CN106788057B - The rotary transformer adaptive fusion system and method for PMSM drive system - Google Patents
The rotary transformer adaptive fusion system and method for PMSM drive system Download PDFInfo
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- CN106788057B CN106788057B CN201611192780.XA CN201611192780A CN106788057B CN 106788057 B CN106788057 B CN 106788057B CN 201611192780 A CN201611192780 A CN 201611192780A CN 106788057 B CN106788057 B CN 106788057B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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Abstract
The invention discloses a kind of rotary transformer adaptive fusion system and method for PMSM drive system, it is characterized in that including: that quadrature axis current flutter component obtains module, fault mode decoupling separation module, fault degree acquisition module, position deviation calculating and compensating module.The present invention realizes that the positioning, separation and fault degree of fault mode obtain after rotary transformer capable of occurring orthogonal not perfect and amplitude imbalance fault, and realize the adaptive fusion of PMSM drive system after failure, to realize the safe and reliable operation of PMSM drive system.
Description
Background technique
Electric car permanent magnet synchronous motor (PMSM) drive system position detection mostly uses rotary transformer, with photoelectric coding
Device is compared with position sensors such as Hall sensors, and rotary transformer has shock resistance and vibration, environmental suitability by force and output
The clear superiority of absolute position.However, due to rotary transformer installation error, rotary transformer excitation and output conditioning circuit device
The non-linear effects such as the temperature drift of part, so that amplitude imbalance and orthogonal not perfect occurs in the sine and cosine of rotary transformer
Failure is led to the PMSM solution adjusted position exported based on rotary transformer decoding chip and that there are positions is inclined between motor physical location
Difference makes motor torque and revolving speed persistent oscillation occur.
Existing technical solution is to lead to rotary transformer just based on orthogonal not perfect and amplitude imbalance fault
Specific times exception harmonic wave existing for cosine output passes through under the conditions of offline and is fitted acquisition position to the amplitude of specific abnormal harmonic wave
It sets the compensation multinomial of deviation and implements faults-tolerant control accordingly, but the program cannot achieve the inline diagnosis of rotary transformer failure
And faults-tolerant control less effective.On-line parameter identification based on least square method of recursion is realized to be turned caused by rotary transformer failure
The compensation method of sub- position deviation, haves the defects that treat identified parameters initial value more demanding, and this method is dry vulnerable to noise
It disturbs, cannot achieve Fault Pattern Recognition, fault location and fault degree and determine.Motor rotor position is observed based on various observers
On-line fault diagnosis and fault tolerant control method that solution adjusted position is compared are exported with rotary transformer decoding chip again, there are electricity
Machine Parameters variation and Inverter Dead-time effect directly affect the deficiency of rotor-position accuracy of observation, can not realize that fault mode is known
Not, the determination of fault location and fault degree.The not perfect and width in addition, the collection of the double synchronous decoupling Design of PLL of utilization are orthogonal
It is worth the digital converter of rotary transformer of imbalance fault inline diagnosis and faults-tolerant control function, there are algorithms to realize complexity not
Foot.
Summary of the invention
In order to overcome the shortcomings of that existing rotary transformer on-line fault diagnosis and fault tolerant control method, the present invention propose one kind
The rotary transformer adaptive fusion system and method for PMSM drive system, to which rotary transformer can occur just
Realize that fault mode positioning, separation and fault degree obtain after handing over not perfect and amplitude imbalance fault, and after realizing failure
The adaptive fusion of PMSM drive system, to realize the safe and reliable operation of PMSM drive system.
