CN108667377A - A kind of determination method and device of the Position And Velocity of permanent-magnetic synchronous motor rotor - Google Patents
A kind of determination method and device of the Position And Velocity of permanent-magnetic synchronous motor rotor Download PDFInfo
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- CN108667377A CN108667377A CN201810500828.1A CN201810500828A CN108667377A CN 108667377 A CN108667377 A CN 108667377A CN 201810500828 A CN201810500828 A CN 201810500828A CN 108667377 A CN108667377 A CN 108667377A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 150
- 238000005070 sampling Methods 0.000 claims description 27
- 238000009415 formwork Methods 0.000 claims description 26
- 238000004804 winding Methods 0.000 claims description 23
- 230000005484 gravity Effects 0.000 claims description 10
- 230000009466 transformation Effects 0.000 claims description 10
- 238000012857 repacking Methods 0.000 claims description 6
- 230000007423 decrease Effects 0.000 abstract description 6
- 230000001771 impaired effect Effects 0.000 abstract description 4
- 230000035945 sensitivity Effects 0.000 abstract description 4
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 10
- 230000005611 electricity Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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- 230000010363 phase shift Effects 0.000 description 2
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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
- H02P21/14—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
- H02P21/22—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
- 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
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention provides a kind of determination method and devices of the Position And Velocity of permanent-magnetic synchronous motor rotor, belong to permanent magnet synchronous motor control field.This method obtains the α shaft currents at the current time, and according to the α shaft currents at the current time, obtain the α axis counter electromotive force at the current time by the α shaft currents of current time adjacent previous moment, α axis counter electromotive force and α shaft detection voltages；By the β shaft currents and β shaft detection electric currents at current time, the β axis counter electromotive force at the current time is obtained；The angle and angular speed of the rotor at the current time can be calculated according to the α axis counter electromotive force at the current time and β axis counter electromotive force, the angle and angular speed of rotor can be obtained without Hall sensor, accuracy depends no longer on the sensitivity of Hall sensor, avoid Hall sensor accuracy decline or it is impaired when cannot obtain the angle and angular speed of correct rotor the problem of, while decreasing the control structure of system.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control field, more particularly to a kind of position of permanent-magnetic synchronous motor rotor and speed
Degree determines method and device.
Background technology
With the development of permanent magnet synchronous motor, permanent magnet synchronous motor is more and more broadly applied to be controlled and speed in position
In the system of control.
In the prior art, in the control system of permanent magnet synchronous motor servo, it is required for Hall sensor matching coding device will
Collected speed or position signal are sent to controller, to make controller be adjusted according to the signal of feedback.
The inventors discovered that being had at least the following problems in above-mentioned technology：
Position or speed signal are obtained due to needing Hall sensor, once sensor accuracy declines, can cause to control
System is ineffective.Therefore, by Hall sensor to the control system of permanent magnet synchronous motor servo, accuracy is low.
Invention content
In view of this, the present invention provides a kind of position and speed evaluation method of permanent magnet synchronous motor, more preferably to improve essence
Exactness.Specifically, including technical solution below：
According to the first aspect of the embodiments of the present disclosure, a kind of Position And Velocity of permanent-magnetic synchronous motor rotor is provided really
Determine method, the method includes：
Permanent magnet synchronous motor the α shaft currents of initial time, α axis counter electromotive force, β shaft currents and β under alpha-beta coordinate system are set
Axis counter electromotive force, and obtain the α shaft detections voltage and β shaft detection voltages of initial time；
α shaft detections electric current, α shaft detections voltage, β shaft detections electric current and the β shaft detection voltages at current time are obtained, it is described to work as
The preceding moment is any sampling instant after the initial time；
According to the α shaft currents of the previous moment adjacent with the current time, α axis counter electromotive force and α shaft detection voltages, obtain
The α shaft currents at the current time, and according to the first difference of the α shaft currents at the current time and α shaft detection electric currents and this
The differential value of one difference in time obtains the α axis counter electromotive force at the current time；
According to the β shaft currents of the previous moment, β axis counter electromotive force and β shaft detection voltages, the β axis at the current time is obtained
Electric current, and in time according to the first difference and first difference of the β shaft currents at the current time and β shaft detection electric currents
Differential value obtains the β axis counter electromotive force at the current time；
The angle of the rotor at the current time is obtained according to the α axis counter electromotive force at the current time and β axis counter electromotive force
Degree；
According to the electricity of the angle of the rotor at current time and the previous moment adjacent with the current time
The angle of machine rotor obtains the angular speed of the rotor at the current time.
