CN106788071B - A method of improving permanent-magnet synchronous motor rotor position estimated accuracy - Google Patents

A method of improving permanent-magnet synchronous motor rotor position estimated accuracy Download PDF

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Publication number
CN106788071B
CN106788071B CN201710012113.7A CN201710012113A CN106788071B CN 106788071 B CN106788071 B CN 106788071B CN 201710012113 A CN201710012113 A CN 201710012113A CN 106788071 B CN106788071 B CN 106788071B
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estimation
rotor
shaft
shaft current
voltage
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CN106788071A (en
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刘兵
周波
倪天恒
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
    • 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

Abstract

The invention discloses a kind of methods for improving permanent-magnet synchronous motor rotor position estimated accuracy, this method is on the basis of realizing that permanent-magnet synchronous motor rotor position is estimated using pulsating high frequency signal injection method, extracted position estimation error function is handled, it eliminates wherein due to the asymmetric 2 introduced subharmonic ingredients of the parameter of electric machine, the position estimation error function that obtains that treated, then it establishes phaselocked loop and is adjusted to 0, obtain estimation spinner velocity and estimate rotor-position.This method can effectively inhibit the 2 subharmonic error of location estimation as caused by parameter of electric machine asymmetry, improve control system without position sensor performance.

Description

A method of improving permanent-magnet synchronous motor rotor position estimated accuracy
Technical field
The present invention relates to Motor Control Field, especially a kind of side for improving permanent-magnet synchronous motor rotor position estimated accuracy Method.
Background technique
The features such as permanent magnet synchronous motor is small in size, light-weight, power factor (PF) is high and control performance is superior by its obtains Extensive industrial application.Rotor-position is that permanent magnet synchronous motor realizes information indispensable when vector controlled, photoelectric coding The mechanical position sensors such as device, rotary transformer increase the volume, weight and cost of control system, therefore permanent magnet synchronous electric Machine Sensorless Control Technique is got the attention.Wherein, pulsating high frequency signal injection method realizes simple, robustness It is good, and it is suitable for zero, low speed occasion, therefore the large quantities of scholars of attraction are unfolded to study to it.
Rotor position estimate precision is to consider the important indicator of a position-sensorless control system performance.When motor three-phase resistance Or when inductance asymmetry, there are 2 subharmonic errors for the estimation rotor-position obtained using pulsating high frequency signal injection method.The harmonic wave The presence of error reduces rotor position estimate precision, while also limiting the promotion of position Sensorless Control performance, therefore It is necessary to eliminate to it.P.L.Xu and Z.Q.Zhu,"Carrier signal injection-based sensorless control for permanent-magnet synchronous machine drives considering machine parameter asymmetry,”IEEE Trans.Ind.Electron.,vol.63, No.5, pp.2813-2824, May.2016. propose a kind of 2 subharmonic of rotor position estimate error based on dual signal injection Suppressing method injects the signal of two different frequencies in d-axis, and the amplitude and frequency that guarantee two Injection Signals are than consistent. One of signal is modulated, departure relevant to parameter of electric machine asymmetry is obtained, another signal is compensated with it Position estimation error information in modulated process, this method effectively inhibit 2 order harmonic components in estimated location, but due to needing The signal for injecting two different frequencies, this clearly increases the computational burden of system and complexity.
Summary of the invention
A kind of raising permanent magnet synchronous electric is provided the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art The method of machine rotor position estimation accuracy can effectively inhibit to estimate 2 subharmonic errors in rotor-position, improve rotor-position and estimate Count precision.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of method of the raising permanent-magnet synchronous motor rotor position estimated accuracy proposed according to the present invention, including following step It is rapid:
Step A, position estimation error information is obtained using pulsating high frequency signal injection method；
Step B, extracted position estimation error information is modulated, first obtains compensated information, location estimation is missed It is poor that poor information and compensated information are made, the position estimation error information that obtains that treated；
Step C, establish phaselocked loop, will treated that position estimation error information is adjusted to 0, obtain estimation spinner velocity and Estimate rotor-position；
Step D, according to the given value of current value and current-responsive of estimation d axis and q axis, estimation d axis and q shaft voltage are obtained；
Step E, step A to step D is repeated, until motor is out of service.
As it is of the present invention it is a kind of improve permanent-magnet synchronous motor rotor position estimated accuracy method advanced optimize Scheme, the step A are specific as follows:
A.1, in the d axis for estimating rotor synchronous rotating frame step injects high-frequency cosine voltage Uh cos(ωhT), In, UhFor the amplitude for injecting high frequency voltage in d axis, ωhFor the frequency for injecting high frequency voltage in d axis, t indicates current time；
Step A.2, to estimation d shaft voltageWith estimation q shaft voltageParker inverse transformation is carried out, the static alpha-beta of two-phase is obtained Voltage u under coordinate systemαAnd uβ, then space vector pulse width modulation is used to obtain six path switching signals of three-phase inverter, driving is forever Magnetic-synchro motor；
Any biphase current of step A.3, in detection motor three-phase windings A/B/C first carries out Clarke transform and obtains two Electric current i under mutually static alpha-beta coordinate systemαAnd iβ, estimation d shaft current response is obtained using Park TransformationWith estimation q shaft current Response
A.4, by estimation q shaft current step respondsSelecting frequency by bandpass filter is ωhAC compounent, i.e., it is high Frequency componentAgain with sinusoidal signal 2sin (ωhT) it is multiplied and is modulated, obtain DC component and frequency is 2 ωhExchange The DC component and AC compounent are finally filtered out AC compounent by low-pass filter, extract DC component, obtain in place by component Set evaluated error information f (Δ θ).