To achieve the above object of the invention, the present invention adopts the following technical scheme:
A kind of the characteristics of rotary transformer adaptive fusion system of PMSM drive system of the present invention be applied to by
In the PMSM drive system of rotary transformer and decoding chip to obtain PMSM rotor-position, the sine and cosine of the rotary transformer
Output is demodulated through the decoding chip, exports the solution adjusted position θ of the PMSM；Rotary transformer adaptive fusion system
System includes: that quadrature axis current flutter component obtains module, fault mode decouples separation module, fault degree obtains module, position is inclined
Difference calculates and compensating module；
It is the three-phase detection stator current i to the PMSM that the quadrature axis current flutter component, which obtains module,a、ib、icIt carries out
Coordinate transform processing obtains the PMSM stator quadrature axis current i under synchronous rotating frameqWith stator direct-axis current id, then by described
PMSM stator quadrature axis current iqObtain the PMSM stator quadrature axis current iqDC component iqdc, finally handed over by the PMSM stator
Shaft current iqWith DC component iqdc, obtain the PMSM stator quadrature axis current fault component Δ generated by rotary transformer failure
iq；
The fault mode decoupling separation module is to the PMSM stator quadrature axis current fault component Δ iqCarry out decoupling point
From and Integral Processing, obtain amplitude imbalance fault component integrated value FαfbWith orthogonal not perfect fault component integrated value Fβfb；
It is that given reference value " 0 " is subtracted to the amplitude imbalance fault component integrated value that the fault degree, which obtains module,
Fαfb, obtain amplitude imbalance fault error signal Δ Fα；Given reference value " 0 " subtracts orthogonal not perfect fault component integrated value
Fβfb, obtain orthogonal not perfect failure error signal Δ Fβ；Again to the amplitude imbalance fault error signal Δ FαCarry out ratio
Integral adjustment obtains amplitude imbalance fault degree Fα；To the orthogonal not perfect failure error signal Δ FβCarry out proportional integration
It adjusts, obtains orthogonal not perfect fault degree Fβ；
The position deviation, which is calculated, utilizes the amplitude imbalance fault degree F with compensating moduleαWith orthogonal not perfect event
Barrier degree Fβ, calculate and obtain the solution adjusted position θ and motor physical location θrBetween existing position deviation Δ θ, described in recycling
Position deviation Δ θ compensates the solution adjusted position θ, obtains the fault-tolerant position of the PMSM drive system rotary transformer failure
Set θcom, for carrying out vector controlled to the PMSM.
The characteristics of rotary transformer adaptive fusion system of the present invention, lies also in,
It includes: coordinate transformation module, DC component computing module and subtraction that the quadrature axis current flutter component, which obtains module,
Device；
Three-phase detection stator current i of the coordinate transformation module to the PMSMa、ib、icProcessing is coordinately transformed,
Obtain the PMSM stator quadrature axis current i under synchronous rotating frameqWith stator direct-axis current id；
The DC component computing module is for calculating the PMSM stator quadrature axis current iqDC component iqdc；
The subtracter is to the PMSM stator quadrature axis current iqWith the DC component iqdcIt is calculated, obtains PMSM
Stator quadrature axis current fault component Δ iq。
The fault mode decoupling separation module includes: the first multiplier, first integrator, the second multiplier and the second product
Divide device；
First multiplier is to the PMSM stator quadrature axis current fault component Δ iqWith function sign [sin (2 θ)] into
Row calculates, and calculated result, which is exported, carries out integral operation to the first integrator, obtains the amplitude imbalance fault component product
Score value Fαfb；Wherein, sign is symbolic operation, and when [sin (2 θ)] is greater than 0, sign [sin (2 θ)] is equal to 1, conversely, then etc.
