehicle is without sensorless rotor position detection method.
Background technology
In recent years, with Power Electronic Technique, frequency control and complicated algorithm high-performance, inexpensive microprocessor are realized
Fast development, vector controlled permanent magnet synchronous motor (PMSM), have in wide speed, wide loading range high efficiency, low noise and
The features such as accurate speed control, become the field wind turbines such as air-conditioning, workshop purification, building heating and ventilation project, communication base station, rail vehicle
Supporting preferred motor.Permanent magnet synchronous motor based on vector controlled, it is necessary to the rotor-position and speed of detection motor in real time.Often
Mechanical pick-up device (encoder, solver and tachometer generator) is used with rotor-position detection, but mechanical pick-up device has installation, electricity
The problems such as cable connection, failure, the volume of system and the rotary inertia of rotor are not only increased, and reduce system reliability.
In order to solve various defects existing for mechanical pick-up device, no sensorless rotor position detection becomes the emphasis of research.
At present, sensorless detection rotor-position method mainly favorably with the High Frequency Injection of motor saliency and
Utilize counter electromotive force of motor or the estimation algorithm of magnetic linkage.High Frequency Injection has particular/special requirement to electric machine structure, it is necessary to motor
Rotor have it is saliency, wind turbine is not applied to non-salient pole permanent magnet synchronous motor.Estimation algorithm mainly has counter electromotive force method, model ginseng
Examine adaptive method, sliding mode observer method, extended Kalman filter etc..Counter electromotive force method is believed using motor fundamental voltage and electric current
Number rotor-position and speed are calculated, method is simple, is widely used, but the change to the parameter of electric machine is very sensitive, and adaptability is poor.It is sliding
Mould observer method has a preferable robustness, but during low speed chattering phenomenon than more serious.Extended Kalman filter needs to be answered
Miscellaneous matrix inversion operation, has CPU higher calculating requirement, and real-time is poor.Model reference adaptive method can only be a certain
Velocity band is adjusted to optimal, easily causes the rotor-position of detection to vibrate when rotating speed is less than the speed domain, and is higher than the speed
The rotor-position of detection is easily led to during domain larger delay.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of wind turbine permanent magnet synchronous motor and is examined without sensorless rotor position
Survey method, the method for proposition only need permanent magnet flux linkage, without other parameters of electric machine, algorithm very simple, 20% rated speed with
On can be accurately detected rotor-position and rotating speed, suitable for field wind turbines such as the wide in range HVAC of power grade, Industrial cleaning facilities
Use permanent magnet synchronous motor.
To reach above-mentioned purpose, idea of the invention is that：Rotor-position is included by export direct-axis current adjuster
Control information direct-axis voltage is input to phaselocked loop rotor-position tracking proportional integration estimator, and it is zero to control direct-axis current, estimation
Go out rotor-position and rotating speed.
Illustrate no sensorless rotor position according to the present invention and velocity measuring principle below.
Since the detection of position-sensor-free rotor-position can be measured directly unlike mechanical pick-up device, but based on estimation,
Therefore error delta θ is certainly existed between actual rotor position θ and estimated position θ e.If actual rotor position two-phase static coordinate
It for alpha-beta, rotating coordinate system is d-q coordinate systems to be, and the rotating coordinate system based on estimation rotor-position is r- δ coordinate systems, such as Fig. 1
It is shown.
According to PMSM characteristics, the PMSM stator voltage equations based on alpha-beta coordinate system are：
Define transformation matrix
Then the stator voltage under r- δ coordinate systems, electric current can be expressed as
Formula (1), (2), (4) substitution formula (3) can be obtained to the PMSM voltage equations under r- δ coordinate systems：
V α, V β, Vr, V δ are respectively stator winding alpha-beta axis and r- δ shaft voltage components in formula；I α, i β, ir, i δ are respectively fixed
Sub- winding alpha-beta axis and r- δ shaft current components；Rs, Ls are respectively stator resistance and inductance；The magnetic produced for rotor permanent magnet magnetic pole
Chain；ω is rotor electrical angular speed.
Fig. 2 is vector control without position sensor PMSM block diagrams, and forward direction coupled voltages are in figure：
By the electric current of measurement, substitution formula (5) can must estimate the ac-dc axis under rotating coordinate system after CLARK and PARK conversion
Voltage.
