CN107017808B - The continuous estimation method of synchronous motor rotor position based on pulsation exciting current response - Google Patents
The continuous estimation method of synchronous motor rotor position based on pulsation exciting current response Download PDFInfo
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- CN107017808B CN107017808B CN201710432977.4A CN201710432977A CN107017808B CN 107017808 B CN107017808 B CN 107017808B CN 201710432977 A CN201710432977 A CN 201710432977A CN 107017808 B CN107017808 B CN 107017808B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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Abstract
The present invention provides one kind can be in not additional sensor, on the basis of not changing load commutated inverters topological structure simultaneously yet, reliability is improved, the continuous estimation method of synchronous motor rotor position based on pulsation exciting current response of cost is reduced, belongs to synchronous motor speed regulating control field.The present invention is divided into 120 ° of triggering synchronous motors to be measured between including:；Extracting frequency in exciting current is fhIngredient, obtain if_h；To if_hPostpone 3/4 period, obtains if_h1；Synchronous motor stator three phase terminals voltage is measured, voltage signal u is obtainedαAnd uβ；Extract uαAnd uβMiddle frequency is fhIngredient, obtain uα_hAnd uβ_h；By uα_hAnd uβ_hRespectively with if_h1Multiplication is done, u is obtainedα_h1And uβ_h1；Extract uα_h1And uβ_h1In include motor rotation frequency ingredient, obtain uα_h2And uβ_h2, and be input in orthogonal phaselocked loop, obtain rotor position angle θmWith current angular rate ωr；According to ωrTo θmIt is corrected, obtains current rotor angular position theta.
Description
Technical field
The present invention relates to a kind of continuous estimation methods of synchronous motor rotor position, belong to synchronous motor speed regulating control field.
Background technique
Demand with all trades and professions to Electric Drive equipment is increasing, and engineering staff wants for Electric Drive equipment
It asks and is also increasingly stringenter.In high-power transmission field, electric excitation synchronous motor relies on its adjustable High Power Factor, higher control
The advantages such as precision processed and frequency inverter capacity are small are by favor, but it is but more than device requirements such as asynchronous machine, direct current generators
Add complicated control.And wherein primary problem is exactly the starting controlling unit in synchronous motor, it has to be possible to which real-time monitoring is same
The rotor position information of motor is walked, this is also the basis of the various control methods of synchronous motor.And photoelectric code disk etc. mechanically senses
Device is limited in addition to installing, and lower stability is always that powerful device institute is unacceptable, this can be to the work of synchronous motor
Cheng Yingyong link brings very big detection and maintenance cost.
Currently, numerous scholars are dedicated to studying without sensorless rotor position detection method to synchronous motor, wherein
Electric excitation synchronous motor rotor position detecting method based on high frequency injection is widely applied.This method is synchronous in electrical excitation
The excitation side of motor or stator side inject a high-frequency signal, and rotor position is detected by the electric signal being coupled out in the other side
Confidence breath.And powerful electric excitation synchronous motor, in order to improve itself stability, frequency-converting control device would generally
The semiconductor devices thyristor with larger capacity is selected to realize, to reduce the concatenated semiconductor device number of packages of same bridge arm institute
Amount, we term it load commutated inverters (Load Commutated Inverter, LCI) for this kind of topology.Due to thyristor
It is half control type device, can not directly generates high-frequency signal required for us.Such method usually requires additional wholly-controled device
The injection of high-frequency signal is completed, not only will increase equipment cost in this way, while can also reduce its reliability.
Also there is researcher to propose to replace the injection of high-frequency signal based on the pulsation of excitation itself, but be typically due to it and encourage
Magnetic lateral vein dynamic frequency is identical as frequency conversion lateral vein dynamic frequency, and the homogenous frequency signal of frequency conversion side can seriously affect the essence of rotor-position detection
Degree.Therefore such method is only applicable to the ripple frequency of frequency conversion side and in the case that the ripple frequency of excitation side is not interfere with each other.It is right
It is all for six pulsation LCI topologys in most basic rectification, inversion and excitation side, this method is simultaneously not suitable for.Therefore it studies
It is a kind of out to vary without having very important significance without sensorless rotor position detection method for LCI body construction.
Summary of the invention
In view of the above deficiencies, the present invention one kind is provided can be in not additional sensor, while it is inverse also not change load commutated
Become on the basis of device topological structure, improve reliability, reduces the synchronous electric motor rotor based on pulsation exciting current response of cost
The continuous estimation method in position.