In -1；
Second multiplier is to the PMSM stator quadrature axis current fault component Δ iqWith function sign [cos (2 θ)] into
Row calculates, and calculated result, which is exported, carries out integral operation to the second integral device, obtains orthogonal not perfect fault component integrated value
Fβfb。
It includes: the first subtracter, the second subtracter, the first proportional and integral controller and that the fault degree, which obtains module,
Two proportional and integral controllers；
First subtracter will subtract the amplitude imbalance fault component integrated value F with reference to given value " 0 "αfb, obtain
Amplitude imbalance fault error signal Δ Fα；First proportional and integral controller believes the amplitude imbalance fault error of input
Number Δ FαIt is calculated, obtains amplitude imbalance fault degree Fα；
Second subtracter will subtract the orthogonal not perfect fault component integrated value F with reference to given value " 0 "βfb, obtain
Orthogonal not perfect failure error signal Δ Fβ；Second proportional and integral controller believes the orthogonal not perfect failure error of input
Number Δ FβIt is calculated, obtains orthogonal not perfect fault degree Fβ。
It includes: first adder, second adder, third multiplier, the 4th that the position deviation, which is calculated with compensating module,
Multiplier, the 5th multiplier and third subtracter；
The first adder calculates Constant " 1 " and cos (2 θ), and obtained result is made respectively with constant " 0.5 "
For the input of the third multiplier, by the calculating of the third multiplier, obtained result and the orthogonal not perfect event
Barrier degree FβIt respectively as the input of the 4th multiplier, and is calculated, obtained result is as the third subtracter
Input；
5th multiplier is to the amplitude imbalance fault degree FαIt is calculated with sin (2 θ), obtained result
Another input as the third subtracter；It is carried out that position deviation Δ θ is calculated by the third subtracter；
The second adder calculates position deviation Δ θ reconciliation adjusted position θ, obtains fault-tolerant position θcom。
A kind of the characteristics of rotary transformer adaptive fusion method of PMSM drive system of the present invention be applied to by
In the PMSM drive system of rotary transformer and decoding chip to obtain PMSM rotor-position, the sine and cosine of the rotary transformer
It exports decoded chip to be demodulated, exports the solution adjusted position θ of the PMSM；The rotary transformer adaptive fusion side
Method is to carry out as follows:
Step 1, the three-phase detection stator current i to the PMSMa、ib、icIt is coordinately transformed, is obtained same using formula (1)
Walk the PMSM stator quadrature axis current i under rotating coordinate systemqWith stator direct-axis current id:
In formula (1), θcomIndicate fault-tolerant position；
Step 2 obtains the PMSM stator quadrature axis current i using formula (2)qDC component iqdc:
In formula (2), N is the length of window chosen, for the integer greater than 1；iq(1)For the friendship of current sample period PMSM stator
Shaft current value, iq(2)For upper sampling period PMSM stator quadrature axis current value, and so on, iq(N-1)For current sample period it
The N-1 preceding sampling period corresponding PMSM stator quadrature axis current value, iq(N)For the n-th sampling before current sample period
Period corresponding PMSM stator quadrature axis current iqNumerical value；
Step 3, by the PMSM stator quadrature axis current iqSubtract the DC component iqdc, obtain because of rotary transformer therefore
The PMSM stator quadrature axis current fault component Δ i for hindering and generatingq；
Step 4, by the PMSM stator quadrature axis current fault component Δ iqMultiplied by function sign [sin (2 θ)], acquisition
As a result integral operation is carried out by first integrator again, obtains amplitude imbalance fault component integrated value Fαfb；
Step 5, by the PMSM stator quadrature axis current fault component Δ iqMultiplied by function sign [cos (2 θ)], acquisition
As a result integral operation is carried out by second integral device again, obtains orthogonal not perfect fault component integrated value Fβfb；
Step 6 obtains amplitude imbalance fault degree F using formula (3)α:
Fα=KpαΔFα+KIα∫ΔFαdt (3)
In formula (3): ∫ is integral operation symbol, KpαFor the proportionality coefficient of the first proportional and integral controller, KIαFor the first ratio
The integral coefficient of example integral controller；ΔFαTo subtract the amplitude imbalance fault component integrated value F with reference to given value " 0 "αfb
Value afterwards；
Step 7 obtains orthogonal not perfect fault degree F using formula (4)β:
Fβ=KpβΔFβ+KIβ∫ΔFβdt (4)
In formula (4): KpβFor the proportionality coefficient of the second proportional and integral controller, KIβFor the product of the second proportional and integral controller
Divide coefficient；ΔFβTo subtract the orthogonal not perfect fault component integrated value F with reference to given value " 0 "βfbValue afterwards；
Step 8 obtains the solution adjusted position θ and motor physical location θ using formula (5)rBetween position deviation Δ θ:
Step 9, the fault-tolerant position θ that the PMSM drive system rotary transformer failure is obtained using formula (6)com:
θcom=Δ θ+θ (6).
Compared with the prior art, the invention has the advantages that:
1, the integrated rotary transformer on-line fault diagnosis of the present invention and faults-tolerant control are integrated, and are had independent of electricity
The technical advantage of machine mathematical model and the variation of the anti-parameter of electric machine, strong robustness；By extracting and separating in PMSM drive system
The failure flutter component of PMSM stator quadrature axis current matches the design of integrator and proportional and integral controller, realizes failure mould
Formula identification, positioning and fault degree obtain, then the fault degree calculating position deviation based on acquisition and to rotary transformer decode
The PMSM solution adjusted position of chip output carries out real-time compensation, realizes the faults-tolerant control of rotary transformer failure.
