CN106911280B - Permanent-magnetism linear motor method for controlling position-less sensor based on novel disturbance observer - Google Patents
Permanent-magnetism linear motor method for controlling position-less sensor based on novel disturbance observer Download PDFInfo
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
Abstract
The invention discloses a kind of permanent-magnetism linear motor method for controlling position-less sensor based on novel disturbance observer.It is reconstruct target with the voltage equation under permanent-magnetism linear motor rest frame, devises novel disturbance observer, disturbance observer input is the voltage u under rest frameα、uβWith electric current iα、iβ, export as the back-emf estimated value under rest frameThen willPhase-locked loop structures are sent into, position and speed information can be solved；Novel disturbance observer anti-interference ability with higher, when more can accurately estimating position and speed information there are under high and low frequency disturbed condition.It is injected based on the method for controlling position-less sensor of novel disturbance observer without signal, avoids filter use, there is high-precision and response speed, it is ensured that the stable operation of permanent-magnetism linear motor position-sensor-free.
Description
Technical field
The present invention relates to a kind of position-sensorless control methods of permanent magnet linear motor.Suitable for rail traffic, aerospace, number
Control lathe, logistics transportation isoline motor position sensor expend great amount of cost, can not install or the case where poor reliability.
Background technique
The advantages of permanent-magnetism linear motor is simple with its structure, high efficiency, high thrust receives more and more applications and closes
Note, having a extensive future especially in rail traffic, linear motor basic principle is identical with rotating electric machine, only structure and
Rotating electric machine is different.New application field has been expanded in the transformation of structure, while linear motor and rotating electric machine are respectively peculiar with it
The advantages of meet society it is different the needs of.However, the use of permanent-magnetism linear motor often needs cooperation position sensor, and position passes
Sensor one side Expenses Cost is big, and the problems such as installation, maintenance also results in inconvenience, can under the adverse circumstances such as hot humid
It is low by property.The position-sensor-free operation of permanent-magnetism linear motor can effectively solve the problems, such as this, to widen permanent-magnetism linear motor
Using significant.
The method of the position-sensor-free operation reserve of current scientific research personnel's research can be divided into three classes: 1, being based on salient pole or full
With the signal injection method of salient pole；2, based on the fundamental Wave Analysis of electromagnetic equation；3, intelligent algorithm.Wherein, signal injection method is suitable for
It is used under low speed and zero-speed, fundamental Wave Analysis is suitable for using in high speed more.Nothing based on novel disturbance observer
Position sensor operation reserve is subordinated to fundamental Wave Analysis, is reconstruct object with the voltage equation of motor.Novel disturbance observer
Meet position-sensor-free operation reserve location estimation with the advantages that precision height, response is fast, and parameter is flexible, strong antijamming capability
In high precision, rapid convergence, the requirement of stiff stability.
Summary of the invention
The purpose of the present invention is the novel disturbance observers of design accurately, rapidly estimates location information, and to high frequency
Interference and DC influence have compared with strong anti-interference ability, high-precision location information are finally fed back to controller, to control electricity
Machine reliability service, the position estimation module based on disturbance observer replace position sensor, thus solve position sensor its
The problems such as at high cost, adverse circumstances poor reliability, big extensive enforcement difficulty when use.
The technical solution adopted by the present invention is that: a kind of permanent-magnetism linear motor position sensorless based on novel disturbance observer
Steps are as follows for device control method:
Step 1, the detection and calculating of electric current and voltage: the three-phase current i of permanent-magnetism linear motor is detecteda, ib, ic, and pass through
3s/2s (Clark) transformation obtains electric current i under two-phase stationary coordinate systemαAnd iβ.The voltage and three-phase duty ratio of DC power supply are detected,
Electric current u under two-phase stationary coordinate system is converted to obtain through 3s/2s (Clark)αAnd uβ。
Step 2, the starting of permanent-magnetism linear motor: two switches are placed in 1 contact, and system is in startup stage.Under this stage, letter
Number generator gives the angle of constant frequency, uses for coordinate transform.iαAnd iβTwo-phase rotation is obtained through 2s/2r (Park) transformation again
Turn the electric current i under coordinate systemdAnd iq。idReference value is 0, iqReference value be an appropriate positive value, respectively with the i of feedbackd, iqIt makes the difference,
By PI controller output reference voltage ud, uq。ud, uqBy 2r/2s (Park-1) u is obtained after coordinate transformα, uβReference value,
Final output SVPWM wave drives electric mover movement.
