CN108306565A - A kind of motor sensorless strategy method based on modified disturbance observer - Google Patents
A kind of motor sensorless strategy method based on modified disturbance observer Download PDFInfo
- Publication number
- CN108306565A CN108306565A CN201810228788.XA CN201810228788A CN108306565A CN 108306565 A CN108306565 A CN 108306565A CN 201810228788 A CN201810228788 A CN 201810228788A CN 108306565 A CN108306565 A CN 108306565A
- Authority
- CN
- China
- Prior art keywords
- current
- disturbance observer
- ipmsm
- electromotive force
- counter electromotive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
-
- 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
- H02P25/03—Synchronous motors with brushless excitation
-
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The motor sensorless strategy method based on modified disturbance observer that the present invention provides a kind of, belongs to motor control technology field.This method establishes the dynamic model of the vector control system of internal permanent magnet synchronous motor under static α β coordinates；It is deformed into model similar with durface mounted permanent magnet synchronous motor using synthesis counter electromotive force, the current status equation after transformation is arranged to obtain One-terminal；Using the conversion designs disturbance observer of intermediate variable, the estimated value of synthesis counter electromotive force is obtained, in conjunction with having obtained accurate rotor position information after phaselocked loop and corresponding phase compensation；It is adjusted using MTPA current-orders, PI, SVPWM controls, realizes the sensorless strategy of internal permanent magnet synchronous motor.Modelling of the present invention and debugging process are simple, and rotor position information estimation is accurate, is easy to Project Realization, has higher application value.
Description
Technical field
It is the invention belongs to motor control technology field, more particularly to a kind of built-in based on the realization of modified disturbance observer
The method of permanent magnet synchronous motor sensorless strategy.
Background technology
Traditional control system for permanent-magnet synchronous motor, it usually needs installation site sensor, to obtain rotor position information.
Position-sensor-free technology can substitute traditional mechanical encoder, obtain motor by establishing rational mathematical model
Location information.To reduce system cost, reduce motor volume, reduce running environment requirement, therefore there is very high research valence
Value.
Permanent magnet synchronous motor can be divided into durface mounted permanent magnet synchronous motor electricity synchronous with built-in type permanent-magnet according to rotor structure
Machine.Wherein, internal permanent magnet synchronous motor is embedded rotor structure, has that highly reliable, speed adjustable range is big, efficient etc. excellent
Point is the mainstream developed at present.But there are saliency, Nonlinear Magnetic Circuit, motor mathematical modulos for internal permanent magnet synchronous motor
Type is relative complex.In existing internal permanent magnet synchronous motor position-sensor-free technology, estimate for rotor position information
Observer model usually require to be built by the differential of state, lead to the amplification of noise signal, it is therefore desirable to add volume
Outer filter is eliminated, and this Design of Observer is relative complex with debugging process, is not easy to Project Realization.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of motor based on modified disturbance observer without sensing
Device control method.The method will synthesize counter electromotive force as disturbance quantity, establish internal permanent magnet synchronous motor on this basis
Disturbance observer model, recycle intermediate variable conversion, it is anti-that synthesis estimated under conditions of not adding additional filter
Electromotive force.According to estimation as a result, having obtained accurate rotor-position letter by phaselocked loop and after carrying out corresponding phase compensation
Breath.To realize high performance internal permanent magnet synchronous motor sensorless strategy.
Technical scheme of the present invention：
A kind of motor sensorless strategy method based on modified disturbance observer, includes the following steps：
It is described under static alpha-beta coordinate, establish the dynamic model of the vector control system of internal permanent magnet synchronous motor.
The state differential equation of the internal permanent magnet synchronous motor is deformed into and surface-mount type using synthesis counter electromotive force
The similar model of permanent magnet synchronous motor is arranged to obtain One-terminal to the current status equation after transformation.
The modified disturbance observer design, using the conversion designs disturbance observer of intermediate variable, is not required to add
Additional filter obtains the estimated value of synthesis counter electromotive force.
The described rotor position information estimation, using having obtained accurate rotor position after phaselocked loop and corresponding phase compensation
Confidence ceases.
The sensorless strategy of the internal permanent magnet synchronous motor is adjusted, SVPWM using MTPA current-orders, PI
Control.
Beneficial effects of the present invention are：The present invention is by using modified disturbance observer, and using intermediate variable, synthesis is anti-
The estimation of electromotive force does not have to calculate state variable differential, so noise signal is eliminated without additional designs filter, from
And simplify observer.Modelling is simple with debugging process, and rotor position information estimation is accurate, is easy to Project Realization, has
Higher application value.
Description of the drawings
Fig. 1 is the modified disturbance observer for rotor position estimate.