2, the present invention can real-time online calculate rotary transformer fault degree, in real time to rotary transformer decoding chip export
PMSM demodulation position signal compensate, and adaptive fusion method proposed by the invention have algorithm calculate letter
Advantage single, Project Realization is easy；
3, the present invention has few to setting parameter, and the pattern-recognition and positioning of different rotary transformer fault may be implemented,
Adaptively the PMSM solution adjusted position of decoding chip output can be compensated after failure；
4, the present invention by extraction and separates the failure flutter component in PMSM drive system in PMSM stator quadrature axis current,
The design of matching integrator and proportional and integral controller realizes the inline diagnosis of rotary transformer failure, has dexterously avoided inverse
Become the influence that stator quadrature axis current caused by device dead time effect is pulsed to rotary transformer on-line fault diagnosis precision.
Detailed description of the invention
Fig. 1 is present system block diagram；
Fig. 2 is the schematic diagram that quadrature axis current flutter component of the present invention obtains module；
Fig. 3 is the schematic diagram that fault mode of the present invention decouples separation module；
Fig. 4 is the schematic diagram that the present invention avoids Inverter Dead-time effects；
Fig. 5 is the schematic diagram that fault degree of the present invention obtains module；
Fig. 6 is the schematic diagram of position deviation of the present invention calculating and compensating module.
Specific embodiment
In the present embodiment, impulsive magnetic field caused by the stator excitation winding of rotary transformer can its rotor sine and cosine around
The sine and cosine voltage signal comprising machine shaft absolute location information is induced in group, then is demodulated by special demodulating chip
The rotor-position of PMSM.However, due to rotary transformer processing and installation error, the temperature of excitation and output conditioning circuit device
The non-linear effects such as drift are led so that amplitude imbalance and orthogonal not perfect failure occurs in the sine and cosine of rotary transformer
It causes the PMSM rotor-position obtained based on rotary transformer to generate deviation, motor torque and revolving speed is made persistent oscillation occur.
Therefore, a kind of rotary transformer adaptive fusion system of PMSM drive system is proposed regarding to the issue above
System, applied in the PMSM drive system for obtaining PMSM rotor-position by rotary transformer and decoding chip, rotary transformer
Sine and cosine export decoded chip and demodulated, export the solution adjusted position θ of PMSM.
In the present embodiment, as shown in Figure 1, rotary transformer adaptive fusion system includes: quadrature axis current pulsation point
Amount obtains module, fault mode decoupling separation module, fault degree and obtains module, position deviation calculating and compensating module；
As shown in Fig. 2, quadrature axis current flutter component obtains module first to the three-phase detection stator current i of PMSMa、ib、ic
And coordinate transform processing is carried out, obtain the PMSM stator quadrature axis current i under synchronous rotating frameqWith stator direct-axis current id, then
By PMSM stator quadrature axis current iqObtain PMSM stator quadrature axis current iqDC component iqdc, thus by PMSM stator quadrature axis current
iqWith DC component iqdc, obtain the PMSM stator quadrature axis current fault component Δ i generated by rotary transformer failureq。
The module includes following part: coordinate transformation module, DC component computing module and subtracter:
(1) three-phase detection stator current i of the coordinate transformation module to PMSMa、ib、icIt is coordinately transformed processing, is obtained same
Walk the PMSM stator quadrature axis current i under rotating coordinate systemqWith stator direct-axis current id；
(2) DC component computing module is for calculating PMSM stator quadrature axis current iqDC component iqdc；
(3) subtracter is to PMSM stator quadrature axis current iqWith DC component iqdcIt is calculated, obtains PMSM stator quadrature axis electricity
Flow fault component Δ iq。
As shown in figure 3, fault mode decouples separation module to PMSM stator quadrature axis current fault component Δ iqIt is decoupled
Separation and Integral Processing obtain amplitude imbalance fault component integrated value FαfbWith orthogonal not perfect fault component integrated value Fβfb。
The module includes following part: the first multiplier, first integrator, the second multiplier and second integral device.
