CN106787978B - A kind of fast sliding mode observer of the width of brushless DC motor without position sensor - Google Patents
A kind of fast sliding mode observer of the width of brushless DC motor without position sensor Download PDFInfo
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Abstract
The invention discloses a kind of fast sliding mode observers of the width of brushless DC motor without position sensor.The speed scope of application of sliding mode observer can be expanded using the present invention, realize the estimation in wider velocity interval, and then realize the speed regulating control of wider range.The reference input speed of brshless DC motor is divided into three low speed, middling speed and high speed speed intervals by the present invention, according to the different adjustment boundary layer thickness of the reference input speed of direct current generator: being increased boundary layer thickness in low speed, is effectively inhibited to buffet；Reduce boundary layer thickness in high speed, accelerate observer response speed, reduce evaluated error, to improve the accurate observation scope of sliding mode observer and estimated accuracy on the whole, and then obtains better estimation effect and realize the speed regulating control of wider range.Meanwhile using sinusoidal saturation function as sliding-mode surface function, buffeting can be effectively suppressed without using low-pass filter, and fast convergence rate, estimated accuracy are high.
Description
Technical field
The present invention relates to technical field of electromechanical control, are related to the control system without position sensor of brshless DC motor, tool
Body is related to a kind of fast sliding mode observer of width of brushless DC motor without position sensor.
Background technique
Brshless DC motor (Brushless DC Motor, BLDCM) can realize motor stator and rotor without brush
Between electrical connection, merged the feature of direct current generator and alternating current generator respectively, had that control mode is simple, torque characteristics
Height, dynamic response is fast, speed adjusting performance is good and the simple advantage of manufacturing process, especially suitable for having higher requirements to space size
Occasion.
To ensure normally continuously running for brshless DC motor, need to obtain the location information of rotor by position sensor
To carry out commutation.However, the use of position sensor is easy to be influenced by ambient enviroment and condition and service life is limited, reduce
The reliability of control system.Meanwhile the presence of hall position sensor further reduce the space accounting of system can not,
It is unfavorable for it to play a role in the insufficient occasion of some space resources, also increases the difficulty of production and maintenance, improve manufacture
Cost limits the further promotion of manufacturing process.
To eliminate above-mentioned position sensor bring adverse effect, further decrease control system executing agency cost and
Space size, the technology that software and hardware combining can be used avoid the use of position sensing device, provide motor by software algorithm
Continuous commutation desired position information, then spinner velocity information is estimated accordingly, and is fed back to controller and is realized closed loop tune
Speed control.Especially in some extreme environments, position detecting device can not work to normal table, position Sensorless Control
Technology can still ensure that system has well stable control performance.Therefore, the more and more scholars in countries in the world various regions and
Scientific research personnel plays an active part in efficient stable and the research of widely applicable Sensorless Control Technique.
Pass through document (Position and Speed Control of Brushless DC Motors Using
Sensorless Techniques and Application Trends[J].SENSORS,2010,10(7):6901-
6947.) it is found that it is more common and accurately the rotor position detecting method of position-sensor-free is divided into based on back-emf relatively at present
Detect and be based on model two major classes.
Detection method based on back-emf has Based on Back-EMF Method, third harmonic voltage integration method, freewheeling diode
Detection method and back-emf integration method, these methods are all limited by velocity conditions, in low speed, performance is poor, error is larger and
Frequent speed-regulating system it is not suitable for needing, or in the presence of can not eliminate commutation error, the problem of the Yi Yinqi accumulation of error and deviation.
In the estimation method based on model, most widely used is state estimate, mainly includes that spreading kalman is filtered
Wave method (EKF), artificial neural network method (ANN), model reference adaptive method (MARS) and sliding mode observer method (SMO) are applicable in
Velocity interval it is relatively more broad, but inevitably there is disadvantage.Extended Kalman filter has complicated algorithm and structure, limitation
Its popularization in practical projects.Artificial neural network in order to Parameter identification obtained as a result, frequently with distinguishing online
Knowledge mode introduces that time-consuming and the lower disadvantage of real-time.Model reference adaptive method is too sensitive to parameter, if with reference to
Model selection is not allowed to may cause system diverging, so stability is poor.It is different from three of the above method, many scholars propose
Structure is simple and the sliding mode observer method that is easy to implement, there is certain robustness, but robustness to inner parameter and external disturbance
Still have it is to be strengthened, simultaneously because there is the intrinsic buffeting that can not eliminate in sliding-mode structure feature.In addition, currently used sliding formwork is seen
It surveys device and is only applicable to particular speed range mostly, it is biggish scarce that there are evaluated errors under conditions of speed is too low or too high
Point.