Fig. 2 is the motor sensorless control system structure diagram based on modified disturbance observer.
Specific implementation mode
With reference to the accompanying drawings of the specification and technical solution, it elaborates to specific embodiments of the present invention.
The present invention provides a kind of motor sensorless strategy method based on modified disturbance observer, including following step
Suddenly：
Step 1：Internal permanent magnet synchronous motor (IPMSM) mathematical model is deformed；
Under static alpha-beta coordinate, the voltage equation of IPMSM is：
Wherein, uα、uβFor the stator voltage component under static two phase coordinates；iα、iβFor the stator electricity under static two phase coordinates
Flow component；Rs、ψfRespectively stator coil resistance and rotor flux；ωm、θeRespectively rotor machinery angular speed and electrical angle；Pn
For motor number of pole-pairs；L0For average inductance；L1For half poor inductance；
Definition synthesis counter electromotive force EsynFor：
Define synthetic input voltage vector vαβFor：
Wherein, esα、esβFor the synthesis counter electromotive force component under static two phase coordinates；vα、vβConjunction under static two phase coordinates
At input voltage component；idFor direct-axis current,For the corresponding derivative of direct-axis current；
Formula (2) and (3) are substituted into IPMSM equations, the IPMSM voltage equations under alpha-beta coordinate system are deformed into：
Wherein,The derivative of stator current components under respectively static two phase coordinates；
Step 2：IPMSM current status equations are arranged, One-terminal is obtained；
When disturbing signal influences, One-terminal is expressed as：
Wherein, x is state variable, and u is system input and d is disturbing signal；A、BuAnd BdIt is respectively corresponding with x, u and d
Coefficient matrix；
The IPMSM voltage equations (4) of step 1, obtain the current status sides IPMSM using stator current as state variable
Journey：
Wherein, Ld、LqRespectively d-axis and quadrature axis inductance；
Counter electromotive force E will be synthesized under static alpha-beta coordinatesynAs disturbing signal, IPMSM current status equations are carried out whole
Reason obtains：
Wherein, using stator current vector as state variable x=iαβ=(iα,iβ)T, the voltage vector after synthesis is as system
System input u=vαβ；Definition synthesis counter electromotive force vector is disturbing signal d=Esyn；In One-terminal under corresponding disturbance
Coefficient matrix is respectively A=- (Rs/Lq) I, Bu=(1/Lq) I, Bd=-(1/Lq) I, wherein I is unit matrix；
Step 3：Modified disturbance observer is built using intermediate variable；
Elementary disturbance observer is deformed into：
Wherein, L is disturbance observer gain matrix, and ^ indicates the estimated value to dependent variable,For disturbing signal estimated value
Derivative；
Defining intermediate variable is：
The model that modified disturbance observer is built using intermediate variable is：
According to One-terminals of the IPMSM of step 2 under disturbance, obtain disturbing based on the modified of synthesis counter electromotive force
Observer model：
Wherein, z=(z1,z2)TFor intermediate variable,WithFor its corresponding derivative；Observer gain matrix L=lI, l are
Counter electromotive force gain；
As shown in Figure 1, stator voltage and electric current estimate synthesis counter electromotive force by disturbance observer.Due to synthesizing anti-electricity
It can be estimated by phaselocked loop and after carrying out corresponding phase compensation comprising motor rotor position and velocity information in kinetic potential
Rotor-position and speed.
Step 4：The sensorless control system of internal permanent magnet synchronous motor；
Motor sensorless control system structure diagram based on modified disturbance observer is as shown in Figure 2.It is built-in forever
Magnetic-synchro electric machine control system is using speed, current double closed-loop speed regulating structure.
First by current transformer by the two-phase stator current i of internal permanent magnet synchronous motora、ib, become by CLARKE
Get i in returnα、iβ, then by iα、iβThe modified disturbance observer that step 3 is utilized with the counter electromotive force detected, obtains rotor
The estimator of position and angular speedWithRotating speed will be fed backWith motor given rotating speed ωm *It is compared, rotating speed difference is logical
It crosses speed pi regulator and generates the given i of stator currentn *, by MTPA controllers, obtain best d, q shaft current component id *With
iq *, and exported respectively as PARK inverse transformations as electric current pi regulator is sent into together with feedback current to constant current
Input, obtains two-phase given voltage uα *、uβ *, the switching signal of driving inverter bridge is converted into SVPWM modules, to complete
To the vector controlled of motor.
