CN106961234A - Become the three-level electric excitation type brushless synchronous machine rotor position estimation method of salient pole nature - Google Patents
Become the three-level electric excitation type brushless synchronous machine rotor position estimation method of salient pole nature Download PDFInfo
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Abstract
The present invention relates to a kind of three-level electric excitation type brushless synchronous machine rotor position estimation method for becoming salient pole nature, it is the three-level electric excitation type brushless synchronous machine rotor position estimation method of the change salient pole nature based on different frequency high frequency electrocardiography, it is a kind of rotation square wave that different frequency is injected in main generator unit stator winding, the position estimation method of the high frequency response current signal containing main generator rotor positional information is detected in exciter stator side.Three-level formula motor position evaluation method of the present invention has advantages below：1) electric excitation type motor is regarded as rotary transformer, input of the motor stator and rotor winding equivalent to transformer and output winding, the characteristic for making full use of the mutual inductance between main generator armature winding and Exciting Windings for Transverse Differential Protection to change with rotor-position, avoid being influenceed by the saliency change of main generator, there is more universal applicability to winding motor；2).Solution process is relatively easy and estimation precision is higher.
Description
Technical field
The invention belongs to variable frequency ac drive control technology field, be related to a kind of three-level electric excitation type for becoming salient pole nature without
Brush synchronous motor rotor position evaluation method.
Background technology
Starting/generating integrated system can save special starter mechanism, effectively reduce aircraft weight.Three-level electric excitation type
Brushless synchronous machine (hereinafter referred to as three-level formula motor) is as the generator commonly used in current aircraft AC electrical power generating systems, due to knot
Constitute ripe, reliability high, favored by starting/generating integrated technical research personnel.In starting process, rotor-position
Accurate obtain is key of the three-level formula motor as motor run engine successful ignition.Aeronautical environment complicated and changeable makes tradition
The use of mechanical position sensor is restricted, and needs certain maintenance cost.Therefore need without mechanical position sensing
Under conditions of device, carry out the research of the accurate estimating techniques of three-level formula motor rotor position.
Three-level formula motor is mainly made up of main generator, exciter, permanent magnetic motor and the part of rotating rectifier four, airborne power supply
Powered to exciter stator, the rotated rectifier of the three-phase electricity now sensed on exciter rotor provides excitation electricity to main generator
Stream, permanent magnetic motor is not involved in starting process.Three-level formula electric machine structure figure such as Fig. 1 institutes when exciter stator uses two-phase winding construction
Show.
Because aero-engine load characteristic is complicated, main generator excitation electric current and armature supply have larger in starting process
Change, the change of above-mentioned electric current causes main generator inductance parameters to change greatly so that the salient pole nature of main generator occurs
Significant changes.Traditional motor rotor position estimation method is based primarily upon the salient pole nature of motor, is generally noted in motor stator side
Enter rotational voltage, square-wave voltage of high frequency etc., then detect stator current, by a series of demodulation with being obtained after filtering process
Rotor-position signal.
The particularity of three-level formula motor body structure causes its machinery and electromagnetic coupled than more serious, and starting process is convex in addition
Significantly, this results in traditional rotor position estimation method accurate position estimation of three-level formula motor relatively difficult to achieve to change in polarity.
The content of the invention
The technical problem to be solved
In order to avoid in place of the deficiencies in the prior art, the present invention proposes that a kind of three-level electric excitation type for becoming salient pole nature is brushless
Synchronous motor rotor position evaluation method, solves current rotor position estimation method three-level formula motor exact position relatively difficult to achieve and estimates
The problem of calculation.By injecting the high-frequency square-wave signal of different frequency to main generator unit stator, extracted in exciter stator current
The method of main hair rotor-position signal, salient pole nature of this method independent of main generator, solution process is fairly simple, rotor
Position estimation precision is higher.
