CN108092571B - Position-sensorless control system of permanent magnet synchronous motor with LC filter - Google Patents

Position-sensorless control system of permanent magnet synchronous motor with LC filter Download PDF

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CN108092571B
CN108092571B CN201810045367.3A CN201810045367A CN108092571B CN 108092571 B CN108092571 B CN 108092571B CN 201810045367 A CN201810045367 A CN 201810045367A CN 108092571 B CN108092571 B CN 108092571B
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module
filter
axis
electromotive force
eso
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CN108092571A (en
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徐永向
王明辉
邹继斌
蔡名飞
黎中浩
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Harbin Institute of Technology
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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
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • 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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  • Power Engineering (AREA)
  • Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a position sensorless control system of a permanent magnet synchronous motor with an LC filter, wherein the PMSM system comprises a current acquisition module, a Clark conversion module, an Extended State Observer (ESO) module, an angle and speed calculator module, a back electromotive force calculation module, a Microcontroller (MCU), a three-phase inverter, the LC filter and a Permanent Magnet Synchronous Motor (PMSM). The invention provides a sensorless extended state observer method for a permanent magnet synchronous motor, which can estimate the angle and the speed of a Permanent Magnet Synchronous Motor (PMSM) provided with an LC filter under the condition of not using a position sensor, thereby realizing sensorless control of the PMSM; the problem of sensorless control of the permanent magnet synchronous motor with the LC filter is solved by using the extended state observer while system hardware is not changed.

