CN107241042B - Pulse oscillation high-frequency signal injection method signal extraction system and strategy based on parallel EP LL - Google Patents
Pulse oscillation high-frequency signal injection method signal extraction system and strategy based on parallel EP LL 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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 invention discloses a pulse vibration high-frequency signal injection method signal extraction system and a strategy based on parallel EP LL, which comprises the steps of performing Clark and Park conversion on three-phase current to obtain d-axis and q-axis currents, performing amplitude extraction on the q-axis current containing a rotor position signal by improving an EP LL strategy, obtaining estimated rotating speed and angle of the q-axis high-frequency signal amplitude, correcting the positive and negative values of a q-axis secondary harmonic signal by correcting the angle, performing PI regulation on a direct-current signal to obtain d-axis and q-axis actual voltages, performing Park inverse conversion on the d-axis and q-axis actual voltages to obtain α -axis and β -axis voltages, and modulating an inverter to control a motor.
Description
Technical Field
The invention belongs to the technical field of control without a position sensor, and particularly relates to a signal extraction improvement strategy based on a pulse oscillation high-frequency signal injection method.
Background
The permanent magnet synchronous motor has the characteristics of high efficiency, small volume, easy control, obvious long service life, reliability and the like, shows advantages in the field of speed regulation, is widely applied to various fields such as ship propulsion, numerical control machine tools, locomotive traction, electric vehicles, household appliances and the like in occasions requiring high control precision and high reliability, and becomes a research hotspot of various national scholars.
Taking an electric tool as an example, the working environment and the installation requirements are high, and the traditional mechanical sensor is difficult to meet the processing precision and the working requirements, so the position-free technology is very important. In order to meet the conditions of stable tracking of the rotor position, strong carrying capacity and the like at low speed, a pulse vibration high-frequency signal injection method is selected as a scheme.
The pulse vibration high-frequency signal injection method needs to additionally inject high-frequency signals, and signal waves such as direct-current components and second harmonics are mixed in the rotor position signals, so that how to accurately extract each frequency signal is very important. According to the traditional signal extraction scheme, the amplitude of a signal is output by modulating through designed band-pass and low-pass filters, and due to the fact that the band-pass and low-pass filters exist in the extraction scheme, amplitude errors and phase offsets are introduced, software delay is caused, and the system is relatively complex. Meanwhile, the extraction effect completely depends on the processing effect of the filter, and thus the extraction effect is not good.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a pulse oscillation high-frequency signal injection method signal extraction system based on parallel EP LL, and the extraction strategy of the high-frequency signal amplitude is realized through parallel EP LL.
The pulse oscillation high-frequency signal injection method signal extraction system based on parallel connection EP LL comprises a power supply circuit, a rectifier, an inverter, a motor load module, a motor current acquisition module, a Clark conversion module, a Park conversion module, a parallel connection EP LL signal analysis module, a high-frequency signal PI module, an integral processing module, a straight axis positive direction judgment module, an angle correction module, a rotating speed error module, a rotating speed PI module, a d axis current error module, a d axis current PI module, a q axis current error module, a q axis current PI module, a high-frequency signal injection module, a Park inverse transformation module and a pulse width modulation module;
the power circuit is a single-phase alternating current power supply and is used for providing single-phase alternating current for the rectifier;
the rectifier is a single-phase uncontrolled rectifier and is used for rectifying single-phase input alternating current into direct current and supplying power to the inverter:
the inverter is a three-phase voltage source type inverter and is used for receiving voltage pulses of the pulse width modulation module and controlling the motor according to the voltage pulses;
the motor load module is an external load and is used for loading/unloading the motor;
the motor current acquisition module is used for acquiring three-phase current of a motor and sending the three-phase current to the Clark conversion module;