Step 3, the observation of back-emf: i is takenα、iβ；DC bus-bar voltage and three-phase duty ratio is taken to solve to obtain uα、uβ, newly
Type disturbance observer estimates the back-emf e under rest frameα, eβ；
Step 4, the calculating of estimated location and speed: eα, eβIt is sent into phase-locked loop module and solves estimating speed, it is anti-with estimation
The phase of potential, compensating module is to output estimation position after phase compensation.
Step 5, electric machine without position sensor controls lower speed governing operation: two switchings are placed in 2 contacts, and system is in speed regulation
Stage.Reference velocity makes the difference with estimating speed under the operating mode, obtains i through PI controllerqReference value；I is setdReference value is
0。id, iqReference value makes the difference with value of feedback respectively, by PI controller output reference voltage ud, uq。ud, uqAfter coordinate transform
Obtain uα, uβ, the drive electric mover movement of final output SVPWM wave, the speed regulation stage, which can pass through, changes reference velocity progress motor tune
Speed.
Further, in the step 2, the starting of permanent-magnetism linear motor: two switches are placed in 1 contact, and system is in starting rank
Section, function generator generate the given angle of fixed frequency.At this point, setting iq* it is a certain appropriate positive number, sets idIt * is zero.
Under above situation, der Geschwindigkeitkreis is shielded, and the coordinate transform angle of electric current loop is provided by given angle.In this way, producing rotation
iq, and because control id=0, thus electric current be etc. amplitudes isogonism frequency rotation vector, show as inducing in linear motor
The magnetic field of speed translation, mover stress in changing magnetic field, final mover can progressively reach a certain speed from static.Wherein,
iq* selection is particularly important.If iq* value choose it is too small, may cause starting thrust it is inadequate, mover can not move；If iq* value choosing
Take excessive, it is excessive to will lead to electric current, may endanger winding and permanent magnet.iq* it should be chosen for being suitble to what is started under given angle to use up
It may small value.
Further, novel disturbance observer in the step 3: in novel disturbance observer, G0、G1For proportional-plus-integral knot
Structure, L, R are formal variable, no actual physical meaning.Transmission function between disturbance observer disturbance quantity and input are as follows:
Work as G1, G2Meet
G1=-(Ls+R) G2
Transmission function between disturbance observer disturbance quantity and input is that can write
According to the transmission function between disturbance observer disturbance quantity and input it is found that working as a certain variable y and u1, u2In the presence of
Y=u1-(Ls+R)u2
Novel disturbance observer can be used for estimating this variable y, and estimated transfer function is
G need to be only set0、G1Parameter can be changed this transmission function, zero pole point tune it is whole flexibly.
Further, novel disturbance observer is estimated for back-emf in the step 3: for permanent-magnetism linear motor, voltage
Equation is as follows
es=us-(Ls+R)is
Subscript " s " alternatively indicates the component of α or β under corresponding rest frame at " α " or " β "；L indicates inductance, R table
Show resistance.The back-emf of permanent-magnetism linear motor can be estimated by novel disturbance observer.With voltage us, electric current isFor input, anti-electricity
Gesture esIt for disturbance, is applied in disturbance observer, is by disturbance estimatorOutput.G0、G1For Proportion and Integration Structure, G2Parameter needs
With G1It is equipped with.
G0, G1It is defined as
And G1, G2Meet
G1=-(Ls+R) G2
Take k0p=R- (ω2+ω3) L, k0i=-ω2ω3L, k1p=-R, k1i=(ω2-ω1)ω3L can be obtained
Wherein, ω1、ω2、ω3For observer parameter, and meet ω3>>ω2>>ω1≧0.Novel disturbance observer has
The effect of bandpass filter has certain ability for inhibiting input signal medium-high frequency and DC influence.It can be more accurate and fast
The back-emf of speed estimated under rest frame, has ensured the estimation effect of Position And Velocity information.
Further, the estimated location in the step 4 and compensating module in speed calculating: propose that the disturbance of observer is estimated
There are following relationships with true disturbance quantity for amount
Its phase-frequency characteristic are as follows:
Therefore there are following relationships between estimation back-emf and true back-emf phase:
The back-emf of observer estimation differs a phase bit with true value, this phase difference and observer parameter and back-emf are sweared
The angular speed of angulation is related.Therefore, the angular speed by phaselocked loop output is sent into phase compensation link, corrects observer bring phase
Position influence.And the setting according to cutoff frequency in actual use, the value of first item are often much smaller than Section 2, therefore compensation rate is
The invention has the following advantages:
1) position estimation module of the present invention to be constructed in software, instead of the use of the position sensor in hardware, section
About cost and simplify the structure of hardware system.The advantages of combining with vector control technology, combining the two, breaches one
The drawbacks of serial position sensor uses, has widened the application field of permanent magnet linear motor.