Description

Position-sensorless control system of permanent magnet synchronous motor with LC filter
Technical Field
The invention belongs to the technical field of motor equipment, relates to a position sensorless control system of a permanent magnet synchronous motor with an LC filter, and particularly relates to a permanent magnet synchronous motor system with an LC filter and a method for estimating the angle and the speed of the motor based on an Extended State Observer (ESO) algorithm by using the same.
Background
In recent years, a Permanent Magnet Synchronous Motor (PMSM) has been widely used because of its advantages of high efficiency, low power density, easy closed-loop control, and the like. The PMSM is generally driven by a three-phase two-level inverter, and the main drive generally adopts a Pulse Width Modulation (PWM) technology. The PWM method causes high frequency pulses to be generated in the inverter, rather than sinusoidal, which causes insulation pressure on the cables and shaft currents, which may lead to a reduction in the life of the motor system. In addition, current harmonics may also cause additional power loss and noise. There are several ways to mitigate these negative effects, most commonly a three-phase LC filter is fitted at the end of the power transmission line near the inverter. Because the current detection is placed on the inverter circuit board, the current detection of the motor system becomes the current of the input end of the detection filter, and is not the motor current, and the harmonic content and the phase position of the detection filter are different. At present, a sensorless control method of a permanent magnet synchronous motor is basically mature. However, since the control of the PMSM requires the use of a position sensor (e.g., an encoder, a resolver, etc.), the position sensor may reduce system reliability and increase cost, and some applications may consider the use of a position sensorless control method, in which the angle and speed of the motor are calculated from the current and voltage. However, if a sensorless control approach (estimation of motor angle and speed by measuring current or voltage) is to be used on a PMSM equipped with an LC filter, a problem is encountered: most sensorless estimation methods are based on a model of the motor system, but the model of the motor system has been changed by a filter. The most direct solution is to measure the voltage and current of the motor directly at the motor side, but this complicates the hardware design.
Disclosure of Invention
The invention aims to provide a permanent magnet synchronous motor system with an LC filter and a method for realizing sensorless control by using the same, which solve the problem of sensorless control of the permanent magnet synchronous motor with the LC filter by using an extended state observer while not changing system hardware.
The purpose of the invention is realized by the following technical scheme:
a PMSM system with an LC filter comprises a current acquisition module, a Clark conversion module, an Extended State Observer (ESO) module, an angle and speed calculator module, a back electromotive force calculation module, a Microcontroller (MCU), a three-phase inverter, the LC filter and a Permanent Magnet Synchronous Motor (PMSM), wherein:
the current acquisition module is used for acquiring A, B, C phase current signals i close to the inverter endia、iibAnd iic；
The Clark conversion module is used for converting A, B, C three-phase current signals into a stationary seatVariable alpha axis current i under standard systemiαAnd beta axis current iiβ；
The ESO module is used for estimating state variables and disturbance variables of the motor;
the back electromotive force calculating module is used for calculating back electromotive force esαAnd esβ；
The angle and speed calculator is used for estimating the angle and speed of the motor;
the three-phase inverter is used for controlling the filter and the motor from hardware;
the MCU is used for completing all software algorithms.
A method for position sensorless control using the above system, comprising the steps of:
step 1: the ABC three-phase current close to one side of the inverter is collected through the current collection module and the MCU, the collected three-phase current signals are subjected to Clark conversion and converted into alpha-axis current i under a static coordinate systemiαAnd beta axis current iiβ；
Step 2: constructing alpha-axis specific state variables x1α、x2α、x3α：
x1α＝iiα
Figure GDA0002890150630000021
Figure GDA0002890150630000022
Disturbance variable x4αCan be expressed as:
Figure GDA0002890150630000023
in the formula uiαThe alpha-axis voltage component under a static coordinate system is obtained by Clark conversion of three-phase voltage signals close to an inverter end; l isfAnd CfInductance and capacitance values of the LC filter; l issAnd RsRespectively the inductance and the resistance value of the motor; e.g. of the typesαIs alpha axis counter electromotive force under a static coordinate system;
Figure GDA0002890150630000024
represents x4αThe first derivative of (a) is,
Figure GDA0002890150630000025
represents uiαThe first derivative of (a) is,
Figure GDA0002890150630000026
represents uiαThe second derivative of (a);
and step 3: construction of a beta-axis specific state variable x1β、x2β、x3β：
x1β＝iiβ
Figure GDA0002890150630000027
Figure GDA0002890150630000028
Disturbance variable x4βCan be expressed as:
Figure GDA0002890150630000031
in the formula uiβThe beta-axis voltage component under a static coordinate system is obtained by Clark conversion of three-phase voltage signals close to an inverter end; l isfAnd CfInductance and capacitance values of the LC filter; l issAnd RsRespectively the inductance and the resistance value of the motor; e.g. of the typesβIs beta axis counter electromotive force under a static coordinate system;
Figure GDA0002890150630000032
represents x4βThe first derivative of (a) is,
Figure GDA0002890150630000033
represents uiβThe first derivative of (a) is,
Figure GDA0002890150630000034
represents uiβThe second derivative of (a);
and 4, step 4: constructing an ESO calculation formula to obtain an alpha axis z1α～z4αThe estimation of (c):
eα＝z1α-x1α
Figure GDA0002890150630000035
Figure GDA0002890150630000036
Figure GDA0002890150630000037
Figure GDA0002890150630000038
in the formula, z1α～z4αEach x is defined in step 21α～x4αAn estimated value of (d); b1～b4Respectively are fixed parameters;
Figure GDA0002890150630000039
each represents z1α～z4αThe first derivative of (a);
and 5: constructing an ESO calculation formula to obtain a beta axis z1β～z4βThe estimation of (c):
eβ＝z1β-x1β
Figure GDA00028901506300000310
Figure GDA00028901506300000311
Figure GDA00028901506300000312
Figure GDA00028901506300000313
in the formula, z1β～z4βEach x is defined in step 31β～x4βAn estimated value of (d); b1～b4Respectively are fixed parameters;
Figure GDA00028901506300000314
each represents z1β～z4βThe first derivative of (a);
step 6: calculating an estimated value of the back electromotive force, which is obtained by the calculation in step 4 and step 5:
Figure GDA00028901506300000315
Figure GDA00028901506300000316
in the formula (I), the compound is shown in the specification,
Figure GDA00028901506300000317
