CN108206661A - A kind of motor without position sensor control method of electrohydraulic steering boost pump - Google Patents
A kind of motor without position sensor control method of electrohydraulic steering boost pump Download PDFInfo
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- CN108206661A CN108206661A CN201810109992.XA CN201810109992A CN108206661A CN 108206661 A CN108206661 A CN 108206661A CN 201810109992 A CN201810109992 A CN 201810109992A CN 108206661 A CN108206661 A CN 108206661A
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Classifications
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of motor without position sensor control methods of electrohydraulic steering boost pump.In the present invention：Electric machine controller receives motor speed instruction, and detects the current feedback signal of motor, estimates the rotor position angle of motor；Motor is under speed closed loop during static startup, electric machine controller carries out specific rotor position angle compensation by sliding formwork control module according to the direction of motor actual speed and size, motor is made not reversely rotate, it is speed closed loop operation from zero-turn speed to rated speed to realize motor.The present invention is handled by having carried out different arctangent computations in sliding formwork control module to the back-emf signal that electric current is estimated, correct the motor rotor position angle estimated under different rotating speeds direction, and specific angle compensation is carried out to estimated value, realize position-sensor-free velocity close-loop control in motor full speed range.
Description
Technical field
The invention belongs to new-energy automobile field, more particularly to a kind of position sensorless of electrohydraulic steering boost pump
Device motor control method.
Background technology
New-energy electric vehicle gradually replaces fuel vehicle to become the quotient such as mainstream urban transportation tool, especially electric bus
With car market.Power steering apparatus be electric vehicle an indispensable part, the power steering apparatus of most of electric bus
Use electrohydraulic steering booster.The core component of electrohydraulic steering booster includes oil pump, motor and electric machine controller,
Electric machine controller control motor is run under rated speed, and motor drives oil pump rotation to generate corresponding stream by mechanical connection
Amount, the resistance that automobile steering roller is overcome to be generated in rotation process, so as to provide power steering for automobile steering system.
The motor in electrohydraulic steering booster mainly has ac three-phase asynchronous motor and the Thee-phase alternating current permanent-magnetic same at present
Walk two class of motor.Since hydraulic booster uses machine oil, as medium, motor working environment is not fine, and considers cost,
Therefore motor is all position sensorless device, this just needs controller to control motor using position-sensor-free algorithm.Exchange
The efficiency of asynchronous machine is relatively low compared to permanent magnet synchronous motor, and usually using the position Sensorless Control side of variable-frequency variable-voltage
Method so that the efficiency of entire steering assist motor system is lower, it is contemplated that energy saving or increase course continuation mileage uses permanent magnet synchronous electric
Machine is future trend.The control algolithm of permanent magnet synchronous motor needs to obtain the absolute location information of rotor, is passed in no position
In the case of sensor, common method is zero crossing by detecting winding back emf or is estimated by detecting current of electric
Winding back emf is counted, then motor rotor position information is calculated with back-emf, realizes position-sensor-free velocity close-loop control.
But existing for the method for controlling position-less sensor of current electrohydraulic steering booster permanent magnet synchronous motor
Defect is：Motor does not have back-emf or back-emf very little when zero-speed is static and low speed, cannot get motor rotor position information
Or location information is very fuzzy, if may reversely be revolved with regard to operating speed closed-loop control, motor in the static startup of motor
Turn, cause Electric-motor driven pumps that cannot generate power-assisted.Therefore current way is speed open-loop start-up, first leads to fixation to machine winding
The instruction current of phase sequence accelerates motor open loop, after speed reaches a certain level and apparent back-emf amplitude occurs,
It is switched to speed closed loop pattern.And during open loop accelerates, the size of current-order and the size of acceleration time and load
It is related, machine oil load viscosity or resistance be related with environment temperature, such as when winter load can than summer when
Hou great, and different geographical has larger difference, and this just affects the robustness of control, the success of motor admission velocity closed loop
Rate can reduce, and affect the effect in full-vehicle steering power-assisted.