Summary of the invention
In view of this, the present invention provides a kind of fast sliding mode observer of the width of brushless DC motor without position sensor, energy
The speed scope of application for enough expanding sliding mode observer realizes the estimation in wider velocity interval, and then realizes the tune of wider range
Speed control.
The fast sliding mode observer of the width of brushless DC motor without position sensor of the invention, by the reference of brshless DC motor
Input speed is divided into three low speed, middling speed and high speed speed intervals；When the reference input speed of brshless DC motor is in difference
When speed interval, the boundary layer thickness of the synovial membrane surface function of the sliding mode observer is different；Wherein, the reference of brshless DC motor
The boundary layer thickness of input speed corresponding synovial membrane surface function when being low speed is greater than the boundary of corresponding synovial membrane surface function when middling speed
Thickness degree；The boundary layer thickness of the reference input speed of brshless DC motor corresponding synovial membrane surface function when being high speed is less than middling speed
When corresponding synovial membrane surface function boundary layer thickness.
Further, the low speed are as follows: the reference input speed of brshless DC motor is less than or equal to Rated motor revolving speed
30%；The high speed are as follows: the reference input speed of brshless DC motor is greater than or equal to the 70% of Rated motor revolving speed.
Further, the boundary layer thickness of synovial membrane surface function corresponding to each speed interval is definite value.
Further, the boundary layer thickness of synovial membrane surface function corresponding to the middling speed section is definite value, high speed and low speed
The boundary layer thickness of synovial membrane surface function corresponding to section is variate.
Further, the boundary layer thickness of synovial membrane surface function corresponding to each speed interval is variate, the boundary
Thickness degree increases with the reduction of the reference input speed of brshless DC motor.
Further, the adaptive of the boundary layer thickness is realized using nerve network controller or one-dimensional fuzzy controller
Variation control.
Further, it is controlled using the adaptive change that one-dimensional fuzzy controller carries out boundary layer thickness, wherein with brushless
The absolute value of the reference input speed of direct current generator | ωref| as the input variable of fuzzy controller, it is with boundary layer thickness φ
Output variable；Input variable | ωref| and output variable φ domain be chosen for respectively { 0,0.25,0.5,0.75,1 } and 0,
0.2,0.4,0.6,0.8,1 }, corresponding fuzzy language subset is { zero, just small, center is honest }；Fuzzy control rule are as follows: when
Input variable | ωref| when smaller, the output variable φ of fuzzy controller is larger；Work as input variable | ωref| when larger, Fuzzy Control
The output variable φ of device processed is smaller.
Further, the fuzzy control rule are as follows:
(1) work as input variable | ωref| it is zero, the output variable φ of fuzzy controller is honest；
(2) work as input variable | ωref| it is positive small, the output variable φ of fuzzy controller is center；
(3) work as input variable | ωref| for center, the output variable φ of fuzzy controller is positive small；
(4) work as input variable | ωref| to be honest, the output variable φ of fuzzy controller is zero.
Further, using sinusoidal saturation function as sliding-mode surface function.
The utility model has the advantages that
(1) the reference input speed of brshless DC motor is divided into three low speed, middling speed and high speed speed intervals by the present invention,
According to the different adjustment boundary layer thickness of the reference input speed of direct current generator: increasing boundary layer thickness in low speed, effectively press down
System is buffeted；Reduce boundary layer thickness in high speed, accelerate observer response speed, reduces evaluated error, to mention on the whole
The high accurate observation scope of sliding mode observer and estimated accuracy, and then obtain better estimation effect and realize wider range
Speed regulating control.
(2) boundary layer thickness of the corresponding synovial membrane surface function of each speed interval can be set as to definite value, adjust simply, be convenient for
It realizes；The boundary layer thickness of the corresponding synovial membrane surface function of each speed interval can also be set as to variate, improve response accuracy.