Technical scheme
A kind of three-level electric excitation type brushless synchronous machine rotor position estimation method for becoming salient pole nature, it is characterised in that step
It is rapid as follows：
Step 1：To applying excitation voltage on the stator winding of exciter, the exciter stator winding is two-phase excitation knot
Structure；
Step 2：Apply high-frequency voltage signal U on main generator unit stator three-phase windingsAh(t)、UBh(t)、UCh(t)；It is described
High-frequency voltage signal is by amplitude is identical under α β coordinate systems, frequency is different high frequency square wave voltage Uαh(t)、Uβh(t) it is anti-through CLARK
It is converted under abc coordinate systems and obtains；
It is described
Wherein：Tαh、TβhFor the high frequency voltage cycle of main generator α axles and β axles under correspondence α β coordinate systems；
Step 3：Three-level formula motor is started under given rotating speed, and in exciter stator side, detection obtains two-phase stator current iα
And iβ, try to achieve current phasor IsAmplitude
Step 4, extraction IsIn two kinds of frequencies high frequency response signal：
4.1) it is T to extract voltage cycle using bandpass filterαhHigh frequency square wave voltage on exciter stator winding
High frequency response signal iαh, iαhEnvelope be the SIN function relevant with main generator rotor position；
4.2) it is T to extract voltage cycle using bandpass filterβhHigh frequency square wave voltage on exciter stator winding
High frequency response signal iβh, iβhEnvelope be the cosine function related to main generator rotor position；
Step 5, the envelope for extracting high-frequency signal：
5.1) it is T in the cycleαhThe rising edge and trailing edge of square-wave signal extract iαhValue, i is designated as respectivelyαh(m-1)、iαh
(m+1) i, is obtainedαhEnvelope iα_h=(iαh(m-1)-iαh(m+1))/2；
5.2) it is T in the cycleβhThe rising edge and trailing edge of square-wave signal extract iβhValue, i is designated as respectivelyβh(m-1)、iβh
(m+1) i, is obtainedβhEnvelope iβ_h=(iβh(m-1)-iβh(m+1))/2；
Step 6：Calculate impedance value Z of two high-frequency signals on transfer circuitαh≈(R+j2πfαhL), Zβh≈(R+j2π
fβhL), wherein R is d axle equivalent circuit all-in resistances under dq coordinate systems, and L is d axle equivalent circuit total inductance average values under dq coordinate systems,
fαh=1/Tαh、fβh=1/TβhFor the frequency of corresponding high-frequency signal；
Step 7：Calculate the impedance ratio k=Z under α, β axle high-frequency signalαh/Zβh, with this impedance ratio k to iα_hCarry out amplitude change
Change, make envelope amplitude and i after conversionβ_hIt is identical：That is kIα_h_m=Iβ_h_m, wherein Iα_h_m、Iβ_h_mRespectively α and β axles envelope
Wire spoke value；
Step 8：The use of arctan function is to obtain position signalling θ=arctan (i with rotor-position linear correlationα_h/
(kiβ_h)) or θ=arctan ((kiα_h)/iβ_h)；
Calculate θr=θ+θ (n), obtain main generator rotor position θr, wherein, θ (n) is due to rotating rectifier and filtering
The estimation error that device is brought, with rotating speed positive correlation, can obtain θ (n) detailed expressions, n is motor speed by off-line test, single
Position is r/min.
When exciter stator is three-phase windings structure in step 1, exciter three-phase excitation current i is first detectedA、iB、iC,
To iA、iB、iCCarry out CLARK conversion and obtain equivalent two-phase excitation electric current iα、iβ, then carry out step 3 and its subsequent step.
Beneficial effect
A kind of three-level electric excitation type brushless synchronous machine rotor position estimation method for becoming salient pole nature proposed by the present invention,
It is the three-level electric excitation type brushless synchronous machine rotor position estimation of the change salient pole nature based on different frequency high frequency electrocardiography
Method, is a kind of rotation square wave that different frequency is injected in main generator unit stator winding, in exciter stator side, detection contains master
The position estimation method of the high frequency response current signal of generator rotor position information.
Three-level formula motor position evaluation method of the present invention has advantages below：1) electric excitation type motor is regarded as rotation
Change depressor, input of the motor stator and rotor winding equivalent to transformer and output winding, make full use of main generator armature winding
The characteristic that mutual inductance between Exciting Windings for Transverse Differential Protection changes with rotor-position, it is to avoid influenceed by the saliency change of main generator, opposing connection
Wire type motor has more universal applicability；2).Solution process is relatively easy and estimation precision is higher.