In view of problem above, the present invention, which provides a kind of improved method, makes motor start to rated speed from static and all make
Use velocity close-loop control.
Invention content
The purpose of the present invention is to provide a kind of motor without position sensor control method of electrohydraulic steering boost pump,
It is handled, corrected by having carried out different arctangent computations in sliding formwork control module to the back-emf signal that electric current is estimated
The motor rotor position angle estimated under different rotating speeds direction, and specific angle compensation is carried out to estimated value, it is complete to realize motor
Position-sensor-free velocity close-loop control in fast range.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention is a kind of motor without position sensor control method of electrohydraulic steering boost pump, is included the following steps：
Step 1, electric machine controller receives motor speed instruction, and detects the current feedback signal of motor, the electric machine controller
Including speed closed loop adjuster, direct-axis current adjuster, quadrature axis current adjuster, the first conversion module, the second conversion module,
Three conversion modules, the 4th conversion module, sliding formwork control module；
The speed closed loop adjuster exports quadrature axis current axis demand after receiving motor speed instruction and motor speed feedback；
First conversion module receives current of electric feedback signal, and first conversion module is three-phase static coordinate system to two
Phase rest frame converts；Actual measurement motor current signal is converted to the electricity under two-phase stationary coordinate system by first conversion module
The second conversion module and sliding formwork control module are transmitted to after stream feedback signal；
Second conversion module, will be under two-phase stationary coordinate system according to the rotor-position angle information of sliding formwork control module transfer
Current feedback signal is converted to the current feedback signal under two-phase rotating coordinate system, and the current feedback signal includes direct-axis current
Feedback signal and quadrature axis current feedback signal；
Step 2, the direct-axis current adjuster adjust output d-axis after receiving direct axis current demand and direct-axis current feedback signal
For voltage instruction to third conversion module, it is zero that wherein direct axis current demand is constant；
Adjusting output quadrature-axis voltage refers to after the quadrature axis current adjuster receives quadrature axis current axis demand and quadrature axis current feedback signal
It enables to third conversion module；
The third conversion module, will be under two-phase rotating coordinate system according to the rotor-position angle information of sliding formwork control module transfer
The voltage instruction that voltage instruction is converted under two-phase stationary coordinate system is transmitted to the 4th conversion module and sliding formwork control module；
Voltage instruction under two-phase stationary coordinate system is converted to the voltage under three-phase static coordinate system by the 4th conversion module
Instruction, as electric moter voltage instruct.
Preferably, the voltage instruction and current feedback signal that the sliding formwork control module is transmitted according to third conversion module,
Estimate rotor position angle and motor actual speed；
The sliding formwork control module includes：Sliding mode control device, filter module, rotor position angle estimation block, rotating speed computing module
With angle compensation module；
The Sliding mode control device receives the voltage instruction and current feedback signal under two-phase stationary coordinate system, and it is quiet to adjust output two-phase
The only amplitude limit slippage signal under coordinate system；
The voltage equation of motor is included in the Sliding mode control device, the parameter of electric machine, the parameter of electric machine packet are contained in voltage equation
Include machine winding phase resistance value and phase inductance value, rated current of motor, Rated motor voltage, Rated motor rotating speed and sliding formwork width
Value, these parameters carry out initializing set after electric machine controller energization.
The filter module is filtered to obtain the back-emf signal under two-phase stationary coordinate system to amplitude limit slippage signal,
Middle initial filter cutoff frequency parameter carries out initializing set after electric machine controller energization；The back-emf signal is input to rotor
Position angle estimation block, and Sliding mode control device is fed back to, filter cutoff frequency is supplied to angle compensation module, cutoff frequency root
It is adjusted in real time according to motor actual speed；
The rotor position angle estimation block estimates rotor position angle according to the back-emf under two phase coordinate systems；
The rotating speed computing module obtains motor actual speed according to the rotor position angle estimated, and feeds back to rotor-position and estimate
Module, angle compensation module and filter module are calculated, wherein speed calculates execution cycle parameter and carried out after electric machine controller energization
Initializing set；
The angle compensation module carries out the rotor position angle estimated according to motor actual speed and filter cutoff frequency special
Fixed compensation obtains final motor rotor position angle.