First multiplier is to PMSM stator quadrature axis current fault component Δ iqIt is calculated with function sign [sin (2 θ)],
Calculated result, which is exported, carries out integral operation to first integrator, to obtain amplitude imbalance fault component integrated value Fαfb；Its
In, sign is symbolic operation, and when [sin (2 θ)] is greater than 0, sign [sin (2 θ)] is equal to 1, conversely, being then equal to -1；
Second multiplier is to PMSM stator quadrature axis current fault component Δ iqIt is calculated with function sign [cos (2 θ)],
Calculated result, which is exported, carries out integral operation to second integral device, to obtain orthogonal not perfect fault component integrated value Fβfb。
Since the presence of Inverter Dead-time time will generate dead time effect, lead to PMSM stator quadrature axis current iqIt is straight with stator
Shaft current idThe middle periodically pulsing for generating six frequencys multiplication, stator quadrature axis current iqPMSM stator quadrature axis electricity after rejecting DC component
Flow fault component Δ iqIn also include six frequency multiplication periodically pulsing, using sign [sin (2 θ)] and sign [cos (2 θ)] into
When row rotary transformer failure flutter component extracting and developing, stator quadrature axis current i caused by dead time effectqSix frequencys multiplication are periodical
Pulsation idead_ripIt is extracted complete cycle simultaneously, as shown in Figure 4.idead_rip× sign [sin (2 θ)] and idead_rip×sign[cos
(2 θ)] integrated device integrated, and integrated value is always 0, i.e., Inverter Dead-time effect examines rotary transformer On-line Fault
The influence of disconnected precision is dexterously avoided.
As shown in figure 5, it is that given reference value " 0 " is subtracted the amplitude imbalance fault component that fault degree, which obtains module,
Integrated value Fαfb, obtain amplitude imbalance fault error signal Δ Fα；Given reference value " 0 " is subtracted into orthogonal not perfect failure point
Measure integrated value Fβfb, obtain orthogonal not perfect failure error signal Δ Fβ.Again to amplitude imbalance fault error signal Δ FαJust
Hand over not perfect failure error signal Δ FβProportional integration adjusting is carried out, amplitude imbalance fault degree F is obtainedαWith it is orthogonal not perfect
Fault degree Fβ.It includes: the first subtracter, the second subtracter, the first proportional and integral controller and that fault degree, which obtains module,
Two proportional and integral controllers；
First subtracter will subtract amplitude imbalance fault component integrated value F with reference to given value " 0 "αfb, it is uneven to obtain amplitude
Weigh failure error signal Δ Fα；Amplitude imbalance fault error signal Δ F of first proportional and integral controller to inputαIt is counted
It calculates, obtains amplitude imbalance fault degree Fα；
Second subtracter will subtract orthogonal not perfect fault component integrated value F with reference to given value " 0 "βfb, obtain orthogonal endless
Kind failure error signal Δ Fβ；Orthogonal not perfect failure error signal Δ F of second proportional and integral controller to inputβIt is counted
It calculates, obtains orthogonal not perfect fault degree Fβ。
As shown in fig. 6, position deviation, which is calculated, utilizes amplitude imbalance fault degree F with compensating moduleαWith it is orthogonal not perfect
Fault degree Fβ, obtain solution adjusted position θ and motor physical location θrBetween position deviation Δ θ, recycle θ pairs of position deviation Δ
Solution adjusted position θ is compensated, and obtains the fault-tolerant position θ of PMSM drive system rotary transformer failurecom, for being carried out to PMSM
Vector controlled.It includes: first adder, second adder, third multiplier, the 4th multiplication that position deviation, which is calculated with compensating module,
Device, the 5th multiplier and third subtracter；
First adder calculates Constant " 1 " and cos (2 θ), and obtained result and constant " 0.5 " are respectively as the
The input of three multipliers, the result obtained by the calculating of third multiplier and orthogonal not perfect fault degree FβRespectively as
The input of 4th multiplier, and calculated, input of the obtained result as third subtracter；
5th multiplier is to amplitude imbalance fault degree FαIt is calculated with sin (2 θ), obtained result is as third
Another input of subtracter；It is carried out that position deviation Δ θ is calculated by third subtracter；
Second adder calculates position deviation delta θ reconciliation adjusted position θ, obtains fault-tolerant position θcom。
In the present embodiment, a kind of rotary transformer adaptive fusion method of PMSM drive system is applied to by revolving
Change in the PMSM drive system of depressor and decoding chip to obtain PMSM rotor-position, and carry out as follows:
Step 1, the three-phase detection stator current i for obtaining PMSMa、ib、ic, and be coordinately transformed using formula (1), it obtains
PMSM stator quadrature axis current i under synchronous rotating frameqWith stator direct-axis current id:
