CN106330046A - Novel five-phase fault tolerant permanent magnet motor sensorless control method based on specific load - Google Patents

Abstract

The invention discloses a novel five-phase fault tolerant permanent magnet motor sensorless control method based on specific load. A novel back emf observer based on an active disturbance rejection observer is designed on a basis of a load provided by a motor. The state equation of the motor in a static two-phase coordinate system is used as a new control system, and the back emf of the motor is used as control quantity. The active disturbance rejection observer is used to observe a characteristic of alternating current quantity, and the back emf of the motor in the two-phase static coordinate system is observed, and finally, a phase-locked loop observer is used to acquire the rotating speed and the rotor position angle of the motor. By using the novel back emf observer provided by the invention, use of filters is prevented by parameter selection, and the operation bandwidth of the system and the precision of the estimated position angle are improved, and therefore the reliable operation of the five-phase fault tolerant permanent magnet motor sensorless system is realized.

Description

Novel five mutually fault-tolerant magneto position Sensorless Control based on certain loads Method

Technical field

The present invention relates to a kind of novel five mutually fault-tolerant magneto method for controlling position-less sensor based on certain loads, It is applicable to magneto high-precision servo control field.

Background technology

Owing to permagnetic synchronous motor has, simple in construction, efficiency is high and power density advantages of higher so that it is Aero-Space, The application scenario such as electric automobile and wind-power electricity generation is increasingly widely applied.The stable operation of permagnetic synchronous motor needs machine Tool formula encoder detects rotor magnetic pole position, give corresponding stator winding electrifying stream by the rotor magnetic pole position that detects and Produce the magnetic field rotated, the stator field of rotation and rotor field to interact and produce torque, thus impart power to bear Carry.Owing to using mechanical encoder can cause the problems such as the increase of drive system cost, reliability reduction and volume increase, without position Put sensor control method of great interest.

The position-sensorless control method of permagnetic synchronous motor substantially can be divided into High Frequency Injection and based on motor electromagnetic The Based on Back-EMF Method of relation.The former utilizes the salient pole of motor or saturated salient pole nature, injects and rotates or the high-frequency signal of pulsating, Obtain that motor is static or rotor-position signal during low cruise, but its complexity is higher and is not suitable for high speed neck Territory.The latter's voltage and current signal by sample motor, utilizes the electromagnetic relationship of motor, by directly calculating or observer Obtain back-emf or the magnetic linkage of motor, thus draw the rotor-position signal of motor, during this method is widely used in High Speed Field.Wherein sliding mode observer method is a kind of method being widely used, and the use yet with its switch function can be led Cause system chatter problem so that the noise in result increases, needs multiple filter to be eliminated and it filters cutting of link Only frequency can change along with the change of motor speed, improves the complexity of Design of Observer.

Summary of the invention

It is an object of the invention to for the deficiencies in the prior art, propose a kind of based on novel active disturbance rejection observer technology five Mutually fault-tolerant magneto position-sensorless control method.The method regards the state equation under static two phase coordinate systems of motor as one Individual new control system, using the back-emf of motor as controlled quentity controlled variable, utilizes active disturbance rejection observer can control the feature of of ac, Draw motor back-emf under biphase rest frame.The method can be by the selection of rational parameter so that in difference Running speed under the angle of the back-emf that the estimates back-emf that lags behind reality become a fixed value, eliminate wave filter Design and designed, by wave filter, the uncertain angle compensation link brought, improve the robustness of system, it is possible to achieve Position Sensorless Control.

The technical solution used in the present invention has following steps: a kind of novel five mutually fault-tolerant magnetoes based on certain loads Method for controlling position-less sensor, this control method has two kinds of switching states, and one is in rotating speed open-loop current closed loop states, Another kind is in the state of rotating speed and current double closed-loop；Specifically include following steps:

S1, detects five phase current i of five phase fault tolerant permanent magnet machines_a,i_b,i_c,i_d,i_e, and convert through 5s/2s Clark Electric current i under biphase rest frame_αAnd i_β；

S2, when being in rotating speed open-loop current closed loop states, passes through load according to the resistance of direct current generator load resistance box Torque function and q shaft current given function calculate q axle and give electric current i_qref；

S3, works as electric motor starting, when electric machine control system is in rotating speed open-loop current closed loop states, by position angle generator Produce given rotor position angle θ_ref, obtain direct-axis current i through 2s/2r Park conversion_dWith quadrature axis current i_q；

S4, direct-axis currentBeing given as 0, it is i that q axle gives electric current_qref, they and current feedback values i_dAnd i_qIt is the poorest, Difference obtains direct-axis voltage u respectively through PI controller_dWith quadrature-axis voltage u_q；

S5, utilizes rotor position information that is given or that estimate, to direct-axis voltage u_dWith quadrature-axis voltage u_qCarry out 2r/2s Anti-Park converts, and obtains alpha-beta shaft voltage u_αAnd u_β；

S6, u_αAnd u_βAs the input of SVPWM module, produce 10 road pwm pulses, control five phase voltage source inventers and produce The voltage of five phase pulse width variation, drives five mutually fault-tolerant magnetoes to rotate；

S7, when motor uses rotating speed open-loop current closed loop to start, and when motor stabilizing runs, control system is switched to rotating speed With the state of current double closed-loop, by alpha-beta shaft voltage u_αAnd u_βAnd alpha-beta shaft current i_αAnd i_βSend into active disturbance rejection observer to be seen The back-emf of the alpha-beta axle measuredWithThe back-emf observed obtains the position angle observed through phase-locked loop pll observerAnd angular rate

S8, when motor is in rotating speed and current double closed-loop state, by given mechanical separator speed ω^*With the machinery observed Rotating speedWork difference feeding der Geschwindigkeitkreis PI controller obtains q axle and gives electric currentGiven position angle is replaced by be observed by active disturbance rejection Position angle after the compensation that device observes

S9, utilizes the position angle and rotating speed observed, it is achieved motor speed and the double-closed-loop control of electric current.