Brief description of the drawings
Fig. 1：Three-level formula electric machine structure figure
Fig. 2：Exciter stator current waveform after high frequency electrocardiography
Fig. 3：Current responsing signal waveform of the main generator alpha phase high frequency voltages on exciter
Fig. 4：Current responsing signal waveform of the main generator beta phase high frequency voltages on exciter
Fig. 5：The main generator injection high-frequency signal response envelope that exciter stator current is extracted
Fig. 6：Estimated position and physical location comparison diagram
Fig. 7：Estimated position and deviations of actual position curve
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
What embodiment was included comprises the following steps that：
Step 1：The exciter of three-level formula motor used is two-phase excitation structure, identical to exciter application amplitude, frequency,
Initial phase differs the alternating current of 90 ° of electric angles, and its amplitude is 80V, and frequency is 200Hz；
Step 2：High frequency square wave voltage under main generator α β coordinate systems, its amplitude is 10V, and α shaft voltages frequency is 2kHz,
β shaft voltages frequency is 1kHz, the high frequency voltage for obtaining being applied directly on main generator unit stator three-phase windings through CLARK inverse transformations
Signal UAh(t)、UBh(t)、UCh(t), Uαh(t)、Uβh(t) it is as follows：
Correspondence Tαh=0.0005s, Tβh=0.001s.
Step 3：Given rotating speed scope is [0,400rpm], starts three-level formula motor, and two-phase is detected in exciter stator side
Stator current iα、iβ, ask for current phasor IsAmplitude
Step 4：Extract IsIn two kinds of frequencies high frequency response signal, it is specific as follows：
4.1) it is T to extract voltage cycle using bandpass filterαh=0.0005s high frequency square wave voltage is in exciter stator
High frequency response signal i on windingαh, bandpass filter band used is a width of [1950Hz, 2050Hz]；
4.2) it is T to extract voltage cycle using bandpass filterβh=0.001s high frequency square wave voltage is in exciter stator
High frequency response signal i on windingβh, bandpass filter band used is a width of [950Hz, 1050Hz].
Step 5：The envelope of high-frequency signal is extracted, it is specific as follows：
5.1) it is T in the cycleαhThe rising edge and trailing edge of square-wave signal extract iαhValue, i is designated as respectivelyαh(m-1)、iαh
(m+1) i, is obtainedαhEnvelope iα_h=(iαh(m-1)-iαh(m+1))/2；
5.2) it is T in the cycleβhThe rising edge and trailing edge of square-wave signal extract iβhValue, i is designated as respectivelyβh(m-1)、iβh
(m+1) i, is obtainedβhEnvelope iβ_h=(iβh(m-1)-iβh(m+1))/2；
Step 6：According to three-level formula motor inductances, resistance parameter, R=2.68 Ω, L=0.01228H are tried to achieve, and then obtain
Impedance value Z of two kinds of high-frequency signals on transfer circuitαh≈ 154.34, Zβh≈77.22。
Step 7：Calculate the impedance ratio k=Z under injection high-frequency signalαh/Zβh=0.50, using impedance ratio k to any envelope
Line carries out amplitude transformation, makes the envelope amplitude after conversion identical, i.e. 0.50Iα_h_m=Iβ_h_m, wherein Iα_h_m、Iβ_h_mRespectively
Envelope iα_h、iβ_hAmplitude (if k=Zβh/Zαh, then have Iα_h_m=kIβ_h_m)。
Step 8：The use of arctan function is that can obtain the position signalling θ with rotor-position linear correlation, wherein θ=
arctan(iα_h/(kiβ_h)) (or θ=arctan ((kiα_h)/iβ_h)).And then can main generator rotor positionr=θ+θ
(n) position estimation deviation θ (n)=0.00n1 (rad) that rotating rectifier and wave filter are brought, is obtained by off-line test, n is
Motor speed (r/min).
If exciter stator uses in three-phase windings structure, step 1 and first detects exciter three-phase excitation current iA、iB、
iC, two-phase excitation electric current i is converted to after being converted through CLARKα、iβ, then carry out step 3 and its subsequent step.
Fig. 4 is estimated position and physical location comparison diagram in this example, and as can be seen from the figure estimated position is more accurate.
Fig. 5 is estimated position and deviations of actual position curve in this example, and as can be seen from the figure motor rotor position is estimated
Calculate error basic within 0.1rad, position accuracy demand when meeting electric motor starting under actual conditions.