2) present invention is directed to the position Sensorless Control based on back-emf method, is difficult to the feelings worked normally under zero-speed
Condition enables motor to start in the case where no position sensor using new starting method.In conjunction with location-estimation algorithm
So that motor has starting, speed-regulating function.
3) present invention estimated location information in a manner of observer, avoids using filter, therefore possess broader bandwidth
And stability.
4) disturbance observer in position estimation module has new structure, greatly improves the inhibition energy to low-frequency disturbance
Power, with high-precision and high response speed, so that the permanent-magnetism linear motor position Sensorless Control based on this observer
It is more stable reliable.
5) the present disclosure applies equally to other straight lines or the permanent magnet type synchronous motors of rotational structure.
Detailed description of the invention
Fig. 1 is the permanent-magnetism linear motor position Sensorless Control schematic diagram based on novel disturbance observer；
Fig. 2 is novel disturbance observer structure chart；
Fig. 3 is the novel disturbance observer structure chart for observing back-emf；
Fig. 4 is phase-locked loop structures figure
Fig. 5 is the position estimation module structure chart based on phaselocked loop shown in observer, Fig. 4 shown in Fig. 3；
Counter potential waveform figure is estimated when Fig. 6 is motor speed-changing operation
Estimating speed and actual speed comparison diagram when Fig. 7 is motor speed-changing operation；
Speed estimation error figure when Fig. 8 is motor speed-changing operation；
Estimated location and physical location comparison diagram when Fig. 9 is motor speed-changing operation；
Position estimation error figure when Figure 10 is motor speed-changing operation；
Specific embodiment
A specific embodiment of the invention is further illustrated with reference to the accompanying drawing.
Step 1: the detection and calculating of electric current and voltage
Detect the three-phase current i of permanent-magnetism linear motora, ib, ic, and to obtain two-phase static by 3s/2s (Clark) transformation
Electric current i under coordinate systemαAnd iβ.Detect DC power supply voltage and three-phase duty ratio, through 3s/2s (Clark) convert two-phase is static
Electric current u under coordinate systemαAnd uβ.Calculation method is as follows,
Wherein Sa, Sb, Sc are the duty ratio of controller output, UdcFor d-c bus voltage value.
Step 2, the starting of permanent-magnetism linear motor:
Two switches are first placed in 1 contact, motor operation is in startup stage.Constant frequency rate f is issued by function generatorrefGive
Determine angle, takes f in realityref=10Hz.iαAnd iβThe electric current i under two-phase rotating coordinate system is obtained through 2s/2r (Park) transformationdWith
iq.Take iqIt * is an appropriate positive value, idIt * is zero.id、iqRespectively with reference value id*、iq* it makes the difference, is disappeared by PI controller
Except the u of deviationd, uq。ud, uq2r/2s (Park is with the angle that function generator gives-1) transformation obtain uα, uβReference value.Again
The switching signal of control inverter is obtained through space vector modulation module, machine winding is connected by inverter with power supply.Motor
Winding is connected with power supply, and the electric current of generation induces magnetic field, interacts with the magnetic field of permanent magnet induction, produces thrust, open
When pass is placed in 1 contact, id, iqControl is constant, i.e., current phasor such as is at the rotation of amplitudes isogonism frequency, so winding current sense
The magnetic field answered at the uniform velocity is advanced, and the permanent magnet of mover stress in this magnetic field from static progressivelyes reach certain speed.
Wherein, iq* selection is particularly important.If iq* value choose it is smaller, may cause starting thrust it is inadequate, mover can not be transported
It is dynamic；If iq* value is chosen excessive, and it is excessive to will lead to electric current, endangers winding and permanent magnet.Permanent-magnetism linear motor used in this example is specified
Electric current is 5A, takes i in realityq*=4A.
Step 3, the observation of back-emf:
The core of novel disturbance observer estimation back-emf is the voltage equation under permanent-magnetism linear motor rest frame:
Wherein R is armature internal resistance, and ω is back-emf angular speed, θeFor back-emf azimuth, ψfFor permanent magnet flux linkage amplitude,
Lα、LβFor armature inductance rest frame component.