The continuous estimation method of synchronous motor rotor position based on pulsation exciting current response of the invention, the method packet
Include following steps:
Step 1: synchronous motor to be measured is triggered using interval triggering mode, trigger interval is 120 °, exciting current at this time
Generation frequency is fhFluctuating signal；
Step 2: extracting frequency in exciting current using bandpass filter is fhIngredient, bandpass filter export electric current
Signal if_h；
Step 3: by current signal if_hPostpone 3/4 period, obtains current signal if_h1；
Step 4: measurement synchronous motor stator three phase terminals voltage, and three phase terminals voltage is transformed into α β by abc axis coordinate system
On axis coordinate system, voltage signal u is obtainedαAnd uβ；
Step 5: voltage signal u is extracted using bandpass filterαAnd uβMiddle frequency is fhIngredient, bandpass filter output
Voltage signal uα_hAnd uβ_h；
Step 6: by voltage signal uα_hAnd uβ_hSignal respectively with current signal i obtained in step 3f_h1Multiplication is done,
Obtain voltage signal uα_h1And uβ_h1；
Step 7: voltage signal u is extracted using low-pass filterα_h1And uβ_h1In include motor rotation frequency ingredient, obtain
To voltage signal uα_h2And uβ_h2；
Step 8: by voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop after being input to normalization, rotor position angle is obtained
θmWith current angular rate ωr；
Step 9: the current angular rate ω obtained according to step 8rTo rotor position angle θmIt is corrected, obtains school
Current rotor angular position theta after just.
Preferably, the step 9 are as follows:
According to current angular rate ωrIt finds out bandpass filter and low-pass filter filters and gives rotor-position bring phase
Position offsetWithAccording to phase offsetWithTo rotor position angle θmIt is corrected, the rotor position angle θ after being corrected,
Wherein, phase offsetIt indicates in step 5 in (ωh+ωr) under angular rate by caused by bandpass filter
Phase change, phase offsetIt indicates to extract voltage signal u using low-pass filter in step 7α_h1And uβ_h1In include motor
Generated phase change when rotational frequency ingredient.
Preferably, the step 8 includes the following steps:
Step 8 one: voltage signal uα_h2With current sin θmIt is multiplied；
Step 8 two: voltage signal uβ_h2With current cos θmIt is multiplied；
Step 8 three: the result after the result after the multiplication of step 8 two is multiplied with step 8 one is subtracted each other, result ε；
Step 8 four: according to voltage signal uα_h2And uβ_h2, obtain
Step 8 five: by the ε of step 8 three divided by step 8 fourIt as a result is ε1；
Step 8 six: the ε of step 8 five1Input proportion adjustment unit kp, proportion adjustment unit kpResult is exported to retain；
Step 8 seven: the ε of step 8 five1Input integral adjusts unit ki, integral adjustment unit kiThe result of output inputs again
To pi element
Step 8 eight: by the pi element in step 8 sixThe result of output and the proportion adjustment list of step 8 seven
First kpThe results added of output, result are current angular rate ωr；
Step 8 nine: the angular rate ω that will currently estimaterIt is input to pi elementPi elementIt is defeated
Result is rotor position angle θ outm。
Above-mentioned technical characteristic may be combined in various suitable ways or be substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
The beneficial effects of the present invention are:
(1) present invention haves no need to change the hardware configuration of converter plant, and it is suitable that the triggering mode by changing excitation generates
High frequency injection signals.Method control of the invention is simple, can be widely applicable to all kinds of LCI type driving devices, while also can
The hardware cost and maintenance cost of reduction system.
(2) method of the invention completes the processing links of rotor position information using exciting current information, improves rotor
The accuracy and reliability of position detection result.
(3) method of the invention applies the orthogonal phaselocked loop after normalization, can be improved detection accuracy, guarantees system
Detection bandwidth is definite value, while the algorithm also being enable to have better adaptability in different experiments device.
(4) method of the invention has accurately calculated influence that filter in signal processing generates signal and has carried out
Reasonable signal correction further improves the detection accuracy of rotor position information.
