CN108512478A - Permanent magnet machine rotor Position And Velocity estimating system and method based on three-phase switch type hall position sensor - Google Patents
Permanent magnet machine rotor Position And Velocity estimating system and method based on three-phase switch type hall position sensor Download PDFInfo
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- CN108512478A CN108512478A CN201810532067.8A CN201810532067A CN108512478A CN 108512478 A CN108512478 A CN 108512478A CN 201810532067 A CN201810532067 A CN 201810532067A CN 108512478 A CN108512478 A CN 108512478A
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
It is to solve the phenomenon that hall signal asymmetry causes rotor estimated position and velocity perturbation the present invention relates to a kind of permanent magnet machine rotor Position And Velocity estimating system and method based on three-phase switch type hall position sensor.The permanent magnet machine rotor position based on Hall sensor of the present invention and velocity estimation three-phase hall signal is converted to by 3/2 coordinate transform first include rotor position information Hall rotating vector；Then same frequency tracking filter is respectively acting on to two quadrature components of Hall rotating vector, filter out High-frequency Interference therein, is obtained and the relevant fundamental frequency signal of rotor-position；Accurate rotor-position and velocity information are extracted followed by orthogonal phaselocked loop, to carry out electric current and rotating speed two close cycles vector controlled.Implementation process of the present invention is simple, and estimated accuracy is good, improves the reliability of system, is used for the magneto vector controlled based on three-phase hall position sensor.
Description
Technical field
The present invention relates to a kind of permanent magnet machine rotor Position And Velocity estimating system and methods, can be used for installing threephase switch
The rotor-position speed of the magneto of formula hall position sensor identifies and its high efficiency drive.
Background technology
In recent years, magneto is because it has the characteristics that small, light-weight, high-energy density and operational reliability are high,
It is obtained for and is widely applied in each industrial circles such as space technology, industry manufacture, instrument and meter and electric drive.For reality
The real-time control of existing magneto, it is necessary to know exact position and the speed of rotor.Traditional direct position detection side
Method is using sensors such as photoelectric encoder, rotary transformers.These sensors can obtain higher position resolution, but cause
System cost and volume increase, hardware configuration is complicated, reduce the reliability of system.The indirect position of position-sensor-free in recent years
It sets detection method and is broadly divided into two class of the method for estimation based on high frequency electrocardiography and the method for estimation based on fundamental mathematical model；
Currently, these two kinds of methods can't realize the estimation of full range of speeds internal rotor position and rotating speed；Its performance capabilities is by temperature simultaneously
The influence for the factors such as degree, the parameter of electric machine, inverter be non-linear, also cannot achieve at low cost, high performance target.Switching regulator Hall
Sensor has the advantages that small, at low cost, strong interference immunity, and three-phase switch type hall position sensor is used for Permanent Magnet and Electric
Machine can provide discrete rotor-position signal, and magneto low cost, the control of high reliability may be implemented.
Ni Qinan, Yang Ming, Dong Xiang wait PMSM speed observer state estimation error suppressions of the based on hall position sensor
Method [J] electrotechnics journals processed, 2017,32 (17):Three-phase switch type hall position sensor is utilized 189-198. proposing
The estimation of motor rotor position and speed is carried out in conjunction with speed observer, but hall signal caused by mounting process limitation is not right
The error that phenomenon can cause estimation is claimed to increase.
Xun Qian, Wang Peiliang, Cai Zhiduan wait Hall rotor-position predictor methods and its error correction [J] electrotechnics
Report, 2017,32 (6):145-155. proposes the initial position correction of Hall sector and is combined with linearity correction method, reduces Hall
Estimation error caused by sensor installation is asymmetric, but the method cannot solve the asymmetric caused Hall letter of motor pole
It is influenced caused by number deviation.
The present invention utilizes adaptively filters out the Hall vector height caused by hall signal asymmetry with frequency tracking filter
The phenomenon that frequency odd times component increases can effectively reduce caused by Hall sensor installation asymmetry and motor pole asymmetry
Rotor-position velocity estimation error, compensates for the defect of motor processing technology, increases the reliability and practicability of system.