(3) using sinusoidal saturation function as sliding-mode surface function, buffeting can be effectively suppressed without using low-pass filter,
And fast convergence rate, estimated accuracy are high.
(4) the adaptive change control of boundary layer thickness is realized using one-dimensional fuzzy controller, implementation method is simple, robust
Property is strong.
Detailed description of the invention
Fig. 1 is that adaptive boundary thickness degree adjusts schematic diagram.
Fig. 2 is subordinating degree function；(a) input variable | ωref|, (b) output variable φ.
Fig. 3 is the structure of wide fast sliding mode observer.
Fig. 4 is the motor without position sensor system emulation structure chart based on wide fast sliding mode observer.
Fig. 5 is traditional sliding mode observer velocity estimation and error simulation comparison figure under low speed.
Fig. 6 is wide fast sliding mode observer velocity estimation and error simulation comparison figure under low speed.
Fig. 7 is the lower traditional sliding mode observer velocity estimation of high speed and error simulation comparison figure.
Fig. 8 is wide fast sliding mode observer velocity estimation and error simulation comparison figure under high speed.
Fig. 9 is that the fast sliding mode observer of width of the invention estimates flow chart.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of fast sliding mode observers of the width of brushless DC motor without position sensor, with the sight of traditional sliding formwork
It surveys based on device, the sliding mode observer in brushless DC motor without position sensor speed control system is improved.
In a control system without position sensor, traditional sliding mode observer generally use Signum function and
Sigmoid function is as sliding-mode surface function.Signum function needs that low-pass filter is cooperated to can be only achieved the purpose for inhibiting shake,
It brings severe phase to postpone, reduces estimated accuracy.Sigmoid function compares Signum function, and sliding formwork is inhibited inherently to buffet
It can be avoided low-pass filter again simultaneously to postpone using bring severe phase, but have the following problems: (1) response speed
Pulsation slack-off and when may cause steady-state response, especially when sliding mode observer needs to require to operate in broader velocity interval
When, it not can guarantee the quick response of observer more；(2) traditional sliding mode observer can select parameter in design, however this
A little parameters but lack adaptability, institute to friction speed condition only for that can obtain best estimation effect under the conditions of specific speed
Can not accurately be estimated under broader speed adjustable range.
The present invention proposes a kind of fast sliding mode observer of the width with variable boundary layer synovial membrane surface function: the sliding formwork as a result,
The boundary layer thickness of the synovial membrane surface function of observer is adjusted according to the reference input speed of different brshless DC motors: will
The reference input speed of brshless DC motor is divided into three low speed, middling speed and high speed speed intervals, when the ginseng of brshless DC motor
When examining input speed and being in friction speed section, the boundary layer thickness of the synovial membrane surface function of the sliding mode observer is different；Work as ginseng
It examines when input speed is in low speed (reference input speed is less than or equal to Rated motor revolving speed 30%), by increasing boundary thickness
Degree to achieve the purpose that effectively to inhibit to buffet, and then ensures the output of sliding mode observer to weaken the activity of sliding mode observer
With good steady-state performance and accurate estimation effect；When reference input speed is in high speed, (reference input speed is greater than
Or it is equal to Rated motor revolving speed 70%), enhance the activity of sliding mode observer by reducing boundary layer thickness, outside is disturbed in enhancing
The robustness of dynamic and inherent parameters variation, improves response speed and estimated accuracy.
The boundary layer thickness of synovial membrane surface function corresponding to each speed interval can be definite value；It may be variate, meet
The adaptive law that boundary layer thickness increases with the reduction of reference input speed.
In addition, the boundary layer thickness of sliding mode observer synovial membrane surface function is unsuitable too small or excessive in practical engineering applications,
The too small boundary layer of thickness can bring serious buffeting, on the contrary then can bring very big error.It can be found out by many experiments and experience
The two critical values, limited boundary thickness degree are adaptively adjusted in valid interval.
Wherein, the synovial membrane surface function can use traditional Signum function or Sigmoid function.The present invention is using new
Type sine saturation function replaces the sliding-mode surface function of Signum function or Sigmoid function as observer: comparing Signum letter
Number, buffeting can be effectively suppressed without using low-pass filter in it；Compared to Sigmoid function, has and more quickly restrain speed
Degree and higher estimated accuracy.
