CN108512478B - 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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- CN108512478B CN108512478B CN201810532067.8A CN201810532067A CN108512478B CN 108512478 B CN108512478 B CN 108512478B CN 201810532067 A CN201810532067 A CN 201810532067A CN 108512478 B CN108512478 B CN 108512478B
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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
-
- 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
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.Of the invention permanent magnet machine rotor position and velocity estimation based on Hall sensor 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, obtain fundamental frequency signal relevant to rotor-position；Accurate rotor-position and velocity information are extracted followed by orthogonal phaselocked loop, to carry out electric current and revolving speed two close cycles vector controlled.Implementation process of the present invention is simple, and estimated accuracy is good, improves the reliability of system, 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 technique
In recent years, magneto is because it has the characteristics that small in size, light-weight, high-energy density and operational reliability are high,
In space technology, industry manufacture, instrument and meter and each industrial circle such as it is driven by electricity and is all widely used.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 estimation method based on high frequency electrocardiography and the estimation method 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 revolving 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 in size, 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 to press down based on the PMSM speed observer state estimation error of hall position sensor
Method [J] electrotechnics journal processed, 2017,32 (17): 189-198., which is proposed, utilizes three-phase switch type hall position sensor
The estimation of motor rotor position and speed is carried out in conjunction with speed observer, but hall signal caused by mounting process limits is not right
The error for claiming phenomenon to will cause estimation increases.
Xun Qian, Wang Peiliang, Cai Zhiduan wait Hall rotor-position predictor method and its error correction [J] electrotechnics
Report, 2017,32 (6): 145-155. proposes the correction of Hall sector initial position and combines with linearity correction method, reduces Hall
Estimation error caused by sensor installation is asymmetric, but the method not can solve the asymmetric caused Hall letter of motor pole
It is influenced caused by number deviation.
The present invention, which utilizes, adaptively filters out the Hall vector height due to caused by hall signal asymmetry with frequency tracking filter
The phenomenon that frequency odd times component increases can be effectively reduced 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.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming existing processing technology limitation that hall signal is caused to export asymmetry
The deficiency for causing rotor-position and velocity estimation error to increase, 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 are as follows:
A kind of permanent magnet machine rotor Position And Velocity estimation based on three-phase switch type hall position sensor of the invention
System, comprising: 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 hαAnd hβ；Tracking frequency selecting module utilizes T method 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 greater 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.
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 hall position section locating 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 method 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 only fundamental component u relevant to rotor-position and speedαAnd 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 by 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 biggish 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 revolving 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 method 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, neRevolving speed, △ T are estimated for motorhFor the interval of different hall signal triggerings twice, △ 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_TThe fluctuation of speed can both be ignored 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 by formula (9) with frequency tracking filter
Frequency characteristic are as follows:
That is:
After the same frequency tracking filter effect that tracking frequency is ω ', obtained uαAnd uβRespectively rotor-position is remaining
String and SIN function.
Finally, extracting the speed and u of rotor using orthogonal phaselocked loopαPhase, finally utilize uαPhase and practical turn
Sub- position differ 30 ° compensate after obtain the physical location of rotor.
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, guarantees
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, high reliablity.
(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.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the principle of the present invention block diagram；
Fig. 3 is hall signal processing circuit schematic diagram of the invention；
Fig. 4 is Hall sector position schematic diagram of the invention；
Fig. 5 is Hall vector coordinate transform schematic diagram of the invention；
Fig. 6 is Hall vector component h of the inventionαAnd hβWaveform diagram；
Fig. 7 is same frequency tracking filter structural block diagram of the invention；
Fig. 8 is orthogonal phase-locked loop structures block diagram of the invention.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawing.As shown in Fig. 1~8, of the invention the specific method is as follows:
It is as shown in Figure 1 system control process figure of the invention, Fig. 2 show the principle of the present invention block diagram；
Firstly, reading three-phase Hall sensor output signal h using hall signal processing circuit shown in Fig. 31、h2、h3,
If Fig. 4 is Hall sector position schematic diagram, according to hall signal h1、h2、h3Judge hall position section locating for rotor.
Controller captures three-phase hall signal h1、h2、h3Rise and fall edge, and timing is carried out, using T method 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, neRevolving speed, △ T are estimated for motorhFor the interval of different hall signal triggerings twice, △ 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 be as shown in Figure 4:
In formula, h1、h2、h3Respectively by 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, utilize orthogonal phaselocked loop shown in Fig. 8 to track uαAnd uβ
Phase thetah, then the tracking phase theta of phaselocked loop output can be obtained* hWith the practical estimated position θ of rotoreRelationship such as formula (14) institute
Show:
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 biggish 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 revolving 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 by formula (17) with frequency tracking filter
Frequency characteristic are as follows:
That is:
After the same frequency tracking filter effect that tracking frequency is ω ', obtained uαAnd uβRespectively rotor-position is remaining
String and SIN function；Finally, showing that orthogonal phaselocked loop extracts the speed and u of rotor using Fig. 8αPhase, finally utilize uαPhase
Position, which differs 30 ° with actual rotor position and compensates, obtains the physical location of rotor later.
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, it estimates to obtain high score using the low resolution rotor position information combination software algorithm that switching regulator hall position sensor provides
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 the estimation of rotor-position and speed in the full range of speeds, the present invention does not need the parameters such as motor phase resistance, phase inductance, no
It is influenced by parameters such as motor temperatures, high reliablity.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 due to caused by hall signal asymmetry increases effectively reduces Hall sensor peace
Rotor-position velocity estimation error caused by dress is asymmetric and motor pole is asymmetric, compensates for the defect of motor processing technology.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (7)
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 method 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 greater 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, comprising 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, when motor is in speed-changing or less,
Using angular rate ω in each Hall sectione_TAs tracking frequency ω ', when motor is in speed-changing or more, use
Entire electricity period motor angular rate ωe_averAs tracking frequency；
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 method and selects tracking 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 obtaining Hall vector fundamental component is uαAnd 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；
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, neRevolving speed, △ T are estimated for motorhFor the interval of different hall signal triggerings twice, △ 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 ' is 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, then phaselocked loop exports
Tracking phase theta* hWith the practical estimated position θ of rotoreRelationship such as (4),
7. the permanent magnet machine rotor Position And Velocity according to claim 5 based on three-phase switch type hall position sensor
Evaluation method, it is characterised in that: the feedback factor ε value 10.
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