the Clark module is used for converting the three-phase current of the motor into αβ -axis current and sending the αβ -axis current to the Park conversion module;
the Park conversion module is used for converting αβ axis current into d axis actual current and q axis actual current and sending the d axis actual current and the q axis actual current to the parallel EP LL signal analysis module;
the parallel EP LL signal analysis module is used for collecting various frequency signals required by the motor and sending the frequency signals to the high-frequency signal PI module, the d-axis current PI module, the q-axis current PI module and the direct-axis positive direction judgment module;
the high-frequency signal PI module is used for converging the q-axis high-frequency signal amplitude to zero to obtain a pre-estimated rotor position signal and sending the pre-estimated rotor position signal to the rotating speed error module;
the integral processing module is used for carrying out integral processing on the estimated rotation speed to obtain an estimated rotor position angle;
the straight-axis positive direction module is used for judging whether the rotor position angle deviates 180 degrees or not and sending a flag bit to the angle correction module for correcting and estimating the rotor position angle;
the angle correction module is used for correcting the rotor angle and sending the corrected rotor angle to the Park conversion and inverter module;
the rotating speed error module is used for comparing a given rotating speed with the estimated motor rotating speed obtained by signal processing calculation to obtain a rotating speed error and sending the rotating speed error to the rotating speed PI module;
the rotating speed PI module is used for carrying out PI regulation on the rotating speed error to obtain a q-axis current vector and sending the q-axis current vector to the q-axis current error module;
the d-axis current error module is used for comparing d-axis given current with d-axis actual fundamental current to obtain d-axis current error and sending the d-axis current error to the d-axis current PI module;
the q-axis current error module is used for comparing q-axis given current with q-axis actual fundamental current to obtain q-axis current error and sending the q-axis current error to the q-axis current PI module;
the d-axis current PI module is used for carrying out PI regulation on the d-axis current error to obtain a d-axis actual voltage and sending the d-axis actual voltage to the voltage park inverse transformation module;
the q-axis current PI module is used for carrying out PI regulation on the q-axis current error to obtain a q-axis actual voltage and sending the q-axis actual voltage to the voltage park inverse transformation module;
the high-frequency signal injection module is used for injecting high-frequency signals into the motor predicted d and q axes and sending the high-frequency signals to the Park inverse transformation module, so that rotor position signals are obtained on the motor predicted d and q axis currents;
the Park inverse transformation module is used for converting the d-axis voltage and the q-axis voltage into α -axis voltage and β -axis voltage and sending the α -axis voltage and the β -axis voltage to the pulse width modulation module;
the pulse width modulation module is space vector pulse width modulation and is used for calculating voltage pulses according to αβ shaft voltage and bus voltage and sending the voltage pulses to the inverter.
Further, the motor is a permanent magnet synchronous motor.
A pulse oscillation high-frequency signal injection method signal extraction system implementation scheme based on parallel EP LL comprises the following steps:
the method comprises the steps of collecting single-phase alternating current input voltage, input current, and amplitude and phase of a direct current bus voltage in real time, and collecting three-phase current of a motor in real time;
clark conversion is carried out on the abc three-phase current of the motor to obtain αβ axis current, Park conversion is carried out on the αβ axis current to obtain d and q axis actual current;
calculating the error between the given motor rotating speed and the estimated motor rotating speed, and performing PI (proportional integral) adjustment on the rotating speed error; calculating d-axis given current and q-axis given current;
calculating errors between the d-axis given current and the q-axis given current and actual d-axis current and q-axis current, and performing PI regulation on the current errors to obtain d-axis voltage and q-axis voltage actual values;
injecting high-frequency cosine signal waves into the estimated d and q axes, and superposing the high-frequency cosine signal waves with the actual values of the d and q axis voltages to obtain calculated voltages;
performing Park inverse transformation on the calculated voltages of the d axis and the q axis to obtain αβ axis voltages;
according to αβ shaft voltage and bus voltage, SVPWM modulation is carried out on the inverter, and the motor is controlled by the inverter.
