CN106549619A - A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed - Google Patents
A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed Download PDFInfo
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- CN106549619A CN106549619A CN201610943215.6A CN201610943215A CN106549619A CN 106549619 A CN106549619 A CN 106549619A CN 201610943215 A CN201610943215 A CN 201610943215A CN 106549619 A CN106549619 A CN 106549619A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of control system for permanent-magnet synchronous motor accurately recognized based on speed, starting to low-speed stage, using rotation high frequency signal injection method, by external high-frequency driving source showing machine saliency, and do not affected by motor operation operating mode, insensitive is changed to the parameter of electric machine, has preferable robustness, efficiently solved motor and starting problem indeterminable to the inspection of lower-speed state lower rotor part position.The present invention is realized by Speed identification observer in the sensorless strategy of high regime, and compared with common observer, the present invention has more preferable anti-disturbance ability.The fuzzy region of transition from low speed to high speed of the invention, the transformation process of two methods consider two factors of rotating speed and rotor position error simultaneously, it is ensured that the smooth transition of transformation process.
Description
Technical field
The present invention relates to the control system of permagnetic synchronous motor, more particularly to a kind of permanent magnetism accurately recognized based on speed
Synchronous motor control system.
Background technology
The most significant performance characteristics of magneto are high-performance, energy-efficient and lightness.It with Power Electronic Technique and
Controlled by micro computer technology combines, it is possible to produce the electromechanical integrated product and equipment of many new, excellent performances, its generation
The direction of table 21st century motor development.As permagnetic synchronous motor application scope is opened up extensively, the control of permagnetic synchronous motor
System needs to obtain reliable rotor information, at present, is passed using photoelectric code disk, Hall element, current vortex sensor uniform velocity more
Sensor carrying out Rotating speed measring, and using the rotating speed for detecting as feedback tach signal.The higher electric system of precision is to speed
The requirement of control is higher, also higher for the requirement of sensor accordingly.
But, presence of the velocity sensor in electric system not only hinders motor to high speed, the direction of miniaturization
Development, while its installation also brings problems with to system：
（1）The cost of system is greatly increased, and the higher code-disc price of precision is also more expensive.
（2）Code-disc is installed on motor shaft, there are concentricity issues, and Rig up error will affect Rotating speed measring.
（3）Motor shaft is increased to upper volume, and the maintenance to motor brings certain difficulty, reduces the machinery of system
Robustness；
（4）Cannot work under high temperature, the adverse circumstances of high humidity, and code-disc operating accuracy is easily affected by environment.
The content of the invention
Goal of the invention：It is an object of the invention to provide a kind of one kind that can solve the problem that defect present in prior art is based on
The control system for permanent-magnet synchronous motor that speed is accurately recognized.
Technical scheme：To reach this purpose, the present invention is employed the following technical solutions：
The control system for permanent-magnet synchronous motor accurately recognized based on speed of the present invention, including permagnetic synchronous motor,
The three-phase current end of permagnetic synchronous motor connects the three-phase current input of Clark changers, the three-phase electricity of permagnetic synchronous motor
Stream end is also connected with the three-phase current input of abc-dq changers, and the outfan difference connection speed identification of Clark changers is seen
Survey the input of the input and wave filter of device, the input of the outfan connection angle observer of wave filter, angular observation device
Outfan connect respectively polarity discriminating angular compensator input and adder an input, polarity discriminating angle mend
The outfan for repaying device connects another input of adder, and the outfan of adder connects the input of the first differentiator respectively
With the input of the first diagnosis apparatuss, the outfan of Speed identification observer connects the input of the second differentiator and first respectively and sentences
The outfan of the input of disconnected device, the outfan of the first differentiator and the second differentiator connects the input of the second diagnosis apparatuss respectively
End, the outfan of the second diagnosis apparatuss connect an input of the first subtractor, and motor rotor speed set-point input first subtracts
Another input of musical instruments used in a Buddhist or Taoist mass, the outfan of the first subtractor connect the input of PI speed regulators, PI speed regulators
Outfan connects an input of the second subtractor, and the outfan of the first diagnosis apparatuss connects the input of abc-dq changers respectively
End and the input of Park inverse converters, another of q shaft currents outfan second subtractor of connection of abc-dq changers are defeated
Enter end, the d shaft currents outfan of abc-dq changers connects an input of the 3rd subtractor, the input of d shaft currents set-point
Another input of 3rd subtractor, the input of the outfan connection PI quadrature axis current actuators of the second subtractor, the 3rd
The outfan of subtractor connects the input of PI direct-axis current actuators, the outfan of PI quadrature axis current actuators and PI d-axis electricity
The outfan of throttle regulator connects the input of Park inverse converters respectively, and the outfan of Park inverse converters connects respectively
The input of the input and Speed identification observer of Svpwm manipulators, high-frequency voltage generator also connect Svpwm manipulators
Input, the outfan of Svpwm manipulators connect the input of inverter, the outfan connection permagnetic synchronous motor of inverter
Threephase stator winding.