Preferably, the rotor position angle estimation block includes：Take negative value module, arctangent computation modules A, arc tangent meter
Calculate module B and estimation selecting module；The back-emf signal under two-phase stationary coordinate system is received, takes negative value module static to two-phase
Back-emf signal under coordinate system takes its negative value；
The negative value of arctangent computation modules A x-axis under two-phase stationary coordinate system and the positive value of y-axis carry out arc tangent trigonometric function meter
It calculates, obtains motor rotor position angle estimated value A；
The positive value of arctangent computation module B x-axis under two-phase stationary coordinate system and the negative value of y-axis carry out arc tangent trigonometric function meter
It calculates, obtains motor rotor position angle estimated value B；
Estimate that selecting module selects output motor rotor position angle estimated value A or estimation according to the symbol of motor speed feedback signal
Value B.If motor speed feedback signal is just, exports A；If motor speed signal is negative, B is exported.
Preferably, the angle compensation module includes an arctangent computation module, and the arctangent computation module is according to connecing
The motor feedback rotating speed size and filter cutoff frequency received calculates the angular metric for needing to compensate, angular metric and the electricity of compensation
Machine rotor location estimate is summed, and obtains final motor rotor position angle.
The invention has the advantages that：
1st, the present invention is by having carried out the back-emf signal that electric current is estimated in sliding formwork control module different arc tangent meters
Calculation is handled, and corrects the motor rotor position angle estimated under different rotating speeds direction, and carry out specific angle compensation to estimated value,
Realize position-sensor-free velocity close-loop control in motor full speed range.
2nd, the motor in the present invention is under speed closed loop during static startup, and electric machine controller is according to the side of motor actual speed
Carry out specific rotor position angle compensation to size, motor made not reversely rotate, realize motor from zero-turn speed to
Rated speed is speed closed loop operation, improves the robustness of electric machine without position sensor operation.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, embodiment will be described below required
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of motor without position sensor control method of electrohydraulic steering boost pump of the present invention.
Fig. 2 is the functional block diagram of electric machine controller；
Fig. 3 is the functional block diagram of sliding formwork control module；
Fig. 4 is the functional block diagram of rotor position angle estimation block；
Fig. 5 is the functional block diagram of angle compensation module；
Fig. 6 is vehicle application principle block diagram；
Fig. 7 is position-sensor-free velocity close-loop control motor operation flow chart；
In attached drawing, parts list represented by the reference numerals are as follows：
101- electric machine controllers, 102- speed closed loop adjusters, 103- direct-axis current adjusters, 104 quadrature axis current adjusters,
The first conversion modules of 105-, the second conversion modules of 106-, 107- third conversion modules, the 4th conversion modules of 108-, 109- sliding formworks
Control module, 110- motors, 111- Sliding mode control devices, 112- filter modules, 113- rotor position angle estimation blocks, 114- rotating speeds
Computing module, 115- angle compensation modules, 116- take negative value module, 117- arctangent computation modules As, 118- arctangent computation moulds
Block B, 119- estimation selecting module, 120- arctangent computation modules, 150- oil pumps, 160- entire car controllers, 170- oil pipes, 180-
Steering wheel.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment 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 are obtained all other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Embodiment one：
It please referring to Fig.1 shown in -2, the present invention is a kind of motor without position sensor control method of electrohydraulic steering boost pump,
Include the following steps：
Step 1, electric machine controller 101 receives motor speed instruction, and detects the current feedback signal of motor 110, motor control
Device 101 includes speed closed loop adjuster 102, direct-axis current adjuster 103, quadrature axis current adjuster 104, the first conversion module
105th, the second conversion module 106, third conversion module 107, the 4th conversion module 108, sliding formwork control module 109；
Speed closed loop adjuster 102 exports quadrature axis current axis demand after receiving motor speed instruction and motor speed feedback；
First conversion module 105 receives current of electric feedback signal, and the first conversion module 105 is three-phase static coordinate system to two-phase
Rest frame converts；Actual measurement motor current signal is converted to the electric current under two-phase stationary coordinate system by the first conversion module 105