One is given below based on the fast sliding mode observer of width with variable boundary layer saturation SIN function:
Breath Distribution of Magnetic Field, back-emf and the electric current of brshless DC motor itself are not sine waves, are needed not move through
Directly, the coordinate system transformation of quadrature axis, directly can founding mathematical models using the state variable of motor itself.In order to establish motor
Mathematical model, electromagnetic torque and equation of motion etc., by taking the six state motor of star three-phase of two-phase powered-on mode as an example, do first as
Lower hypothesis:
A) three-phase windings on stator are full symmetric, 120 ° of electrical angles of space mutual deviation, and each phase parameter is all identical；
B) ignore the influence of magnetic hystersis loss, vortex, iron core slot effect and stator winding armature-reaction etc.；
C) air-gap field is square, rotor field distribution is all symmetrical；
Then according to the characteristic of BLDCM, voltage equation
Wherein, Ua、Ub、UcIt is the voltage (V) of motor stator three-phase windings, Ia、Ib、IcFor the winding current of stator three-phase
(A), Ea、Eb、EcIt is the three-winding back-emf of stator (V), L is the self-induction (H) of the every phase winding of motor, and M is mutual between two phase windings
Sense, R are the resistance (Ω) of stator winding, and P is differential operator.
Since three-phase current meets:
Ia+Ib+Ic=0 (2)
Then
MIa+MIb=-MIc (3)
Convolution (1), formula (2) and formula (3), have
In the case where considering that the alternate symmetric relation of motor three and above-mentioned hypothesis are set up, it is with phase differential current and line back-emf
The simplification mathematical model of BLDCM can be obtained according to formula (4) for quantity of state:
Wherein EabAnd EbcFor the both ends back-emf of stator winding, UabAnd UbcTo hold voltage, α=L-M, β=R.
According to the symmetrical mathematics modular form (5) that motor simplifies, following sliding mode observer can be obtained:
Whereinx1=Ia-Ib, x2=Ib-Ic, x3=Eab, x4=Ebc, other ε1And ε2
It is electric current observation gain, ε3And ε4It is back-emf observation gain, ' ^ ' its observation is represented, Sat (s) is New Sinusoidal saturation letter
Number, expression formula are as follows:
Wherein θ=pi/2 φ, φ is the boundary layer thickness of sliding-mode surface function, and can be according to different reference input speed
Spend automatic adjusument.
New Sinusoidal saturation function boundary layer thickness can be realized to reference input using an one-dimensional fuzzy controller
The adaptive strategy of speed.On the whole apparently, the boundary layer thickness of New Sinusoidal saturation function is with reference input speed
Reduce and increase, schematic diagram can refer to Fig. 1.Limited boundary thickness degree when designing fuzzy controller simultaneously, it is ensured that it is always
In valid interval, avoid introducing serious buffet and big error.
Choose sliding-mode surfaceThen define errorMistake as follows can be obtained
Eikonal equation:
New Sinusoidal saturation function adaptive re-configuration police is realized by one-dimensional fuzzy controller, according to ωrefAbsolutely
The size of value adjusts boundary layer thickness φ in real time.Because fuzzy controller principle is simple and realization is easy, this
Embodiment realizes the adaptive adjustment of boundary layer thickness using one-dimensional fuzzy controller.As long as can satisfy this in practical applications
All controllers of mathematical law can substitute it, such as nerve network controller etc..In this one-dimensional fuzzy controller, with
The absolute value of reference input speed | ωref| as the input variable of fuzzy controller, then boundary layer thickness φ is to export to become
Amount.By input variable | ωref| and output variable φ carry out blurring can respectively obtain corresponding Fuzzy Linguistic Variable, then its
Domain is chosen for { 0,0.25,0.5,0.75,1 } and { 0,0.2,0.4,0.6,0.8,1 } respectively, and corresponding fuzzy language subset is then
It can be obtained for { Z (zero), PS (just small), PM (center), PB (honest) } according to boundary layer thickness adaptive re-configuration police is proposed
To following fuzzy control rule:
(1) work as input variable | ωref| when smaller (just small, zero), the output variable φ of fuzzy controller is larger (to be hit exactly, just
Greatly), it is avoided seriously buffeting with wider boundary layer thickness；
(2) work as input variable | ωref| when larger (honest, center), the output variable φ of fuzzy controller it is smaller (zero, just
It is small), good estimated accuracy is ensured with relatively narrow boundary layer thickness.
