CN106026834A - Speed sensorless control method of permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a speed sensorless control method of a permanent magnet synchronous motor, and belongs to the field of permanent magnet motors. A conventional assumption rotating coordinate method is adopted as a basis, on the basis of a model motor method, an estimation rotating speed is directly adopted as a control quantity through a sliding mode control method, then, a self-adaption law of the estimation rotating speed is obtained through a Lyapunov non-linear design method, an algorithm is greatly simplified, the system response speed is increased, meanwhile, forward and reverse rotation of the motor can be achieved, and the method can be used for the permanent magnet synchronous motor.

Description

A kind of Speed Sensorless Control Method of permagnetic synchronous motor

Technical field

The present invention relates to a kind of magneto, particularly to a kind of permagnetic synchronous motor.

Background technology

In high-performance permanent magnet synchronous motor servosystem, it usually needs installation rate sensor feeds back tach signal, Thus realize closed loop control.But, along with more and more higher to the requirement of control accuracy, the cost that operating speed sensor is brought Rising, installation difficulty, system bulk become big, cannot adapt to the problems such as adverse circumstances greatly constrain permagnetic synchronous motor should With.

Up to the present, global research worker proposes the control method of a lot of Speedless sensor, be mostly from The mathematical model angle of motor goes out to send design identification algorithm, and algorithm is complicated, computationally intensive, cannot realize the rotating control of motor System, and do not account for the Dead Time impact on algorithm for estimating of electronic power inverter.

Summary of the invention

It is an object of the invention to provide the Speed Sensorless Control Method of a kind of permagnetic synchronous motor, improve permanent-magnet synchronous The precision of electric machines test rotating speed.

The object of the present invention is achieved like this: the Speed Sensorless Control Method of a kind of permagnetic synchronous motor, including Following steps:

1) gather motor stator A phase, B phase current and inverter DC bus-bar voltage, and calculate corresponding C phase current；

2) A phase, B phase and C phase current are carried out Clark conversion, obtain permanent-magnetic synchronous motor stator electric current in α β coordinate system Under α axle component and beta-axis component；

3) adaptive kernel time-frequency distribution based on rotating coordinate system is set up；

4) formula (1) is utilized to try to achieve the adaptive law considering that rotating speed estimated by the motor in dead band；

Wherein,For current error, R_sFor motor stator phase resistance, L_sFor motor in synchrony inductance, ψ_f For rotor-exciting magnetic linkage, k is sliding formwork gain, k_iFor electric current observation error integral item coefficient, sig (x) is sigmoid function, Δ u_q For the motor stator three-phase voltage that loses due to the dead band q axle component under dq coordinate system；

5) to the estimation rotating speed integration tried to achieve by formula (1), the estimated value at motor rotor position angle is tried to achieve；

6) speed setting value is subtracted each other with estimation rotating speed, try to achieve the difference of motor speed, and control as rotating speed outer shroud PI The input of device, tries to achieve motor stator electric current d axle component and setting value of q axle component under dq coordinate system；

7) utilize motor rotor position angular estimation value, motor stator electric current α axle component under α β coordinate system and β axle are divided Amount carries out Park conversion, tries to achieve motor stator electric current d axle component and actual value of q axle component under dq coordinate system；

8) motor stator electric current actual value of d axle component and q axle component under dq coordinate system is carried out low-pass filtering, carry out Park inverse transformation and Clark inverse transformation, try to achieve filtered A phase, B phase and C phase current；

9) filtered A phase, B phase and C phase current are carried out current polarity judgement, and try to achieve due to extremely according to current polarity District and the stator three-phase voltage that loses；

10) the stator three-phase voltage of loss is carried out Clark conversion and Park converts, try to achieve the stator three-phase voltage of loss D axle component and q axle component under dq coordinate system；

11) the motor stator electric current obtained d axle component and the setting value of q axle component and actual value under dq coordinate system are made For the input of internal ring current controller, try to achieve actual controlled quentity controlled variable d axle component and q axle component under dq coordinate system；

12) actual controlled quentity controlled variable d axle component and q axle component under dq coordinate system are carried out Park inverse transformation, try to achieve actual control The amount processed α axle component under α β coordinate system and beta-axis component；

13) actual controlled quentity controlled variable α axle component under α β coordinate system and beta-axis component are carried out SVPWM, try to achieve six road PWM letters Number；

14) calculate motor stator electric current d axle component and estimated value of q axle component under dq coordinate system, return step 1), enter Row loop control.