Formula (7) is subtracted into formula (6) obtain the error of ac-dc axis voltage and be：
ω e are the rotor velocity of estimation in formula.
As shown in Figure 2, direct-axis voltage error delta Vd is the output of direct-axis current pi regulator, during stable state, id=id*, iq
=iq*, can be obtained by formula (8)：
Transform (9) can obtain rotor position error Δ θ：
If actual rotor position θ can be obtained, using the phase-locked loop structures of Fig. 3, estimation rotational speed omega e and estimation are obtained
Rotor position e.
The transmission function that phaselocked loop rotor speed and position estimation can be obtained by Fig. 3 is：
If the bandwidth of phaselocked loop rotor speed and position estimation is ω v, in order to ensure quick dead-beat estimation rotor-position,
It is 1 to take damping ratio ξ, then characteristic parameter is：
Can obtain phaselocked loop rotor position estimation proportional gain kp and storage gain ki according to formula (12), (13) is respectively：
Kp=2 ωv (14)
The bandwidth of usual speed ring takes the 1/10 of PWM modulation frequency, i.e. 50~200Hz.In view of the non-of system inverter
Factor, the bandwidths of phaselocked loop rotor position estimation such as linear and current measurement errors are generally 2~6 times of the bandwidth of speed ring.
In fact, actual rotor position θ is unknown, but can obtain rotor position error information with applying equation (10), i.e.,
Extracted from d axis PI current regulator output voltages, the speed of block diagram such as Fig. 2 of specific rotor speed and position estimation and position
Estimator part.
Conceive according to above-mentioned invention, the present invention uses following technical proposals：
(1) using three-phase current ia, ib, ic of sensor detection motor；
(2) using Clarke conversion and Park become change commanders three-phase current ia, ib, ic be transformed to two-phase ac-dc axis electric current id,
iq；
(3) it is zero to control direct-axis current id, is produced from direct-axis current PI controllers straight comprising rotor position error information
Shaft voltage；
(4) direct-axis voltage that direct-axis current PI controllers produce is multiplied byAfter be sent to rotor-position tracking proportional integration
Estimator obtains estimation rotational speed omega e, and the proportional gain kp for selecting estimator is 2 ωv, storage gain ki isωvFor rotor
The bandwidth of position tracking proportional integration estimator, the 1/5~3/5 of selected as inverter PWM frequency；
(5) the rotational speed omega e by rotor-position tracking proportional integration estimator estimation is integrated to obtain estimation rotor position
e。
The present invention compared with prior art, has following advantages：
(1) motor permanent magnet flux linkage is only needed, it is insensitive to the parameter of electric machine without other parameters of electric machine；
(2) motor model is not depended on, algorithm is simple, without the CPU of high request, reduces production cost；
(3) parameter setting of estimator is very simple, suitable for the matched with blower permanent magnet synchronous electric of different capacity grade
Machine mass produces.
Brief description of the drawings
Fig. 1 is the different reference frame graphs of a relation of the present invention；
Fig. 2 is the ensorless control PMSM block diagrams of the present invention；
Fig. 3 is the phaselocked loop rotor speed and position estimation block diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawings 2 and embodiment the invention will be further described.
The wind turbine permanent magnet synchronous motor of the present invention is without sensorless rotor position detection method, by the way that direct-axis current is adjusted
Device output is input to phaselocked loop rotor-position tracking proportional integration estimator, control comprising rotor position error information direct-axis voltage
Direct-axis current processed is zero, estimates rotor-position and rotating speed.
Referring to Fig. 2, the described method comprises the following steps：
(1) using three-phase current ia, ib, ic of sensor detection motor；
(2) using Clarke conversion and Park become change commanders three-phase current ia, ib, ic be transformed to two-phase ac-dc axis electric current id,
iq；
(3) it is zero to control direct-axis current id, is produced from direct-axis current PI controllers straight comprising rotor position error information
Shaft voltage；
(4) direct-axis voltage that direct-axis current PI controllers produce is multiplied byAfter be sent to rotor-position tracking proportional integration
Estimator obtains estimation rotational speed omega e, and the proportional gain kp for selecting estimator is 2 ωv, storage gain ki isωvFor rotor
The bandwidth of position tracking proportional integration estimator, the 1/5~3/5 of selected as inverter PWM frequency；
(5) the rotational speed omega e by rotor-position tracking proportional integration estimator estimation is integrated to obtain estimation rotor position
e。
Above example is used for illustrative purposes only, rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various conversion or modification, therefore all equivalent
Technical solution should also belong to scope of the invention, should be limited by each claim.