Optionally, the α shaft currents of the basis previous moment adjacent with the current time, α axis counter electromotive force and α repacking
Voltage is surveyed, the α shaft currents at the current time are obtained, including：
By current time adjacent previous moment α shaft currents, α axis counter electromotive force and α shaft detections control source to α shaft currents
In equation, the α shaft currents at the current time are calculated, the α shaft currents equation is：
Wherein, iα(n+1) it is the α shaft currents at the current time, iα(n) it is the α shaft currents of the previous moment, vα(n)
For the α shaft detection voltages of the previous moment, eα(n) it is the α axis counter electromotive force of shown previous moment, RsFor motor stator winding
Resistance, TsFor sampling period, LsFor motor stator winding inductance；
β shaft currents, β axis counter electromotive force and the β shaft detection voltages of the basis previous moment adjacent with the current time,
The β shaft currents at the current time are obtained, including：
By current time adjacent previous moment β shaft currents, β axis counter electromotive force and β shaft detections control source to β shaft currents
In equation, the β shaft currents at the current time are calculated, the β shaft currents equation is：
Wherein, iβ(n+1) it is the β shaft currents at the current time, iβ(n) it is the β shaft currents of the previous moment, vβ(n)
For the β shaft detection voltages of the previous moment, eβ(n) it is the β axis counter electromotive force of the previous moment, RsFor motor stator winding
Resistance, TsFor sampling period, LsFor motor stator winding inductance.
Optionally, described according to the α shaft currents at the current time and the first difference of α shaft detection electric currents and this is first poor
The differential value of value in time, the α axis counter electromotive force for obtaining the current time include：
In time according to the first difference and first difference of the α shaft currents at the current time and α shaft detection electric currents
Differential value, obtain the α shaft voltage modifying factors at current time；α shaft voltage modifying factors are multiplied by preset sliding formwork gain to obtain
To the α axis counter electromotive force at current time；
It is described according to the shaft current of current time β and the first difference of β shaft detection electric currents and first difference when
Between on differential value, the β axis counter electromotive force for obtaining the current time includes：
In time according to the first difference and first difference of the β shaft currents at the current time and β shaft detection electric currents
Differential value, obtain the β shaft voltage modifying factors at current time；β shaft voltage modifying factors are multiplied by preset sliding formwork gain to obtain
To the β axis counter electromotive force at current time.
Optionally, described according to the α shaft currents at the current time and the first difference of α shaft detection electric currents and this is first poor
The differential value of value in time, obtains the α shaft voltage modifying factors at current time, including：
The first difference and first difference of α shaft currents and α shaft detection electric currents to current time in time micro-
Score value carries out domain transformation, obtains the second difference and the second differential value；Second difference is respectively obtained according to membership function
With the fuzzy subset corresponding to the second differential value；According to fuzzy rule base using madani inference rules to second difference and
Fuzzy subset corresponding to second differential value carries out fuzzy reasoning operation, obtains corresponding to second difference and the second differential value
Fuzzy value；Anti fuzzy method is carried out to the fuzzy value using gravity model appoach and is multiplied by preset scale factor, obtains the α shaft voltages
Modifying factor；
It is described according to the β shaft currents at the current time and the first difference of β shaft detection electric currents and first difference when
Between on differential value, obtain the β shaft voltage modifying factors at current time, including：
The third difference and the third difference of β shaft currents and β shaft detection electric currents to current time in time micro-
Score value carries out domain transformation, obtains the 4th difference and the 4th differential value；The 4th difference is respectively obtained according to membership function
With the fuzzy subset corresponding to the 4th differential value；According to fuzzy rule base using madani inference rules to the 4th difference and
Fuzzy subset corresponding to 4th differential value carries out fuzzy reasoning operation, obtains corresponding to the 4th difference and the 4th differential value
Fuzzy value；Anti fuzzy method is carried out to the fuzzy value using gravity model appoach and is multiplied by preset scale factor, obtains the β axis electricity
Press modifying factor.