Invention content
The technology of the present invention solves the problems, such as：Overcome existing processing technology limitation that hall signal is caused to export asymmetry
Cause rotor-position and the increased deficiency of velocity estimation error, provide it is a kind of based on three-phase switch type hall position sensor forever
Magneto rotor Position And Velocity estimating system method improves the magneto based on three-phase switch type hall position sensor and turns
Sub- position and velocity estimation precision improve magneto vector control system control performance and reliability.
Technical solution of the invention is：
A kind of permanent magnet machine rotor Position And Velocity estimation based on three-phase switch type hall position sensor of the present invention
System, including：Three-phase switch type hall position sensor, hall signal processing circuit, coordinate transformation module, tracking frequency selection
Module, with frequency tracking filter, orthogonal phaselocked loop；Three-phase switch type hall position is read using hall signal processing circuit to sense
The output signal of device is respectively h1、h2、h3；Coordinate transformation module is by hall signal h1、h2、h3Be converted to the two of Hall rotating vector
Phase quadrature component h α and h β；Tracking frequency selecting module utilizes T methods and hall signal h1、h2、h3Estimate motor speed ne, it is single
Angular rate ω in a Hall sectione_TAnd angular rate ω in the entire electric periode_aver, work as neSelection tracking frequency when more than 100
Rate ω ＇ are ωe_aver, on the contrary then select tracking frequency ω ＇ for ωe_T；Use tracking frequency ω ' to be defeated with frequency tracking filter
Enter, is respectively acting on hαAnd hβ, obtain hαAnd hβFundamental component uαAnd uβ；Orthogonal phaselocked loop tracks uαAnd uβPhase, estimate
To motor speed ωe_est, estimation is compensated to tracking phase and obtains motor position θe_est；Finally utilize the motor speed of estimation
Degree and position carry out electric current and the control of speed double closed-loop vector of magneto.
A kind of permanent magnet machine rotor Position And Velocity evaluation method based on three-phase switch type hall position sensor is realized
Steps are as follows：
(a) three-phase Hall sensor output signal h is read1、h2、h3, judge the hall position section residing for rotor.
(b) according to three-phase hall signal h1、h2、h3And 3/2 coordinate transform by three-phase hall signal be converted to Hall rotation arrow
Measure HαβTwo quadrature component hαAnd hβ.Controller captures three-phase hall signal h1、h2、h3, and generate interrupt timing in a program
Processing, using T methods test the speed to obtain tracking filter frequencies omega '.
(c) tracking frequency is used to be respectively acting on h for the same frequency tracking filter of ω 'αAnd hβ, filter out hαAnd hβIn
High-frequency Interference obtains the fundamental component u only with rotor-position and velocity correlationαAnd uβ。
(d) fundamental component uαAnd uβThe respectively cosine and SIN function of rotor-position is extracted using orthogonal phaselocked loop and is turned
The speed and u of sonαPhase, finally utilize uαPhase differed with actual rotor position 30 ° compensate after obtain rotor
Physical location.
It reads hall signal to realize by three-phase switch type hall position sensor and its signal conditioning circuit, hall position
Sensor output is low and high level switching regulator signal, three-phase switch type hall position sensor output signal h1、h2、h3In ideal
In the case of for three 120 ° of duty ratios of tunnel phase mutual deviation be 50% rectangular wave.In practice, since mounting process limits, Hall output
The rectangular wave that 120 ° of duty ratios of three-phase phase mutual deviation of signal and Non-completety symmetry are 50%.
By three-phase hall signal h1、h2、h3Hall rotating vector H is converted to by the coordinate transform of formula (5)αβTwo just
Hand over component hαAnd hβ：
In formula, h1、h2、h3Respectively pass through three switching regulator hall signals after hall signal processing circuit, hαAnd hβ
Respectively Hall rotating vector HαβTwo components.
