CN108288936A - A kind of permanent-magnetism linear motor low speed method for controlling position-less sensor - Google Patents

A kind of permanent-magnetism linear motor low speed method for controlling position-less sensor Download PDF

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CN108288936A
CN108288936A CN201810004202.1A CN201810004202A CN108288936A CN 108288936 A CN108288936 A CN 108288936A CN 201810004202 A CN201810004202 A CN 201810004202A CN 108288936 A CN108288936 A CN 108288936A
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speed
motor
axis
linear motor
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CN108288936B (en
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程明
张明利
张邦富
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Southeast University
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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
    • 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
    • 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
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)

Abstract

The invention discloses a kind of permanent-magnetism linear motor low speed method for controlling position-less sensor.This method injects high frequency pulsating square wave voltage signal under two-phase rotating coordinate system, and obtains including the high-frequency current component of motor position information by band-pass filter under two-phase stationary coordinate system；Input of the envelope of extraction high-frequency current component as speed observer later, obtains the estimated speed of motor；Input by the output of speed observer as position phaselocked loop simultaneously, is calculated estimated position；Then estimated speed and estimated position is utilized to realize the two close cycles vector controlled of motor.Speed observer designed by the present invention is small to machine saliency dependence, is suitable for saliency unconspicuous durface mounted permanent magnet linear motor.The present invention separately estimates speed and position angle simultaneously, improves estimation precision, also improves the anti-interference ability of control system, it is ensured that stable operation of the motor in low speed.

Description

A kind of permanent-magnetism linear motor low speed method for controlling position-less sensor
Technical field
The present invention relates to a kind of permanent-magnetism linear motor low speed method for controlling position-less sensor, belong to magneto servo control Field processed
Background technology
With economic development and scientific and technological progress, the fields such as communications and transportation, industrial equipment, mine hoisting, civilian are to driving electricity The requirement of machine and the dynamic response performance of system, volume, cost, reliability etc. is higher and higher.Linear motor can be obstructed Crossing pulley, either belt directly generates continuous unidirectional or reciprocal linear mechanical motion, has efficient, low cost etc. excellent Point.Therefore, in the fields such as high precision machine tool, industrial robot, rail traffic, linear motor has been more and more widely used.For Realization high-precision speed and position control, linear motor generally use linear grating detection mover speed and position.However Gratings expensive, installation requirement are high, and humidity, electromagnetic interference, temperature of working environment etc. all have an impact its operating accuracy.For The above problem is avoided, reliability is higher, Sensorless Control Technique of good performance becomes for one in recent years Research hotspot.
Currently, method for controlling position-less sensor is generally divided into two major classes：One kind is to be suitable for speed governing in middle and high fast range Method, such methods according to physical quantity related with rotating speed in motor basic waves exciting model (as generate counter electromotive force), By directly calculating or observer obtains motor rotor position and speed.Since motor is in low speed, back-emf is smaller, useful letter Number signal-to-noise ratio it is low, influence the control performance of such method, or even can not estimate position.Another kind of method utilizes motor Salient pole or saturation it is saliency, by different excitation modes and different signal detections and separation method, location information is estimated It calculates.Such method is less sensitive to the variation of motor parameter, can preferably realize the electricity under low speed and zero-speed state Motivation rotor position estimate, more sufficient well deficiency of the first kind method in low speed.But such method needs motor to have There is significantly saliency or saturation saliency.For the saliency or saliency unconspicuous durface mounted permanent magnet linear motor of saturation For, the noise of saliency relevant signal (such as high-frequency current component) is relatively low, affect control system without position sensor Performance.
Invention content
Technical problem：In order to make up above-mentioned second class method dependence machine saliency or be saturated saliency deficiency, this hair It is bright to propose a kind of permanent-magnetism linear motor low speed method for controlling position-less sensor.This method for machine saliency dependence compared with It is small, while being injected using high-frequency square-wave signal, improve system bandwidth.This method constructs speed observer and phaselocked loop, real The separated estimation for having showed speed and position, is effectively improved estimation precision and the anti-interference ability of system.Meanwhile being constructed Speed observer realizes the filtering to high-frequency current signal, reduces interference, further improves phaselocked loop estimated position Precision.