Further, the strategy of signal extraction includes the following steps:
the three-phase current obtains d-axis actual current and q-axis actual current through Clark and Park conversion modules, fundamental component and amplitudes of high-frequency component and second harmonic component are extracted through a parallel EP LL signal analysis module, the fundamental component is sent to d-axis and q-axis current error modules, the amplitudes of the high-frequency component are converged to zero through PI to obtain estimated rotor positions, the second harmonic component is used for judging the positive direction of a straight axis, and the estimated rotor position angle is corrected.
Further, the strategic principle of the signal extraction is as follows:
assuming that the system injects high-frequency voltage signals on the estimated d and q axes, as formula (1):
in the formula (I), the compound is shown in the specification,
injecting a high frequency signal, U, into the systemmhFor injecting high-frequency voltage signal amplitude, omegahIs the frequency of the injected high-frequency voltage signal;
the injected high-frequency voltage signal is superposed with the voltages of the d axis and the q axis passing through the d axis and the q axis current PI modules, is subjected to Park inverse transformation and SVPWM modulation, and controls a motor through an inverter;
obtaining three-phase current through a motor current acquisition module, performing Clark conversion to obtain αβ axis current, performing Park conversion on αβ axis current to obtain d and q axis actual current, and obtaining a high-frequency current signal through signal acquisition
Calculating the current generated by the high-frequency voltage signal injected into the ideal system on the estimated d and q axes of the motor as shown in the formula (2):
in the formula (I), the compound is shown in the specification,
the error between the estimated angle and the actual angle is obtained;
extraction of
The signal amplitude is converged to zero through a high-frequency signal PI module to obtain an estimated rotation speed, and the actual estimated rotation speed is obtained after filtering processing
Pre-estimated rotation speed
Obtaining an angle error delta theta after integration, and sending the angle error delta theta to a rotating speed error module and Park transformation and inverse transformation;
further, the parallel EP LL signal analysis principle is as follows:
therefore, the frequencies of the high-frequency signal wave and the second harmonic wave are given by connecting the EP LL amplitude rings in parallel, so that each frequency signal is extracted.
The EP LL has an amplitude estimation loop and a phase/frequency estimation loop, and has linear decoupling with each other, so that the EP LL model can be simplified, the phase amplitude of fixed frequency can be extracted, fundamental wave extraction, high-frequency signal extraction and second harmonic extraction links are connected in parallel, and a parallel EP LL analysis model is formed.
Further, the phase compensation scheme is as follows:
in the experiment, the phase of the extracted signal is deviated due to the influence of software delay, interference and motor stator resistance. Excessive phase shift causes fluctuation of the extraction amplitude, and accurate extraction of the amplitude is affected. In the actual signal wave, the passing pair
And carrying out phase-locked loop to obtain the phase deviation of the high-frequency signal.
Further, the parameters are calculated as follows:
suppose the input U is equal to UisinφiThe output is equal to U0sinφ0；
Definition of
When phi isiGradually approaches to phi0Obtaining an amplitude ring:
satisfy time constant
I.e. for a fixed frequency
Thereby determining mu1The value of (c).
Definition of
Similarly, in a small signal system, a frequency/phase loop is finally obtained:
simplifying to obtain:
finally, a phase/frequency loop is obtained:
selecting parameters:
in the formula of omegarIs a reference value of the frequency of the signal,
is a phase coefficient, UiIs the input signal amplitude.