By the h after coordinate transformαAnd hβRespectively as the cosine and SIN function of rotor-position, there are still larger error,
In practice, when motor is with constant rotational speed ωcWhen rotation, hαAnd hβIt is exactly the periodic function of time t, when output three-phase Hall letter
It, then can be to h when number symmetricalαAnd hβCarry out Fourier decomposition such as formula (6) and (7)：
In formula, in addition to fundametal compoment, hαAnd hβContain apparent 6k ± 1 (k ∈ N+) order harmonic components.Wherein fundamental wave point
Amount is the cosine and SIN function of rotor electrical angle respectively, reflects the true corner and rotating speed of motor, other higher hamonic waves point
Amount is then interference signal.When leading to three-phase hall signal asymmetry due to mounting process limitation, hαAnd hβContaining apparent 2k ±
1 (k ∈ N+) and 6k ± 1 (k ∈ N+) order harmonic components.It therefore, need to be by h to obtain the accurate location of rotorαAnd hβHigh frequency it is dry
It disturbs and filters out, extract its fundamental frequency signal.
Controller captures three-phase hall signal h1、h2、h3Rise and fall edge, and timing is carried out, using T methods each
Hall section and the estimation that motor speed is carried out in the entire electric period, then carry out the selection of tracking frequency according to formula (8).
Wherein, neRotating speed, Δ T are estimated for motorhFor the interval of different hall signal triggerings twice, Δ TaFor same Hall
The interval that signal triggers twice, ωe_TFor angular rate in each Hall section, ωe_averFor entire electric period motor electric angle speed
Degree.When motor is in speed-changing (100r/min) below, using ωe_TIt can both ignore the fluctuation of speed as tracking frequency
Influence timer can be caused to overflow to avoid hall signal trigger interval overlong time when low speed again；Turn when motor is in switching
When fast or more, using ωe_averAs tracking frequency to avoid motor speed wave phenomenon caused by hall signal asymmetry.
To obtain the accurate position signals of rotor, h need to be extractedαAnd hβFundamental frequency signal filters out its High-frequency Interference.It will be with
Track frequency is that the same frequency tracking filter of ω ' is respectively acting on hαAnd hβ, the transmission function with frequency tracking filter is formula (9)：
In formula, ε is feedback factor；ω ' is tracking frequency, enables s=j ω, can be obtained with frequency tracking filter by formula (9)
Frequency characteristic is：
I.e.：
After the same frequency tracking filter effect that tracking frequency is ω ', obtained uαAnd uβRespectively rotor-position is remaining
String and SIN function.
Finally, the speed and u of rotor are extracted using orthogonal phaselocked loopαPhase, finally utilize uαPhase turn with practical
Sub- 30 ° of position difference obtains the physical location of rotor after compensating.
Advantage is the present invention compared with prior art：
(1) with Traditional photovoltaic encoder, the high-resolution rotor position detecting sensor such as rotary transformer is compared, of the invention
At low cost using switching regulator hall position sensor, Project Realization is simple, strong interference immunity, is passed using switching regulator hall position
The low resolution rotor position information combination software algorithm that sensor provides is estimated to obtain high-resolution rotor position information, that is, ensures
The control performance of magneto, and increase the reliability and practicability of system.
(2) present invention utilizes three-phase switch type hall position sensor output signal, and rotor-position and speed may be implemented
Estimation in the full range of speeds, compared with position-sensor-free permanent magnet machine rotor position and speed estimation method, the present invention
The parameters such as motor phase resistance, phase inductance are not needed, are not influenced by parameters such as motor temperatures, reliability is high.
(3) in addition, present invention use can adaptively be filtered out with frequency tracking filter since hall signal asymmetry causes
Hall vector high frequency odd times component the phenomenon that increasing, effectively reduce that Hall sensor installation is asymmetric and motor pole is not right
Rotor-position velocity estimation error, compensates for the defect of motor processing technology caused by claiming.