Further, the design procedure of load torque function described in described step S2 and q shaft current given function is as follows:

S2.1, according to the resistance box resistance R=1.8 Ω of actual measurement, the load through band position sensor actual motion turns The value of square, show that the primitive form of load torque function is:

$T_L=\frac{C}{R}\mathrm{\ω}$

Wherein, T_LFor load torque, C=0.036 is constant, and ω is rotating speed during motor operation, and R is the resistance of resistance box Value；

S2.2, according to the transient process principle accelerating to even running during electric motor starting, devise a q shaft current to Determine function, as follows:

$i_{qref}=\left\{\begin{array}{c}{i}_{qn},0<t<T_1\\ i_{qn}-\frac{i_{qn}-i_{qL}}{T_2-T_1},T_1<t<T_2\\ i_{qL},T_2<t\end{array}\right.$

Wherein, t represents system operation time, T₁、T₂、T₃Represent three time points that system is run, i respectively_qnRepresent motor Specified q shaft current, i_qLRepresent the load current calculated, i_qrefRepresent when motor is in rotating speed open-loop current closed loop states to Fixed q shaft current；The q shaft current given can be obtained according to above-mentioned q shaft current given function, thus realize electric motor starting To a stable rotating speed；The specified q shaft current of motor is i_qn=12A, when the rotating speed of given initial start is ω_m= During 100r/min, the electric current of load correspondence is i_qL=2A, the given time is T₁=0.05s, T₂=0.2s.

Further, in described step S3, the design procedure of position angle generator is as follows:

S3.1, when motor is in rotating speed open-loop current closed loop states, position angle generator function can be write as following shape Formula:

${\mathrm{\&theta;}}_{ref}={\&Integral;}_0^t{\mathrm{\&omega;}}_{e}dt$

Wherein θ_refRepresent given position angle, ω_eRepresent the angular rate of given motor, from above formula, give Position angle is by the angular rate integration of motor；Initial given angular rate is ω_e=115rad/s, corresponding motor machine Tool rotating speed is ω_m=100r/min.

Further, in described step S7, the design procedure of active disturbance rejection observer is as follows:

S7.1, when motor is in rotating speed open-loop current closed loop states and motor operates in a steady rotating speed, motor is cut Change to rotating speed and current double closed-loop state；

S7.2, the alpha-beta shaft voltage u that will draw_αAnd u_βAnd alpha-beta shaft current i_αAnd i_βSend into active disturbance rejection observer, through from anti- Disturb observer and observe alpha-beta axle back-emfWith

S7.3, the back-emf that will observeWithSend into phaselocked loop observer and respectively obtain position angleAnd rotating speed

Further, in described step S7.2, the design of active disturbance rejection observer is as follows:

Motor state equation under biphase rest frame is as follows:

$\left\{\begin{array}{c}{L}_s\frac{{\mathrm{di}}_{\mathrm{\&alpha;}}}{dt}=u_{\mathrm{\&alpha;}}-R_s{i}_{\mathrm{\&alpha;}}-e_{\mathrm{\&alpha;}}\\ L_s\frac{{\mathrm{di}}_{\mathrm{\&beta;}}}{dt}=u_{\mathrm{\&beta;}}-R_s{i}_{\mathrm{\&beta;}}-e_{\mathrm{\&beta;}}\end{array}\right.$

Wherein L_sAnd R_sRepresent electronic inductance and resistance, e respectively_αAnd e_βRepresent the true back-emf of alpha-beta axle respectively.In order to It is easy to illustrate the effect of active disturbance rejection observer, form above formula can being written as:

$\left\{\begin{array}{c}{i}_{\mathrm{\&alpha;}}=\frac{u_{\mathrm{\&alpha;}}-e_{\mathrm{\&alpha;}}}{L_{s}s+R_s}\\ i_{\mathrm{\&beta;}}=\frac{u_{\mathrm{\&beta;}}-e_{\mathrm{\&beta;}}}{L_{s}s+R_s}\end{array}\right.$

It can be seen that voltage u from above formula_αAnd u_βCan be exported by controlled quentity controlled variable and obtain, in the control of rest frame System can be considered as a constant, by e_αAnd e_βRegard the controlled quentity controlled variable of whole system as, this system can be seen as a level System, the target that system controls is that the difference of the electric current making electric current and the actual measurement observed goes to zero；

Linear extended state observer LESO in active disturbance rejection observer module can be with the form being expressed as:

$\left\{\begin{array}{c}{e}_1=z_1-i_{S\mathrm{\&alpha;},\mathrm{\&beta;}}\\ {\stackrel{\&CenterDot;}{z}}_1=z_2-{\mathrm{\&beta;}}_1{e}_1+bu\\ {\stackrel{\&CenterDot;}{z}}_2=-{\mathrm{\&beta;}}_2{e}_1\end{array}\right.$

Wherein, e₁For the difference of observation Yu actual value, z₁It is current observation, z₂Being the total disturbance of system, u is active disturbance rejection Observer output signalβ₁And β₂For the yield value of LESO, by motor state equation under biphase rest frame Understand, the coefficient b=1 in above formula；

Utilize the relation between back-emf that active disturbance rejection observer estimates out and the back-emf that motor Practical Calculation goes out, warp Cross derivation, the back-emf observedThe form being write as transmission function can be expressed as following formula:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)u_{S\mathrm{\&alpha;},\mathrm{\&beta;}}-\&lsqb;k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)+{\mathrm{\&beta;}}_{2}s\&rsqb;i_{S\mathrm{\&alpha;},\mathrm{\&beta;}}(L_{S}s+R_S)}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

The real back-emf that will calculateSubstitute into above formula, it can be deduced that

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}-\frac{{\mathrm{\&beta;}}_{2}s(u_{S\mathrm{\&alpha;},\mathrm{\&beta;}}-e_{S\mathrm{\&alpha;},\mathrm{\&beta;}})}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

Below one all go to zero in the case of s tends to infinite sum zero respectively in above formula, so not spending consideration, Have only to pay close attention to above one, then above formula just can be reduced to:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