Voltage equation meaning under permanent-magnetism linear motor rest frame is that voltage is divided into three parts: 1, armature winding is interior
Resistance partial pressure；2, the partial pressure of inductance；3, the back-emf that permanent magnet induces.Wherein Part III voltage, i.e. permanent magnet induce
Back-emf is determined by three kinds of factors: the magnetic field speed omega that a, winding cutting permanent magnet incude；B, the magnetic linkage size ψ of permanent magnetf；c,
Position θ where permanent magnete.Permanent magnet position is to provide coordinate transform, velocity feedback in motor vector control system
Important information.Position estimation module based on Based on Back-EMF Method is all based on greatly voltage equation, acquires the anti-electricity under rest frame
Gesture handles to obtain the location information of permanent magnet using phaselocked loop.Back-emf expression formula under rest frame is as follows
With voltage us, electric current isFor input, back-emf esIt for disturbance, is applied in novel disturbance observer, disturbance is estimated
Amount isOutput.The schematic diagram of novel disturbance observer is as shown in figure 3, G0、G1For Proportion and Integration Structure, G2Parameter needs and G1Cooperation
Setting.Wherein G0, G1It is defined as
The transmission function of novel disturbance observer is
When there are relationships
G1=-(Ls+R) G2
And the voltage equation of simultaneous permanent-magnetism linear motor
E=Us-(Ls+R)is
It can obtain
Take k0p=R- (ω2+ω3) L, k0i=-ω2ω3L, k1p=-R, k1i=(ω2-ω1)ω3L, above formula can be written as
When meeting ω3>>ω2>>ω1≤ 0, novel disturbance observer has the effect of bandpass filter, can inhibit high frequency
With the interference of direct current.
Target component is set as ω in this example1=0.25, ω2=10, ω3=800.Model machine parameter R=1.25 Ω, L=
0.085H is it is known that according to relationship k0p=R- (ω2+ω3) L, k0i=-ω2ω3L, k1p=-R, k1i=(ω2-ω1)ω3L, can be with
Determine G0、G1The value of each parameter, and then according to G1With G2Relationship determine G2The value of each parameter.
The difference for defining estimated value back-emf and true back-emf is evaluated error ed, i.e.,
Work as t0Moment meets
When δ is a lesser positive real number, and ω3>>ω2>>ω1≤ 0, the second order error differential equation can be obtained
It solves
Wherein A, B are constant, are known by above formula, in t → ∞, ed=0.Prove that novel disturbance observer is convergent.
Step 4, the calculating of estimated location and speed:
eα, eβEstimated value input phaselocked loop smooth location information and position differential information can be obtained.Phase-locked loop structures are such as
It is to input with angle shown in Fig. 4, the differential of angle and angle is output, has rapid convergence, and high-precision advantage has concurrently certain
Degree goes noise wave removing effect, and for the angle of output almost without difference, speed burr is small.
Width phase-frequency characteristic according to observer known to the transmission function of observer are as follows:
Therefore there are following relationships between estimation back-emf and true back-emf amplitude and phase:
The back-emf of observer estimation differs certain multiple relationship with true value amplitude, but due to the equal ratios of two component amplitudes
The angle of example scaling not impact vector, therefore influence of the observer to amplitude can not considered.Observer estimation back-emf with
True value differs certain angle, this angle is related with the angular speed of observer parameter and back-emf azimuth.Therefore, by phaselocked loop
The angular speed of output is sent into angle compensation link, and amendment observer bring angle influences.Observer has the effect of band logical, also
It can be equivalent to being used in series for high pass link and low pass link, i.e.,
There are following relationships for the frequency for disturbing the phase offset and disturbance quantity of estimating flow function of observer
Therefore, need to by disturbance quantity angular frequency estimated value substitution formula to compensate.And according to cutoff frequency in actual use
Setting, first item is often much smaller than Section 2, therefore compensation rate is
Fig. 5 is the position estimation module based on Type New Observer and phaselocked loop.The back-emf azimuth speed of phaselocked loop output
It spends compensated link and obtains compensation angle θcom, subtract each other with the back-emf azimuth θ of phaselocked loop output as the defeated of position estimation module
θ oute.According to the v=ω π of τ/2, mover speed v is sought by back-emf vector angular velocity omega.
Phaselocked loop PI link parameter takes PPL-kp=70, PPL-ki=500 in present example.