Optionally, described α shaft voltage modifying factors to be multiplied by preset sliding formwork gain to obtain the α axis at current time anti-electronic
Gesture, including：
α shaft voltage modifying factors are filtered, filtered α shaft voltages modifying factor is obtained, wherein by following public
Formula is filtered α shaft voltage modifying factors：
Wherein, eα(n+1) it is the α axis counter electromotive force at the current time, eα(n) anti-electronic for the α axis of the previous moment
Gesture, Fα(n+1) it is the α axis modifying factors at the current time, fcFor the cutoff frequency of low-pass filter, fPWMDigital filter
The PWM frequency of execution；
Filtered α shaft voltages modifying factor is multiplied by preset sliding formwork gain and obtains the α axis counter electromotive force at current time；
It is described β shaft voltage modifying factors are multiplied by preset sliding formwork gain to obtain the α axis counter electromotive force at current time, it wraps
It includes：
β shaft voltage modifying factors are filtered, filtered β shaft voltages modifying factor is obtained, wherein by following public
Formula is filtered β shaft voltage modifying factors：
Wherein, eβ(n+1) it is the β axis counter electromotive force at the current time, eβ(n) anti-electronic for the β axis of the previous moment
Gesture, Fβ(n+1) it is the β axis modifying factors at the current time, fc is the cutoff frequency of low-pass filter, fPWMDigital filter
Execution PWM frequency.
Filtered β shaft voltages modifying factor is multiplied by preset sliding formwork gain and obtains the β axis counter electromotive force at current time.
Optionally, described that the electricity at the current time is obtained according to the α axis counter electromotive force and β axis counter electromotive force at the current time
The angle of machine rotor, including：
According to counter electromotive force equation, the angle of the rotor at current time is calculated, the counter electromotive force equation is：
θ (n)=arctan (- e α (n)/eβ(n))
Wherein, θ (n) is the angle of the rotor at the current time, eα(n) anti-electric for the α axis at the current time
Kinetic potential, eβ(n) it is the current time β axis counter electromotive force.
Optionally, the angle of the rotor according to current time and it is adjacent with the current time previous when
The angle for the rotor carved obtains the angular speed of the rotor at the current time, including：
The angle of the rotor of the angle of the rotor at current time and adjacent previous moment is defeated
Enter into angular speed formula, calculate the angular speed of rotor, the angular speed formula is：
Wherein, ω is the angular speed of motor；θn+1For the angle value at the current time；θnFor the angle of the previous moment
Angle value；KspeedTo be converted into the ratio value of standard speed unit；M is sampling number.
Optionally, the method further includes：
Rotor offset angle is calculated according to the angular speed of the rotor；
The angle of the rotor is modified according to the rotor offset angle.
Optionally, described that rotor offset angle is calculated according to the angular speed of the rotor, including：
The rotor offset angle is calculated by following formula：
Wherein, θoffsetFor rotor offset angle, ω is the angular speed of rotor.
According to the second aspect of the embodiment of the present disclosure, a kind of Position And Velocity of permanent-magnetic synchronous motor rotor is provided really
Determine device, described device includes：
First acquisition module, it is anti-for permanent magnet synchronous motor the α shaft currents of initial time, α axis under alpha-beta coordinate system to be arranged
Electromotive force, β shaft currents and β axis counter electromotive force, and obtain the α shaft detections voltage and β shaft detection voltages of initial time；
Second acquisition module, α shaft detections electric current, α shaft detections voltage, β shaft detections electric current and β for obtaining current time
Shaft detection voltage, the current time are any sampling instant after the initial time；
Third acquisition module, for the α shaft currents according to the previous moment adjacent with the current time, α axis counter electromotive force
With α shaft detection voltages, the α shaft currents at the current time are obtained, and according to the α shaft currents at the current time and α shaft detection electric currents
The first difference and the differential value of the first difference in time, obtain the α axis counter electromotive force at the current time；
4th acquisition module, for according to the β shaft currents of the previous moment, β axis counter electromotive force and β shaft detection voltages, obtaining
To the β shaft currents at the current time, and according to the first difference of the β shaft currents at the current time and β shaft detection electric currents and should
The differential value of first difference in time obtains the β axis counter electromotive force at the current time；
5th acquisition module, for according to the α axis counter electromotive force and β axis counter electromotive force at the current time obtain this it is current when
The angle of the rotor at quarter；
6th acquisition module, for according to the angle of the rotor at current time and adjacent with the current time
The angle of the rotor of previous moment obtains the angular speed of the rotor at the current time.