Can be drawn by the formula of above-mentioned simplification, if selection of control parameter is proper, can be completely eliminated because observer is joined Number and cause on back-emf estimation impact, the selection of the parameter of observer can be set to: k_P=b, β₂L_S=β₁R_S, above formula can It is written as:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{L_{S}s+1}$

From the formula drawn, the back-emf of the back-emf estimated and Practical Calculation differs a fixing angle, Can be calculated and compensate the position angle estimated by formula, be allowed to close to actual position angle, it is ensured that motor stabilizing runs； Position angle after compensation can be expressed as following formula:

${\widehat{\mathrm{\&theta;}}}_{new}=\widehat{\mathrm{\&theta;}}+{\mathrm{\&theta;}}_{comp}$

WhereinRepresent the position angle drawn by phase-locked loop pll observer,Represent the position angle after compensating,Represent the compensation angle changed with motor speed,Represent the angular rate observed.In present case The stator inductance of motor is L_S=0.0025H, stator resistance is R_S=0.12 Ω, permanent magnet flux linkage is ψ_f=0.041Wb；Active disturbance rejection The parameter of observer elects k as_P=b=1, β₁=10000, β₂=480000.

Further, in described step S7.3, the design of phaselocked loop observer is as follows:

Phase-locked loop pll is applied in the extraction of rotor-position signal, anti-with estimate through active disturbance rejection observer here Electromotive force is as the input signal of phase-locked loop pll, according to the relation between counter electromotive force and rotor-position, sets up phaselocked loop rotor position Put detecting system, extract the rotor position information comprised in counter electromotive force；The error propagation letter of the location estimation of phase-locked loop pll Number is:

$G_e\left(s\right)=\frac{\mathrm{\&Delta;}e\left(s\right)}{{\widehat{\mathrm{\&theta;}}}_e\left(s\right)}=\frac{s^2}{s^2+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{P\left(PLL\right)}s+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{i\left(PLL\right)}}$

Wherein, ψ_fRepresent permanent magnet flux linkage,Represent the angular rate observed, k_P(PLL)Represent proportionality coefficient, k_i(PLL)Table Show integral coefficient；Owing to rotor-position signal is ramp function, phaselocked loop rotor-position detection equivalent system steady-state error is:

$\mathrm{\&Delta;}e\left(\mathrm{\&infin;}\right)=\underset{s\&RightArrow;0}{\lim }s\&CenterDot;\mathrm{\&Delta;}e\left(s\right)=\underset{s\&RightArrow;0}{\lim }\frac{s}{s^2+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{P\left(PLL\right)}s+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{i\left(PLL\right)}}=0$

From above formula, the steady-state error of the error signal of rotor is zero, it is seen that employing phaselocked loop observer can be accurate From back-emf, extract rotor position information；The parameter of the PI controller in phase-locked loop pll observer is k_P(PLL)=30, k_i(PLL)=30.

The method have the advantages that

1) devise q shaft current given function according to specific direct current generator load characteristic, simulate the startup of motor Journey, utilizes position angle generator to produce position angle, motor can be made to be started to a stable rotating speed by zero-speed, solve without position Put the problem that sensor motor is started by zero-speed；

2) state equation of the motor under biphase rest frame is regarded a new system as, utilize linear active disturbance rejection Controller is as observer, using back-emf as controlled quentity controlled variable, make the electric current that observes close to the current value of actual measurement, due to observation Device is linear, so the control system being so combined into is convenient for theoretic further analysis；

3) linear active disturbance rejection observer is used for the electric system under biphase rest frame, it is possible to achieve to of ac Controlling, the theoretical analysis understands simultaneously, if the parameter of observer selects proper, it is possible to achieve the phase place of the back-emf estimated Lag behind one fixing phase place of back-emf that Practical Calculation goes out, it is simple to compensate；

4) owing to have employed linear active disturbance rejection observer, eliminate owing to the switch motion of tradition sliding mode observer brings High-frequency noise, so without using wave filter in system, improve the bandwidth that system is run and the reality easily facilitating in program Existing.

Accompanying drawing explanation

Fig. 1 is novel five mutually fault-tolerant magneto method for controlling position-less sensor structured flowcharts based on certain loads；

Fig. 2 is five mutually fault-tolerant cross-sectional view of permanent magnet electric machine；

Fig. 3 is quadrature axis current given function oscillogram；

Fig. 4 is the control structure block diagram under biphase rest frame based on active disturbance rejection observer；

Fig. 5 is linear active disturbance rejection Observer Structure block diagram；

Fig. 6 is phaselocked loop rotor-position detecting system block diagram；

Fig. 7 is phaselocked loop rotor-position detecting system equivalent block diagram；

Fig. 8 is the five phase fault tolerant permanent magnet machines speed waveform figures by the actual measurement rotating speed started in dynamic process with estimation；

Fig. 9 is the five phase fault tolerant permanent magnet machines position angle waveforms by the absolute fix angle started in dynamic process Yu estimation Figure；

Figure 10 is that five phase fault tolerant permanent magnet machines are by the counter potential waveform figure of the estimation started in dynamic process.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe wholely.

Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish Same or similar label represents same or similar element or has the element of same or like function.Below with reference to attached The embodiment that figure describes is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.