Has the advantages that:
the method comprises the steps of extracting a signal wave by improving a parallel EP LL scheme, simplifying an EP LL scheme under the condition of fixed frequency, extracting a signal amplitude containing a rotor position by using an amplitude ring, simplifying a system, simultaneously, using a parallel EP LL amplitude ring in the signal wave with multi-frequency superposition, extracting amplitudes of a fundamental wave component, a high-frequency signal and a second harmonic respectively, which is simple and convenient, compensating a phase by carrying out EP LL frequency/phase ring on a q-axis current high-frequency component on the basis of the fixed frequency, wherein compared with the signal extraction scheme modulated by a traditional filter, the signal extraction is faster, the system is simpler and more convenient, the extracted amplitude is not attenuated, therefore, on the premise of more superior extracted amplitude, a motor pulse vibration high-frequency signal injection method is carried and operated at a low speed, the accuracy and robustness of rotor position estimation are optimized, the stability and practicability of a position control system are enhanced, the control is simple and effective, a signal extraction link is simplified, the EP LL amplitude ring obtained by theoretical derivation is used, the signal amplitude of extracting a specified frequency under the fixed frequency, the purposes of accuracy and the accuracy of the extraction of the signal extraction and the practical adjustment of a system are enhanced, the bandpass signal decoupling can be avoided, the problems of the rapid extraction and the problems of the rapid signal extraction and the introduction of the decoupling can be avoided, the problems of the rapid signal extraction and the decoupling of the decoupling can be avoided, the problems of the introduction of the decoupling process of the extraction and the decoupling of the decoupling process of the rapid adjustment of the decoupling can be avoided, and the.
Drawings
Fig. 1 is a structural block diagram of a pulse oscillation high-frequency signal injection method signal extraction system based on parallel EP LL.
FIG. 2 is a flow chart of the present invention for extracting high frequency signals of pulse oscillation.
Fig. 3 is a block diagram of EP LL according to the present invention.
Fig. 4 is a block diagram of the parallel EP LL according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, the examples of which are set forth to illustrate the invention and are not intended to limit the scope of the invention.
The invention discloses a pulse oscillation high-frequency signal injection method signal extraction system based on parallel EP LL, and a diagram 1 is a system structure block diagram of the system, which comprises a power supply circuit, a rectifier, an inverter, a motor load module, a motor current acquisition module, a Clark conversion module, a Park conversion module, a parallel EP LL signal analysis module, a high-frequency signal PI module, an integral processing module, a straight axis positive direction judgment module, an angle correction module, a rotating speed error module, a rotating speed PI module, a d axis current error module, a d axis current PI module, a q axis current error module, a q axis current PI module, a high-frequency signal injection module, a Park inverse conversion module and a pulse width modulation module;
the power circuit is a single-phase alternating current power supply and is used for providing single-phase alternating current for the rectifier;
the rectifier is a single-phase uncontrolled rectifier and is used for rectifying single-phase input alternating current into direct current and supplying power to the inverter;
the inverter is a three-phase voltage source type inverter and is used for receiving voltage pulses of the pulse width modulation module and controlling the motor according to the voltage pulses;
the motor load module is an external load and is used for loading/unloading the motor;
the motor current acquisition module is used for acquiring three-phase current of a motor and sending the three-phase current to the Clark conversion module;
the Clark module is used for converting the three-phase current of the motor into αβ -axis current and sending the αβ -axis current to the Park conversion module;
the Park conversion module is used for converting αβ axis current into d axis actual current and q axis actual current and sending the d axis actual current and the q axis actual current to the parallel EP LL signal analysis module;
the parallel EP LL signal analysis module is used for collecting various frequency signals required by the motor and sending the frequency signals to the high-frequency signal PI module, the d-axis current PI module, the q-axis current PI module and the direct-axis positive direction judgment module;
the high-frequency signal PI module is used for converging the q-axis high-frequency signal amplitude to zero to obtain a pre-estimated rotor position signal and sending the pre-estimated rotor position signal to the rotating speed error module;
the integral processing module is used for carrying out integral processing on the estimated rotation speed to obtain an estimated rotor position angle;