Claims (1)
1. a kind of motor sensorless strategy method based on modified disturbance observer, which is characterized in that steps are as follows：
Step 1：Deform internal permanent magnet synchronous motor mathematical model
Under static alpha-beta coordinate, the voltage equation of IPMSM is：
Wherein, uα、uβFor the stator voltage component under static two phase coordinates；iα、iβFor the stator current under static two phase coordinates point
Amount；Rs、ψfRespectively stator coil resistance and rotor flux；ωm、θeRespectively rotor machinery angular speed and electrical angle；PnFor electricity
Machine number of pole-pairs；L0For average inductance；L1For half poor inductance；
Definition synthesis counter electromotive force EsynFor：
Define synthetic input voltage vector vαβFor：
Wherein, esα、esβFor the synthesis counter electromotive force component under static two phase coordinates；vα、vβSynthesis under static two phase coordinates is defeated
Enter component of voltage；idFor direct-axis current,For the corresponding derivative of direct-axis current；
Equation (2) and (3) are substituted into the voltage equation of IPMSM, the voltage equation of the IPMSM under alpha-beta coordinate system is deformed into：
Wherein,The derivative of stator current components under respectively static two phase coordinates；
Step 2：IPMSM current status equations are arranged, One-terminal is obtained；
When disturbing signal influences, One-terminal is expressed as：
Wherein, x is state variable, and u is system input and d is disturbing signal；A、BuAnd BdCoefficient respectively corresponding with x, u and d
Matrix；
The voltage equation (4) of IPMSM, obtains the IPMSM electric currents using stator current as state variable after the deformation that step 1 obtains
State equation：
Wherein, Ld、LqRespectively d-axis and quadrature axis inductance；
Counter electromotive force E will be synthesized under static alpha-beta coordinatesynAs disturbing signal, IPMSM current status equation arrange
It arrives：
Wherein, using stator current vector as state variable x=iαβ=(iα,iβ)T, the voltage vector after synthesis is defeated as system
Enter u=vαβ；Definition synthesis counter electromotive force vector is disturbing signal d=Esyn；The coefficient in One-terminal under corresponding disturbance
Matrix is respectively A=- (Rs/Lq) I, Bu=(1/Lq) I, Bd=-(1/Lq) I, wherein I is unit matrix；
Step 3：Modified disturbance observer is built using intermediate variable
Elementary disturbance observer is deformed into：
Wherein, L is disturbance observer gain matrix, and ^ indicates the estimated value to dependent variable,For the derivative of disturbing signal estimated value；
Defining intermediate variable is：
The model that modified disturbance observer is built using intermediate variable is：
According to One-terminals of the IPMSM of step 2 under disturbance, obtains disturbing based on the modified of synthesis counter electromotive force and see
Survey device model：
Wherein, z=(z1,z2)TFor intermediate variable,WithFor its corresponding derivative；Observer gain matrix L=lI, l are anti-electricity
Kinetic potential gain；
Step 4：The sensorless control system of internal permanent magnet synchronous motor
First by current transformer by the two-phase stator current i of internal permanent magnet synchronous motora、ibIt is got in return by CLARKE changes
To iα、iβ；Again by iα、iβThe modified disturbance observer that step 3 is utilized with the counter electromotive force that detects, obtain rotor-position and
The estimator of angular speedWithThen rotating speed will be fed backWith motor given rotating speed ωm *It is compared, rotating speed difference passes through
Speed pi regulator generates stator current and gives in *, by MTPA controllers, obtain best d, q shaft current component id *And iq *,
And it is exported respectively as the defeated of PARK inverse transformations as electric current pi regulator is sent into together with feedback current to constant current
Enter, obtains two-phase given voltage uα *、uβ *, it is converted into the switching signal of driving inverter bridge in SVPWM modules, completes to motor
Vector controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228788.XA CN108306565B (en) | 2018-03-14 | 2018-03-14 | Motor sensorless control method based on improved disturbance observer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228788.XA CN108306565B (en) | 2018-03-14 | 2018-03-14 | Motor sensorless control method based on improved disturbance observer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108306565A true CN108306565A (en) | 2018-07-20 |
| CN108306565B CN108306565B (en) | 2020-06-16 |
Family
ID=62850512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810228788.XA Expired - Fee Related CN108306565B (en) | 2018-03-14 | 2018-03-14 | Motor sensorless control method based on improved disturbance observer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108306565B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111064413A (en) * | 2019-12-27 | 2020-04-24 | 珠海格力电器股份有限公司 | Control system and method for reducing noise of reluctance motor, reluctance motor and application |