As it is shown in figure 1, a kind of based on novel active disturbance rejection observer the five mutually fault-tolerant magnetoes of the present invention pass without position Sensor control method, this control method has two kinds of switching states, and one is in rotating speed open-loop current closed loop states, and another kind is It is in the state of rotating speed and current double closed-loop；Specifically include following rate-determining steps:

S1, detects five phase current i of five phase fault tolerant permanent magnet machines_a,i_b,i_c,i_d,i_e, and convert through 5s/2s (Clark) Obtain electric current i under biphase rest frame_αAnd i_β；

S2, when Fig. 1 breaker in middle is in 1 (when being in rotating speed open-loop current closed loop states), according to direct current generator load electricity The resistance of resistance case calculates q axle by load torque function and q shaft current given function and gives electric current i_qref；

S3, works as electric motor starting, when switch is in 1, produces given rotor position angle θ by position angle generator_ref, warp Cross 2s/2r (Park) conversion and obtain direct-axis current i_dWith quadrature axis current i_q；

S4, direct-axis currentBeing given as 0, it is i that q axle gives electric current_qref, they and current feedback values i_dAnd i_qIt is the poorest, Difference obtains direct-axis voltage u respectively through PI controller_dWith quadrature-axis voltage u_q；

S5, utilizes rotor position information that is given or that estimate, to direct-axis voltage u_dWith quadrature-axis voltage u_qCarry out 2r/2s (anti-Park) converts, and obtains alpha-beta shaft voltage u_αAnd u_β；

S6, u_αAnd u_βAs the input of SVPWM module, produce 10 road pwm pulses, control five phase voltage source inventers and produce The voltage of five phase pulse width variation, drives five mutually fault-tolerant magnetoes to rotate；

S7, starts when being in switch 1 employing current closed-loop, and when motor stabilizing runs, system is switched to switch 2 (rotating speeds State with current double closed-loop), by alpha-beta shaft voltage u_αAnd u_βAnd alpha-beta shaft current i_αAnd i_βSend into active disturbance rejection observer to be seen The back-emf of the alpha-beta axle measuredWithThe back-emf observed obtains the position angle observed through phaselocked loop observerWith Angular rate

S8, when switch is in 2, by given mechanical separator speed ω^*With the mechanical separator speed observedMake difference and send into der Geschwindigkeitkreis PI controller obtains q axle and gives electric currentGiven position angle is replaced by the position after the compensation observed by active disturbance rejection observer Angle setting

S9, utilizes the position angle and rotating speed observed, it is achieved motor speed and the double-closed-loop control of electric current.

The present invention based on rotor flux-orientation vector control technology, as it is shown in figure 1, by current sensor obtain A, B, C, D, E five phase current, obtains electric current i under biphase rest frame through 5s/2s (Clark) conversion_αAnd i_β；When switch is in 1, Obtained the position angle of rotor by position angle generator, utilize the positional information of rotor to carry out 2s/2r (Park) and 2r/2s (anti-Park) converts；Direct-axis current is given asQuadrature axis current set-pointBy q shaft current given function according to actual loading Generating, the output of electric current loop PI controller is as direct-axis voltage u_dWith quadrature-axis voltage u_q, produce through 2r/2s (anti-Park) conversion Voltage u under raw rest frame_αAnd u_β；Two phase voltages produce pwm pulse through SVPWM module, control inverter and produce five phases Alternating voltage, drives five mutually fault-tolerant magnetoes to be begun to rotate to a constant rotating speed by static.When motor is by static operation During to a constant rotating speed, the on off state in Fig. 1 is switched to switch 2, by alpha-beta shaft voltage u_αAnd u_βAnd alpha-beta shaft current i_α And i_βSend into the position angle that active disturbance rejection observer obtains observingAnd angular rateUtilize the position angle and rotating speed observed, Realize the double-closed-loop control of motor speed and electric current.

Fig. 2 is the sectional view of five mutually fault-tolerant magnetoes.As shown in Figure 2, the five of selection mutually fault-tolerant permanent magnet of permanent magnet motor V-shaped arrangement, permanent magnet is embedded in rotor.Stator winding uses the centralized distribution of monolayer, can reduce copper loss, improves effect Rate.Armature tooth and the fault-tolerant teeth of motor are arranged alternately, and the width of fault-tolerant teeth is less than armature tooth, optimizes back-emf with this, with Time reduce cogging torque and output torque pulsation.The centralized winding of monolayer and fault-tolerant teeth structure can reduce coupling between phase and phase Close, improve the fault freedom of motor.

As one embodiment of the present of invention, the present invention is at five mutually fault-tolerant permanent-magnetic synchronous motor rotor direct field-oriented control On the basis of, devise a kind of motor start-up procedure based on certain loads, it can by motor by zero-speed be pulled to one constant Rotating speed, then utilizes rotating speed that active disturbance rejection observer observes and position angle to switch over, it is achieved five mutually fault-tolerant permanent magnet synchronous electrics Machine rotating speed under position-sensor-free and the double-closed-loop control of electric current.Specific embodiments comprises the steps of

1) when system is in zero-speed, the on off state of system is in switch 1, quadrature axis current set-pointGiven by q shaft current Determining function to generate according to actual loading, the load torque function in Fig. 1 can be expressed as

$T_L=\frac{C}{R}\mathrm{\&omega;}$

Wherein, T_LFor load torque, C is constant, and ω is rotating speed during motor operation, and R is the resistance of resistance box；According to reality The resistance box resistance R=1.8 Ω, C=0.036 that survey are constant.Obtain reality load after, when starting according to real electrical machinery from Accelerate to the transient process principle of even running, devise the q shaft current given function in Fig. 3, as follows:

$i_{qref}=\left\{\begin{array}{c}{i}_{qn},0<t<T_1\\ i_{qn}-\frac{i_{qn}-i_{qL}}{T_2-T_1},T_1<t<T_2\\ i_{qL},T_2<t\end{array}\right.$

Wherein, t represents system operation time, T₁、T₂、T₃Represent three time points that system is run, i respectively_qnRepresent motor The q axle rated current of output, i_qLRepresent the load current calculated, i_qrefRepresent the q shaft current given when switch is in 1；Root The q shaft current given can be obtained according to above-mentioned q shaft current given function, thus realize turning electric motor starting to smoothly Speed.In present case, the specified q shaft current of motor is i_qn=12A, when the rotating speed of given initial start is ω_m=100r/min Time, the electric current of load correspondence is i_qL=2A, the given time is T₁=0.05s, T₂=0.2s.