Detailed description of the invention
Fig. 1 is the principle of the synchronous motor rotor position continuous estimation method of the invention based on pulsation exciting current response
Schematic diagram, wherein BPF indicates that bandpass filter, LPF indicate that low-pass filter, PLL indicate the orthogonal phaselocked loop after normalization, SM
Indicate tested synchronous motor；
Fig. 2 is in the present invention to the waveform diagram of the excitation triggering mode of synchronous motor to be measured；
Fig. 3 is the schematic illustration of the orthogonal phaselocked loop after present invention normalization；
The waveform of exciting current in the step of Fig. 4 is specific embodiment one；
The output of exciting current and bandpass filter in the step of Fig. 5 is specific embodiment two；
The waveform of current signal delay front and back in the step of Fig. 6 is specific embodiment three；
Three phase terminals voltage is from abc coordinate system transformation to the component of α β axis in the step of Fig. 7 is specific embodiment four；
The output result of low-pass filter in the step of Fig. 8 is specific embodiment seven；
Fig. 9 is according to the obtained speed estimate waveform of the angular rate obtained in the step of specific embodiment eight；
Figure 10 is the rotor-position detection waveform before correcting in specific embodiment；
Figure 11 is the rotor-position detection error before correcting in specific embodiment；
Figure 12 is the rotor-position detection waveform after correcting in specific embodiment；
Figure 13 is the rotor-position detection error after correcting in specific embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Illustrate present embodiment, the synchronization based on pulsation exciting current response described in present embodiment in conjunction with Fig. 1-Figure 13
The continuous estimation method of motor rotor position, as shown in Figure 1, including the following steps:
Step 1: as shown in Fig. 2, triggering synchronous motor to be measured using interval triggering mode, trigger interval is 120 °, at this time
Exciting current generate frequency be fhFluctuating signal；
Step 2: extracting frequency in exciting current using bandpass filter is fhIngredient, bandpass filter export electric current
Signal if_h；
Step 3: by current signal if_hPostpone 3/4 period, obtains current signal if_h1；
Step 4: measurement synchronous motor stator three phase terminals voltage, and three phase terminals voltage is transformed into α β by abc axis coordinate system
On axis coordinate system, voltage signal u is obtainedαAnd uβ；
Step 5: voltage signal u is extracted using bandpass filterαAnd uβMiddle frequency is fhIngredient, bandpass filter output
Voltage signal uα_hAnd uβ_h；
Step 6: by voltage signal uα_hAnd uβ_hSignal respectively with current signal i obtained in step 3f_h1Multiplication is done,
Obtain voltage signal uα_h1And uβ_h1；
Step 7: voltage signal u is extracted using low-pass filterα_h1And uβ_h1In include motor rotation frequency ingredient, obtain
To voltage signal uα_h2And uβ_h2；
Step 8: by voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop after being input to normalization, rotor position angle is obtained
θmWith current angular rate ωr；
Step 9: according to the angular rate ω currently estimatedrTo rotor position angle θmIt is corrected, working as after being corrected
Preceding rotor angular position theta.
Present embodiment to it is existing based on pulsation exciting current response the continuous estimation method of synchronous motor rotor position into
Row improves, and can realize all kinds of in not additional sensor, while on the basis of also not changing load commutated inverters topological structure
Being detected without sensorless rotor position when electric excitation synchronous motor low speed is run under LCI topology.With more extensive adaptability,
It can be improved the reliability of system, reduce device hardware cost, while also can reduce detection and maintenance cost.
The real time information of exciting current is applied in signal processing by present embodiment, the detection that greatly improves can
By property, while it also can be improved the detection accuracy of no sensorless rotor position information.
It is identical dry to signal brought by detection with excitation lateral vein dynamic frequency that present embodiment can be avoided frequency conversion side
It disturbs, further improves the measurement accuracy of no sensorless rotor position detection method.
Because bandpass filter and low-pass filter that step 5 and step 7 introduce, filter bring voltage signal
The variation of amplitude and phase, so the rotor position angle θ that step 8 obtainsmIt is accurate not enough, in preferred embodiment, step 9
Are as follows:
According to the angular rate ω currently estimatedrIt finds out bandpass filter and low-pass filter is filtered and brought to rotor-position
Phase offsetWithAccording to phase offsetWithTo rotor position angle θmIt is corrected, the rotor-position after being corrected
Angle θ,
Wherein, phase offsetIt indicates in step 5 in (ωh+ωr) under angular rate by caused by bandpass filter
Phase change, phase offsetIt indicates to extract voltage signal u using low-pass filter in step 7α_h1And uβ_h1In include motor
Generated phase change when rotational frequency ingredient.
The rotor position angle θ that present embodiment obtains step 8mIt is corrected, improves the standard of rotor position estimate
True property.