The second conversion module 106 and sliding formwork control module 109 are transmitted to after feedback signal；
The rotor-position angle information that second conversion module 106 is transmitted according to sliding formwork control module 109, will be under two-phase stationary coordinate system
Current feedback signal be converted to current feedback signal under two-phase rotating coordinate system, it is anti-that current feedback signal includes direct-axis current
Feedback signal and quadrature axis current feedback signal；
Step 2, direct-axis current adjuster 103 adjust output d-axis after receiving direct axis current demand and direct-axis current feedback signal
For voltage instruction to third conversion module 107, it is zero that wherein direct axis current demand is constant；
Quadrature axis current adjuster 104 adjusts output quadrature-axis voltage instruction after receiving quadrature axis current axis demand and quadrature axis current feedback signal
To third conversion module 107；
The rotor-position angle information that third conversion module 107 is transmitted according to sliding formwork control module 109, will be under two-phase rotating coordinate system
The voltage instruction that is converted under two-phase stationary coordinate system of voltage instruction be transmitted to the 4th conversion module 108 and sliding formwork control module
109；
Voltage instruction under two-phase stationary coordinate system is converted to the voltage under three-phase static coordinate system and referred to by the 4th conversion module 108
It enables, as electric moter voltage instructs.
Embodiment two：
As shown in figure 3, voltage instruction and current feedback signal that sliding formwork control module 109 is transmitted according to third conversion module 107,
Estimate rotor position angle and motor actual speed；Sliding formwork control module 109 include Sliding mode control device 111, filter module 112,
Rotor position angle estimation block 113, rotating speed computing module 114 and angle compensation module 115；
Sliding mode control device 111 receives the voltage instruction and current feedback signal under two-phase stationary coordinate system, and it is quiet to adjust output two-phase
The only amplitude limit slippage signal under coordinate system；
The voltage equation of motor is included in Sliding mode control device 111, the parameter of electric machine is contained in voltage equation, the parameter of electric machine includes motor
Winding phase resistance value and phase inductance value, rated current of motor, Rated motor voltage, Rated motor rotating speed and sliding formwork amplitude, this
A little parameters carry out initializing set after the energization of electric machine controller 101.
Filter module 112 is filtered to obtain the back-emf signal under two-phase stationary coordinate system to amplitude limit slippage signal,
Middle initial filter cutoff frequency parameter carries out initializing set after the energization of electric machine controller 101；The back-emf signal is input to
Rotor position angle estimation block 113, and Sliding mode control device 111 is fed back to, filter cutoff frequency is supplied to angle compensation module
115, cutoff frequency adjusts in real time according to motor actual speed；
Rotor position angle estimation block 113 estimates rotor position angle according to the back-emf under two phase coordinate systems；
Rotating speed computing module 114 obtains motor actual speed according to the rotor position angle estimated, and feeds back to rotor-position and estimate
Module 113, angle compensation module 115 and filter module 112 are calculated, wherein speed, which calculates, performs cycle parameter in electric machine controller
Initializing set is carried out after 101 energizations；
Angle compensation module 115 carries out the rotor position angle estimated according to motor actual speed and filter cutoff frequency specific
Compensation, obtain final motor rotor position angle.
Embodiment three：
As shown in figure 4, rotor position angle estimation block 113 includes：Take negative value module 116, arctangent computation modules A 117, anyway
Cut computing module B118, estimation selecting module 119；The back-emf signal under two-phase stationary coordinate system is received, takes negative value module
Back-emf signal under 116 pairs of two-phase stationary coordinate systems takes its negative value；
The negative value of the x-axis under two-phase stationary coordinate system of arctangent computation modules A 117 and the positive value of y-axis carry out arc tangent triangle letter
Number calculates, and obtains motor rotor position angle estimated value A；
The positive value of arctangent computation module B118 x-axis under two-phase stationary coordinate system and the negative value of y-axis carry out arc tangent triangle letter
Number calculates, and obtains motor rotor position angle estimated value B；
Estimate selecting module 119 according to the symbol of motor speed feedback signal select output motor rotor position angle estimated value A or
Estimated value B.If motor speed feedback signal is just, exports A；If motor speed signal is negative, B is exported.