As the further restriction of the present invention, step 3) in based on the model in rotating coordinate system adaptive kernel time-frequency distribution The mathematical model of motor meets formula (2)；

Wherein,Angular velocity of rotation is estimated for rotor；ω_rFor the actual angular velocity of rotation of rotor；u_d、u_qFor stator voltage at d Component on axle and q axle；i_d、i_qFor stator actual current component on d axle and q axle；Estimate that electric current is at d axle for stator With the component on q axle；ψ_fFor rotor-exciting magnetic linkage；Δ θ is that molded motor place supposes rotating coordinate system and actual PMSM place Phase contrast between dq coordinate system；R_sFor motor stator phase resistance；L_sFor motor in synchrony inductance；Δu_d、Δu_qFor Inverter Dead-time The u caused_d、u_qLoss voltage；U is the controlled quentity controlled variable of molded motor, meanwhile, and willAlso the controlled quentity controlled variable of molded motor is regarded as.

As the further restriction of the present invention, step 4) in sigmoid function meet formula (3)；

Wherein, a is sigmoid constant.

As the further restriction of the present invention, step 8) in current inner loop controller use Lyapunov direct method to enter Row design, selected Lyapunov function meets formula (4)；

Wherein, K_iFor integral coefficient,For current setting value component on d axle,For current setting value on q axle point Amount.

As the further restriction of the present invention, step 9) in the stator three-phase voltage of loss meet formula (5)；

Wherein, T_dFor the time of dying, T_sFor PWM period of wave, sign (x) is sign function, i_A、i_B、i_CFor filtered A Phase, B phase and C phase current, u_dcFor inverter direct-flow side busbar voltage.

As the further restriction of the present invention, sign function meets formula (6)；

Compared with prior art, the beneficial effects of the present invention is, the present invention utilize consider dead band based on rotational coordinates The adaptive kernel time-frequency distribution of system estimates the rotary speed information of permagnetic synchronous motor, supposes based on method of multiblade coordinates by routine, The electric current of combination model motor controls, and carries out sliding formwork identification in dq coordinate system, recycles Lyapunov non-linear control design Method directly obtains the adaptive law estimating rotating speed, and current of electric controls to use Lyapunov method to carry out, it is ensured that global convergence, at mould Type motor considers the change in voltage that Inverter Dead-time causes, eliminates and there is the phase place identification in the case of Dead Time by mistake Difference, fast response time, and the rotating of motor can be realized, improve the precision of Rotating speed measring.The present invention can be used for permanent-magnet synchronous In motor.

Accompanying drawing explanation

Fig. 1 is control principle block diagram of the present invention.

Fig. 2 is control flow chart of the present invention.

Fig. 3 is present invention speed curves figure when working.

Fig. 4 is rotor position angle curve chart of the present invention.

Detailed description of the invention

Below in conjunction with specific embodiment, the present invention will be further described.

The Speed Sensorless Control Method of a kind of permagnetic synchronous motor, comprises the following steps:

1) design adaptive kernel time-frequency distribution

Set up real electrical machinery model:

Set up and estimate motor model:

Wherein,Angular velocity of rotation is estimated for rotor；ω_rFor the actual angular velocity of rotation of rotor；u_d、u_qFor stator voltage at d Component on axle and q axle；i_d、i_qFor stator actual current component on d axle and q axle；Estimate that electric current is at d axle for stator With the component on q axle；ψ_fFor rotor-exciting magnetic linkage；Δ θ is that molded motor place supposes that rotating coordinate system and actual place dq sit Phase contrast between mark system；R_sFor motor stator phase resistance；L_sFor motor in synchrony inductance；Δu_d、Δu_qCause for Inverter Dead-time U_d、u_qLoss voltage；U is the controlled quentity controlled variable of molded motor, meanwhile, and willAlso the controlled quentity controlled variable of molded motor is regarded as.

Deduct formula (2) by formula (1), if the parameter of electric machine is completely the same in two formulas, obtain current error equation:

Wherein,For current error,

It is 0 for ensureing the current error in formula (3), introduces electric current observation error integral term, take Lyapunov function:

In formula, k_iFor electric current observation error integral item coefficient.

To formula (4) derivation:

Formula (3) is substituted into formula (5):

Order:

In formula, k is sliding formwork gain.