2) when on off state is in switch 1, rotor position angle is produced by position angle generator, and the position angle in Fig. 1 is sent out Raw device can be to be expressed as form:

${\mathrm{\&theta;}}_{ref}={\&Integral;}_0^t{\mathrm{\&omega;}}_{e}dt$

Wherein θ_refRepresent given position angle, ω_eRepresent given motor angular rate, from above formula, given position Angle setting is by the angular rate integration of motor.In present case, initial given some angular velocity is ω_e=115rad/s, due to this In case, the number of pole-pairs of motor is p=11, therefore the electromechanics rotating speed of correspondence is ω_m=100r/min.

3) five phase current i of five phase fault tolerant permanent magnet machines are detected_a,i_b,i_c,i_d,i_e, and convert through 5s/2s (Clark) Electric current i under biphase rest frame_αAnd i_β, by the rotor position produced by position angle generator_ref, utilize 2s/2r (Park) coordinate transformation module turns the current into d-q shaft current i_dAnd i_q。

4) d-axis gives electric currentQuadrature axis gives electric current i_qrefBy q shaft current given function according to actual loading next life Become, utilize they respectively with feedback d-q shaft current i_dAnd i_qDiffer from, obtain d-q shaft voltage by electric current loop PI controller respectively U_dAnd U_q。

5) utilize given position angle, then use 2r/2s coordinate transformation module that d-q shaft voltage is changed into alpha-beta axle electricity Pressure U_αAnd U_β。

6)U_αAnd U_βAs the input of SVPWM module, produce 10 road pwm pulses, control Five-phase inverter and produce five cross streams Voltage, drives five mutually fault-tolerant magnetoes to rotate to a constant rotating speed.

7) rotating to a constant rotating speed when motor, the on off state of system switches to switch 2, by alpha-beta shaft voltage u_αAnd u_βAnd alpha-beta shaft current i_αAnd i_βSend into active disturbance rejection observer and obtain the back-emf of the alpha-beta axle observedWithObservation The back-emf gone out obtains the position angle observed through phaselocked loop observerAnd angular rateThe design of active disturbance rejection observer Comprise the steps of

S7.1, when switch is in 1 and motor operates in a steady rotating speed, switch is switched to 2 by 1；

S7.2, the alpha-beta shaft voltage U that will draw_αAnd U_βAnd alpha-beta shaft current i_αAnd i_βSend into active disturbance rejection observer, through from anti- Disturb observer and observe alpha-beta axle back-emfWith

S7.3, the back-emf that will estimateWithSend into phaselocked loop observer and respectively obtain position angleAnd rotating speed

In described step S7.2, the design of active disturbance rejection back-emf observer is as follows:

Motor state equation under biphase rest frame is as follows:

$\left\{\begin{array}{c}{L}_s\frac{{\mathrm{di}}_{\mathrm{\&alpha;}}}{dt}=U_{\mathrm{\&alpha;}}-R_s{i}_{\mathrm{\&alpha;}}-e_{\mathrm{\&alpha;}}\\ L_s\frac{{\mathrm{di}}_{\mathrm{\&beta;}}}{dt}=U_{\mathrm{\&beta;}}-R_s{i}_{\mathrm{\&beta;}}-e_{\mathrm{\&beta;}}\end{array}\right.$

Wherein L_sAnd R_sRepresent electronic inductance and resistance, e respectively_αAnd e_βRepresent the true back-emf of alpha-beta axle respectively.In order to It is easy to illustrate the effect of active disturbance rejection observer, form above formula can being written as:

$\left\{\begin{array}{c}{i}_{\mathrm{\&alpha;}}=\frac{U_{\mathrm{\&alpha;}}-e_{\mathrm{\&alpha;}}}{L_{s}s+R_s}\\ i_{\mathrm{\&beta;}}=\frac{U_{\mathrm{\&beta;}}-e_{\mathrm{\&beta;}}}{L_{s}s+R_s}\end{array}\right.$

It can be seen that voltage U from above formula_αAnd U_βCan be exported by controlled quentity controlled variable and obtain, in the control of rest frame System can be considered as a constant, by e_αAnd e_βRegard the controlled quentity controlled variable of whole system as, this system can be seen as a level System, the target that system controls is that the difference of the electric current making electric current and the actual measurement observed goes to zero, its control block diagram such as Fig. 4 institute Show.

In Fig. 4, linear active disturbance rejection observer module can be expressed as it is shown in figure 5, the linear expansion shape in dotted line frame in figure State observer (LESO) can be with the form being expressed as:

$\left\{\begin{array}{c}{e}_1=z_1-i_{S\mathrm{\&alpha;},\mathrm{\&beta;}}\\ {\stackrel{\&CenterDot;}{z}}_1=z_2-{\mathrm{\&beta;}}_1{e}_1+bu\\ {\stackrel{\&CenterDot;}{z}}_2=-{\mathrm{\&beta;}}_2{e}_1\end{array}\right.$

Wherein, e₁For the difference of observation Yu actual value, z₁It is current observation, z₂Being the total disturbance of system, u is active disturbance rejection Observer output signalβ₁And β₂For the yield value of LESO, by motor state equation under biphase rest frame Understand, the coefficient b=1 in above formula.

In order to further illustrate between the back-emf utilizing active disturbance rejection observer to estimate out and the actual back-emf of motor Relation, through deriving, by the back-emf observed shown in figureThe form being write as transmission function can be expressed as following formula:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)u_{S\mathrm{\&alpha;},\mathrm{\&beta;}}-\&lsqb;k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)+{\mathrm{\&beta;}}_{2}s\&rsqb;i_{S\mathrm{\&alpha;},\mathrm{\&beta;}}(L_{S}s+R_S)}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

The real back-emf that will calculateSubstitute into above formula, it can be deduced that

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}-\frac{{\mathrm{\&beta;}}_{2}s(u_{S\mathrm{\&alpha;},\mathrm{\&beta;}}-e_{S\mathrm{\&alpha;},\mathrm{\&beta;}})}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

Below one all go to zero s tends to infinite sum zero when, so not spending consideration in above formula, it is only necessary to Pay close attention to above one, then above formula just can be reduced to:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

Can be drawn by the formula of above-mentioned simplification, if selection of control parameter is proper, can be completely eliminated because observer is joined Number and cause on back-emf estimation impact, the selection rule of the parameter of observer can be set to: k_P=b, β₂L_S=β₁R_S.This Sample eliminates the need for the impact of observer, and above formula reforms into:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{L_{S}s+1}$

From the formula being derived above, the back-emf estimated and the back-emf of Practical Calculation differ one in phase place Fixing angle, can be compensated the position angle estimated, be allowed to close to actual position angle by calculating.Position after compensation Angle can be expressed as following formula:

${\widehat{\mathrm{\&theta;}}}_{new}=\widehat{\mathrm{\&theta;}}+{\mathrm{\&theta;}}_{comp}$

WhereinRepresent the position angle drawn by phaselocked loop observer,Represent the position angle after compensating,Represent the compensation angle changed with motor speed,Represent the angular rate observed.