Example IV：
As shown in figure 5, angle compensation module 115 includes an arctangent computation module 120, arctangent computation module 120 is according to connecing
The motor feedback rotating speed size and filter cutoff frequency received calculates the angular metric for needing to compensate, angular metric and the electricity of compensation
Machine rotor location estimate is summed, and obtains final motor rotor position angle.
Embodiment five：
As shown in fig. 6, in the application of 12 meters of bus cars, electrohydraulic steering force aid system is by oil pump 150, permanent magnet synchronous motor
110 and 101 grade components of electric machine controller composition, hydraulic medium be No. 46 machine oil.Wherein, the rated power of permanent magnet synchronous motor is
3kW, number of pole-pairs 5, rated speed 1500r/min, rated voltage 380V, rated current 6A, phase resistance 1 are mutually electric
Feel for 12mH；
Entire car controller 160 carries out CANController Area Network with electric machine controller 101, and control area net(CAN) leads to
News send motor speed instruction to electric machine controller；
Electric machine controller 101 is electrically connected with 110 triple line of motor, and electric machine controller 101 controls after closed-loop control operation
Motor rotates under rated speed.Wherein the sliding formwork amplitude of electric machine controller 101 is 0.9, and it is micro- for 125 that speed calculates the execution period
Second, initial filter cutoff frequency is 30Hz；
Motor 110 is mechanically connected with oil pump 150, then oil pipe 170 on the oil circuit entrance and exit of oil pump, after motor 110 rotates
Driving oil pump 150 rotates and certain oil flow rate is generated in oil pipe, so as to the resistance generated when steering wheel 180 being overcome to rotate
Power provides power steering for steering wheel 180.
Embodiment six：
As shown in fig. 7, position-sensor-free velocity close-loop control motor operation flow includes the following steps：
SS01, vehicle be powered after, initialize systematic parameter, including Rated motor rotating speed, rated voltage, rated current, motor around
Group phase resistance value, phase inductance value, controller sliding formwork coefficient, initial filter cutoff frequency and speed, which calculate, performs period etc.；
SS02, electric machine controller and entire car controller carry out CAN communication, receive motor speed instruction, rotational speed command value is motor
Rated speed；
The biphase current of SS03, electric machine controller detection motor；
SS04, electric machine controller operating speed closed-loop control motor are run under velocity mode；
SS05, motor run to rated speed, dragging oil pump operating acting, so as to make machine oil in oil pipe from static Acceleration of starting
It produces certain flow and overcomes pressure in oil circuit, power-assisted is provided to turn to.
Motor is run from zero-turn speed to rated speed under speed closed loop, and position Sensorless Control starts success rate and reaches
To absolutely, do not limited by environment temperature.
It is worth noting that, in above system embodiment, included each unit is only drawn according to function logic
Point, but above-mentioned division is not limited to, as long as corresponding function can be realized；In addition, each functional unit is specific
Title is also only to facilitate mutually distinguish, the protection domain being not intended to restrict the invention.
In addition, one of ordinary skill in the art will appreciate that realize all or part of step in the various embodiments described above method
It is that relevant hardware can be instructed to complete by program, corresponding program can be stored in a computer-readable storage and be situated between
In matter, the storage medium, such as ROM/RAM, disk or CD.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is in order to preferably explain the present invention
Principle and practical application, so as to which skilled artisan be enable to be best understood by and utilize the present invention.The present invention is only
It is limited by claims and its four corner and equivalent.