Technical solution：To achieve the above object, a kind of permanent-magnetism linear motor low speed position Sensorless Control of the invention Method includes the following steps：
S1, by given speed ν*With estimated speedIt makes the difference feeding PI controllers and obtains q axis to constant currentThe given electricity of d axis StreamIt is 0；D axis is to constant currentWith q axis to constant currentRespectively with d axis feedback currents idWith q axis feedback currents iqIt makes the difference, passes through PI controllers obtain direct-axis voltage udWith quadrature-axis voltage uq；
S2, by high-frequency square-wave signal Uh(t)=(- 1)nVhThe direct-axis voltage that is added to udOn obtain u 'd；It is obtained using estimation Position angleTo u 'dAnd uqMake static two phase inversion of rotating orthogonal-(2r/2s transformation) and obtains voltage u under alpha-beta coordinate systemαAnd uβ；
S3, by uαAnd uβAs the input of space vector pulse width modulation SVPWM modules, six road pwm pulse signals are obtained, are driven The power switch tube work of dynamic three-phase inverter；
S4 detects the three-phase current i of motora、ibAnd ic, make-two phase inversion of three-phase (3/2 transformation) and obtain under alpha-beta coordinate system Current component iαAnd iβ；I is filtered out using low-pass filterαAnd iβIn high-frequency current component and make static two-phase-rotating orthogonal It converts (2s/2r transformation), obtains current component i under d-q coordinate systemsdAnd iq；
S5, by iαAnd iβAs the input of bandpass filter, the high fdrequency component i of the electric current is obtainedαhAnd iβh, then extract iαh And iβhEnvelope, obtain the component for including location informationWith
S6, willWithAs the input of speed observer, speed observer output current is obtainedWithAnd estimation Speed
S7, willWithAs the input of position phaselocked loop, estimated position angle is obtained
S8, the position angle obtained using estimationAnd speedRealize the two close cycles stability contorting of motor.
Wherein,
The step S6 medium velocity observers are according to formula It obtainsWithAccording to formulaAngular rate estimated value is obtained, according to formula Obtain velocity estimation value；
Wherein, τsIt is motor stator pole span, k11And k22It is gain coefficient, kpIt is proportionality coefficient, kiIt is integral coefficient.
Position phaselocked loop is according to formula in the step S7It is estimated Position angle；
Wherein, kp1It is proportionality coefficient, ki1It is integral coefficient.
The method that signal envelope is extracted in the step S5 is as follows：
By iαhAnd iβhRespectively with high-frequency square-wave signal fh(t)=kh·Uh(t-T/4) it is multiplied, khFor gain coefficient, T is note Enter the period of high-frequency signal, then filter out high fdrequency component by low-pass filter, you can obtains including the envelope of location informationWith
Advantageous effect：The invention has the advantages that：
1) it uses high frequency square wave voltage signal to inject, is injected compared to high_frequency sine wave signal, improve control system bandwidth, Reduce calculation amount；
2) speed observer built under two-phase stationary coordinate system to machine saliency rely on it is small, be suitable for it is saliency or It is saturated saliency unconspicuous durface mounted permanent magnet linear motor；
3) speed observer constructed has preferable filter effect to the current component comprising location information, can improve The precision of position estimation reduces estimation error；
4) use speed observer and position phaselocked loop to estimate speed and angle respectively, compared to single observation device or Phaselocked loop improves estimation precision and the anti-interference ability of system, enhances system stability.
5) it is equally applicable to the permanent magnet type synchronous motor of other straight lines or rotational structure.