Comparison expression (1) and formula (2), simultaneously from formula (3), when the system is stable,AndOwing to introducing current error integral term, thereforeIn formula (7) meansigma methods of u will equal to 0, Thus Δ θ=0, two motor Complete Synchronizations, now, formula (3) meets:

Then, formula (8) can estimate that the adaptive law of rotating speed is:

Then, estimate that rotor position angle is:

2) ring controller in design current

The target of whole control system is to makeConverge to setting value i_d ^*,Converge to setting value i_q ^*, for eliminating stable state by mistake Difference, introduces error value product and itemizes, then, and definition Lyapunov function:

From formula (2), if willWithIt is used for being controlled, due toWithState equation in containing controlled quentity controlled variable, and control Amount processed uses sliding formwork to control, and therefore, will certainly introduce controller by buffeting, affect the stability of controller.

But, once molded motor and actual PMSM Complete Synchronization, i.e.And i_d、i_qIt is identical, then, controller InJust can use actual i_d、i_qReplacing, therefore, the Lyapunov function that formula (12) defines i.e. becomes:

Wherein, K_iFor integral coefficient,For current setting value component on d axle,For current setting value on q axle point Amount.

To formula (13) derivation:

During due to two motor Complete Synchronizations, have Δ θ=0,Therefore, formula (1) becomes:

Formula (15) is substituted into formula (14):

Order:

Wherein, K_pFor proportionality coefficient.

Then, formula (14) becomes:

Obviously, when x ≠ 0,Meet stablizing under Lyapunov meaning.Meanwhile, by available for formula (17) deformation Actual control law is:

The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area Art personnel are according to disclosed technology contents, it is not necessary to some of which technical characteristic just can be made one by performing creative labour A little replacements and deformation, these are replaced and deformation is the most within the scope of the present invention.

Claims (6)

1. the Speed Sensorless Control Method of a permagnetic synchronous motor, it is characterised in that comprise the following steps:

1) gather motor stator A phase, B phase current and inverter DC bus-bar voltage, and calculate corresponding C phase current；

2) A phase, B phase and C phase current are carried out Clark conversion, obtain permanent-magnetic synchronous motor stator electric current α under α β coordinate system Axle component and beta-axis component；

3) adaptive kernel time-frequency distribution based on rotating coordinate system is set up；

4) formula (1) is utilized to try to achieve the adaptive law considering that rotating speed estimated by the motor in dead band；

${\widehat{\mathrm{\ω}}}_r=\frac{R_s{\tilde{i}}_q-L_s\·k_i\∫{\tilde{i}}_{q}dt-L_s\·k\·sig\left({\tilde{i}}_q\right)-{\mathrm{\Δu}}_q}{{\mathrm{\ψ}}_f-L_s{\tilde{i}}_d}---\left(1\right)$

Wherein,For current error, i_d、i_qFor stator actual current component on d axle and q axle；Electric current component on d axle and q axle, R is estimated for stator_sFor motor stator phase resistance, L_sFor motor in synchrony inductance, ψ_fFor Rotor-exciting magnetic linkage, k is sliding formwork gain, k_iFor electric current observation error integral item coefficient, sig (x) is sigmoid function, Δ u_qFor The motor stator three-phase voltage lost due to dead band q axle component under dq coordinate system；

5) to the estimation rotating speed integration tried to achieve by formula (1), the estimated value at motor rotor position angle is tried to achieve；

6) speed setting value is subtracted each other with estimation rotating speed, try to achieve the difference of motor speed, and as rotating speed outer shroud PI controller Input, tries to achieve motor stator electric current d axle component and setting value of q axle component under dq coordinate system；

7) utilize motor rotor position angular estimation value, motor stator electric current α axle component under α β coordinate system and beta-axis component are entered Row Park converts, and tries to achieve motor stator electric current d axle component and actual value of q axle component under dq coordinate system；

8) motor stator electric current actual value of d axle component and q axle component under dq coordinate system is carried out low-pass filtering, carry out Park Inverse transformation and Clark inverse transformation, try to achieve filtered A phase, B phase and C phase current；

9) filtered A phase, B phase and C phase current are carried out current polarity judgement, and try to achieve due to dead band according to current polarity The stator three-phase voltage of loss；

10) the stator three-phase voltage of loss is carried out Clark conversion and Park converts, try to achieve the stator three-phase voltage of loss at dq D axle component and q axle component under coordinate system；

11) using the motor stator electric current that obtains under dq coordinate system d axle component and the setting value of q axle component and actual value as interior The input of circular current controller, tries to achieve actual controlled quentity controlled variable d axle component and q axle component under dq coordinate system；

12) actual controlled quentity controlled variable d axle component and q axle component under dq coordinate system are carried out Park inverse transformation, try to achieve actual controlled quentity controlled variable α axle component under α β coordinate system and beta-axis component；

13) actual controlled quentity controlled variable α axle component under α β coordinate system and beta-axis component are carried out SVPWM, try to achieve six road pwm signals；

14) calculate motor stator electric current d axle component and estimated value of q axle component under dq coordinate system, return step 1), follow Ring controls.