Claims (4)
1. a kind of motor without position sensor control method of electrohydraulic steering boost pump, which is characterized in that including walking as follows
Suddenly：
Step 1, electric machine controller（101）Motor speed instruction is received, and detects motor（110）Current feedback signal, it is described
Electric machine controller（101）Including speed closed loop adjuster（102）, direct-axis current adjuster（103）, quadrature axis current adjuster
（104）, the first conversion module（105）, the second conversion module（106）, third conversion module（107）, the 4th conversion module
（108）, sliding formwork control module（109）；
The speed closed loop adjuster（102）Quadrature axis current axis demand is exported after receiving motor speed instruction and motor speed feedback；
First conversion module（105）Receive current of electric feedback signal, first conversion module（105）For three phase static
Coordinate system is converted to two-phase stationary coordinate system；First conversion module（105）Actual measurement motor current signal is converted into two-phase
The second conversion module is transmitted to after current feedback signal under rest frame（106）With sliding formwork control module（109）；
Second conversion module（106）According to sliding formwork control module（109）The rotor-position angle information of transmission is static by two-phase
Current feedback signal under coordinate system is converted to the current feedback signal under two-phase rotating coordinate system, the current feedback signal packet
Include direct-axis current feedback signal and quadrature axis current feedback signal；
Step 2, the direct-axis current adjuster（103）It is adjusted after reception direct axis current demand and direct-axis current feedback signal defeated
Go out direct-axis voltage to instruct to third conversion module（107）, it is zero that wherein direct axis current demand is constant；
The quadrature axis current adjuster（104）Output quadrature axis electricity is adjusted after receiving quadrature axis current axis demand and quadrature axis current feedback signal
Pressure is instructed to third conversion module（107）；
The third conversion module（107）According to sliding formwork control module（109）The rotor-position angle information of transmission, two-phase is rotated
The voltage instruction that voltage instruction under coordinate system is converted under two-phase stationary coordinate system is transmitted to the 4th conversion module（108）And cunning
Mould control module（109）；
4th conversion module（108）Voltage instruction under two-phase stationary coordinate system is converted under three-phase static coordinate system
Voltage instruction, as electric moter voltage instruct.
2. a kind of motor without position sensor control method of electrohydraulic steering boost pump according to claim 1,
It is characterized in that, the sliding formwork control module（109）According to third conversion module（107）Voltage instruction and the current feedback letter of transmission
Number, estimate rotor position angle and motor actual speed；
The sliding formwork control module（109）Including：Sliding mode control device（111）, filter module（112）, rotor position angle estimation mould
Block（113）, rotating speed computing module（114）With angle compensation module（115）；
The Sliding mode control device（111）The voltage instruction and current feedback signal under two-phase stationary coordinate system are received, adjusts output
Amplitude limit slippage signal under two-phase stationary coordinate system；
The Sliding mode control device（111）In include the voltage equation of motor, the parameter of electric machine, the motor ginseng are contained in voltage equation
Number includes machine winding phase resistance value and phase inductance value, rated current of motor, Rated motor voltage, Rated motor rotating speed and cunning
Mould amplitude, these parameters are in electric machine controller（101）Initializing set is carried out after energization；
The filter module（112）Amplitude limit slippage signal is filtered to obtain the back-emf signal under two-phase stationary coordinate system,
Wherein initial filter cutoff frequency parameter is in electric machine controller（101）Initializing set is carried out after energization；The back-emf signal is defeated
Enter to rotor position angle estimation block（113）, and feed back to Sliding mode control device（111）, filter cutoff frequency is supplied to angle
Compensating module（115）, cutoff frequency adjusts in real time according to motor actual speed；
The rotor position angle estimation block（113）Rotor position angle is estimated according to the back-emf under two phase coordinate systems；
The rotating speed computing module（114）Rotor position angle according to estimating obtains motor actual speed, and feeds back to rotor
Position estimation（113）, angle compensation module（115）And filter module（112）, wherein speed calculate perform cycle parameter exist
Electric machine controller（101）Initializing set is carried out after energization；
The angle compensation module（115）According to motor actual speed and filter cutoff frequency to the rotor position angle that estimates into
The specific compensation of row, obtains final motor rotor position angle.