the straight-axis positive direction module is used for judging whether the rotor position angle deviates 180 degrees or not and sending a flag bit to the angle correction module for correcting and estimating the rotor position angle;
the angle correction module is used for correcting the rotor angle and sending the corrected rotor angle to the Park conversion and inverter module;
the rotating speed error module is used for comparing a given rotating speed with the estimated motor rotating speed obtained by signal processing calculation to obtain a rotating speed error and sending the rotating speed error to the rotating speed PI module;
the rotating speed PI module is used for carrying out PI regulation on the rotating speed error to obtain a q-axis current vector and sending the q-axis current vector to the q-axis current error module;
the d-axis current error module is used for comparing d-axis given current with d-axis actual fundamental current to obtain d-axis current error and sending the d-axis current error to the d-axis current PI module;
the q-axis current error module is used for comparing q-axis given current with q-axis actual fundamental current to obtain q-axis current error and sending the q-axis current error to the q-axis current PI module;
the d-axis current PI module is used for carrying out PI regulation on the d-axis current error to obtain a d-axis actual voltage and sending the d-axis actual voltage to the voltage park inverse transformation module;
the q-axis current PI module is used for carrying out PI regulation on the q-axis current error to obtain a q-axis actual voltage and sending the q-axis actual voltage to the voltage park inverse transformation module;
the high-frequency signal injection module is used for injecting high-frequency signals into the motor predicted d and q axes and sending the high-frequency signals to the Park inverse transformation module, so that rotor position signals are obtained on the motor predicted d and q axis currents;
the Park inverse transformation module is used for converting the d-axis voltage and the q-axis voltage into α -axis voltage and β -axis voltage and sending the α -axis voltage and the β -axis voltage to the pulse width modulation module;
the pulse width modulation module is space vector pulse width modulation and is used for calculating voltage pulses according to αβ shaft voltage and bus voltage and sending the voltage pulses to the inverter.
A pulse oscillation high-frequency signal injection method signal extraction system based on parallel EP LL comprises the following steps of collecting three-phase current I of a motor in real timea、Ib、IcClark conversion is carried out on three-phase current of the motor abc to obtain αβ shaft current iα、 iβPerforming Park conversion on αβ axis current to obtain d and q axis actual current id、iq(ii) a By extracting d and q axis actual current id、iqThe amplitude of the high-frequency component in the signal is converged to zero through PI control to obtain the estimated rotation speed
Obtaining the estimated angle through integration, and then comparing the estimated angle with iqThe second harmonic signal in the signal is subjected to angle correction to obtain an estimated angle
Extracting and calculating given motor rotation speed n and estimated motor rotation speed
And carrying out PI regulation on the rotation speed error to obtain a q-axis given current iqA first step of; calculating the errors between the given currents of the d and q axes and the current of the actual d and q axes, and performing PI (proportional integral) adjustment on the current errors to obtain the actual values u of the voltages of the d and q axesd、uq(ii) a Injecting high-frequency signals into the estimated d and q axes, and superposing the high-frequency signals with the actual values of the d and q axis voltages to obtain d and q axis calculated voltages ud*、uqPerforming Park inverse transformation on the calculated voltages of the d and q axes to obtain αβ axis voltage uα、uβAccording to αβ shaft voltage,And the bus voltage performs SVPWM on the inverter and controls the motor through the inverter.
Fig. 2 shows a flow chart of pulse-oscillation high-frequency signal extraction.
The pulse oscillation high-frequency signal extraction method comprises the following steps:
real-time collected three-phase current I of motora、Ib、IcObtaining d and q axis actual current i through Clark and Park conversiond、 iqThrough parallel EP LL signal extraction, fundamental wave, high frequency signal and second harmonic component amplitude of fixed frequency are respectively extracted, and for q-axis actual current iqThe high-frequency component is subjected to frequency/phase loop phase locking, the extracted high-frequency amplitude value is converged to zero through PI control, and the estimated rotation speed is obtained
Obtaining the estimated angle by integration
The flow of the parallel EP LL signal extraction system comprises amplitude extraction of parallel EP LL,
The system comprises a high-frequency signal phase compensation module, a high-frequency signal PI module and a direct-axis positive direction judgment and estimation rotor position module.