| CN117674664A (en) * | 2023-12-07 | 2024-03-08 | 爱微(江苏)电力电子有限公司 | Electric compressor controller |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008011616A (en) * | 2006-06-28 | 2008-01-17 | Sanyo Electric Co Ltd | Motor controller |
| CN103117703A (en) * | 2013-02-05 | 2013-05-22 | 南京工程学院 | Sensor-less control method and sensor-less control device for permanent-magnet synchronous motor |
| CN105227010A (en) * | 2015-10-23 | 2016-01-06 | 哈尔滨工业大学 | A kind of permagnetic synchronous motor position-sensor-free position detection error harmonic pulse removing method |
| CN105811831A (en) * | 2014-12-29 | 2016-07-27 | 上海大郡动力控制技术有限公司 | Tracking method of rotor position of salient pole permanent magnet synchronous motor in motion state |
| CN106911280A (en) * | 2017-03-13 | 2017-06-30 | 江苏大学 | Permanent-magnetism linear motor method for controlling position-less sensor based on new disturbance observer |
-
2018
- 2018-03-14 CN CN201810228788.XA patent/CN108306565B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008011616A (en) * | 2006-06-28 | 2008-01-17 | Sanyo Electric Co Ltd | Motor controller |
| CN103117703A (en) * | 2013-02-05 | 2013-05-22 | 南京工程学院 | Sensor-less control method and sensor-less control device for permanent-magnet synchronous motor |
| CN105811831A (en) * | 2014-12-29 | 2016-07-27 | 上海大郡动力控制技术有限公司 | Tracking method of rotor position of salient pole permanent magnet synchronous motor in motion state |
| CN105227010A (en) * | 2015-10-23 | 2016-01-06 | 哈尔滨工业大学 | A kind of permagnetic synchronous motor position-sensor-free position detection error harmonic pulse removing method |
| CN106911280A (en) * | 2017-03-13 | 2017-06-30 | 江苏大学 | Permanent-magnetism linear motor method for controlling position-less sensor based on new disturbance observer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111064413A (en) * | 2019-12-27 | 2020-04-24 | 珠海格力电器股份有限公司 | Control system and method for reducing noise of reluctance motor, reluctance motor and application |
| CN117674664A (en) * | 2023-12-07 | 2024-03-08 | 爱微(江苏)电力电子有限公司 | Electric compressor controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108306565B (en) | 2020-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhong et al. | A direct torque controller for permanent magnet synchronous motor drives | |
| CN103312255B (en) | Method and device for controlling speed of permanent-magnet synchronous motor | |
| CN107134964B (en) | Five-phase fault-tolerant permanent magnet motor position sensorless control method based on extended state observer | |
| CN103997272B (en) | The load disturbance compensation device of permagnetic synchronous motor and method | |
| CN103825525B (en) | A kind of permagnetic synchronous motor without sensor speed estimation method of improvement | |
| CN110311608B (en) | High-frequency square wave voltage injection permanent magnet synchronous motor position-sensorless control method with optimal injection angle | |
| CN101567652B (en) | Permanent magnet motor start-up | |
| CN110350835A (en) | A kind of permanent magnet synchronous motor method for controlling position-less sensor | |
| CN105227025A (en) | A kind of permagnetic synchronous motor low carrier is than control system without position sensor and control method thereof | |
| CN102158158B (en) | Bearing-free synchronous reluctance motor rotor displacement soft measurement and suspension system construction method | |
| CN110022106B (en) | Permanent magnet synchronous motor position sensorless control method based on high-frequency signal injection | |
| CN101741309B (en) | Directional control device and control method for magnetic field of permanent magnet synchronous motor | |
| CN108945373A (en) | Impeller driven system and control method under integrated water | |
| CN106788049B (en) | Speed sensor-free torque control system and method based on cascading sliding mode observer | |
| WO2021174582A1 (en) | Position sensorless permanent magnet synchronous motor control method and automobile power system | |
| CN103051274A (en) | Variable damping-based passive control method for two-degree-of-freedom permanent magnetic synchronous motor | |
| CN102647134A (en) | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor | |
| CN104767445B (en) | A kind of mounted permasyn morot method for controlling torque in face of no current feedback | |
| CN107579690A (en) | A kind of ultrahigh speed permagnetic synchronous motor method for estimating rotating speed based on sliding formwork observation | |
| CN104300861A (en) | Method for controlling three-phase permanent magnet synchronous motor | |
| CN108306565A (en) | A kind of motor sensorless strategy method based on modified disturbance observer | |
| CN108599661A (en) | A kind of permanent magnet synchronous motor is without sensor composite control method | |
| CN113364375B (en) | Sensorless control method for PMSM (permanent magnet synchronous motor) driving system of variable-structure current regulator | |
| CN113890438A (en) | Speed-sensorless control method based on built-in permanent magnet synchronous motor | |
| CN109600080A (en) | A kind of salient-pole permanent-magnet synchronous motor method for controlling position-less sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200616 |