In formula (1), θcomIndicate fault-tolerant position；
Step 2 obtains PMSM stator quadrature axis current i using formula (2)qDC component iqdc:
In formula (2), N is the length of window chosen, for the integer greater than 1；iq(1)For the friendship of current sample period PMSM stator
Shaft current value, iq(2)For upper sampling period PMSM stator quadrature axis current value, and so on, iq(N-1)For current sample period it
The N-1 preceding sampling period corresponding PMSM stator quadrature axis current value, iq(N)For the n-th sampling before current sample period
Period corresponding PMSM stator quadrature axis current iqNumerical value；
Step 3, by PMSM stator quadrature axis current iqSubtract DC component iqdc, obtain and generated because of rotary transformer failure
PMSM stator quadrature axis current fault component Δ iq；
Step 4, by PMSM stator quadrature axis current fault component Δ iqMultiplied by function sign [sin (2 θ)], the result of acquisition
Integral operation is carried out by first integrator again, obtains amplitude imbalance fault component integrated value Fαfb；
Step 5, by PMSM stator quadrature axis current fault component Δ iqMultiplied by function sign [cos (2 θ)], the result of acquisition
Integral operation is carried out by second integral device again, obtains orthogonal not perfect fault component integrated value Fβfb；
Step 6 obtains amplitude imbalance fault degree F using formula (3)α:
Fα=KpαΔFα+KIα∫ΔFαdt (3)
In formula (3): ∫ is integral operation symbol, KpαFor the proportionality coefficient of the first proportional and integral controller, KIαFor the first ratio
The integral coefficient of example integral controller；ΔFαTo subtract amplitude imbalance fault component integrated value F with reference to given value " 0 "αfbAfterwards
Value；
Step 7 obtains orthogonal not perfect fault degree F using formula (4)β:
Fβ=KpβΔFβ+KIβ∫ΔFβdt (4)
In formula (4): KpβFor the proportionality coefficient of the second proportional and integral controller, KIβFor the product of the second proportional and integral controller
Divide coefficient；ΔFβTo subtract orthogonal not perfect fault component integrated value F with reference to given value " 0 "βfbValue afterwards；
Step 8 obtains solution adjusted position θ and motor physical location θ using formula (5)rBetween position deviation Δ θ:
Step 9, the fault-tolerant position θ that PMSM drive system rotary transformer failure is obtained using formula (6)com:
θcom=Δ θ+θ (6).
Claims (6)
1. the rotary transformer adaptive fusion system of a kind of PMSM drive system, it is characterized in that being applied to by rotation transformation
In the PMSM drive system of device and decoding chip to obtain PMSM rotor-position, the sine and cosine of the rotary transformer is exported through institute
Decoding chip demodulation is stated, the solution adjusted position θ of the PMSM is exported；The rotary transformer adaptive fusion system includes:
Quadrature axis current flutter component obtain module, fault mode decoupling separation module, fault degree obtain module, position deviation calculate with
Compensating module；
It is the three-phase detection stator current i to the PMSM that the quadrature axis current flutter component, which obtains module,a、ib、icCarry out coordinate
Conversion process obtains the PMSM stator quadrature axis current i under synchronous rotating frameqWith stator direct-axis current id, then by the PMSM
Stator quadrature axis current iqObtain the PMSM stator quadrature axis current iqDC component iqdc, finally by the PMSM stator quadrature axis electricity
Flow iqWith DC component iqdc, obtain the PMSM stator quadrature axis current fault component Δ i generated by rotary transformer failureq；
The fault mode decoupling separation module is to the PMSM stator quadrature axis current fault component Δ iqCarry out decoupling separation and product
Divide processing, obtains amplitude imbalance fault component integrated value FαfbWith orthogonal not perfect fault component integrated value Fβfb；
It is that given reference value " 0 " is subtracted to the amplitude imbalance fault component integrated value F that the fault degree, which obtains module,αfb,
Obtain amplitude imbalance fault error signal Δ Fα；Given reference value " 0 " subtracts orthogonal not perfect fault component integrated value Fβfb,
Obtain orthogonal not perfect failure error signal Δ Fβ；Again to the amplitude imbalance fault error signal Δ FαCarry out proportional integration
It adjusts, obtains amplitude imbalance fault degree Fα；To the orthogonal not perfect failure error signal Δ FβCarry out proportional integration tune
Section, obtains orthogonal not perfect fault degree Fβ；
The position deviation, which is calculated, utilizes the amplitude imbalance fault degree F with compensating moduleαWith orthogonal not perfect fault degree
Fβ, calculate and obtain the solution adjusted position θ and motor physical location θrBetween existing position deviation Δ θ, recycle the position inclined
Poor Δ θ compensates the solution adjusted position θ, obtains the fault-tolerant position θ of the PMSM drive system rotary transformer failurecom,
For carrying out vector controlled to the PMSM.