is an estimated value of alpha axis back electromotive force in a static coordinate system,
Figure GDA00028901506300000318
is an estimated value of the beta axis back electromotive force in a static coordinate system.
And 7: calculating the angle theta and the speed omega through an angle and speed calculator module according to the calculation result obtained in the step 6, wherein the calculation formulas are respectively as follows:
Figure GDA0002890150630000041
Figure GDA0002890150630000042
the invention has the following advantages:
1. the invention provides a sensorless extended state observer method for a permanent magnet synchronous motor, which can estimate the angle and the speed of a Permanent Magnet Synchronous Motor (PMSM) provided with an LC filter under the condition of not using a position sensor, thereby realizing sensorless control of the PMSM;
2. the invention realizes sensorless control based on a new observer, an Extended State Observer (ESO).
Drawings
Fig. 1 is a block diagram of a PMSM system equipped with an LC filter according to the present invention.
FIG. 2 is a design diagram of the ESO-based estimation method of the present invention.
Fig. 3 is a simulation waveform diagram of the method of the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
The first embodiment is as follows: as shown in fig. 1, the PMSM system with an LC filter provided in this embodiment includes a current collection module, a Clark transformation module, an Extended State Observer (ESO) module, an angle and speed calculator module, a back electromotive force calculation module, a Microcontroller (MCU), a three-phase inverter, an LC filter, and a Permanent Magnet Synchronous Motor (PMSM), wherein:
the current acquisition module is used for acquiring A, B, C phase current signals i close to the inverter endia、iibAnd iic；
The Clark conversion module is used for converting A, B, C three-phase current signals into variable alpha-axis current i under a static coordinate systemiαAnd beta axis current iiβ；
The ESO module is used for estimating state variables and disturbance variables of the motor;
the back electromotive force calculating module is used for calculating back electromotive force esαAnd esβ；
The angle and speed calculator is used for estimating the angle and speed of the motor;
the three-phase inverter is used for controlling the filter and the motor from hardware;
the MCU is used for completing all software algorithms.
The second embodiment is as follows: the embodiment provides a method for controlling a position-free sensor by using the system of the first embodiment, as shown in fig. 2, the method includes the following steps:
step 1: the ABC three-phase current close to one side of the inverter is collected through the current collection module and the MCU, the collected three-phase current signals are subjected to Clark conversion and converted into alpha-axis current i under a static coordinate systemiαAnd beta axis current iiβ；
Step 2: constructing alpha-axis specific state variables x1α、x2α、x3α：
x1α＝iiα
Figure GDA0002890150630000051
Figure GDA0002890150630000052
Disturbance variable x4αCan be expressed as:
Figure GDA0002890150630000053
in the formula uiαThe alpha-axis voltage component under a static coordinate system is obtained by Clark conversion of three-phase voltage signals close to an inverter end; l isfAnd CfInductance and capacitance values of the LC filter; l issAnd RsRespectively the inductance and the resistance value of the motor; e.g. of the typesαIs alpha axis counter electromotive force under a static coordinate system;
Figure GDA0002890150630000054
represents x4αThe first derivative of (a) is,
Figure GDA0002890150630000055
represents uiαThe first derivative of (a) is,
Figure GDA0002890150630000056
represents uiαThe second derivative of (a);
and step 3: construction of a beta-axis specific state variable x1β、x2β、x3β：
x1β＝iiβ
Figure GDA0002890150630000057
Figure GDA0002890150630000058
Disturbance variable x4βCan be expressed as:
Figure GDA0002890150630000059
in the formula uiβThe beta-axis voltage component under a static coordinate system is obtained by Clark conversion of three-phase voltage signals close to an inverter end; l isfAnd CfInductance and capacitance values of the LC filter; l issAnd RsRespectively the inductance and the resistance value of the motor; e.g. of the typesβIs beta axis counter electromotive force under a static coordinate system;
Figure GDA00028901506300000510
represents x4βThe first derivative of (a) is,
Figure GDA00028901506300000511
represents uiβThe first derivative of (a) is,
Figure GDA00028901506300000512
represents uiβThe second derivative of (a);
and 4, step 4: constructing an ESO calculation formula to obtain an alpha axis z1α～z4αThe estimation of (c):
eα＝z1α-x1α
Figure GDA0002890150630000061
Figure GDA0002890150630000062
Figure GDA0002890150630000063
Figure GDA0002890150630000064
in the formula, z1α～z4αEach x is defined in step 21α～x4αAn estimated value of (d); b1～b4Respectively are fixed parameters;
Figure GDA0002890150630000065
each represents z1α～z4αThe first derivative of (a);
and 5: constructing an ESO calculation formula to obtain a beta axis z1β～z4βThe estimation of (c):
eβ＝z1β-x1β
Figure GDA0002890150630000066
Figure GDA0002890150630000067
Figure GDA0002890150630000068
Figure GDA0002890150630000069
in the formula, z1β～z4βEach x is defined in step 31β～x4βAn estimated value of (d); b1～b4Respectively are fixed parameters;
Figure GDA00028901506300000610
each represents z1β～z4βThe first derivative of (a);
step 6: calculating an estimated value of the back electromotive force, which is obtained by the calculation in step 4 and step 5:
Figure GDA00028901506300000611
Figure GDA00028901506300000612
in the formula (I), the compound is shown in the specification,
Figure GDA00028901506300000613
is an estimated value of alpha axis back electromotive force in a static coordinate system,
Figure GDA00028901506300000614
is an estimated value of the beta axis back electromotive force in a static coordinate system.
And 7: calculating the angle theta and the speed omega through an angle and speed calculator module according to the calculation result obtained in the step 6, wherein the calculation formulas are respectively as follows:
Figure GDA00028901506300000615
Figure GDA00028901506300000616
the method of the embodiment can be used for controlling the rotating speed of the permanent magnet synchronous motor with the LC filter additionally arranged behind the inverter, such as long-line distance transmission condition of the motor placed under water, high-speed motor control and the like. The inverter is provided with a current measuring device, the rear end of the filter does not need the current measuring device, the voltage can be directly measured, and the calculated voltage setting can be called from a method for controlling the motor.
Fig. 3 is a simulated waveform diagram of the method of the embodiment, in which the solid line represents the actual angle of the rotor, the dotted line represents the angle calculated by the method of the embodiment, and the estimated angle substantially follows the actual angle regardless of the steady state and the transient state in the process of changing the rotation speed of the motor from 500r/min to 1000 r/min.