Further, the error signal of the Clark changers output is：
Formula（1）In, IipFor stator current, ωiFor angular velocity, IinFor rotor current, t is the time, θrFor rotor actual bit
Put,For the estimated value of rotor-position.
Further, the polarity discriminating angular compensator is for being detected to initial position of rotor and polarity is carried out
Tracking, obtains polarity discriminating item ipol：
Formula（2）In, idFor direct-axis current, ΨdFor d-axis magnetic linkage, ΨfFor quadrature axis magnetic linkage, usiFor output voltage, ωiFor angle
Speed, θrFor rotor physical location,For the estimated value of rotor-position.
Further, using fuzzy region control method, the method is the system：
If rotor speed estimated valueω0For speed-changing, then rotor-position and rate signal are by angular observation
Device and polarity discriminating angular compensator are provided, and obtain rotor position estimate valueSpeed estimate value For the output signal of adder,For the output signal of the first differentiator；
If rotor speed estimated valueThen judgeWhether 5 ° are less than,Distinguish for speed
Know the output signal of observer：If being less than 5 °, Speed identification observer and the second differentiator working condition are switched to, namely
Rotor position estimate valueSpeed estimate value For the output signal of the second differentiator；Otherwise, then enter
Enter fuzzy region, rotor position estimate valueSpeed estimate value
Further, the abc-dq changers are according to rotor position estimate valueBy the three phase static of permagnetic synchronous motor
Abc phase currents are converted to biphase static dq shaft currents, namely d shaft currents estimated value and q shaft current estimated values.
Further, the PI speed regulators are according to motor rotor speed set-point and speed estimate valueBetween difference
The q shaft current set-points of control PI speed regulator outputs, make motor rotor speed set-point and speed estimate valueBetween
Difference is zero.
Further, the PI quadrature axis currents actuator is exported according to PI speed regulators q shaft currents set-point and abc-
The q shaft voltages of the difference control PI quadrature axis currents actuator output between the q shaft current estimated values of dq changers output, make PI fast
Difference between the q shaft currents set-point of degree actuator output and the q shaft current estimated values of abc-dq changers output is zero.
Further, the PI direct-axis currents actuator is according to d shaft current set-pointsWith the d axles of abc-dq changers output
The d shaft voltages of the difference control PI direct-axis currents actuator output between current estimation value, make d shaft current set-pointsWith abc-
Difference between the d shaft current estimated values of dq changers output is zero.
Further, the rotor position estimate value that the Park inverse converters are exported according to the first diagnosis apparatussBy PI quadrature axis electricity
The q shaft voltages of throttle regulator output are converted to biphase static α β shaft voltages with the d shaft voltages of PI direct-axis currents actuator output,
Namely α shaft voltages and β shaft voltages.
Further, the Svpwm manipulators produce the control of inverter according to the α β shaft voltages that Park inverse converters are exported
Signal.
Beneficial effect：Compared with prior art, the present invention has following beneficial effect：
1）The present invention starting to low-speed stage, using rotation high frequency signal injection method, by external high-frequency driving source with
Machine saliency is shown, and is not affected by motor operation operating mode, insensitive is changed to the parameter of electric machine, has preferable robust
Property, efficiently solve motor and start problem indeterminable to the inspection of lower-speed state lower rotor part position；
2）The present invention is realized by Speed identification observer in the sensorless strategy of high regime, with common observer phase
Than the present invention has more preferable anti-disturbance ability；
3）The fuzzy region of transition from low speed to high speed of the invention, the transformation process of two methods consider rotating speed simultaneously and turn
Two factors of sub- site error, it is ensured that the smooth transition of transformation process.