Optionally, the third acquisition module, including：
First computational submodule, for by current time adjacent previous moment α shaft currents, α axis counter electromotive force and α repacking
It surveys in control source to α shaft current equations, calculates the α shaft currents at the current time, the α shaft currents equation is：
Wherein, iα(n+1) it is the α shaft currents at the current time, iα(n) it is the α shaft currents of the previous moment, vα(n)
For the α shaft detection voltages of the previous moment, eα(n) it is the α axis counter electromotive force of shown previous moment, RsFor motor stator winding
Resistance, TsFor sampling period, LsFor motor stator winding inductance；
4th acquisition module, including：
Second computational submodule, for by current time adjacent previous moment β shaft currents, β axis counter electromotive force and β repacking
It surveys in control source to β shaft current equations, calculates the β shaft currents at the current time, the β shaft currents equation is：
Wherein, iβ(n+1) it is the β shaft currents at the current time, iβ(n) it is the β shaft currents of the previous moment, vβ(n)
For the β shaft detection voltages of the previous moment, eβ(n) it is the β axis counter electromotive force of the previous moment, RsFor motor stator winding
Resistance, TsFor sampling period, LsFor motor stator winding inductance.
Optionally, the third acquisition module further includes：
First acquisition submodule, for according to the α shaft currents at the current time and the first difference of α shaft detection electric currents and
The differential value of first difference in time obtains the α shaft voltage modifying factors at current time；α shaft voltage modifying factors are multiplied
The α axis counter electromotive force at current time is obtained with preset sliding formwork gain；
4th acquisition module further includes：
Second acquisition submodule, for according to the β shaft currents at the current time and the first difference of β shaft detection electric currents and
The differential value of first difference in time obtains the β shaft voltage modifying factors at current time；β shaft voltage modifying factors are multiplied
The β axis counter electromotive force at current time is obtained with preset sliding formwork gain.
First acquisition submodule, including：
First acquisition unit, the first difference and first difference of α shaft currents and α shaft detection electric currents to current time
Differential value in time carries out domain transformation, obtains the second difference and the second differential value；It is respectively obtained according to membership function
Fuzzy subset corresponding to second difference and the second differential value；According to fuzzy rule base using madani inference rules to institute
It states the fuzzy subset corresponding to the second difference and the second differential value and carries out fuzzy reasoning operation, obtain second difference and second
Fuzzy value corresponding to differential value；Anti fuzzy method is carried out to the fuzzy value using gravity model appoach and is multiplied by preset scale factor, is obtained
To the α shaft voltages modifying factor；
Second acquisition submodule, including：
Second acquisition unit, the third difference and the third difference of β shaft currents and β shaft detection electric currents to current time
Differential value in time carries out domain transformation, obtains the 4th difference and the 4th differential value；It is respectively obtained according to membership function
Fuzzy subset corresponding to 4th difference and the 4th differential value；According to fuzzy rule base using madani inference rules to institute
It states the fuzzy subset corresponding to the 4th difference and the 4th differential value and carries out fuzzy reasoning operation, obtain the 4th difference and the 4th
Fuzzy value corresponding to differential value；Anti fuzzy method is carried out to the fuzzy value using gravity model appoach and is multiplied by preset scale factor,
Obtain the β shaft voltages modifying factor.
Optionally, first acquisition submodule further includes：
Third acquiring unit obtains filtered α shaft voltages modifying factor for being filtered to α shaft voltage modifying factors
Son, wherein being filtered to α shaft voltage modifying factors by following formula：
Wherein, eα(n+1) it is the α axis counter electromotive force at the current time, eα(n) anti-electronic for the α axis of the previous moment
Gesture, Fα(n+1) it is the α axis modifying factors at the current time, fcFor the cutoff frequency of low-pass filter, fPWMDigital filter
The PWM frequency of execution；
First gain unit obtains currently for filtered α shaft voltages modifying factor to be multiplied by preset sliding formwork gain
The α axis counter electromotive force at moment；
Second acquisition submodule further includes：
4th acquiring unit obtains filtered β shaft voltages modifying factor for being filtered to β shaft voltage modifying factors
Son, wherein being filtered to β shaft voltage modifying factors by following formula：
Wherein, eβ(n+1) it is the β axis counter electromotive force at the current time, eβ(n) anti-electronic for the β axis of the previous moment
Gesture, Fβ(n+1) it is the β axis modifying factors at the current time, fc is the cutoff frequency of low-pass filter, fPWMDigital filter
Execution PWM frequency.