In present case, the stator inductance of motor is L_S=0.0025H, stator resistance is R_S=0.12 Ω, permanent magnet flux linkage is ψ_f =0.041Wb.The parameter of active disturbance rejection observer elects k as_P=b=1, β₁=10000, β₂=480000.

In described step S7.3, the design of phaselocked loop observer is as follows:

As shown in Figure 6, the principle of phaselocked loop (PLL) observer is to utilize system output phase place and Setting signal phase contrast control System output signal frequency processed, until output signal frequency follows the tracks of Setting signal frequency.Output phase place and Setting signal phase place Difference sends into PI controller, and after being adjusted, Setting signal frequency and phase place all keep consistent with the frequency of output signal and phase place, Reach the effect of Phase Tracking.

Therefore, PLL is applied in the middle of the extraction of rotor-position signal, anti-with estimate through active disturbance rejection observer here Electromotive force is as the input signal of phaselocked loop, according to the relation between counter electromotive force and rotor-position, sets up phaselocked loop rotor-position Detecting system, extracts the rotor position information comprised in counter electromotive force.

Rotor-position detecting system can be reduced to isoboles as shown in Figure 7, is appreciated that the position of phaselocked loop from figure The error transfer function putting estimation is:

$G_e\left(s\right)=\frac{\mathrm{\&Delta;}e\left(s\right)}{{\widehat{\mathrm{\&theta;}}}_e\left(s\right)}=\frac{s^2}{s^2+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{P}s+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_i}$

Wherein, ψ_fRepresent permanent magnet flux linkage,Represent the angular rate observed, k_PRepresent proportionality coefficient, k_iRepresent integration system Number.Owing to rotor-position signal is ramp function, phaselocked loop rotor-position detection equivalent system steady-state error is:

$\mathrm{\&Delta;}e\left(\mathrm{\&infin;}\right)=\underset{s\&RightArrow;0}{\lim }s\&CenterDot;\mathrm{\&Delta;}e\left(s\right)=\underset{s\&RightArrow;0}{\lim }\frac{s}{s^2+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{P}s+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_i}=0$

From above formula, the steady-state error of the error signal of rotor is zero, it is seen that employing phaselocked loop observer can be accurate From back-emf, extract rotor position information.In present case, the parameter of the PI controller of phaselocked loop observer is k_P(PLL)= 30、k_i(PLL)=30.

8) by given mechanical separator speed ω^*With the mechanical separator speed rotating speed observedDifference send into der Geschwindigkeitkreis PI controller obtain Electric current is given to q axlePosition angle is replaced by and is obtained, by active disturbance rejection observer, the position angle that observesThe most just can realize The double-closed-loop control of the motor in the case of position-sensor-free.

9) in order to illustrate to use this kind method for controlling position-less sensor advantage based on novel active disturbance rejection observer, Matlab/Simulink has built phantom.

Fig. 8 is the speed waveform carrying out rotating speed step after electric motor starting, as can be seen from Figure 8, before 0.3s, motor The state of the switch 1 being constantly in Fig. 1, motor is pulled to 100r/min by zero-speed, but owing to being closed-loop current control, position Angle setting is provided by the position angle generator in Fig. 1, and electric current is declined rapidly by rated current and is maintained at 8A, although so can make Motor even running, but owing to the torque of electric current generation is more than load, so it is unfavorable for the long-play of motor.

When by open current loop dragging motor turn to certain rotating speed and position angle follow the tracks of stablize time, the switch in Fig. 1 switches To switch 2, it is achieved the rotating speed of five-phase PMSM and the double-closed-loop control of electric current.As t=0.3s, rotating speed is by 100r/ Min steps to 300r/min, and as t=0.8s, the rotating speed of motor is dropped to 100r/min by 300r/min.Fig. 8 understands, estimation Rotating speed can well be followed the tracks of and survey rotating speed, and speed error is about r/min, within the acceptable range.Benefit in Fig. 9 Estimation position angle after repaying can also follow the tracks of the rotor position angle of actual measurement very well.This ensures that there observer to turn different Speed is lower all can realize the tracking to rotor-position.

It can be seen from fig. 10 that under different given rotating speeds, the counter potential waveform having observer to estimate is respectively provided with Preferably sine degree, along with its frequency of rising of rotating speed becomes larger, along with its frequency of reduction of rotating speed is gradually reduced, explanation is adopted The effect five phase fault tolerant permanent magnet machines being carried out position Sensorless Control by the method is fine.

From the foregoing, in the dynamic running process of motor, estimate that the variation tendency of rotating speed and actual speed are protected all the time Holding consistent, the tracking trend of position is also fine, can keep motor even running in the case of position-sensor-free.