Description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the principle of the present invention block diagram；
Fig. 3 is the hall signal processing circuit schematic diagram of the present invention；
Fig. 4 is the Hall sector position schematic diagram of the present invention；
Fig. 5 is the Hall vector coordinate transform schematic diagram of the present invention；
Fig. 6 is the Hall vector component h of the present inventionαAnd hβOscillogram；
Fig. 7 is the same frequency tracking filter structure diagram of the present invention；
Fig. 8 is the orthogonal phase-locked loop structures block diagram of the present invention.
Specific implementation mode
It further illustrates the present invention below in conjunction with the accompanying drawings.As shown in Fig. 1~8, of the invention the specific method is as follows：
It is as shown in Figure 1 the system control process figure of the present invention, Fig. 2 show the principle of the present invention block diagram；
First, using hall signal processing circuit shown in Fig. 3, three-phase Hall sensor output signal h is read1、h2、h3,
If Fig. 4 is Hall sector position schematic diagram, according to hall signal h1、h2、h3Judge the hall position section residing for rotor.
Controller captures three-phase hall signal h1、h2、h3Rise and fall edge, and timing is carried out, using T methods each
Hall section and the estimation that motor speed is carried out in the entire electric period, then carry out the selection of tracking frequency according to formula (12).
Wherein, neRotating speed, Δ T are estimated for motorhFor the interval of different hall signal triggerings twice, Δ TaFor same Hall
The interval that signal triggers twice, ωe_TFor angular rate in each Hall section, ωe_averFor entire electric period motor electric angle speed
Degree.When motor is in speed-changing (100r/min) below, using ωe_TAs tracking frequency；When motor is in speed-changing
Or more when, using ωe_averAs tracking frequency.
By three-phase hall signal h1、h2、h3Hall rotating vector H is converted to by the coordinate transform of formula (13)αβTwo just
Hand over component hαAnd hβ, coordinate transform and Hall vector correlation are as shown in Figure 4：
In formula, h1、h2、h3Respectively pass through three switching regulator hall signals after hall signal processing circuit, hαAnd hβ
Respectively Hall rotating vector HαβTwo components.
Fig. 5 is Hall rotating vector HαβWith the relational graph of rotor-position, wherein vector HαβMould be 1, θhFor vector Hαβ's
Phase.hαAnd hβWith θhWaveform diagram as shown in fig. 6, in conjunction with Fig. 5, rotor position can be obtained in Fig. 4eWith HαβPhase thetah's
Shown in relationship such as formula (14)：
Hall rotating vector HαβTwo quadrature component hαAnd hβWith θhWaveform diagram it is as shown in Figure 6；As shown in fig. 6,
By the h after coordinate transformαAnd hβRespectively as the cosine and SIN function of rotor-position, there are still larger errors, in practice,
When motor is with constant rotational speed ωcWhen rotation, hαAnd hβIt is exactly the periodic function of time t, when output three-phase hall signal is symmetrical
When, then it can be to hαAnd hβCarry out Fourier decomposition such as formula (15) and (16)：
In formula, in addition to fundametal compoment, hαAnd hβContain apparent 6k ± 1 (k ∈ N+) order harmonic components.Wherein fundamental wave point
Amount is the cosine and SIN function of rotor electrical angle respectively, reflects the true corner and rotating speed of motor, other higher hamonic waves point
Amount is then interference signal.When leading to three-phase hall signal asymmetry due to mounting process limitation, hαAnd hβContaining apparent 2k ±
1 (k ∈ N+) and 6k ± 1 (k ∈ N+) order harmonic components.