Fig. 3 shows a structural block diagram of EP LL.
In the figure,. omega.i＝ωn+ΔωiFor the input frequency, phii＝ωnt+ΔφiTo input a phase
Suppose the input U is equal to UisinφiThe output is equal to U0sinφ0；
For a frequency/phase loop, the error is:
for the amplitude loop, the error is:
for system small signal analysis, define
When phi isiGradually approaches to phi0It is possible to obtain:
when the extraction signal satisfies: 1. the extraction frequency is unchanged, and the phase has little deviation; 2. only the amplitude is extracted, and the requirement on frequency is low.
At this time, the amplitude loop and the phase loop can be linearly decoupled. At the same time, satisfy the time constant
I.e. for a fixed frequency
Thereby determining mu1The value of (c).
Parallel EP LL design:
fig. 4 shows a block diagram of a parallel EP LL.
Suppose the input contains fundamental wave, high frequency signal and second harmonic wave, U ═ U0isinφ0i+U1isinφi+U2isin2φi
In a similar way, there are:
x＝e sinφ0＝(U0isinφ0i+U1isinφi+U2isin 2φi-U0sinφ00-U1sinφ0-U2sin 2φ0)
small signal analysis was also performed and can yield:
therefore, the amplitudes of the fundamental wave signal and the high frequency signal and the second harmonic can be extracted respectively.
The phase compensation scheme:
when factors such as resistance, fundamental frequency and rotor flux linkage are not ignored, a pulse oscillation high-frequency signal injection method high-frequency excitation equation is reestablished:
it can be seen that
There is a phase shift, and the phase shift varies in real time, while the amplitude extraction is very influential when the phase shift is large. Therefore, for high frequency signals containing rotor signals, we must perform phase compensation.
In that
On the basis of the high-frequency amplitude loop, the frequency/phase loop is added again, the phase at the moment is locked, and the influence caused by phase deviation is avoided.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A pulse oscillation high-frequency signal injection method signal extraction system based on parallel connection EP LL is characterized by comprising a power supply circuit, a rectifier, an inverter, a motor load module, a motor current acquisition module, a Clark conversion module, a Park conversion module, a parallel connection EP LL signal analysis module, a high-frequency signal PI module, an integral processing module, a straight axis positive direction judgment module, an angle correction module, a rotating speed error module, a rotating speed PI module, a d axis current error module, a d axis current PI module, a q axis current error module, a q axis current PI module, a high-frequency signal injection module, a Park inverse transformation module and a pulse width modulation module;
the power circuit is a single-phase alternating current power supply and is used for providing single-phase alternating current for the rectifier;
the rectifier is a single-phase uncontrolled rectifier and is used for rectifying single-phase input alternating current into direct current and supplying power to the inverter;
the inverter is a three-phase voltage source type inverter and is used for receiving voltage pulses of the pulse width modulation module and controlling the motor according to the voltage pulses;
the motor load module is an external load and is used for loading/unloading the motor;
the motor current acquisition module is used for acquiring three-phase current of a motor and sending the three-phase current to the Clark conversion module;
the Clark module is used for converting the three-phase current of the motor into αβ -axis current and sending the αβ -axis current to the Park conversion module;
the Park conversion module is used for converting αβ axis current into d axis actual current and q axis actual current and sending the d axis actual current and the q axis actual current to the parallel EP LL signal analysis module;
the parallel EP LL signal analysis module is used for collecting various frequency signals required by the motor and sending the frequency signals to the high-frequency signal PI module, the d-axis current PI module, the q-axis current PI module and the direct-axis positive direction judgment module;
the high-frequency signal PI module is used for converging the q-axis high-frequency signal amplitude to zero to obtain an estimated rotation speed and sending the estimated rotation speed to the rotation speed error module;
the integral processing module is used for carrying out integral processing on the estimated rotation speed to obtain an estimated rotor position angle;
the straight-axis positive direction module is used for judging whether the rotor position angle deviates 180 degrees or not and sending a flag bit to the angle correction module for correcting and estimating the rotor position angle;