For the schematic illustration of orthogonal phaselocked loop after normalization as shown in figure 3, in preferred embodiment, step 8 includes as follows
Step:
Step 8 one: voltage signal uα_h2With current sin θmIt is multiplied；
Step 8 two: voltage signal uβ_h2With current cos θmIt is multiplied；
Step 8 three: the result after the result after the multiplication of step 8 two is multiplied with step 8 one is subtracted each other, result ε；
Step 8 four: according to voltage signal uα_h2And uβ_h2, obtain
Step 8 five: by the ε of step 8 three divided by step 8 fourIt as a result is ε1；
Step 8 six: the ε of step 8 five1Input proportion adjustment unit kp, proportion adjustment unit kpResult is exported to retain；
Step 8 seven: the ε of step 8 five1Input integral adjusts unit ki, integral adjustment unit kiThe result of output inputs again
To pi element
Step 8 eight: by the pi element in step 8 sixThe result of output and the proportion adjustment list of step 8 seven
First kpThe results added of output, result are the angular rate ω currently estimatedr；
Step 8 nine: by current operation frequencies omegarIt is input to pi elementPi elementExport result
For rotor position angle θm。
Present embodiment applies normalized phaselocked loop, can be improved detection accuracy, guarantees that the detection bandwidth of system is
Definite value, while the algorithm also being enable to have better adaptability in different experiments device.
Specific embodiment:
Step 1: excitation triggering is primary for every 120 ° triggerings, generates the pulsation letter of a 150Hz in exciting current at this time
Number；
Exciting current expresses formula at this time are as follows:
Wherein, IfFor exciting current ifVirtual value；IhFor the amplitude of exciting current radio-frequency component；ωhFor exciting current height
The angular rate of frequency ingredient；For the phase of exciting current radio-frequency component；Footmark L1, L2 etc. represent other frequencies in exciting current
Rate ingredient；
Step 2: the bandpass filter for being 150Hz by a centre frequency by exciting current extracts wherein 150Hz and hands over
Flow ingredient if_h:
Step 3: by the alternating component i of extractionf_hPostpone 3/4 period, obtains if_h1:
Step 4: acquisition synchronous motor three phase terminals voltage, and be converted in 0 shafting of α β, obtained component of voltage
For uαAnd uβ:
Coordinate transformation equation are as follows:
It the following is the fundamental equation of synchronous motor machine to be measured.Wherein u, i are motor terminal voltage and armature supply, footmark α, β
Represent component of each physical quantity on α, β axis, RsFor synchronous motor stator resistance, p is differential operator, iDdAnd iDqFor damping circuit
The d axis and q axis component of electric current, LdAnd LqThe respectively synchronous inductance of d axis and q axis, LadAnd LaqFor d axis and q armature axis reaction electricity
Sense, ωrFor the current angular rate of synchronous motor, θ is the current rotor angle of synchronous motor, is always hadFor
The initial position electrical angle of motor, t are the time.
Wherein,
[I]αβ=[iα iβ if iDd iDq]T；
Step 5: by uαAnd uβPass through bandpass filter respectively, it includes the high-frequency ac ingredient u of 150Hz for extractionα_hWith
uβ_h:
If not considering, bandpass filter to amplitude brought by voltage signal and phase change, there is following expression at this time:
If considering bandpass filter to amplitude brought by voltage signal and phase change, expression formula can be turned to:
Wherein, A1、A2And φ1、φ2Respectively (ωh+ωr)、(ωh-ωr) two kinds of angular rate ingredients pass through bandpass filtering
Amplitude attenuation and phase change caused by device:
Step 6: respectively by uα_hAnd uβ_hWith i obtained in step 3f_h1Signal does multiplying, obtains its result point
It Wei not uα_h1And uβ_h1:
uα_h1And uβ_h1Expression formula are as follows:
Step 7: respectively by uα_h1And uβ_h1Low-pass filtering treatment is carried out, angular rate ω wherein comprising motor is extractedr
Alternating component uα_h2And uβ_h2:
uα_h2And uβ_h2Expression formula are as follows:
Wherein, A3And φ3For the angular rate ω of motorrItem is by amplitude attenuation and phase caused by low-pass filter
Variation.
It is calculated to simplify, enables A1=A2, φ1=-φ2, then uα_h2And uβ_h2Expression formula can abbreviation are as follows:
Wherein,
Step 8: by voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop after being input to normalization, rotor position angle is obtained
θmThe angular rate ω current with motorr,
Step 9: according to the current angular rate ω of motorr, voltage is found out by bandpass filter and low-pass filter institute
Bring differs φ1And φ3, to θmIt is corrected, finally obtains more accurate rotor position angle θ.