As it is of the present invention it is a kind of improve permanent-magnet synchronous motor rotor position estimated accuracy method advanced optimize Scheme, the step B are specific as follows:
Step B.1, by position estimation error information f (Δ θ) withIt is multiplied, whereinFor the rotor position of estimation It sets；
B.2, using a cutoff frequency step is lower thanLow-pass filter pairF (Δ θ) is filtered, Wherein,To estimate spinner velocity；
Step B.3, by filtered signal withIt is multiplied, obtains compensated information fP；
Step B.4, by position estimation error information f (Δ θ) and compensated information fPIt is poor to make, the location estimation that obtains that treated Control information fc(Δθ)。
As it is of the present invention it is a kind of improve permanent-magnet synchronous motor rotor position estimated accuracy method advanced optimize Scheme obtains estimation spinner velocity in the step C and estimates rotor-position, specific as follows:
Step C.1, will treated position estimation error information fcThe input of (Δ θ) as pi regulator, pi regulator Output be estimation spinner velocity
Step C.2, to estimation spinner velocityIntegral obtains estimation rotor-position
As it is of the present invention it is a kind of improve permanent-magnet synchronous motor rotor position estimated accuracy method advanced optimize Scheme, the step D are specific as follows:
Step D.1, by given rotor speed omega*With estimation spinner velocityDifference be input to der Geschwindigkeitkreis pi regulator, should The output of pi regulator is estimation q shaft current given value
Step D.2, will estimate d shaft current given valueIt is set as 0, will estimate d shaft current given valueWith pass through low-pass filtering The estimation d shaft current of device respondsMake result, the estimation q shaft current given value of differenceWith the estimation q axis electricity by low-pass filter Stream responseThe result for making difference passes through electric current loop pi regulator, obtains estimation d shaft voltageWith estimation q shaft voltage
The invention adopts the above technical scheme compared with prior art, has following technical effect that
(1) the deviation information acquisition process as caused by parameter of electric machine asymmetry is not necessarily to additional Injection Signal, it is only necessary to The current-responsive for injecting high-frequency signal centainly modulate；
(2) compensation method only needs one low-pass filter of more increases, and realization is simple and convenient, and computational burden is smaller；
(3) using after the compensation method, 2 subharmonic contents in position estimation error are substantially reduced, position estimation accuracy It significantly improves.
Detailed description of the invention
Fig. 1 is the principle for inhibiting the New method for sensorless control technique of PMSM of function with 2 subharmonic errors Block diagram.
Fig. 2 is the functional block diagram of 2 subharmonic error concealment module of estimated location.
When Fig. 3 is given rotating speed 120r/min, there are actual rotor position θ, the estimation rotor in compensation and uncompensated situation PositionPosition estimation error Δ θ and treated position estimation error information fcThe experimental waveform of (Δ θ).
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
As shown in Fig. 1, the present invention provides a kind of raising permanent magnet synchronous motor position estimation accuracy method, specifically include with Lower step:
Step 1) injects high-frequency cosine voltage U in the d axis of estimation rotor synchronous rotating frameh cos(ωhT), wherein UhFor the amplitude for injecting high frequency voltage in d axis, ωhFor the frequency for injecting high frequency voltage in d axis, t indicates current time；
Step 2) is to estimation d axis and q shaft voltageWithParker inverse transformation is carried out, is obtained under the static alpha-beta coordinate system of two-phase Voltage uαAnd uβ, then space vector pulse width modulation SVPWM is used to obtain six path switching signals of three-phase inverter, drive permanent magnetism Synchronous motor PMSM, whereinWithInitial value be 0；
Step 3) detects any biphase current in motor three-phase windings A/B/C, first carries out Clarke transform and obtains two-phase Electric current i under static alpha-beta coordinate systemαAnd iβ, estimation d shaft current response is obtained using Park TransformationIt is rung with estimation q shaft current It answers
Step 4) will estimate the response of q shaft currentSelecting frequency by bandpass filter (BPF) is ωhAC compounent, i.e., High fdrequency componentAgain with sinusoidal signal 2sin (ωhT) it is multiplied and is modulated, obtain DC component and frequency is 2 ωhExchange point Amount finally filters out AC compounent by low-pass filter (LPF), extracts DC component, obtains position estimation error information f (Δ θ)。
Step 5) as shown in Fig. 2, by position estimation error information f (Δ θ) withIt is multiplied, whereinJust Initial value is 0；
Step 6) is far below using a cutoff frequencyLPF2 pairs of low-pass filterF (Δ θ) is filtered Wave, whereinInitial value be 0；
Step 7) by filtered signal withIt is multiplied, obtains compensated information fP；
Step 8) is by position estimation error information f (Δ θ) and compensated information fPIt is poor to make, the location estimation mistake that obtains that treated Poor information fc(Δθ)。
Step 9) will treated position estimation error information fcThe input of (Δ θ) as pi regulator, estimation rotor speed DegreeFor the output of pi regulator, to estimation spinner velocityIntegrate the rotor-position estimated
Step 10) is by given rotor speed omega*With estimation spinner velocityDifference be input to der Geschwindigkeitkreis pi regulator, should The output of pi regulator is estimation q shaft current given value
Step 11) will estimate d shaft current given valueIt is set as 0, it respectively will estimation d axis and q shaft current given valueWithWith It is responded by the estimation d axis and q shaft current of low-pass filter (LPF)WithIt is poor to make, and by electric current loop pi regulator, is estimated Count d axis and q shaft voltageWith
Step 12) repeats step 1) to step 11), until motor is out of service.
In order to verify the feasibility of the proposed method of the present invention, tested on the PMSM of a rated power 1.5kW. Attached drawing 3 is given rotating speed when being 120r/min, reality when not using using the mentioned compensation method of the present invention and the compensation method Rotor-position, estimation rotor-position, position estimation error and treated position estimation error information experimental waveform.Comparison can Know, includes apparent 2 order harmonic components, location estimation essence in position estimation error information and position estimation error when uncompensated It spends poor；When having compensation, 2 order harmonic components in position estimation error information and position estimation error are substantially reduced, and position is estimated Meter precision is significantly improved.