2. rotary transformer adaptive fusion system according to claim 1, characterized in that
It includes: coordinate transformation module, DC component computing module and subtracter that the quadrature axis current flutter component, which obtains module,；
Three-phase detection stator current i of the coordinate transformation module to the PMSMa、ib、icIt is coordinately transformed processing, is obtained
PMSM stator quadrature axis current i under synchronous rotating frameqWith stator direct-axis current id；
The DC component computing module is for calculating the PMSM stator quadrature axis current iqDC component iqdc；
The subtracter is to the PMSM stator quadrature axis current iqWith the DC component iqdcIt is calculated, obtains PMSM stator and hand over
Shaft current fault component Δ iq。
3. rotary transformer adaptive fusion system according to claim 1, characterized in that
The fault mode decoupling separation module includes: the first multiplier, first integrator, the second multiplier and second integral
Device；
First multiplier is to the PMSM stator quadrature axis current fault component Δ iqIt is counted with function sign [sin (2 θ)]
It calculates, calculated result, which is exported, carries out integral operation to the first integrator, obtains the amplitude imbalance fault component integrated value
Fαfb；Wherein, sign is symbolic operation, and when [sin (2 θ)] is greater than 0, sign [sin (2 θ)] is equal to 1, conversely, being then equal to -1；
Second multiplier is to the PMSM stator quadrature axis current fault component Δ iqIt is counted with function sign [cos (2 θ)]
It calculates, calculated result, which is exported, carries out integral operation to the second integral device, obtains orthogonal not perfect fault component integrated value Fβfb。
4. rotary transformer adaptive fusion system according to claim 1, characterized in that
It includes: the first subtracter, the second subtracter, the first proportional and integral controller and the second ratio that the fault degree, which obtains module,
Example integral controller；
First subtracter will subtract the amplitude imbalance fault component integrated value F with reference to given value " 0 "αfb, obtain amplitude
Imbalance fault error signal Δ Fα；Amplitude imbalance fault error signal Δ of first proportional and integral controller to input
FαIt is calculated, obtains amplitude imbalance fault degree Fα；
Second subtracter will subtract the orthogonal not perfect fault component integrated value F with reference to given value " 0 "βfb, obtain orthogonal
Not perfect failure error signal Δ Fβ；Orthogonal not perfect failure error signal Δ of second proportional and integral controller to input
FβIt is calculated, obtains orthogonal not perfect fault degree Fβ。
5. rotary transformer adaptive fusion system according to claim 1, characterized in that
It includes: first adder, second adder, third multiplier, the 4th multiplication that the position deviation, which is calculated with compensating module,
Device, the 5th multiplier and third subtracter；
The first adder calculates Constant " 1 " and cos (2 θ), and obtained result and constant " 0.5 " are respectively as institute
The input for stating third multiplier, by the calculating of the third multiplier, obtained result and the orthogonal not perfect failure journey
Spend FβIt respectively as the input of the 4th multiplier, and is calculated, obtained result is defeated as the third subtracter
Enter；
5th multiplier is to the amplitude imbalance fault degree FαIt is calculated with sin (2 θ), obtained result is as institute
State another input of third subtracter；It is carried out that position deviation Δ θ is calculated by the third subtracter；
The second adder calculates position deviation Δ θ reconciliation adjusted position θ, obtains fault-tolerant position θcom。
6. a kind of rotary transformer adaptive fusion method of PMSM drive system, it is characterized in that being applied to by rotation transformation