the angle correction module is used for correcting the estimated rotor position angle and sending the corrected rotor position angle to the Park conversion and inverter module;
the rotating speed error module is used for comparing the given rotating speed with the estimated rotating speed obtained by signal processing calculation to obtain a rotating speed error and sending the rotating speed error to the rotating speed PI module;
the rotating speed PI module is used for carrying out PI regulation on the rotating speed error to obtain q-axis given current and sending the q-axis given current to the q-axis current error module;
the d-axis current error module is used for comparing d-axis given current with d-axis actual fundamental current to obtain d-axis current error and sending the d-axis current error to the d-axis current PI module;
the q-axis current error module is used for comparing q-axis given current with q-axis actual fundamental current to obtain q-axis current error and sending the q-axis current error to the q-axis current PI module;
the d-axis current PI module is used for carrying out PI regulation on the d-axis current error to obtain a d-axis actual voltage and sending the d-axis actual voltage to the voltage park inverse transformation module;
the q-axis current PI module is used for carrying out PI regulation on the q-axis current error to obtain a q-axis actual voltage and sending the q-axis actual voltage to the voltage park inverse transformation module;
the high-frequency signal injection module is used for injecting a high-frequency signal into the estimated dq axis of the motor and sending the high-frequency signal to the Park inverse transformation module, so that a rotor position signal is obtained on the estimated dq axis current of the motor;
the Park inverse transformation module is used for converting the dq axis voltage into α axis voltage and β axis voltage and sending the α axis voltage and the β axis voltage to the pulse width modulation module;
the pulse width modulation module is space vector pulse width modulation and is used for calculating voltage pulses according to αβ shaft voltage and bus voltage and sending the voltage pulses to the inverter.
2. The pulse oscillation high-frequency signal injection method signal extraction system based on the parallel EP LL is characterized in that the motor is a permanent magnet synchronous motor according to claim 1.
3. The method for realizing the pulse oscillation high-frequency signal injection method signal extraction system based on the parallel EP LL as claimed in claim 1, comprises the following steps:
the method comprises the steps of collecting single-phase alternating current input voltage, the amplitude and the phase of a direct current bus voltage in real time, and collecting three-phase current of a motor in real time;
clark conversion is carried out on the abc three-phase current of the motor to obtain αβ axis current, Park conversion is carried out on the αβ axis current to obtain d and q axis actual current;
carrying out parallel EP LL signal analysis on the d and q axis actual currents, extracting each frequency signal amplitude, carrying out high-frequency PI processing on the obtained high-frequency signal amplitude to obtain the estimated rotation speed;
calculating the error between the given motor rotating speed and the estimated rotating speed, and performing PI regulation on the rotating speed error; obtaining q-axis given current;
obtaining the errors of the d-axis and q-axis given currents and the actual d-axis and q-axis fundamental wave currents, and carrying out PI regulation on the current errors to obtain the actual values of the d-axis and q-axis voltages;
injecting high-frequency signals into the motor in the estimated d and q axes, and superposing the high-frequency signals with the actual values of the d and q axis voltages to perform Park inverse transformation to obtain αβ axis voltages;
according to αβ shaft voltage and bus voltage, SVPWM modulation is carried out on the inverter, and the motor is controlled by the inverter.
4. The method for realizing the pulse oscillation high-frequency signal injection method signal extraction system based on the parallel EP LL as claimed in claim 1, wherein the strategy of signal extraction comprises the following steps:
the three-phase current is subjected to Clark and Park conversion modules to obtain d-axis actual current and q-axis actual current, fundamental component amplitude values, high-frequency component amplitude values and second harmonic component amplitude values are extracted through a parallel EP LL signal analysis module, the fundamental component amplitude values are sent to a d-axis and q-axis current error module, the high-frequency component amplitude values are converged to zero through PI to obtain estimated rotor positions, the second harmonic component amplitude values are subjected to straight-axis positive direction judgment, and estimated rotor position angles are corrected.