Second gain unit obtains currently for filtered β shaft voltages modifying factor to be multiplied by preset sliding formwork gain
The β axis counter electromotive force at moment.
Optionally, the 5th acquisition module, including：
Third computational submodule, it is described for according to counter electromotive force equation, calculating the angle of the rotor at current time
Counter electromotive force equation is：
θ (n)=arctan (- e α (n)/eβ(n))
Wherein, θ (n) is the angle of the rotor at the current time, eα(n) anti-electric for the α axis at the current time
Kinetic potential, eβ(n) it is the β axis counter electromotive force at the current time.
Optionally, the 6th acquisition module, including：
4th computational submodule is used for the institute of the angle of the rotor at current time and adjacent previous moment
The angle for stating rotor is input in angular speed formula, calculates the angular speed of rotor, and the angular speed formula is：
Wherein, ω is the angular speed of motor；θn+1For the angle value at the current time；θnFor the angle of the previous moment
Angle value；KspeedTo be converted into the ratio value of standard speed unit；M is sampling number.
Optionally, described device further includes：
First computing module, for calculating rotor offset angle according to the angular speed of the rotor；
First correcting module, for being repaiied to the angle of the rotor according to the rotor offset angle
Just.
Optionally, first computing module, including：
4th computational submodule, for calculating the rotor offset angle by following formula：
Wherein, θoffsetFor rotor offset angle, ω is the angular speed of rotor.
The advantageous effect of technical solution provided in an embodiment of the present invention includes：
An embodiment of the present invention provides a kind of determination methods of the Position And Velocity of permanent-magnetic synchronous motor rotor, by current
α shaft currents, α axis counter electromotive force and the α shaft detection voltages of moment adjacent previous moment, obtain the α shaft currents at the current time,
And the α axis counter electromotive force at the current time is obtained according to the α shaft currents at the current time and α shaft detection electric currents；By it is current when
β shaft currents, β axis counter electromotive force and the β shaft detection voltages for carving adjacent previous moment, obtain the β shaft currents at the current time, and
The β axis counter electromotive force at the current time is obtained according to the β shaft currents at the current time and β shaft detection electric currents；When current according to this
The α axis counter electromotive force and β axis counter electromotive force at quarter obtain the angle and angular speed of the rotor at current time.Through the above way
It respectively obtains α axis counter electromotive force and β axis counter electromotive force and calculates the angle and angular speed of rotor, can be passed without Hall
The angle and angular speed of rotor are obtained in the case of sensor, accuracy depends no longer on the sensitivity of Hall sensor, keeps away
Exempted from Hall sensor accuracy decline or it is impaired when cannot obtain the angle and angular speed of correct rotor the problem of, together
When decrease the control structure of system.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of stream of the determination method of the Position And Velocity of permanent-magnetic synchronous motor rotor provided in an embodiment of the present invention
Cheng Tu；
Fig. 2 is a kind of stream of the determination method of the Position And Velocity of permanent-magnetic synchronous motor rotor provided in an embodiment of the present invention
Cheng Tu；
Fig. 3 provides a kind of fuzzy rule base for the embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of membership function provided in an embodiment of the present invention；
Fig. 5 provides a kind of schematic diagram of membership function for the embodiment of the present invention；
Fig. 6 is a kind of frame of the determining device of the Position And Velocity of permanent-magnetic synchronous motor rotor provided in an embodiment of the present invention
Figure.
Specific implementation mode
To keep technical scheme of the present invention and advantage clearer, below in conjunction with attached drawing to embodiment of the present invention make into
One step it is described in detail.