In the PMSM drive system of device and decoding chip to obtain PMSM rotor-position, the sine and cosine of the rotary transformer is exported through solving
Code chip is demodulated, and the solution adjusted position θ of the PMSM is exported；The rotary transformer adaptive fusion method is by such as
Lower step carries out:
Step 1, the three-phase detection stator current i to the PMSMa、ib、icIt is coordinately transformed using formula (1), obtains synchronous rotation
Turn the PMSM stator quadrature axis current i under coordinate systemqWith stator direct-axis current id:
In formula (1), θcomIndicate fault-tolerant position；
Step 2 obtains the PMSM stator quadrature axis current i using formula (2)qDC component iqdc:
In formula (2), N is the length of window chosen, for the integer greater than 1；iq(1)For current sample period PMSM stator quadrature axis current
Value, iq(2)For upper sampling period PMSM stator quadrature axis current value, and so on, iq(N-1)For before current sample period
N-1 sampling period corresponding PMSM stator quadrature axis current value, iq(N)For the n-th sampling period pair before current sample period
The PMSM stator quadrature axis current i answeredqNumerical value；
Step 3, by the PMSM stator quadrature axis current iqSubtract the DC component iqdc, obtain and produced because of rotary transformer failure
Raw PMSM stator quadrature axis current fault component Δ iq；
Step 4, by the PMSM stator quadrature axis current fault component Δ iqMultiplied by function sign [sin (2 θ)], the result of acquisition is again
Integral operation is carried out by first integrator, obtains amplitude imbalance fault component integrated value Fαfb, sign is symbolic operation, when
When [sin (2 θ)] is greater than 0, sign [sin (2 θ)] is equal to 1, conversely, being then equal to -1；
Step 5, by the PMSM stator quadrature axis current fault component Δ iqMultiplied by function sign [cos (2 θ)], the result of acquisition is again
Integral operation is carried out by second integral device, obtains orthogonal not perfect fault component integrated value Fβfb；
Step 6 obtains amplitude imbalance fault degree F using formula (3)α:
Fα=KpαΔFα+KIα∫ΔFαdt (3)
In formula (3): ∫ is integral operation symbol, KpαFor the proportionality coefficient of the first proportional and integral controller, KIαFor the first proportional integration
The integral coefficient of adjuster；ΔFαTo subtract the amplitude imbalance fault component integrated value F with reference to given value " 0 "αfbAfterwards
Value；
Step 7 obtains orthogonal not perfect fault degree F using formula (4)β:
Fβ=KpβΔFβ+KIβ∫ΔFβdt (4)
In formula (4): KpβFor the proportionality coefficient of the second proportional and integral controller, KIβFor the integration system of the second proportional and integral controller
Number；ΔFβTo subtract the orthogonal not perfect fault component integrated value F with reference to given value " 0 "βfbValue afterwards；
Step 8 obtains the solution adjusted position θ and motor physical location θ using formula (5)rBetween position deviation Δ θ:
Step 9, the fault-tolerant position θ that the PMSM drive system rotary transformer failure is obtained using formula (6)com:
θcom=Δ θ+θ (6).
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| CN108063572B (en) * | 2017-12-01 | 2020-03-03 | 浙江零跑科技有限公司 | Failure control method for position sensor of permanent magnet motor for vehicle |
| CN108631681B (en) * | 2018-04-18 | 2020-01-21 | 华中科技大学 | Online compensation method and device for periodic errors of rotary transformer |
| CN110426062A (en) * | 2019-07-31 | 2019-11-08 | 中车永济电机有限公司 | It is a kind of to inhibit the digital RDC of function to decode system with error |
| CN110943670B (en) * | 2019-12-30 | 2021-10-01 | 中国科学院电工研究所 | Motor rotor position obtaining method and system |
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