Claims (1)

1. A position sensor-less control method based on a PMSM system with an LC filter, the PMSM system comprising: the device comprises a current acquisition module, a Clark conversion module, an ESO module, an angle and speed calculator module, a back electromotive force calculation module, an MCU, a three-phase inverter, an LC filter and a PMSM; wherein the three-phase inverter is used for controlling the LC filter and the PMSM from hardware; the MCU is used for completing all software algorithms; characterized in that the method comprises the following steps:
step 1: the ABC three-phase current close to one side of the inverter is collected through the current collection module and the MCU, and the collected three-phase current is converted into alpha-axis current i under a static coordinate system through the Clark conversion moduleiαAnd beta axis current iiβ；
Step 2: construction of alpha-axis specific state variables x by ESO modules1α、x2α、x3αAnd a disturbance variable x4α：
Figure FDA0002890150620000011
In the formula uiαThe alpha-axis voltage component under a static coordinate system is obtained by Clark conversion of three-phase voltage signals close to an inverter end; l isfAnd CfInductance and capacitance values of the LC filter; l issAnd RsRespectively the inductance and the resistance value of the motor; e.g. of the typesαIs alpha axis counter electromotive force under a static coordinate system;
Figure FDA0002890150620000012
represents uiαThe first derivative of (a) is,
Figure FDA0002890150620000013
represents uiαThe second derivative of (a);
and step 3: construction of beta-axis specific state variables x by ESO modules1β、x2β、x3βAnd a disturbance variable x4β：
Figure FDA0002890150620000014
In the formula uiβThe beta-axis voltage component under a static coordinate system is obtained by Clark conversion of three-phase voltage signals close to an inverter end; l isfAnd CfInductance and capacitance values of the LC filter; l issAnd RsRespectively the inductance and the resistance value of the motor; e.g. of the typesβIs beta axis counter electromotive force under a static coordinate system;
Figure FDA0002890150620000015
represents uiβThe first derivative of (a) is,
Figure FDA0002890150620000016
represents uiβThe second derivative of (a);
and 4, step 4: constructing an ESO calculation formula through an ESO module to obtain an alpha axis z1α～z4αThe estimation of (c):
Figure FDA0002890150620000021
in the formula, z1α～z4αEach x is defined in step 21α～x4αAn estimated value of (d); b1～b4Respectively are fixed parameters;
Figure FDA0002890150620000022
each represents z1α～z4αThe first derivative of (a);
and 5: constructing an ESO calculation formula through an ESO module to obtain a beta axis z1β～z4βThe estimation of (c):
Figure FDA0002890150620000023
in the formula, z1β～z4βEach x is defined in step 31β～x4βAn estimated value of (d); b1～b4Respectively are fixed parameters;
Figure FDA0002890150620000024
each represents z1β～z4βThe first derivative of (a);
step 6: and (5) calculating the estimated value of the back electromotive force by a back electromotive force calculation module according to the calculation in the steps 4 and 5:
Figure FDA0002890150620000025
Figure FDA0002890150620000026
in the formula (I), the compound is shown in the specification,
Figure FDA0002890150620000027
is an estimated value of alpha axis back electromotive force in a static coordinate system,
Figure FDA0002890150620000028
the estimated value of beta axis back electromotive force under a static coordinate system;
and 7: calculating the angle theta and the speed omega through an angle and speed calculator module according to the calculation result obtained in the step 6, wherein the calculation formulas are respectively as follows:
Figure FDA0002890150620000029
Figure FDA00028901506200000210
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CN110417319B (en) * 2019-07-31 2021-10-22 深圳市英威腾电气股份有限公司 Motor rotor position estimation method with filtering device, system and related assembly
CN114598218B (en) * 2022-03-24 2022-10-28 中国矿业大学 Permanent magnet synchronous motor position sensorless control method, device and system with LC filter
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Inventor after: Xu Yongxiang

Inventor after: Wang Minghui

Inventor after: Zou Jibin

Inventor after: Cai Mingfei

Inventor after: Li Zhonghao

Inventor before: Xu Yongxiang

Inventor before: Wang Minghui

Inventor before: Zou Jibin

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