To obtain the accurate position signals of rotor, h need to be extractedαAnd hβFundamental frequency signal filters out its High-frequency Interference.Tracking
Frequency is the same frequency tracking filter of ω ' as shown in fig. 7, being respectively acting on hαAnd hβ, with the biography of frequency tracking filter Fig. 7
Delivery function is formula (17)：
In formula, ε is feedback factor；ω ' is tracking frequency, enables s=j ω, can be obtained with frequency tracking filter by formula (17)
Frequency characteristic be：
I.e.：
After the same frequency tracking filter effect that tracking frequency is ω ', obtained uαAnd uβRespectively rotor-position is remaining
String and SIN function；Finally, show that orthogonal phaselocked loop extracts the speed and u of rotor using Fig. 8αPhase, finally utilize uαPhase
Position differed with actual rotor position 30 ° compensate later obtain the physical location of rotor.
In the present invention, the present invention uses switching regulator hall position sensor, and at low cost, Project Realization is simple, anti-interference
By force, the low resolution rotor position information combination software algorithm provided using switching regulator hall position sensor is estimated to obtain high score
The rotor position information distinguished, that is, ensure that the control performance of magneto, and increase the reliability and practicability of system, can be with
Realize that rotor-position and estimation of the speed in the full range of speeds, the present invention do not need the parameters such as motor phase resistance, phase inductance, no
It is influenced by parameters such as motor temperatures, reliability is high.The adaptive same frequency tracking filter algorithm that the present invention uses can filter out
The phenomenon that Hall vector high frequency odd times component caused by hall signal asymmetry increases effectively reduces Hall sensor peace
Rotor-position velocity estimation error caused by dress asymmetry and motor pole asymmetry, compensates for the defect of motor processing technology.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (8)
1. a kind of permanent magnet machine rotor Position And Velocity estimating system based on three-phase switch type hall position sensor, feature
It is：Including three-phase switch type hall position sensor, hall signal processing circuit, coordinate transformation module, tracking frequency selection
Module, with frequency tracking filter, orthogonal phaselocked loop；Three-phase switch type hall position is read using hall signal processing circuit to sense
The output signal of device is respectively h1、h2、h3；Coordinate transformation module is by hall signal h1、h2、h3It is transformed to the two of Hall rotating vector
Phase quadrature component hαAnd hβ；Tracking frequency selecting module utilizes T methods and hall signal h1、h2、h3Estimate motor speed ne, it is single
Angular rate ω in Hall sectione_TAnd angular rate ω in the entire electric periode_aver, work as neTracking frequency is selected when more than 100
ω ' is ωe_aver, on the contrary then select tracking frequency ω ' for ωe_T；Use tracking frequency ω ' for input with frequency tracking filter,
It is respectively acting on hαAnd hβ, obtain hαAnd hβFundamental component uαAnd uβ；Orthogonal phaselocked loop tracks uαAnd uβPhase, estimation obtains
Motor speed ωe_est, estimation is compensated to tracking phase and obtains motor position θe_est；Finally utilize the motor speed of estimation
And position carries out electric current and the control of speed double closed-loop vector of magneto.
2. a kind of permanent magnet machine rotor Position And Velocity evaluation method based on three-phase switch type hall position sensor, feature
It is, includes the following steps：
Step 1, using three-phase switch type hall position sensor and hall signal processing circuit, three-phase hall signal h is obtained1、
h2、h3, rotor-position is divided into according to three-phase hall signal by different Hall sections, angular rate in each Hall section
ωe_TEstimation as a tracking frequency ω ' angular rate of carry out；
Step 2, three-phase hall signal h is utilized1、h2、h3It carries out Hall vector coordinate transform and obtains Hall rotating vector Hαβ, Hall
Vector HαβTwo-phase quadrature component be hαAnd hβ, to three-phase hall signal h1、h2、h3It is tested the speed using T methods and selects tracking filter frequency
ω′；
Step 3, according to the two-phase quadrature component h of the Hall vector of step 2αAnd hβ, the same frequency that tracking frequency is ω ' is respectively adopted
Tracking filter filters out all High-frequency Interferences except wherein fundamental frequency, and it is u to obtain Hall vector fundamental componentαAnd uβ；
Step 4, according to hall signal spectrum analysis, Hall vector fundamental component uαAnd uβRespectively the cosine of rotor-position with just
String function tracks u using orthogonal phaselocked loopαAnd uβPhase thetahThe estimated location θ of rotor is obtained after compensatinge_estAnd estimate
Calculate speed omegae_est。
3. the permanent magnet machine rotor Position And Velocity according to claim 2 based on three-phase switch type hall position sensor
Evaluation method, it is characterised in that：Hall signal h in the step 21、h2、h3It is coordinately transformed to obtain Hall rotation by formula (1)
Turn vector HαβTwo-phase quadrature component hαAnd hβ；
In formula, h1、h2、h3Respectively pass through three switching regulator hall signals after hall signal processing circuit, hαAnd hβRespectively
For Hall rotating vector HαβTwo components.