Description of the drawings
System structure diagrams of the Fig. 1 for the specific embodiment of the invention；
Structural representations of the Fig. 2 for the angular observation device of the specific embodiment of the invention；
Algorithm flow charts of the Fig. 3 for the second diagnosis apparatuss of the specific embodiment of the invention.
Specific embodiment
Technical scheme is further introduced with reference to specific embodiment.
This specific embodiment discloses a kind of control system for permanent-magnet synchronous motor accurately recognized based on speed, such as Fig. 1
Shown, including permagnetic synchronous motor 118, the three-phase current end of permagnetic synchronous motor 118 connects the three-phase of Clark changers 101
Current input terminal, the three-phase current end of permagnetic synchronous motor 118 are also connected with the three-phase current input of abc-dq changers 110,
The input and the input of wave filter 103 of the outfan difference connection speed identification observer 102 of Clark changers 101, filter
The input of the outfan connection angle observer 104 of ripple device 103, the outfan of angular observation device 104 connect polarity respectively and sentence
One input of the input and adder 119 of other angular compensator 105, the outfan of polarity discriminating angular compensator 105
Another input of connection adder 119, the outfan of adder 119 connect respectively the input of the first differentiator 106 and
The input of the first diagnosis apparatuss 109, the outfan of Speed identification observer 102 connect the input of the second differentiator 107 respectively
Connect with the outfan of the input of the first diagnosis apparatuss 109, the outfan of the first differentiator 106 and the second differentiator 107 respectively
The input of the second diagnosis apparatuss 108, the outfan of the second diagnosis apparatuss 108 connect an input of the first subtractor 120, motor
Spinner velocity set-point is input into another input of the first subtractor 120, the outfan connection PI speed of the first subtractor 120
The input of actuator 111, the outfan of PI speed regulators 111 connect an input of the second subtractor 121, and first sentences
The outfan of disconnected device 109 connects the input of the input of abc-dq changers 110 and Park inverse converters 114, abc- respectively
The q shaft currents outfan of dq changers 110 connects another input of the second subtractor 121, the d of abc-dq changers 110
Shaft current outfan connects an input of the 3rd subtractor 122, and d shaft currents set-point is input into the another of the 3rd subtractor 122
One input, the outfan of the second subtractor 121 connect the input of PI quadrature axis current actuators, the 3rd subtractor 122
Outfan connects the input of PI direct-axis current actuators, the outfan and PI direct-axis current actuators of PI quadrature axis current actuators
Outfan connect the input of Park inverse converters respectively, the outfan of Park inverse converters connects Svpwm manipulators respectively
116 input and the input of Speed identification observer 102, high-frequency voltage generator 115 also connect Svpwm manipulators 116
Input, the outfan of Svpwm manipulators 116 connects the input of inverter 117, and the outfan of inverter 117 connects forever
The threephase stator winding of magnetic-synchro motor 118.The internal structure of angular observation device 104 is as shown in Figure 2.
Wherein, the error signal of Clark changers output is：
Formula（1）In, IipFor stator current, ωiFor angular velocity, IinFor rotor current, t is the time, θrFor rotor actual bit
Put,For the estimated value of rotor-position.
Polarity discriminating angular compensator 105 is obtained for detecting to initial position of rotor and polarity being tracked
To polarity discriminating item ipol：
Formula（2）In, idFor direct-axis current, ΨdFor d-axis magnetic linkage, ΨfFor quadrature axis magnetic linkage, usiFor output voltage, ωiFor angle
Speed, θrFor rotor physical location,For the estimated value of rotor-position.