3. a kind of motor without position sensor control method of electrohydraulic steering boost pump according to claim 2,
It is characterized in that, the rotor position angle estimation block（113）Including：Take negative value module（116）, arctangent computation modules A
（117）, arctangent computation module B（118）, estimation selecting module（119）；Receive the back-emf letter under two-phase stationary coordinate system
Number, take negative value module（116）Its negative value is taken to the back-emf signal under two-phase stationary coordinate system；
Arctangent computation modules A（117）Arc tangent triangle is carried out with the negative value of x-axis under two-phase stationary coordinate system and the positive value of y-axis
Function calculates, and obtains motor rotor position angle estimated value A；
Arctangent computation module B（118）Arc tangent triangle is carried out with the positive value of x-axis under two-phase stationary coordinate system and the negative value of y-axis
Function calculates, and obtains motor rotor position angle estimated value B；
Estimate selecting module（119）Output motor rotor position angle estimated value A is selected according to the symbol of motor speed feedback signal
Or estimated value B；
If motor speed feedback signal is just, exports A；If motor speed signal is negative, B is exported.
4. a kind of motor without position sensor control method of electrohydraulic steering boost pump according to claim 2,
It is characterized in that, the angle compensation module（115）Including an arctangent computation module（120）, the arctangent computation module
（120）According to the motor feedback rotating speed size and filter cutoff frequency received, the angular metric for needing to compensate is calculated, compensation
Angular metric is summed with motor rotor position estimated value, obtains final motor rotor position angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810109992.XA CN108206661A (en) | 2018-02-05 | 2018-02-05 | A kind of motor without position sensor control method of electrohydraulic steering boost pump |
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| CN201810109992.XA CN108206661A (en) | 2018-02-05 | 2018-02-05 | A kind of motor without position sensor control method of electrohydraulic steering boost pump |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110531262A (en) * | 2019-08-31 | 2019-12-03 | 恒荣动力科技（徐州）有限公司 | Reluctance type permanent magnet synchronous motor position-sensor-free demarcates testboard and scaling method |
| CN110939617A (en) * | 2019-12-12 | 2020-03-31 | 福建工程学院 | Hydraulic actuator position control method without displacement sensor |
| CN111510036A (en) * | 2020-04-30 | 2020-08-07 | 无锡飞翎电子有限公司 | Motor control method, motor control device, motor device and clothes treatment device |
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| CN105429545A (en) * | 2015-11-30 | 2016-03-23 | 张碧陶 | Soft measurement-based control method for sensorless permanent magnet synchronous motor |
| CN106059423A (en) * | 2016-08-04 | 2016-10-26 | 上海应用技术学院 | FC and SMO based control system free of speed controller |
| CN106411209A (en) * | 2016-10-11 | 2017-02-15 | 东南大学 | Sensorless control method for permanent magnet synchronous motor |
| CN106849808A (en) * | 2017-03-31 | 2017-06-13 | 哈尔滨工业大学 | New method for sensorless control technique of PMSM and method with LC wave filters |
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| CN105429545A (en) * | 2015-11-30 | 2016-03-23 | 张碧陶 | Soft measurement-based control method for sensorless permanent magnet synchronous motor |
| CN106059423A (en) * | 2016-08-04 | 2016-10-26 | 上海应用技术学院 | FC and SMO based control system free of speed controller |
| CN106411209A (en) * | 2016-10-11 | 2017-02-15 | 东南大学 | Sensorless control method for permanent magnet synchronous motor |
| CN106849808A (en) * | 2017-03-31 | 2017-06-13 | 哈尔滨工业大学 | New method for sensorless control technique of PMSM and method with LC wave filters |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110531262A (en) * | 2019-08-31 | 2019-12-03 | 恒荣动力科技（徐州）有限公司 | Reluctance type permanent magnet synchronous motor position-sensor-free demarcates testboard and scaling method |
| CN110939617A (en) * | 2019-12-12 | 2020-03-31 | 福建工程学院 | Hydraulic actuator position control method without displacement sensor |
| CN111510036A (en) * | 2020-04-30 | 2020-08-07 | 无锡飞翎电子有限公司 | Motor control method, motor control device, motor device and clothes treatment device |
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