Description of the drawings
Fig. 1 is permanent-magnetism linear motor low speed method for controlling position-less sensor system block diagram；
Fig. 2 is the structural schematic diagram of envelope detected；
Fig. 3 is the structural schematic diagram of speed observer；
Fig. 4 is the structural schematic diagram of position phaselocked loop；
Three-phase current simulation waveform when Fig. 5 is the operation of permanent-magnetism linear motor low speed；
Current waveform when Fig. 6 is the operation of permanent-magnetism linear motor low speed under alpha-beta coordinate system；
α axis high-frequency current component and its envelope when Fig. 7 is the operation of permanent-magnetism linear motor low speed under alpha-beta coordinate system；
β axis high-frequency current component and its envelope when Fig. 8 is the operation of permanent-magnetism linear motor low speed under alpha-beta coordinate system；
High-frequency current envelope waveform and envelope when Fig. 9 is the operation of permanent-magnetism linear motor low speed pass through speed observer Filtered waveform；
Actual speed when Figure 10 is the operation of permanent-magnetism linear motor low speed and estimated speed waveform；
Practical electrical angle when Figure 11 is the operation of permanent-magnetism linear motor low speed and estimation electrical angle waveform.
Specific implementation mode
Steps are as follows for a kind of permanent-magnetism linear motor low speed method for controlling position-less sensor of the present invention：
S1, by given speed v*With estimated speedIt makes the difference feeding PI controllers and obtains q axis to constant currentThe given electricity of d axis StreamIt is 0；D axis is to constant currentWith q axis to constant currentRespectively with d axis feedback currents idWith q axis feedback currents iqIt makes the difference, passes through PI controllers obtain direct-axis voltage udWith quadrature-axis voltage uq；
S2, by high-frequency square-wave signal Uh(t)=(- 1)nVhThe direct-axis voltage that is added to udOn obtain u 'd；It is obtained using estimation Position angleTo u 'dAnd uqMake static two phase inversion of rotating orthogonal-(2r/2s transformation) and obtains voltage u under alpha-beta coordinate systemαAnd uβ；
S3, by uαAnd uβAs the input of space vector pulse width modulation SVPWM modules, six road pwm pulse signals are obtained, are driven The power switch tube work of dynamic three-phase inverter；
S4 detects the three-phase current i of motora、ibAnd ic, make-two phase inversion of three-phase (3/2 transformation) and obtain under alpha-beta coordinate system Current component iαAnd iβ；I is filtered out using low-pass filterαAnd iβIn high-frequency current component and make static two-phase-rotating orthogonal It converts (2s/2r transformation), obtains current component i under d-q coordinate systemsdAnd iq；
S5, by iαAnd iβAs the input of bandpass filter, the high fdrequency component i of the electric current is obtainedαhAnd iβh, then extract iαh And iβhEnvelope, obtain the component for including location informationWith
S6, willWithAs the input of speed observer, speed observer output current is obtainedWithAnd estimation Speed
S7, willWithAs the input of position phaselocked loop, estimated position angle is obtained
S8, the position angle obtained using estimationAnd speedRealize the two close cycles stability contorting of motor.
Wherein, electric mover angle initial value and velocity original value are zero.
Further, the design of the step S6 medium velocity observers is as follows：
State equation of the permanent-magnetism linear motor under two-phase rotating coordinate system be：
R in formulasIt is machine winding resistance, udAnd uq、LdAnd Lq、idAnd iqIt is dq shaft voltages, inductance and electric current respectively, p is Differential operator, ψmIt is permanent magnet flux linkage；ωreIndicate motor angular rate, the relationship with motor speed v is v=ωreτs/ π, wherein τsIt is motor stator pole span；When motor operation is in low speed, under high-frequency signal injection, ω is contained in above-mentioned equationreItem it is opposite Very little, can ignore, and then obtain the high frequency pumping model of motor：
Wherein Zdh=Rdh+jωhLdhAnd Zqh=Rqh+jωhLqhIt is the dq axis impedances under high frequency pumping, by the high frequency of injection Square wave voltage signal is expressed as：Uh(t)=(- 1)nVh(n=1,2,3 ...), frequency ωh, when n is odd number, have：
Wherein Δ θ is estimated angle and the difference of actual angle, i.e.,2r/2s changes are done to above-mentioned current equation It gets in return：
If position angle error delta θ is sufficiently small, there are sin (Δ θ) ≈ 0, cos (Δ θ) ≈ 1,Above formula can indicate For：
For durface mounted permanent magnet linear motor, Zdh≈Zqh, have：
As it can be seen that above-mentioned derivation result is also suitable durface mounted permanent magnet linear motor.