Present embodiment obtains Fig. 4-Figure 13:
Fig. 4 is excitation current waveform.
Fig. 5 is that exciting current and BPF are exported.
Fig. 6 is the waveform of exciting current delay front and back.
Fig. 7 is component of the three phase terminals voltage transformation to α β axis.
Fig. 8 is the output result of low-pass filter.
Fig. 9 is the estimation waveform of revolving speed.
Figure 10 is the rotor-position detection waveform before correction.
Figure 11 is the rotor-position detection error before correction.
Figure 12 is the rotor-position detection waveform after correction.
Figure 13 is the rotor-position detection error after correction.
Referring to Fig. 4-Figure 13, the present embodiment can effectively detect rotor position information, and testing result has well
Detection accuracy.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (3)
1. a kind of continuous estimation method of synchronous motor rotor position based on pulsation exciting current response, which is characterized in that described
Method includes the following steps:
Step 1: synchronous motor to be measured is triggered using interval triggering mode, trigger interval is 120 °, and exciting current at this time generates
Frequency is fhFluctuating signal；
Step 2: extracting frequency in exciting current using bandpass filter is fhIngredient, bandpass filter output current signal
if_h；
Step 3: by current signal if_hPostpone 3/4 period, obtains current signal if_h1；
Step 4: measurement synchronous motor stator three phase terminals voltage, and three phase terminals voltage is transformed into α β axis by abc axis coordinate system and is sat
Mark is fastened, and voltage signal u is obtainedαAnd uβ；
Step 5: voltage signal u is extracted using bandpass filterαAnd uβMiddle frequency is fhIngredient, bandpass filter output voltage
Signal uα_hAnd uβ_h；
Step 6: by voltage signal uα_hAnd uβ_hSignal respectively with current signal i obtained in step 3f_h1Multiplication is done, electricity is obtained
Press signal uα_h1And uβ_h1；
Step 7: voltage signal u is extracted using low-pass filterα_h1And uβ_h1In include motor rotation frequency ingredient, obtain electricity
Press signal uα_h2And uβ_h2；
Step 8: by voltage signal uα_h2And uβ_h2In orthogonal phaselocked loop after being input to normalization, rotor position angle θ is obtainedmWith
Current angular rate ωr；
Step 9: the current angular rate ω obtained according to step 8rTo rotor position angle θmIt is corrected, after obtaining correction
Current rotor angular position theta.
2. the synchronous motor rotor position continuous estimation method according to claim 1 based on pulsation exciting current response,
It is characterized in that, the step 9 are as follows:
According to current angular rate ωrFind out bandpass filter and low-pass filter filter it is inclined to rotor-position bring phase
It movesWithAccording to phase offsetWithTo rotor position angle θmIt is corrected, the rotor position angle θ after being corrected,
Wherein, phase offsetIt indicates in step 5 in ωh+ωrBecome under angular rate by phase caused by bandpass filter
Change, ωhFor the angular rate of exciting current radio-frequency component, phase offsetIt indicates to extract electricity using low-pass filter in step 7
Press signal uα_h1And uβ_h1In generated phase change when including motor rotation frequency ingredient.
3. the synchronous motor rotor position continuous estimation method according to claim 1 based on pulsation exciting current response,
It is characterized in that, the step 8 includes the following steps:
Step 8 one: voltage signal uα_h2With current sin θmIt is multiplied；
Step 8 two: voltage signal uβ_h2With current cos θmIt is multiplied；
Step 8 three: the result after the result after the multiplication of step 8 two is multiplied with step 8 one is subtracted each other, result ε；
Step 8 four: according to voltage signal uα_h2And uβ_h2, obtain
Step 8 five: by the ε of step 8 three divided by step 8 fourIt as a result is ε1；
Step 8 six: the ε of step 8 five1Input proportion adjustment unit kp, proportion adjustment unit kpResult is exported to retain；
Step 8 seven: the ε of step 8 five1Input integral adjusts unit ki, integral adjustment unit kiThe result of output is input to ratio again
Example integral unit
Step 8 eight: by the pi element in step 8 sixThe result of output and the proportion adjustment unit k of step 8 sevenp
The results added of output, result are current angular rate ωr；
Step 8 nine: the angular rate ω that will currently estimaterIt is input to pi elementPi elementOutput knot
Fruit is rotor position angle θm。
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| CN112422009A (en) * | 2019-08-23 | 2021-02-26 | 广东美的生活电器制造有限公司 | Motor control device, method and system, household appliance and storage medium |
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