The Speed Sensorless Control Method of a kind of permagnetic synchronous motor the most according to claim 1, it is characterised in that step Rapid 3) in, mathematical model based on the molded motor in rotating coordinate system adaptive kernel time-frequency distribution meets formula (2)；

$\left\{\begin{array}{c}\frac{d{\hat{i}}_d}{dt}=\frac{1}{L_s}{u}_d-\frac{R_s}{L_s}{\hat{i}}_d+{\widehat{\mathrm{\ω}}}_r{\hat{i}}_q-u-\frac{1}{L_s}{\mathrm{\Δu}}_d\\ \frac{d{\hat{i}}_q}{dt}=\frac{1}{L_s}{u}_q-\frac{R_s}{L_s}{\hat{i}}_q-{\widehat{\mathrm{\ω}}}_r{\hat{i}}_d-\frac{1}{L_s}{\widehat{\mathrm{\ω}}}_r{\mathrm{\ψ}}_f-\frac{1}{L_s}{\mathrm{\Δu}}_q\end{array}\right.---\left(2\right)$

Wherein,Angular velocity of rotation is estimated for rotor；ω_rFor the actual angular velocity of rotation of rotor；u_d、u_qFor stator voltage at d axle and q Component on axle；i_d、i_qFor stator actual current component on d axle and q axle；Estimate that electric current is at d axle and q for stator Component on axle；ψ_fFor rotor-exciting magnetic linkage；Δ θ is that molded motor place supposes that rotating coordinate system and actual PMSM place dq sit Phase contrast between mark system；R_sFor motor stator phase resistance；L_sFor motor in synchrony inductance；Δu_d、Δu_qCause for Inverter Dead-time U_d、u_qLoss voltage；U is the controlled quentity controlled variable of molded motor, meanwhile, and willAlso the controlled quentity controlled variable of molded motor is regarded as.

The Speed Sensorless Control Method of a kind of permagnetic synchronous motor the most according to claim 1 and 2, its feature exists In, step 4) in sigmoid function meet formula (3)；

$sig\left(x\right)=\frac{1-e^{-ax}}{1+e^{-ax}}---\left(3\right)$

Wherein, a is sigmoid constant.

The Speed Sensorless Control Method of a kind of permagnetic synchronous motor the most according to claim 1 and 2, its feature exists In, step 8) in current inner loop controller use Lyapunov direct method to be designed, selected Lyapunov function is full Foot formula (4)；

$V\left(x\right)=\frac{1}{2}{L}_s{(i_d-i_d^{*})}^2+\frac{1}{2}{L}_s{(i_q-i_q^{*})}^2+\frac{1}{2}{K}_i{\[\∫(i_d-i_d^{*})dt\]}^2+\frac{1}{2}{K}_i{\[\∫(i_q-i_q^{*})dt\]}^2---\left(4\right)$

Wherein, K_iFor integral coefficient,For current setting value component on d axle,For electric current

Setting value component on q axle.

The Speed Sensorless Control Method of a kind of permagnetic synchronous motor the most according to claim 1 and 2, its feature exists In, step 9) in the stator three-phase voltage of loss meet formula (5)；

$\left\{\begin{array}{c}{\mathrm{\Δu}}_A=\frac{T_d}{T_s}{u}_{dc}\·sign\left(i_A\right)\\ {\mathrm{\Δu}}_B=\frac{T_d}{T_s}{u}_{dc}\·sign\left(i_B\right)\\ {\mathrm{\Δu}}_C=\frac{T_d}{T_s}{u}_{dc}\·sign\left(i_C\right)\end{array}\right.---\left(5\right)$

Wherein, T_dFor the time of dying, T_sFor PWM period of wave, sign (x) is sign function, i_A、i_B、i_CFor filtered A phase, B phase With C phase current, u_dcFor inverter direct-flow side busbar voltage.

The Speed Sensorless Control Method of a kind of permagnetic synchronous motor the most according to claim 5, it is characterised in that Sign function meets formula (6)；

$sign\left(x\right)=\left\{\begin{array}{cc}1& x>0\\ 0& x=0\\ -1& x<0\end{array}\right.---\left(6\right).$