When n is even number, can equally obtain：
Further, result when comprehensive n is odd and even number obtains：
The envelope of extraction above formula current component obtains：
It is defined according to above formulaThen haveWhereinConstruct following speed Spend observer：
WhereinIt is observer output,It is estimation angular rate,It is that observer increases Beneficial matrix can be determined by POLE PLACEMENT USING；Define errorThen have：
According to Popov hyperstability theories, angular rate estimated value and velocity estimation value can be obtained：
Wherein, kpIt is proportionality coefficient, kiIt is integral coefficient.
Further, the method for envelope line drawing is as follows in the step S5：
By iαhAnd iβhRespectively with high-frequency square-wave signal fh(t)=kh·Uh(t-T/4)(khFor gain coefficient, T is that injection is high The period of frequency signal) it is multiplied, then high fdrequency component is filtered out by low-pass filter, you can obtain including the envelope of location informationWith
Further, the design of position phaselocked loop is as follows in the step S7：
Work as eiWhen=0, haveI.e.Then have：
WhereinIf position estimation error delta θ is sufficiently small, there are Δ E=ksin (Δ θ) ≈ k Δ θ, using PI Adjuster makes error tend to 0, then position angle estimated value will converge on actual value；ByTransmission function to θ is：
Wherein, kp1It is proportionality coefficient, ki1It is integral coefficient, it can Preliminary design out position lock according to Automatic Control Theory The pi regulator parameter of phase ring.
The present invention is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of permanent-magnetism linear motor low speed method for controlling position-less sensor provided by the invention, specific to wrap Include following steps：
1) when starting, electric mover angle initial value and velocity original value are zero；By given speed ν * and estimate SpeedIt makes the difference feeding PI controllers and obtains q axis to constant currentD axis is to constant currentIt is 0, gives constant currentWithRespectively with instead Supply current idAnd iqIt makes the difference, direct-axis voltage u is obtained by PI controllersdWith quadrature-axis voltage uq。
2) by high-frequency square-wave signal Uh(t)=(- 1)nVhThe direct-axis voltage that is added to udOn obtain u 'd；It is obtained using estimation Position angleTo u 'dAnd uqConvert to obtain voltage u under alpha-beta coordinate system as 2r/2sαAnd uβ.Computational methods are as follows：
3) by uαAnd uβAs the input of SVPWM modules, six road pwm pulse signals are obtained, the power of three-phase inverter is driven Switching tube works.