Specifically, input variable | ωref| and the subordinating degree function of output variable φ is as shown in Fig. 2, fuzzy control rule table
As shown in table 1.
1 fuzzy control rule table of table
Fig. 3 is the structure chart of wide sliding mode observer proposed by the invention, by taking a-b line back-emf as an example.Whereinx1=Ia-Ib, x3=Eab, other ε1It is electric current observation gain, ε3It is that back-emf observation increases
Benefit, ' ^ ' its observation is represented, Sat (s) is novel saturation SIN function, its boundary layer thickness is by one based on reference to defeated
The fuzzy controller for entering speed carries out automatic adjusument.
Simulation architecture such as Fig. 4 in Matlab, be mainly made of following six part: motor body module is (in figure
BLDCM), current hysteresis-band control module, rate control module (the SMC speed control in figure), reference current module, voltage are inverse
Become module, sliding mode observer module (SMO in figure).Intermediate portions of the present invention are sliding mode observer module, as we know from the figure
Its input is three-phase current, three-phase voltage and reference input speed, and output is the rotor-position and speed signal speed of estimation,
Speed control and reference current module are fed back, brushless DC motor without position sensor closed-loop control system is constituted.Other
The function of module and realization can be consulted by pertinent literature, be no longer shown in detail herein.
The fast sliding mode observer of the width proposed to illustrate the invention has broader observation speed range, main to consider lower
Higher two kinds with reference to the case where input speed: low speed (900r/mim) and high speed (3000r/min).
Fig. 5 and Fig. 6 illustrates the sliding mode observer and proposed by the present invention sliding mode observer estimation traditional in low speed
Evaluated error simulation waveform when spinner velocity and stable state, the speed estimation error of conventional method are 3.0r/min, sliding formwork of the present invention
Observer error is about 1.5r/min, reduces 50% or so than conventional method, effectively improves estimated accuracy.Fig. 7 and Fig. 8
Show the reference input speed sliding mode observer traditional in high speed and sliding mode observer estimation of the invention spinner velocity and
The simulation waveform of evaluated error simulation waveform when stable state.The speed estimation error of conventional method is 57.0r/min, sliding formwork of the present invention
Observer error is about 16.5r/min, reduces 71.1% or so than conventional method, increases substantially estimated accuracy, equally
Effectively inhibit to buffet.
By the comparison of the two methods in simulated environment, can verify sliding mode observer of the present invention can be in broader speed
The state including line counter electromotive force, speed and position is efficiently and accurately estimated under degree range.
It is proposed in the position Sensorless Control experiment porch verifying present invention based on TMS320F28035 type MCU below
Method.Entire brushless direct current motor sensorless speed-adjusting and control system is segmented into hardware components and software algorithm portion
Point.Control circuit and power circuit constitute the core of hardware.Software control algorithm is real in CCS5.5 developing instrument
It is existing, it is programmed using C language, including main program and interrupt service routine etc., primary focus is that sliding formwork proposed by the present invention is seen
Survey the realization of device algorithm for estimating.The algorithm routine process of wide speed sliding mode observer is as shown in Figure 9.