Step 5, electric machine without position sensor controls lower speed governing operation:
After speed is relatively stable, two switches are placed in 2 contacts, motor operation is in the speed regulation stage.By position estimation module
Position and speed, i are provideddIt * is still zero, iq* it is obtained by the deviation of reference velocity v* and estimating speed v through PI controller.Electric current passes
The three-phase current i of sensor feedbacka, ib, icConvert to obtain the electric current i under rest frame through Clarkα, iβ。iα, iβEstimated with position
The angle of meter module estimation does Park transformation, obtains id, iq。id、iqRespectively with reference value id*、iq* it makes the difference, by PI controller
The u for the deviation that is eliminatedd, uq。ud, uqAnti- Park is with the angle that position estimation module is estimated to convert to obtain uα, uβ。uα, uβIt is logical
It crosses space vector modulation module and obtains the switching signal of control inverter, machine winding is connected by inverter with power supply.Motor
Winding is connected with power supply, and the electric current of generation induces magnetic field, interacts with the magnetic field of permanent magnet induction, produces thrust, open
Pass is placed in 2 contacts, idFor constant, due to the output i of speed ringqIt * is variate, therefore iqFor variate, compared with startup stage, electricity
Stream is no longer the vector of the frequencies variation such as permanent amplitude, and magnetic field is no longer the magnetic field at the uniform velocity advanced.But finally it is presented as that winding produces
The thrust size of magnetisation field and the deviation of speed are related, when feedback speed is greater than reference velocity, reduction thrust；Conversely, when feedback
Speed is less than reference velocity, increases thrust.Make motor operation under reference velocity by the method, it can also be by changing with reference to speed
Degree makes electric machine speed regulation.
Based on novel disturbance observer permanent-magnetism linear motor position-sensor-free operation, t ∈ [0,0.01) switch be placed in 1
Contact is startup stage；T ∈ [0.01,1] switch is placed in 2 contacts, to adjust the speed the stage.Reference velocity is set as [0,0.5] section
Interior variate, and the shock load in 0.8s.Wherein, absolute fix and speed are not involved in motor control, are used only to and estimate
Value compares, and examines estimated accuracy.
Counter potential waveform figure is estimated when Fig. 6 is motor speed-changing operation, two-phase sine degree of back electromotive force is higher under rest frame,
Amplitude is identical, phase mutual deviation pi/2.And back-emf amplitude is with motor speed direct proportionality.
Estimating speed and actual speed comparison diagram, the two registration are higher when Fig. 7 is motor speed-changing operation.True velocity energy
Reach reference velocity in finite time, speed is obeyed given after varying load.This figure is illustrated based on novel disturbance observer
The operation of permanent-magnetism linear motor position-sensor-free has preferable speed regulation capacity.
Speed estimation error figure when Fig. 8 is motor speed-changing operation, for quantitative description velocity estimation accuracy, evaluated error exists
Within the scope of ± 0.01m/s, velocity estimation accuracy is higher.
Estimated location and physical location comparison diagram, the two registration are higher when Fig. 9 is motor speed-changing operation
Position estimation error figure when Figure 10 is motor speed-changing operation, evaluated error is within the scope of ± 5 °, position estimation accuracy
It is higher.
It should be understood that above-mentioned example of applying is only illustrative of the invention and is not intended to limit the scope of the invention, the present invention is being read
Later, it is as defined in the appended claims to fall within the application to the modification of various equivalent forms of the invention by those skilled in the art
Range.