4) the three-phase current i of motor is detecteda、ibAnd ic, make 3/2 transformation and obtain the current component i under alpha-beta coordinate systemαAnd iβ； I is filtered out using low-pass filterαAnd iβIn high-frequency current component and convert to obtain current component i under d-q coordinate systems as 2s/2rd And iq；Coordinate transform computational methods are as follows：
5) by iαAnd iβAs the input of bandpass filter, the high fdrequency component i of electric current is obtainedαhAnd iβh, then extract iαhWith iβhEnvelope, obtain the component for including location informationWith
Wherein, i is extractedαhAnd iβhThe structure of envelope such as Fig. 2.By iαhAnd iβhRespectively with high-frequency square-wave signal fh(t)= kh·Uh(t-T/4)(khFor gain coefficient, T is the period for injecting high-frequency signal) it is multiplied, then height is filtered out by low-pass filter Frequency component, you can obtain including the envelope of location informationWithI.e.：
6) willWithAs the input of speed observer, speed observer output is obtainedWithAnd estimated speed
The structure of the speed observer is as shown in figure 3, its specific design procedure is as follows：
State equation of the permanent-magnetism linear motor under two-phase rotating coordinate system be：
R in formulasIt is machine winding resistance, udAnd uq、LdAnd Lq、idAnd iqIt is dq shaft voltages, inductance and electric current respectively, p is Differential operator, ψmIt is permanent magnet flux linkage；ωreIndicate motor angular rate, the relationship with motor speed v is v=ωreτs/ π, wherein τsIt is motor stator pole span.When motor operation is in low speed, under high-frequency signal injection, ω is contained in above-mentioned equationreItem it is opposite Very little, can ignore, and then obtain the high frequency pumping model of motor:
Wherein Zdh=Rdh+jωhLdhAnd Zqh=Rqh+jωhLqhIt is the dq axis impedances under high frequency pumping.By the high frequency of injection Square wave voltage signal is expressed as：Uh(t)=(- 1)nVh(n=1,2,3 ...), frequency ωh.Then have：
The envelope of extraction above formula current component obtains：
It is defined according to above formulaThen haveWhereinIt constructs as follows Speed observer：
WhereinIt is observer output,It is estimation angular rate,It is that observer increases Beneficial matrix can be determined by POLE PLACEMENT USING.Define errorThen have：
According to Popov hyperstability theories, motor angular rate estimated value and velocity estimation value can be obtained：
Wherein, kpAnd kiIt is the proportionality coefficient and integral coefficient of pi regulator respectively.
7) willWithAs the input of position phaselocked loop, estimated position angle is obtained
The structure of the position phaselocked loop is as shown in figure 4, its specific design procedure is as follows：
Work as eiWhen=0, haveI.e.Then there is error：
WhereinIf position estimation error delta θ is sufficiently small, there are Δ E=ksin (Δ θ) ≈ k Δ θ, using PI Adjuster makes error tend to 0, then position angle estimated value will converge on actual value.ByTransmission function to θ is：
Wherein, kp1It is proportionality coefficient, ki1It is integral coefficient, it can Preliminary design out position lock according to Automatic Control Theory The pi regulator parameter of phase ring.
8) position angle obtained using estimationAnd speedIt can realize the two close cycles stability contorting of motor.
The present embodiment chooses the permanent-magnetism linear motor of a 1kW as control object, and structure foundation is without position as shown in Figure 1 Sensory-control system is emulated.Motor major parameter is as follows：Normal speed vn=1.5m/s, inductance Ld=Lq= 0.0274H, resistance Rs=1.5 Ω, permanent magnet flux linkage ψm=0.36Wb.
In simulation process, the initial given speed of motor is 0.2m/s, and in 0.2s, given speed increases to 0.3m/s, Given speed is reduced to 0.1m/s when 0.4s.Fig. 5 is the three-phase current waveform of motor；Fig. 6 is electricity of the motor under alpha-beta coordinate system Flow waveform；Fig. 7 and Fig. 8 is high-frequency current and its envelope waveform of the motor under alpha-beta coordinate system；Fig. 9 is high-frequency current component Envelope and envelope pass through the filtered waveform of speed observer；Figure 10 is the actual speed and estimated speed wave of motor Shape；Figure 11 is the practical electrical angle and estimation electrical angle waveform of motor.Simulation result shows the estimated speed energy of speed observer Enough soon to track actual speed, position phaselocked loop can rapidly and accurately track real electrical machinery position, to demonstrate this hair The correctness and validity of bright the method.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art For personnel, without departing from the principle of the present invention, several improvement and equivalent replacement can also be made, these are to the present invention Claim be improved with the technical solution after equivalent replacement, should be regarded as protection scope of the present invention.