The fast sliding mode observer of the width of New Sinusoidal saturation function based on variable boundary thickness degree of the invention, can be according to not
Adjustment boundary layer thickness in real time is inputted with speed, it is ensured that better estimation effect is obtained under lower or higher velocity interval,
And then realize the more accurate effective speed regulating control of wider range.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of fast sliding mode observer of the width of brushless DC motor without position sensor, which is characterized in that by brshless DC motor
Reference input speed be divided into low speed, middling speed and high speed three speed intervals；At the reference input speed of brshless DC motor
When friction speed section, the boundary layer thickness of the synovial membrane surface function of the sliding mode observer is different；Wherein, brshless DC motor
Reference input speed when being low speed the boundary layer thickness of corresponding synovial membrane surface function be greater than corresponding synovial membrane surface function when middling speed
Boundary layer thickness；The boundary layer thickness of the reference input speed of brshless DC motor corresponding synovial membrane surface function when being high speed is small
The boundary layer thickness of corresponding synovial membrane surface function when middling speed；
Carry out the adaptive change control of boundary layer thickness, wherein using one-dimensional fuzzy controller with the ginseng of brshless DC motor
Examine the absolute value of input speed | ωref| as the input variable of fuzzy controller, using boundary layer thickness φ as output variable；It is defeated
Enter variable | ωref| and output variable φ domain be chosen for respectively { 0,0.25,0.5,0.75,1 } and 0,0.2,0.4,0.6,
0.8,1 }, corresponding fuzzy language subset is { zero, just small, center is honest }；Fuzzy control rule are as follows: work as input variable | ωref
| when smaller, the output variable φ of fuzzy controller is larger；Work as input variable | ωref| when larger, the output of fuzzy controller becomes
It is smaller to measure φ.
2. the fast sliding mode observer of the width of brushless DC motor without position sensor as described in claim 1, which is characterized in that institute
State low speed are as follows: the reference input speed of brshless DC motor is less than or equal to the 30% of Rated motor revolving speed；The high speed are as follows: nothing
The reference input speed of brushless motor is greater than or equal to the 70% of Rated motor revolving speed.
3. the fast sliding mode observer of the width of brushless DC motor without position sensor as described in claim 1, which is characterized in that institute
The boundary layer thickness for stating synovial membrane surface function corresponding to each speed interval is definite value.
4. the fast sliding mode observer of the width of brushless DC motor without position sensor as described in claim 1, which is characterized in that institute
State synovial membrane surface function corresponding to middling speed section boundary layer thickness be definite value, at a high speed with synovial membrane face letter corresponding to low speed section
Several boundary layer thickness is variate.
5. the fast sliding mode observer of the width of brushless DC motor without position sensor as described in claim 1, which is characterized in that institute
The boundary layer thickness for stating synovial membrane surface function corresponding to each speed interval is variate, and the boundary layer thickness is with brushless dc
The reduction of the reference input speed of machine and increase.
6. the fast sliding mode observer of the width of brushless DC motor without position sensor as claimed in any one of claims 1 to 5, wherein,
It is characterized in that, the fuzzy control rule are as follows:
(1) work as input variable | ωref| it is zero, the output variable φ of fuzzy controller is honest；
(2) work as input variable | ωref| it is positive small, the output variable φ of fuzzy controller is center；
(3) work as input variable | ωref| for center, the output variable φ of fuzzy controller is positive small；
(4) work as input variable | ωref| to be honest, the output variable φ of fuzzy controller is zero.
7. the fast sliding mode observer of the width of brushless DC motor without position sensor as described in claim 1, which is characterized in that adopt
Use sinusoidal saturation function as sliding-mode surface function.
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| CN108712116B (en) * | 2017-04-10 | 2020-10-27 | 湖南工业大学 | Brushless direct current motor position sensorless control method based on extreme learning machine |
| CN108241128B (en) * | 2018-01-09 | 2019-10-01 | 西南交通大学 | A kind of proton exchange film fuel battery system method for estimating state |
| CN109067289B (en) * | 2018-09-12 | 2020-05-08 | 电子科技大学 | Deep learning optimized position-sensor-free BLDC sliding-mode observer control method |
| CN109600082B (en) * | 2018-10-25 | 2022-02-18 | 郑州大学 | Permanent magnet synchronous motor rotor position full-order sliding mode observation device and method |
| CN109600091A (en) * | 2018-12-20 | 2019-04-09 | 青岛大学 | A kind of high precision velocity requires the Speed Sensorless Control Method of motor |
| CN110460280A (en) * | 2019-08-29 | 2019-11-15 | 西安理工大学 | A kind of permasyn morot control method based on sliding formwork load torque observer |
| CN112696311B (en) * | 2020-12-27 | 2022-10-25 | 中国电建集团河南省电力勘测设计院有限公司 | Variable-boundary-layer-based quasi-sliding mode variable-pitch optimization control method |
| CN114421824A (en) * | 2022-01-19 | 2022-04-29 | 安徽大学 | Brushless direct current motor position sensorless control method |
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