One exemplary embodiment of the disclosure provides a kind of determination method of the Position And Velocity of permanent-magnetic synchronous motor rotor,
As shown in Figure 1, the process flow of this method may include following step：
Step S110, setting permanent magnet synchronous motor the α shaft currents of initial time, α axis counter electromotive force, β under alpha-beta coordinate system
Shaft current and β axis counter electromotive force, and obtain the α shaft detections voltage and β shaft detection voltages of initial time.
Step S120 obtains α shaft detections electric current, α shaft detections voltage, β shaft detections electric current and the β shaft detections at the current time
Voltage, the current time are any sampling instant after initial time.
Step S130, according to the α shaft currents of the previous moment adjacent with the current time, α axis counter electromotive force and α shaft detections
Voltage obtains the α shaft currents at the current time, and according to the first difference of the α shaft currents at the current time and α shaft detection electric currents
And the differential value of the first difference in time, obtain the α axis counter electromotive force at the current time；According to the β of the previous moment
Shaft current, β axis counter electromotive force and β shaft detection voltages obtain the β shaft currents at the current time, and according to the β axis at the current time
The first difference and the differential value of the first difference in time of electric current and β shaft detection electric currents, obtain the β axis at the current time
Counter electromotive force.
Step S140 obtains the motor at the current time according to the α axis counter electromotive force at the current time and β axis counter electromotive force
The angle of rotor.
Step S150, according to the electricity of the angle of the rotor at current time and the previous moment adjacent with the current time
The angle of machine rotor obtains the angular speed of the rotor at the current time.
The method provided by the disclosure, an embodiment of the present invention provides a kind of positions of permanent-magnetic synchronous motor rotor and speed
The determination method of degree is obtained by the α shaft currents of current time adjacent previous moment, α axis counter electromotive force and α shaft detection voltages
The α at the current time is obtained to the α shaft currents at the current time, and according to the α shaft currents at the current time and α shaft detection electric currents
Axis counter electromotive force；By the β shaft currents of current time adjacent previous moment, β axis counter electromotive force and β shaft detection voltages, obtain
The β shaft currents at the current time, and the β axis at the current time is obtained according to the β shaft currents at the current time and β shaft detection electric currents
Counter electromotive force；The angle of the rotor at current time is obtained according to the α axis counter electromotive force at the current time and β axis counter electromotive force
And angular speed.α axis counter electromotive force and β axis counter electromotive force are respectively obtained through the above way and calculate angle and the angle of rotor
Speed, can obtain the angle and angular speed of rotor without Hall sensor, and accuracy depends no longer on
The sensitivity of Hall sensor, avoid Hall sensor accuracy decline or it is impaired when cannot obtain correct rotor
The problem of angle and angular speed, while decreasing the control structure of system.
Fig. 2 is a kind of stream of the determination method of the Position And Velocity of permanent-magnetic synchronous motor rotor provided in an embodiment of the present invention
Cheng Tu.This method is executed by computer equipment, referring to Fig. 2, the method comprising the steps of S210- steps S260.Lower mask body introduction
Each step of this method.
Step S210, setting permanent magnet synchronous motor the α shaft currents of initial time, α axis counter electromotive force, β under alpha-beta coordinate system
Shaft current and β axis counter electromotive force, and obtain the α shaft detections voltage and β shaft detection voltages of initial time.
It should be noted that the position where the joint of a axis of three-phase static coordinate system, b axis, c-axis is motor stator
The phase of position where winding axle center, adjacent axis differs 120 degree, and for the α overlapping of axles in alpha-beta coordinate system in a axis, β axis is counterclockwise
90 degree of α axis is ahead of on direction.
The α shaft currents of initial time, α axis counter electromotive force, β shaft currents and β axis counter electromotive force are to set in advance in alpha-beta coordinate system
It sets, generally all may be configured as zero or other numerical value, the α shaft detections voltage and β shaft detection voltages of initial time are to obtain in real time
Permanent magnet synchronous motor initial time work when α shaft detections voltage and β shaft detection voltages.
Step S220 obtains α shaft detections electric current, α shaft detections voltage, β shaft detections electric current and the β shaft detections at the current time
Voltage, current time are any sampling instant after initial time.
Wherein, α shaft detections electric current is the electric current on the α axis of permanent-magnetic synchronous motor stator in actual work, β shaft detection electric currents
Electric current on the β axis of permanent-magnetic synchronous motor stator in actual work.