Claims (4)

1. a kind of permanent-magnetism linear motor low speed method for controlling position-less sensor, which is characterized in that include the following steps：
S1, by given speed ν*With estimated speedIt makes the difference feeding PI controllers and obtains q axis to constant currentD axis is to constant current It is 0；D axis is to constant currentWith q axis to constant currentRespectively with d axis feedback currents idWith q axis feedback currents iqIt makes the difference, by PI Controller obtains direct-axis voltage udWith quadrature-axis voltage uq；
S2, by high-frequency square-wave signal Uh(t)=(- 1)nVhThe direct-axis voltage that is added to udOn obtain u 'd；The position obtained using estimation AngleTo u 'dAnd uqMake static two phase inversion of rotating orthogonal-and obtains voltage u under alpha-beta coordinate systemαAnd uβ；
S3, by uαAnd uβAs the input of space vector pulse width modulation SVPWM modules, six road pwm pulse signals, driving three are obtained The power switch tube of phase inverter works；
S4 detects the three-phase current i of motora、ibAnd ic, make-two phase inversion of three-phase and obtain the current component i under alpha-beta coordinate systemαWith iβ；I is filtered out using low-pass filterαAnd iβIn high-frequency current component and make the transformation of static two-phase-rotating orthogonal, obtain d-q seats The lower current component i of mark systemdAnd iq；
S5, by iαAnd iβAs the input of bandpass filter, the high fdrequency component i of the electric current is obtainedαhAnd iβh, then extract iαhAnd iβh Envelope, obtain the component for including location informationWith
S6, willWithAs the input of speed observer, speed observer output current is obtainedWithAnd estimated speed
S7, willWithAs the input of position phaselocked loop, estimated position angle is obtained
S8, the position angle obtained using estimationAnd speedRealize the two close cycles stability contorting of motor.
2. permanent-magnetism linear motor low speed method for controlling position-less sensor according to claim 1, which is characterized in that described Step S6 medium velocity observers are according to formulaIt obtainsWith According to formulaAngular rate estimated value is obtained, according to formulaObtain velocity estimation Value；
Wherein, τsIt is motor stator pole span, k11And k22It is gain coefficient, kpIt is proportionality coefficient, kiIt is integral coefficient.
3. permanent-magnetism linear motor low speed method for controlling position-less sensor according to claim 1, which is characterized in that described Position phaselocked loop is according to formula in step S7Obtain estimated position angle；
Wherein, kp1It is proportionality coefficient, ki1It is integral coefficient.
4. permanent-magnetism linear motor low speed method for controlling position-less sensor according to claim 1, which is characterized in that described The method that signal envelope is extracted in step S5 is as follows：
By iαhAnd iβhRespectively with high-frequency square-wave signal fh(t)=kh·Uh(t-T/4) it is multiplied, khFor gain coefficient, T is that injection is high Then the period of frequency signal filters out high fdrequency component by low-pass filter, you can obtain including the envelope of location informationWith
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CN109639205A (en) * 2019-01-22 2019-04-16 东南大学 Location error removing method based on high frequency square wave injection position Sensorless Control
CN110417320A (en) * 2019-07-04 2019-11-05 东南大学 A kind of vertical operation magnetic flux switching permanent-magnetism linear motor uplink and downlink position-sensorless control method
CN110726962A (en) * 2019-10-31 2020-01-24 东南大学 Gain fault diagnosis method for current sensor of permanent magnet linear motor
CN111371362A (en) * 2020-03-17 2020-07-03 南京航空航天大学金城学院 Compensation method for rotor position estimation of permanent magnet linear motor by high-frequency injection method
CN112564555A (en) * 2019-09-26 2021-03-26 上海汽车集团股份有限公司 Permanent magnet synchronous motor and rotor position estimation method thereof
CN113992087A (en) * 2021-11-05 2022-01-28 南京航空航天大学 Method and system for estimating and controlling full-speed-domain sensorless position of motor
EP4137008A1 (en) * 2021-08-18 2023-02-22 ADIVA Wellness SRL Improved rocking legs for a bed

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