Claims (4)
1. a kind of permanent-magnetism linear motor method for controlling position-less sensor based on disturbance observer, which is characterized in that including such as
Lower step:
Step 1, the detection and calculating of electric current and voltage: the three-phase current i of permanent-magnetism linear motor is detecteda, ib, ic, and pass through 3s/
2s Clark converts to obtain electric current i under two-phase stationary coordinate systemαAnd iβ, direct current power source voltage and three-phase duty ratio are detected, through 3s/
2s Clark converts to obtain voltage u under two-phase stationary coordinate systemαAnd uβ；
Step 2, the starting of permanent-magnetism linear motor: two switches are placed in 1 contact, and system be in startup stage, and under this stage, function is sent out
Raw device gives the angle of constant frequency, uses for coordinate transform, iαAnd iβIt converts to obtain two-phase rotating coordinate system through 2s/2r Park
Under electric current idAnd iq；idReference value is 0, iqReference value be an appropriate positive value, respectively with the i of feedbackd, iqIt makes the difference, is controlled by PI
Device output reference voltage u processedd, uq；ud, uqBy 2r/2s Park-1U is obtained after coordinate transformα, uβReference value, final output
SVPWM wave drives electric mover movement；
Step 3, the observation of back-emf: i is takenα、iβ；DC bus-bar voltage and three-phase duty ratio is taken to solve to obtain uα、uβ, disturbance observation
Device estimates the back-emf under rest frame
Step 4, the calculating of estimated location and speed:It is sent into phase-locked loop module and solves estimating speed, with estimation back-emf
Phase, compensating module is to output estimation position after phase compensation；
Step 5, electric machine without position sensor controls lower speed governing operation: two switchings are placed in 2 contacts, and system is in speed regulation rank
Section, reference velocity makes the difference with estimating speed under the operating mode, obtains i through PI controllerqReference value；I is setdReference value is 0,
id, iqReference value makes the difference with value of feedback respectively, by PI controller output reference voltage ud, uq, ud, uqAfter coordinate transform
To uα, uβ, the drive electric mover movement of final output SVPWM wave, the speed regulation stage, which can pass through, changes reference velocity progress electric machine speed regulation；
The design of disturbance observer is as follows in the step 3:
Transmission function between disturbance observer disturbance quantity and input are as follows:
Wherein, G0、G1For proportional-plus-integral structure, L is inductance, R is resistance；Work as G1, G2Meet
G1=-(Ls+R) G2
Transmission function between disturbance observer disturbance quantity and input is that can write
According to the transmission function between disturbance observer disturbance quantity and input it is found that working as a certain variable y and u1, u2In the presence of
Y=u1-(Ls+R)u2
Disturbance observer can be used for estimating this variable y, and estimated transfer function is
G need to be only set0、G1Parameter can be changed this transmission function, flexibly adjustment zero pole point.
2. the permanent-magnetism linear motor method for controlling position-less sensor according to claim 1 based on disturbance observer,
It is characterized in that: in the start-up course of the step 2:
Two switches are placed in 1 contact, and system is in startup stage, and function generator generates the given angle of fixed frequency；At this point, setting
Determine iq* it is a certain appropriate positive number, sets idIt * is zero；Under above situation, der Geschwindigkeitkreis is shielded, the coordinate transform angle of electric current loop
It is provided by given angle；So produce the i of rotationq, and because control id=0, thus electric current be etc. amplitudes isogonism frequency rotation
Vector shows as the magnetic field for inducing uniform velocity translation, mover stress in changing magnetic field, final mover in linear motor
A certain speed can be progressivelyed reach from static；The iq* the value as small as possible for being suitble to start under given angle should be chosen for.
3. the permanent-magnetism linear motor method for controlling position-less sensor according to claim 1 based on disturbance observer,
Be characterized in that: disturbance observer estimates the back-emf under rest frame in the step 3 are as follows:
For permanent-magnetism linear motor, voltage equation is as follows
es=us-(Ls+R)is
Subscript " s " alternatively indicates the component of α or β under corresponding rest frame at " α " or " β "；L indicates that inductance, R indicate electricity
Resistance；Estimate the back-emf of permanent-magnetism linear motor, by disturbance observer with voltage us, electric current isFor input, back-emf esTo disturb
It is dynamic, it is applied in disturbance observer, estimator ê will be disturbedsIt exports, in disturbance observer, G0、G1For Proportion and Integration Structure, G2Ginseng
Number needs and G1It is equipped with；
G0, G1It is defined as
And G1, G2Meet
G1=-(Ls+R) G2
Take k0p=R- (ω2+ω3) L, k0i=-ω2ω3L, k1p=-R, k1i=(ω2-ω1)ω3L can be obtained
Wherein, ω1、ω2、ω3For observer parameter, and meet ω3>>ω2>>ω1≧0。
4. the permanent-magnetism linear motor method for controlling position-less sensor according to claim 1 based on disturbance observer,
Be characterized in that: during estimated location and speed in the step 4 calculate, the disturbance estimator and true disturbance quantity of observer exist
Following relationship
Wherein ω1、ω2、ω3For observer parameter, phase-frequency characteristic are as follows:
Therefore there are following relationships between estimation back-emf and true back-emf phase:
The back-emf of observer estimation differs a phase bit with true value, this phase difference and observer parameter and back-emf azimuth
Angular speed it is related；Therefore, the angular speed by phaselocked loop output is sent into phase compensation link, corrects observer bring phase shadow
It rings；And the setting according to cutoff frequency in actual use, the value of first item are often much smaller than Section 2, therefore compensation rate is
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