Claims (4)

1. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy, which comprises the following steps:
Step A, position estimation error information is obtained using pulsating high frequency signal injection method；
Step B, extracted position estimation error information is modulated, first obtains compensated information, position estimation error is believed It is poor that breath is made with compensated information, the position estimation error information f that obtains that treatedc(Δθ)；
The method for obtaining compensated information is as follows:
Step B.1, by position estimation error information f (Δ θ) withIt is multiplied, whereinFor the rotor-position of estimation, Δ θ For position estimation error；
B.2, using a cutoff frequency step is lower thanLow-pass filter pairIt is filtered, whereinTo estimate spinner velocity；
Step B.3, by filtered signal withIt is multiplied, obtains compensated information fP；
Step C, phaselocked loop is established, position estimation error information is adjusted to 0 by treated, obtains estimation spinner velocity and estimation Rotor-position；
Step D, according to estimation d shaft current given value and estimation d shaft current response, estimation d shaft voltage is obtained；According to estimation q axis Given value of current value and estimation q shaft current response, obtain estimation q shaft voltage；
Step E, step A to step D is repeated, until motor is out of service.
2. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy according to claim 1, feature exist In the step A is specific as follows:
A.1, in the d axis for estimating rotor synchronous rotating frame step injects high-frequency cosine voltage Uhcos(ωhT), wherein UhFor In the amplitude of d axis injection high frequency voltage, ωhFor the frequency for injecting high frequency voltage in d axis, t indicates current time；
Step A.2, to estimation d shaft voltageWith estimation q shaft voltageParker inverse transformation is carried out, the static alpha-beta coordinate of two-phase is obtained Voltage u under systemαAnd uβ, then space vector pulse width modulation is used to obtain six path switching signals of three-phase inverter, driving permanent magnetism is same Walk motor；
Any biphase current of step A.3, in detection motor three-phase windings A/B/C, first it is quiet to obtain two-phase for progress Clarke transform The only electric current i under alpha-beta coordinate systemαAnd iβ, estimation d shaft current response is obtained using Park TransformationWith estimation q shaft current response
A.4, by estimation q shaft current step respondsSelecting frequency by bandpass filter is ωhAC compounent, i.e., high frequency division Amount Again with sinusoidal signal 2sin (ωhT) it is multiplied and is modulated, obtain DC component and frequency is 2 ωhAC compounent, The DC component and AC compounent are finally filtered out into AC compounent by low-pass filter, DC component is extracted, obtains to position and estimate It counts control information f (Δ θ).
3. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy according to claim 1, feature exist In, estimation spinner velocity is obtained in the step C and estimates rotor-position, specific as follows:
Step C.1, will treated position estimation error information fcThe input of (Δ θ) as pi regulator, the output of pi regulator To estimate spinner velocity
Step C.2, to estimation spinner velocityIntegral obtains estimation rotor-position
4. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy according to claim 1, feature exist In the step D is specific as follows:
Step D.1, by given rotor speed omega*With estimation spinner velocityDifference be input to der Geschwindigkeitkreis pi regulator, the PI tune The output for saving device is estimation q shaft current given value
Step D.2, will estimate d shaft current given valueIt is set as 0, will estimate d shaft current given valueWith process low-pass filter Estimate the response of d shaft currentMake result, the estimation q shaft current given value of differenceIt is rung with by the estimation q shaft current of low-pass filter It answersThe result for making difference passes through electric current loop pi regulator, obtains estimation d shaft voltageWith estimation q shaft voltage
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