The system adopts fuzzy region control method, and the method is：
If rotor speed estimated valueω0For speed-changing, then rotor-position and rate signal are by angular observation
Device 104 and polarity discriminating angular compensator 105 are provided, and obtain rotor position estimate valueSpeed estimate value For the output signal of adder 119,For the output signal of the first differentiator 106；
If rotor speed estimated valueThen judgeWhether 5 ° are less than,Distinguish for speed
Know the output signal of observer 102：If being less than 5 °, Speed identification observer 102 and the work shape of the second differentiator 107 are switched to
State, namely rotor position estimate valueSpeed estimate value For the output signal of the second differentiator 107；
Otherwise, then into fuzzy region, rotor position estimate valueSpeed estimate value
Abc-dq changers 110 are according to rotor position estimate valueBy the abc phases of the three phase static of permagnetic synchronous motor 118
Electric current is converted to biphase static dq shaft currents, namely d shaft currents estimated value and q shaft current estimated values.
PI speed regulators 111 are according to motor rotor speed set-point and speed estimate valueBetween difference control PI it is fast
The q shaft current set-points of the degree output of actuator 111, make motor rotor speed set-point and speed estimate valueBetween difference be
Zero.
PI quadrature axis currents actuator 112 is converted with abc-dq according to the q shaft currents set-point that PI speed regulators 111 are exported
The q shaft voltages of 112 output of difference control PI quadrature axis currents actuator between the q shaft current estimated values of the output of device 110, make PI fast
Difference between the q shaft currents set-point of the degree output of actuator 111 and the q shaft current estimated values of the output of abc-dq changers 110
It is zero.
PI direct-axis currents actuator 113 is according to d shaft current set-pointsWith the d shaft currents of the output of abc-dq changers 110
The d shaft voltages of 113 output of difference control PI direct-axis currents actuator between estimated value, make d shaft current set-pointsWith abc-
Difference between the d shaft current estimated values of the output of dq changers 110 is zero.
The rotor position estimate value that Park inverse converters 114 are exported according to the first diagnosis apparatuss 109PI quadrature axis currents are adjusted
The q shaft voltages of the section output of device 112 are converted to biphase static α β axles electricity with the d shaft voltages of the output of PI direct-axis currents actuator 113
Pressure, namely α shaft voltages and β shaft voltages.
Svpwm manipulators 116 produce the control letter of inverter 117 according to the α β shaft voltages that Park inverse converters 114 are exported
Number.
Claims (10)
1. a kind of based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Including permagnetic synchronous motor
(118), the three-phase current input at three-phase current end connection Clark changers (101) of permagnetic synchronous motor (118), permanent magnetism
The three-phase current input at three-phase current end connection abc-dq changers (110) of synchronous motor (118), Clark changers
(101) input and the input of wave filter (103) of outfan difference connection speed identification observer (102), wave filter
(103) input of outfan connection angle observer (104), the outfan of angular observation device (104) connect polarity respectively
Differentiate an input of the input and adder (119) of angular compensator (105), polarity discriminating angular compensator (105)
Outfan connection adder (119) another input, the outfan of adder (119) connects the first differentiator respectively
(106) input and the input of the first diagnosis apparatuss (109), the outfan of Speed identification observer (102) connect respectively
The input of the input and the first diagnosis apparatuss (109) of two differentiators (107), the outfan and second of the first differentiator (106)
The outfan of differentiator (107) connects the input of the second diagnosis apparatuss (108) respectively, and the outfan of the second diagnosis apparatuss (108) connects
An input of the first subtractor (120) is connect, another of motor rotor speed set-point the first subtractor of input (120) is defeated
Enter end, the outfan of the first subtractor (120) connects the input of PI speed regulators (111), PI speed regulators (111)
Outfan connects an input of the second subtractor (121), and the outfan of the first diagnosis apparatuss (109) connects abc-dq changes respectively
The input of the input and Park inverse converters (114) of parallel operation (110), the q shaft current outfans of abc-dq changers (110)
Connect another input of the second subtractor (121), the d shaft currents outfan connection the 3rd of abc-dq changers (110) subtracts
One input of musical instruments used in a Buddhist or Taoist mass (122), d shaft currents set-point are input into another input of the 3rd subtractor (122), the second subtraction
The outfan of device (121) connects the input of PI quadrature axis current actuators, the outfan connection PI d-axis of the 3rd subtractor (122)
The input of rheonome, the outfan of the outfan and PI direct-axis current actuators of PI quadrature axis current actuators connect respectively
The input of Park inverse converters, the outfan of Park inverse converters connect the input and speed of Svpwm manipulators (116) respectively
The input of degree identification observer (102), high-frequency voltage generator (115) also connect the input of Svpwm manipulators (116),
The input of outfan connection inverter (117) of Svpwm manipulators (116), the outfan connection permanent magnetism of inverter (117) are same
The threephase stator winding of step motor (118).
2. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
State Clark changers output error signal be：
In formula (1), IipFor stator current, ωiFor angular velocity, IinFor rotor current, t is the time, θrFor rotor physical location,
For the estimated value of rotor-position.
3. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
Polarity discriminating angular compensator (105) is stated for being detected to initial position of rotor and polarity being tracked, pole is obtained
Property differentiate item ipol：
In formula (2), idFor direct-axis current, ΨdFor d-axis magnetic linkage, ΨfFor quadrature axis magnetic linkage, usiFor output voltage, ωiFor angular velocity,
θrFor rotor physical location,For the estimated value of rotor-position.
4. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
System is stated using fuzzy region control method, the method is：
If rotor speed estimated valueω0For speed-changing, then rotor-position and rate signal are by angular observation device
(104) provide with polarity discriminating angular compensator (105), obtain rotor position estimate valueSpeed estimate value For the output signal of adder (119),For the output signal of the first differentiator (106)；
If rotor speed estimated valueThen judgeWhether 5 ° are less than,Observe for Speed identification
The output signal of device (102)：If being less than 5 °, Speed identification observer (102) and the second differentiator (107) work shape are switched to
State, namely rotor position estimate valueSpeed estimate value Output for the second differentiator (107) is believed
Number；Otherwise, then into fuzzy region, rotor position estimate valueSpeed estimate value
5. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
Abc-dq changers (110) are stated according to rotor position estimate valueWill be the abc phases of the three phase static of permagnetic synchronous motor (118) electric
Circulation is changed to biphase static dq shaft currents, namely d shaft currents estimated value and q shaft current estimated values.
6. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
PI speed regulators (111) are stated according to motor rotor speed set-point and speed estimate valueBetween difference control PI speed adjust
The q shaft current set-points that section device (111) is exported, make motor rotor speed set-point and speed estimate valueBetween difference be
Zero.
7. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
State q shaft currents set-point and abc-dq changers that PI quadrature axis current actuators (112) is exported according to PI speed regulators (111)
(110) the q shaft voltages that difference control PI quadrature axis current actuators (112) between the q shaft current estimated values for exporting is exported, make PI
Between the q shaft current estimated values that the q shaft currents set-point and abc-dq changers (110) that speed regulator (111) is exported is exported
Difference be zero.
8. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
PI direct-axis current actuators (113) is stated according to d shaft current set-pointsThe d shaft currents exported with abc-dq changers (110) are estimated
The d shaft voltages that difference control PI direct-axis current actuators (113) between evaluation is exported, make d shaft current set-pointsWith abc-
Difference between the d shaft current estimated values that dq changers (110) are exported is zero.
9. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：Institute
State the rotor position estimate value that Park inverse converters (114) are exported according to the first diagnosis apparatuss (109)PI quadrature axis currents are adjusted
The q shaft voltages that device (112) is exported are converted to biphase static α β axles with the d shaft voltages that PI direct-axis current actuators (113) is exported
Voltage, namely α shaft voltages and β shaft voltages.
10. according to claim 1 based on the accurate control system for permanent-magnet synchronous motor for recognizing of speed, it is characterised in that：
The Svpwm manipulators (116) produce the control of inverter (117) according to the α β shaft voltages that Park inverse converters (114) are exported
Signal.
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| CN117155211A (en) * | 2023-08-07 | 2023-12-01 | 湖南科技大学 | Switch reluctance motor sensorless control method based on variable speed subsection compensation |
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| CN117155211A (en) * | 2023-08-07 | 2023-12-01 | 湖南科技大学 | Switch reluctance motor sensorless control method based on variable speed subsection compensation |
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| Publication number | Publication date |
|---|---|
| CN106549619B (en) | 2018-11-09 |
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