4. the permanent magnet machine rotor Position And Velocity according to claim 2 based on three-phase switch type hall position sensor
Evaluation method, it is characterised in that：In the step 1, angular rate ω in each Hall sectione_TAs tracking frequency ω ' progress
The estimation formula of angular rate is as follows：
Wherein, neRotating speed, Δ T are estimated for motorhFor the interval of different hall signal triggerings twice, Δ TaFor same hall signal
The interval triggered twice, when motor is in speed-changing or less, using angular rate ω in each Hall sectione_TAs with
Track frequency can not only ignore the influence of the fluctuation of speed but also can cause to count to avoid hall signal trigger interval overlong time when low speed
When device overflow；When motor is in speed-changing or more, using entire electric period motor angular rate ωe_averAs tracking
Frequency is to avoid motor speed wave phenomenon caused by hall signal asymmetry.
5. the permanent magnet machine rotor Position And Velocity according to claim 4 based on three-phase switch type hall position sensor
Evaluation method, it is characterised in that：In the step 3, with the transmission function such as formula (3) of frequency tracking filter：
In formula, ε is feedback factor；ω ＇ are tracking frequency.
6. the permanent magnet machine rotor Position And Velocity according to claim 2 based on three-phase switch type hall position sensor
Evaluation method, it is characterised in that：In the step 4, u is tracked using orthogonal phaselocked loopαAnd uβPhase thetah, exported with phaselocked loop
Tracking phase theta* hWith rotor physical location θeRelationship such as (4),
7. the permanent magnet machine rotor Position And Velocity according to claim 4 based on three-phase switch type hall position sensor
Evaluation method, it is characterised in that：It is described to be set as 100r/min in motor speed-changing.
8. the permanent magnet machine rotor Position And Velocity according to claim 4 based on three-phase switch type hall position sensor
Evaluation method, it is characterised in that：The feedback factor ε values 10.
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| CN110299883A (en) * | 2019-07-03 | 2019-10-01 | 河北工业大学 | The control method of permanent magnet synchronous motor based on hall position sensor |
| CN111817616A (en) * | 2020-07-10 | 2020-10-23 | 上海钧正网络科技有限公司 | Motor control method and device |
| CN114389501A (en) * | 2021-03-25 | 2022-04-22 | 南京航空航天大学 | Coordinate transformation-based single-Hall rotor position detection scheme for bearingless sheet motor |
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| CN106788071A (en) * | 2017-01-06 | 2017-05-31 | 南京航空航天大学 | A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy |
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| CN110299883A (en) * | 2019-07-03 | 2019-10-01 | 河北工业大学 | The control method of permanent magnet synchronous motor based on hall position sensor |
| CN110299883B (en) * | 2019-07-03 | 2021-03-30 | 河北工业大学 | Control method of permanent magnet synchronous motor based on Hall position sensor |
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| CN114389501A (en) * | 2021-03-25 | 2022-04-22 | 南京航空航天大学 | Coordinate transformation-based single-Hall rotor position detection scheme for bearingless sheet motor |
| CN114389501B (en) * | 2021-03-25 | 2023-10-24 | 南京航空航天大学 | Single Hall rotor position detection method of bearingless sheet motor based on coordinate transformation |
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