It should be noted that carving at the beginning, due to α shaft currents, α axis counter electromotive force, β shaft currents and β axis counter electromotive force
To be pre-set, therefore, α shaft detections electric current and α shaft currents are needed not move through, between β shaft detections electric current and β shaft currents
Relationship obtains the counter electromotive force of respective shaft, therefore, does not need to obtain α detection electric currents and β shaft detection electric currents when carving at the beginning.
And for any sampling instant after initial time, α shaft detections electric current and β shaft detections electric current are all to detect electric current and α by α
The counter electromotive force of respective shaft is calculated in shaft current, the relationship between β shaft detections electric current and β shaft currents, therefore, at the beginning
Any sampling instant after quarter needs to obtain α shaft detections electric current and β shaft detection electric currents.
Step S230, according to the α shaft currents of the previous moment adjacent with the current time, α axis counter electromotive force and α shaft detections
Voltage obtains the α shaft currents at the current time, and according to the first difference of the α shaft currents at the current time and α shaft detection electric currents
And the differential value of the first difference in time, obtain the α axis counter electromotive force at the current time；According to the β of the previous moment
Shaft current, β axis counter electromotive force and β shaft detection voltages obtain the β shaft currents at the current time, and according to the β axis at the current time
The first difference and the differential value of the first difference in time of electric current and β shaft detection electric currents, obtain the β axis at the current time
Counter electromotive force；
Wherein, according to the α shaft currents of the previous moment adjacent with the current time, α axis counter electromotive force and α shaft detection electricity
Pressure, obtaining the process of the α shaft currents at the current time can be realized by following steps：
By current time adjacent previous moment α shaft currents, α axis counter electromotive force and α shaft detections control source to α shaft currents
In equation, the α shaft currents at the current time are calculated, which is：
In formula, iα(n+1) it is the α shaft currents at current time, iα(n) it is the α shaft currents of previous moment, vα(n) be it is previous when
The α shaft detection voltages at quarter, eα(n) it is the α axis counter electromotive force of shown previous moment, RsFor motor stator winding resistance, TsFor sampling
Period, LsFor motor stator winding inductance.
Wherein, according to the β shaft currents of the previous moment adjacent with the current time, β axis counter electromotive force and β shaft detection electricity
Pressure, obtaining the process of the β shaft currents at the current time can be realized by following steps：
By current time adjacent previous moment β shaft currents, β axis counter electromotive force and β shaft detections control source to β shaft currents
In equation, the β shaft currents at the current time are calculated, which is：
In formula, iβ(n+1) it is the β shaft currents at current time, iβ(n) it is the β shaft currents of previous moment, vβ(n) be it is previous when
The β shaft detection voltages at quarter,eβ(n) it is the β axis counter electromotive force of previous moment, RsFor motor stator winding resistance, TsFor sampling week
Phase, LsFor motor stator winding inductance.
It should be noted that (n+1)th sampling instant, that is, current time, n-th of sampling instant, that is, previous moment, motor are fixed
Sub- winding resistance and motor stator winding inductance can actually measure in permanent magnet synchronous motor to be obtained, and the sampling period can be advance
It is configured.
Wherein, according to the first difference and first difference of the α shaft currents at the current time and α shaft detection electric currents when
Between on differential value, obtaining the process of the α axis counter electromotive force at the current time can be realized by following steps：
In time according to the first difference and first difference of the α shaft currents at the current time and α shaft detection electric currents
Differential value, obtain the α shaft voltage modifying factors at current time；α shaft voltage modifying factors are multiplied by preset sliding formwork gain to obtain
To the α axis counter electromotive force at current time；
Wherein, according to the first difference and first difference of the shaft current of current time β and β shaft detection electric currents when
Between on differential value, obtaining the process of the β axis counter electromotive force at the current time can be realized by following steps：
In time according to the first difference and first difference of the β shaft currents at the current time and β shaft detection electric currents
Differential value, obtain the β shaft voltage modifying factors at current time；β shaft voltage modifying factors are multiplied by preset sliding formwork gain to obtain
To the β axis counter electromotive force at current time.