Claims (6)

1. novel five mutually fault-tolerant magneto method for controlling position-less sensor based on certain loads, it is characterised in that This control method has two kinds of switching states, and one is in rotating speed open-loop current closed loop states, and another kind is in rotating speed and electricity The state of stream two close cycles；Specifically include following steps:

S1, detects five phase current i of five phase fault tolerant permanent magnet machines_a,i_b,i_c,i_d,i_e, and obtain two through 5s/2s Clark conversion Electric current i under phase rest frame_αAnd i_β；

S2, when being in rotating speed open-loop current closed loop states, passes through load torque according to the resistance of direct current generator load resistance box Function and q shaft current given function calculate q axle and give electric current i_qref；

S3, works as electric motor starting, when electric machine control system is in rotating speed open-loop current closed loop states, is produced by position angle generator Given rotor position angle θ_ref, obtain direct-axis current i through 2s/2r Park conversion_dWith quadrature axis current i_q；

S4, direct-axis currentBeing given as 0, it is i that q axle gives electric current_qref, they and current feedback values i_dAnd i_qThe poorest, difference Direct-axis voltage u is obtained respectively through PI controller_dWith quadrature-axis voltage u_q；

S5, utilizes rotor position information that is given or that estimate, to direct-axis voltage u_dWith quadrature-axis voltage u_qCarry out 2r/2s anti- Park converts, and obtains alpha-beta shaft voltage u_αAnd u_β；

S6, u_αAnd u_βAs the input of SVPWM module, produce 10 road pwm pulses, control five phase voltage source inventers and produce five phases The voltage of pulse width variation, drives five mutually fault-tolerant magnetoes to rotate；

S7, when motor uses rotating speed open-loop current closed loop to start, and when motor stabilizing runs, control system is switched to rotating speed and electricity The state of stream two close cycles, by alpha-beta shaft voltage u_αAnd u_βAnd alpha-beta shaft current i_αAnd i_βSend into active disturbance rejection observer to be observed The back-emf of alpha-beta axleWithThe back-emf observed obtains the position angle observed through phase-locked loop pll observerWith Angular rate

S8, when motor is in rotating speed and current double closed-loop state, by given mechanical separator speed ω^*With the mechanical separator speed observedWork difference feeding der Geschwindigkeitkreis PI controller obtains q axle and gives electric currentGiven position angle is replaced by be seen by active disturbance rejection observer Position angle after the compensation measured

S9, utilizes the position angle and rotating speed observed, it is achieved motor speed and the double-closed-loop control of electric current.

Novel five mutually fault-tolerant magneto position Sensorless Control sides based on certain loads the most according to claim 1 Method, it is characterised in that the design procedure of load torque function described in described step S2 and q shaft current given function is as follows:

S2.1, according to the resistance box resistance R=1.8 Ω of actual measurement, through the load torque of band position sensor actual motion Value, show that the primitive form of load torque function is:

$T_L=\frac{C}{R}\mathrm{\&omega;}$

Wherein, T_LFor load torque, C=0.036 is constant, and ω is rotating speed during motor operation, and R is the resistance of resistance box；

S2.2, according to the transient process principle accelerating to even running during electric motor starting, devises a q shaft current and gives letter Number, as follows:

$i_{qref}=\left\{\begin{array}{c}{i}_{qn},0<t<T_1\\ i_{qn}-\frac{i_{qn}-i_{qL}}{T_2-T_1},T_1<t<T_2\\ i_{qL},T_2<t\end{array}\right.$

Wherein, t represents system operation time, T₁、T₂、T₃Represent three time points that system is run, i respectively_qnRepresent Rated motor Q shaft current, i_qLRepresent the load current calculated, i_qrefExpression gives when motor is in rotating speed open-loop current closed loop states Q shaft current；The q shaft current given can be obtained according to above-mentioned q shaft current given function, thus realize electric motor starting to Individual stable rotating speed；The specified q shaft current of motor is i_qn=12A, when the rotating speed of given initial start is ω_m=100r/min Time, the electric current of load correspondence is i_qL=2A, the given time is T₁=0.05s, T₂=0.2s.

Novel five mutually fault-tolerant magneto position Sensorless Control sides based on certain loads the most according to claim 1 Method, it is characterised in that in described step S3, the design procedure of position angle generator is as follows:

S3.1, when motor is in rotating speed open-loop current closed loop states, position angle generator function can be to be write as following form:

${\mathrm{\&theta;}}_{ref}={\&Integral;}_0^t{\mathrm{\&omega;}}_{e}dt$

Wherein θ_refRepresent given position angle, ω_eRepresent the angular rate of given motor, from above formula, given position Angle is by the angular rate integration of motor；Initial given angular rate is ω_e=115rad/s, corresponding electromechanics turns Speed is ω_m=100r/min.

Novel five mutually fault-tolerant magneto position Sensorless Control sides based on certain loads the most according to claim 1 Method, it is characterised in that in described step S7, the design procedure of active disturbance rejection observer is as follows:

S7.1, when motor is in rotating speed open-loop current closed loop states and motor operates in a steady rotating speed, motor is switched to Rotating speed and current double closed-loop state；

S7.2, the alpha-beta shaft voltage u that will draw_αAnd u_βAnd alpha-beta shaft current i_αAnd i_βSend into active disturbance rejection observer, see through active disturbance rejection Survey device and observe alpha-beta axle back-emfWith

S7.3, the back-emf that will observeWithSend into phaselocked loop observer and respectively obtain position angleAnd rotating speed

Novel five mutually fault-tolerant magneto position Sensorless Control sides based on certain loads the most according to claim 4 Method, it is characterised in that in described step S7.2, the design of active disturbance rejection observer is as follows:

Motor state equation under biphase rest frame is as follows:

$\left\{\begin{array}{c}{L}_s\frac{{\mathrm{di}}_{\mathrm{\&alpha;}}}{dt}=u_{\mathrm{\&alpha;}}-R_s{i}_{\mathrm{\&alpha;}}-e_{\mathrm{\&alpha;}}\\ L_s\frac{{\mathrm{di}}_{\mathrm{\&beta;}}}{dt}=u_{\mathrm{\&beta;}}-R_s{i}_{\mathrm{\&beta;}}-e_{\mathrm{\&beta;}}\end{array}\right.$

Wherein L_sAnd R_sRepresent electronic inductance and resistance, e respectively_αAnd e_βRepresent the true back-emf of alpha-beta axle respectively.For the ease of saying The effect of bright active disturbance rejection observer, form above formula can being written as:

$\left\{\begin{array}{c}{i}_{\mathrm{\&alpha;}}=\frac{u_{\mathrm{\&alpha;}}-e_{\mathrm{\&alpha;}}}{L_{s}s+R_s}\\ i_{\mathrm{\&beta;}}=\frac{u_{\mathrm{\&beta;}}-e_{\mathrm{\&beta;}}}{L_{s}s+R_s}\end{array}\right.$

It can be seen that voltage u from above formula_αAnd u_βCan be exported by controlled quentity controlled variable and obtain, in the control system of rest frame In can be considered as a constant, by e_αAnd e_βRegard the controlled quentity controlled variable of whole system as, this system can be seen as first-order system, The target that system controls is that the difference of the electric current making electric current and the actual measurement observed goes to zero；

Linear extended state observer LESO in active disturbance rejection observer module can be with the form being expressed as:

$\left\{\begin{array}{c}{e}_1=z_1-i_{S\mathrm{\&alpha;},\mathrm{\&beta;}}\\ {\stackrel{\&CenterDot;}{z}}_1=z_2-{\mathrm{\&beta;}}_1{e}_1+bu\\ {\stackrel{\&CenterDot;}{z}}_2=-{\mathrm{\&beta;}}_2{e}_1\end{array}\right.$

Wherein, e₁For the difference of observation Yu actual value, z₁It is current observation, z₂Being the total disturbance of system, u is active disturbance rejection observation Device output signalβ₁And β₂For the yield value of LESO, from motor state equation under biphase rest frame, Coefficient b=1 in above formula；

Utilize the relation between back-emf that active disturbance rejection observer estimates out and the back-emf that motor Practical Calculation goes out, through pushing away Lead, the back-emf observedThe form being write as transmission function can be expressed as following formula:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)u_{S\mathrm{\&alpha;},\mathrm{\&beta;}}-\&lsqb;k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)+{\mathrm{\&beta;}}_{2}s\&rsqb;i_{S\mathrm{\&alpha;},\mathrm{\&beta;}}(L_{S}s+R_S)}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

The real back-emf that will calculateSubstitute into above formula, it can be deduced that

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}-\frac{{\mathrm{\&beta;}}_{2}s(u_{S\mathrm{\&alpha;},\mathrm{\&beta;}}-e_{S\mathrm{\&alpha;},\mathrm{\&beta;}})}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

Below one all go to zero in the case of s tends to infinite sum zero respectively in above formula, so not spending consideration, only needs Pay close attention to above one, then above formula just can be reduced to:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{b(s^2+{\mathrm{\&beta;}}_{1}s)(L_{S}s+R_S)+k_P(s^2+{\mathrm{\&beta;}}_{1}s+{\mathrm{\&beta;}}_2)}$

Can be drawn by the formula of above-mentioned simplification, if selection of control parameter is proper, can be completely eliminated because of observer parameter And causing the impact on back-emf estimation, the selection of the parameter of observer can be set to: k_P=b, β₂L_S=β₁R_S, above formula is writeable For:

${\hat{e}}_{S\mathrm{\&alpha;},\mathrm{\&beta;}}=\frac{e_{S\mathrm{\&alpha;},\mathrm{\&beta;}}}{L_{S}s+1}$

From the formula drawn, the back-emf of the back-emf estimated and Practical Calculation differs a fixing angle, permissible Calculated by formula and compensate the position angle estimated, being allowed to close to actual position angle, it is ensured that motor stabilizing runs；Compensate After position angle can be expressed as following formula:

${\widehat{\mathrm{\&theta;}}}_{new}=\widehat{\mathrm{\&theta;}}+{\mathrm{\&theta;}}_{comp}$

WhereinRepresent the position angle drawn by phase-locked loop pll observer,Represent the position angle after compensating,Represent the compensation angle changed with motor speed,Represent the angular rate observed.In present case The stator inductance of motor is L_S=0.0025H, stator resistance is R_S=0.12 Ω, permanent magnet flux linkage is ψ_f=0.041Wb；Active disturbance rejection The parameter of observer elects k as_P=b=1, β₁=10000, β₂=480000.

Novel five mutually fault-tolerant magneto position Sensorless Control sides based on certain loads the most according to claim 4 Method, it is characterised in that in described step S7.3, the design of phaselocked loop observer is as follows:

Phase-locked loop pll is applied in the extraction of rotor-position signal, here with the back-emf estimated through active disturbance rejection observer As the input signal of phase-locked loop pll, according to the relation between counter electromotive force and rotor-position, set up the inspection of phaselocked loop rotor-position Examining system, extracts the rotor position information comprised in counter electromotive force；The error transfer function of the location estimation of phase-locked loop pll For:

$G_e\left(s\right)=\frac{\mathrm{\&Delta;}e\left(s\right)}{{\widehat{\mathrm{\&theta;}}}_e\left(s\right)}=\frac{s^2}{s^2+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{P\left(PLL\right)}s+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{i\left(PLL\right)}}$

Wherein, ψ_fRepresent permanent magnet flux linkage,Represent the angular rate observed, k_P(PLL)Represent proportionality coefficient, k_i(PLL)Represent integration Coefficient；Owing to rotor-position signal is ramp function, phaselocked loop rotor-position detection equivalent system steady-state error is:

$\mathrm{\&Delta;}e\left(\mathrm{\&infin;}\right)=\underset{s\&RightArrow;0}{\lim }s\&CenterDot;\mathrm{\&Delta;}e\left(s\right)=\underset{s\&RightArrow;0}{\lim }\frac{s}{s^2+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{P\left(PLL\right)}s+{\mathrm{\&psi;}}_f{\widehat{\mathrm{\&omega;}}}_e{k}_{i\left(PLL\right)}}=0$

From above formula, the steady-state error of the error signal of rotor is zero, it is seen that use phaselocked loop observer can accurately from Back-emf extracts rotor position information；The parameter of the PI controller in phase-locked loop pll observer is k_P(PLL)=30, k_i(PLL) =30.