Claims (2)
1. a kind of three-level electric excitation type brushless synchronous machine rotor position estimation method for becoming salient pole nature, it is characterised in that step
It is as follows：
Step 1：To applying excitation voltage on the stator winding of exciter, the exciter stator winding is two-phase excitation structure；
Step 2：Apply high-frequency voltage signal U on main generator unit stator three-phase windingsAh(t)、UBh(t)、UCh(t)；The high frequency
Voltage signal is by amplitude is identical under α β coordinate systems, frequency is different high frequency square wave voltage Uαh(t)、Uβh(t) through CLARK inverse transformations
Obtained under to abc coordinate systems；
It is described
Wherein：Tαh、TβhFor the high frequency voltage cycle of main generator α axles and β axles under correspondence α β coordinate systems；
Step 3：Three-level formula motor is started under given rotating speed, and in exciter stator side, detection obtains two-phase stator current iαAnd iβ,
Try to achieve current phasor IsAmplitude
Step 4, extraction IsIn two kinds of frequencies high frequency response signal：
4.1) it is T to extract voltage cycle using bandpass filterαhHigh frequency of the high frequency square wave voltage on exciter stator winding
Response signal iαh, iαhEnvelope be the SIN function relevant with main generator rotor position；
4.2) it is T to extract voltage cycle using bandpass filterβhHigh frequency of the high frequency square wave voltage on exciter stator winding
Response signal iβh, iβhEnvelope be the cosine function related to main generator rotor position；
Step 5, the envelope for extracting high-frequency signal：
5.1) it is T in the cycleαhThe rising edge and trailing edge of square-wave signal extract iαhValue, i is designated as respectivelyαh(m-1)、iαh(m+
1) i, is obtainedαhEnvelope iα_h=(iαh(m-1)-iαh(m+1))/2；
5.2) it is T in the cycleβhThe rising edge and trailing edge of square-wave signal extract iβhValue, i is designated as respectivelyβh(m-1)、iβh(m+
1) i, is obtainedβhEnvelope iβ_h=(iβh(m-1)-iβh(m+1))/2；
Step 6：Calculate impedance value Z of two high-frequency signals on transfer circuitαh≈(R+j2πfαhL), Zβh≈(R+j2πfβhL),
Wherein R is d axle equivalent circuit all-in resistances under dq coordinate systems, and L is d axle equivalent circuit total inductance average values, f under dq coordinate systemsαh=
1/Tαh、fβh=1/TβhFor the frequency of corresponding high-frequency signal；
Step 7：Calculate the impedance ratio k=Z under α, β axle high-frequency signalαh/Zβh, with this impedance ratio k to iα_hAmplitude transformation is carried out, is made
Envelope amplitude and i after conversionβ_hIt is identical：That is kIα_h_m=Iβ_h_m, wherein Iα_h_m、Iβ_h_mRespectively α and β axles envelope wire spoke
Value；
Step 8：The use of arctan function is to obtain position signalling θ=arctan (i with rotor-position linear correlationα_h/
(kiβ_h)) or θ=arctan ((kiα_h)/iβ_h)；
Calculate θr=θ+θ (n), obtain main generator rotor position θr, wherein, θ (n) is due to rotating rectifier and wave filter band
The estimation error come, with rotating speed positive correlation, can obtain θ (n) detailed expressions, n is motor speed, and unit is by off-line test
r/min。
2. become the three-level electric excitation type brushless synchronous machine rotor position estimation method of salient pole nature according to claim 1,
It is characterized in that：When exciter stator is three-phase windings structure in step 1, exciter three-phase excitation current i is first detectedA、iB、
iC, to iA、iB、iCCarry out CLARK conversion and obtain equivalent two-phase excitation electric current iα、iβ, then carry out step 3 and its subsequent step.
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| CN112953320A (en) * | 2021-04-01 | 2021-06-11 | 清华大学 | Method and device for estimating rotor position of main motor, computer equipment and storage medium |
| CN113676102A (en) * | 2021-07-21 | 2021-11-19 | 南京航空航天大学 | Simplified estimation method for rotor position of three-stage brushless alternating current synchronous motor |
| CN115459664A (en) * | 2022-08-16 | 2022-12-09 | 西北工业大学 | Method for quickly estimating initial position of rotor of electrically excited synchronous motor |
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| CN113676102A (en) * | 2021-07-21 | 2021-11-19 | 南京航空航天大学 | Simplified estimation method for rotor position of three-stage brushless alternating current synchronous motor |
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| CN115459664B (en) * | 2022-08-16 | 2024-03-08 | 西北工业大学 | Rapid estimation method for initial position of rotor of electro-magnetic synchronous motor |
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