5. The implementation method of the pulse oscillation high-frequency signal injection method signal extraction system based on the parallel EP LL as claimed in claim 1, wherein the strategy principle of the signal extraction is as follows:
assuming that the system injects high-frequency voltage signals on the estimated d and q axes, as formula (1):
in the formula (I), the compound is shown in the specification,
injecting a high frequency signal, U, into the systemmhFor injecting high-frequency voltage signal amplitude, omegahIs the frequency of the injected high-frequency voltage signal;
the injected high-frequency voltage signal is superposed with the voltages of the d axis and the q axis passing through the d axis and the q axis current PI modules, is subjected to Park inverse transformation and SVPWM modulation, and controls a motor through an inverter;
obtaining three-phase current through a motor current acquisition module, performing Clark conversion to obtain αβ axis current, performing Park conversion on αβ axis current to obtain d and q axis actual current, and obtaining a high-frequency current signal through signal acquisition
Calculating the current generated by the high-frequency voltage signal injected into the ideal system on the estimated d and q axes of the motor as shown in the formula (2):
in the formula (I), the compound is shown in the specification,
the error between the estimated angle and the actual angle is obtained;
extraction of
The signal amplitude is converged to zero through a high-frequency signal PI module to obtain an estimated rotation speed, and the actual estimated rotation speed is obtained after filtering processing
Pre-estimated rotation speed
And obtaining an angle error delta theta after integration, and sending the angle error delta theta to a rotating speed error module, and Park transformation and inverse transformation.
6. The method for realizing the pulse oscillation high-frequency signal injection method signal extraction system based on the parallel EP LL as claimed in claim 1, wherein the parallel EP LL signal analysis principle is as follows:
analyzing the q-axis actual current waveform, and finding that the current signal contains fundamental waves, high-frequency signal waves and second harmonics, so that the frequencies of the high-frequency signal waves and the second harmonics are given by connecting an EP LL amplitude ring in parallel, and then extracting frequency signals;
the EP LL has an amplitude estimation loop and a phase/frequency estimation loop, and has linear decoupling with each other, so that the EP LL model can be simplified, the phase amplitude of fixed frequency can be extracted, and links of parallel fundamental wave extraction, high-frequency signal amplitude extraction and secondary harmonic positive and negative signal extraction are formed to form a parallel EP LL analysis model.
7. The method for realizing the pulse oscillation high-frequency signal injection method signal extraction system based on the parallel EP LL as claimed in claim 1, wherein the phase correction method of the angle correction module is as follows:
in the experiment, because of the influence of software delay, interference and motor stator resistance, the phase of the extracted signal generates offset,the excessive phase deviation causes the fluctuation of the extracted amplitude, and influences the accurate extraction of the amplitude, in the actual signal wave, by the pair
And carrying out phase-locked loop to obtain the phase deviation of the high-frequency signal.
8. The method for realizing the pulse oscillation high-frequency signal injection method signal extraction system based on the parallel EP LL as claimed in claim 1, wherein the parameters are calculated as follows:
suppose the input U is equal to UisinφiThe output is equal to U0sinφ0；
Definition of
When phi isiGradually approaches to phi0Obtaining an amplitude ring:
satisfy time constant
I.e. for a fixed frequency
Thereby determining mu1A value of (d);
definition of
Similarly, in a small signal system, a frequency/phase loop is finally obtained:
simplifying to obtain:
finally, a phase/frequency loop is obtained:
selecting parameters:
in the formula of omegarIs a reference value of the frequency of the signal,
is a phase coefficient, UiIs the input signal amplitude.
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