Claims (1)
1. a kind of wind turbine permanent magnet synchronous motor is without sensorless rotor position detection method, it is characterised in that by the way that d-axis is electric
Throttle regulator output comprising rotor position error information direct-axis voltage be input to phaselocked loop rotor-position track proportional integration estimate
Device is calculated, it is zero to control direct-axis current, estimates rotor-position and rotating speed, is comprised the following steps：
(1) using the three-phase current i of sensor detection motora、ib、ic；
(2) the three-phase current i that changes commanders is become using Clarke conversion and Parka、ib、icIt is transformed to two-phase ac-dc axis electric current id、iq；
(3) direct-axis current i is controlleddIt is zero, the d-axis electricity comprising rotor position error information is produced from direct-axis current PI controllers
Pressure；
(4) direct-axis voltage that direct-axis current PI controllers produce is multiplied byAfter be sent to rotor-position tracking proportional integration estimator
Obtain estimation rotational speed omegae, select the proportional gain k of estimatorpFor 2 ωv, storage gain ki isFor rotor permanent magnet magnetic
Chain, ωvFor rotor-position track proportional integration estimator bandwidth, the 1/5~3/5 of selected as inverter PWM frequency；
(5) by the rotational speed omega of rotor-position tracking proportional integration estimator estimationeIntegrated to obtain estimation rotor positione。
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3135845A1 (en) * | 2022-05-18 | 2023-11-24 | Safran Electrical & Power | Control device for a three-phase synchronous rotating machine with permanent magnets |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106130417A (en) * | 2016-07-06 | 2016-11-16 | 苏州博联科技有限公司 | Low-speed position evaluation method in a kind of permagnetic synchronous motor |
| CN106411189B (en) * | 2016-10-31 | 2018-11-23 | 北京控制工程研究所 | A kind of gyro sensor-free control system of permanent magnet synchronous motor |
| CN108631682B (en) * | 2018-04-26 | 2020-07-14 | 北京控制工程研究所 | Closed-loop control method for failure of angle measuring device of flexible sailboard driving system |
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| CN103036499A (en) * | 2012-11-29 | 2013-04-10 | 浙江大学 | Detection method of permanent magnet motor rotor position |
| CN103199779A (en) * | 2013-04-22 | 2013-07-10 | 哈尔滨工业大学 | Position observation device and method for rotor of built-in permanent magnetic synchronous motor based on adaptive filtering |
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| US9007004B2 (en) * | 2009-11-06 | 2015-04-14 | University Of Technology, Sydney | Sensorless AC motor controller |
| KR101759371B1 (en) * | 2013-04-04 | 2017-07-18 | 엘에스산전 주식회사 | Sensorless vector control apparatus for induction motor |
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|---|---|---|---|---|
| CN103036499A (en) * | 2012-11-29 | 2013-04-10 | 浙江大学 | Detection method of permanent magnet motor rotor position |
| CN103199779A (en) * | 2013-04-22 | 2013-07-10 | 哈尔滨工业大学 | Position observation device and method for rotor of built-in permanent magnetic synchronous motor based on adaptive filtering |
Non-Patent Citations (2)
| Title |
|---|
| Sensorless Speed Control of Nonsalient Permanent-Magnet Synchronous Motor Using Rotor-Position-Tracking PI Controller;Jul-Ki Seok等;《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》;20060430;第53卷(第2期);第399-405页 * |
| 永磁同步电动机调速系统PI控制器参数整定方法;王莉娜等;《电工技术学报》;20140531;第29卷(第5期);第104-117页 * |
Cited By (1)
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| FR3135845A1 (en) * | 2022-05-18 | 2023-11-24 | Safran Electrical & Power | Control device for a three-phase synchronous rotating machine with permanent magnets |
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