Wherein, according to the first difference and first difference of the α shaft currents at the current time and α shaft detection electric currents when
Between on differential value, obtaining the process of the α shaft voltage modifying factors at current time can be realized by following steps：
The first difference and first difference of α shaft currents and α shaft detection electric currents to current time in time micro-
Score value carries out domain transformation, obtains the second difference and the second differential value；The second difference and are respectively obtained according to membership function
Fuzzy subset corresponding to two differential values；The second difference of madani inference rules pair and the second differential are utilized according to fuzzy rule base
The corresponding fuzzy subset of value carries out fuzzy reasoning operation, obtains fuzzy value corresponding to the second difference and the second differential value；It utilizes
Gravity model appoach carries out anti fuzzy method to fuzzy value and is multiplied by preset scale factor, obtains α shaft voltage modifying factors；
Wherein, according to the first difference and first difference of the β shaft currents at the current time and β shaft detection electric currents when
Between on differential value, obtaining the process of the β shaft voltage modifying factors at current time can be realized by following steps：
The third difference and the third difference of β shaft currents and β shaft detection electric currents to current time in time micro-
Score value carries out domain transformation, obtains the 4th difference and the 4th differential value；The 4th difference and are respectively obtained according to membership function
Fuzzy subset corresponding to four differential values；The 4th difference of madani inference rules pair and the 4th differential are utilized according to fuzzy rule base
The corresponding fuzzy subset of value carries out fuzzy reasoning operation, obtains the fuzzy value corresponding to the 4th difference and the 4th differential value；Profit
Anti fuzzy method is carried out to fuzzy value with gravity model appoach and is multiplied by preset scale factor, obtains β shaft voltage modifying factors.
It should be noted that the domain of any of the above-described axis is transformed to the basic domain of the variable of input passing through change of scale
For respective domain range, the basic domain of input variable is the actual change range of input variable.As shown in Figure 3 for by 49
The fuzzy rule base of rule composition.In Fig. 3For current differential, current differential can be above-mentioned second difference, the 4th poor
Value.Differential value for the differential value of current differential, current differential can be above-mentioned second differential value, the 4th differential value.Such as figure
4 be the membership function that input quantity is current differential, in the Fig. 4Indicate the membership function corresponding to current differential
Value, current differential can be the second difference, the 4th difference.Such as the degree of membership that Fig. 5 is the differential value that input quantity is current differential
Function, in the Fig. 5Indicate the value of the membership function corresponding to the differential value of current differential, the differential of current differential
Value can be the second differential value, the 4th differential value.
Wherein, the NB in Fig. 3, Fig. 4, Fig. 5 indicates negative big, and during NM indicates negative, NS indicates negative small, and ZO indicates that zero, PS is indicated
Just small, PM indicates that center, PB indicate honest.
For example, differential value, third difference and the third by the first difference and first difference in time
The differential value of difference in time is multiplied by corresponding quantizing factor, change of scale to domain [- 3 3], then according to such as Fig. 4, Fig. 5
Membership function be blurred the second difference, the second differential value, the 4th difference and the 4th differential value to obtain fuzzy subset,
The fuzzy value corresponding to fuzzy subset is obtained by fuzzy rule library inquiry, carrying out processing to fuzzy value can be obtained by voltage and repair
Positive divisor.
Wherein, α shaft voltage modifying factors are multiplied by the mistake that preset sliding formwork gain obtains the α axis counter electromotive force at current time
Journey can be realized by following steps：
α shaft voltage modifying factors are filtered, filtered α shaft voltages modifying factor is obtained, wherein by following public
Formula is filtered α shaft voltage modifying factors：
In formula, eα(n+1) it is the α axis counter electromotive force at current time, eα(n) it is the α axis counter electromotive force of previous moment, Fα(n+
1) it is the α axis modifying factors at current time, fcFor the cutoff frequency of low-pass filter, fPWMThe PWM frequencies of the execution of digital filter
Rate；
Filtered α shaft voltages modifying factor is multiplied by preset sliding formwork gain and obtains the α axis counter electromotive force at current time；
The process that β shaft voltage modifying factors are multiplied by the α axis counter electromotive force that preset sliding formwork gain obtains current time can
To be realized by following steps：
β shaft voltage modifying factors are filtered, filtered β shaft voltages modifying factor is obtained, wherein by following public
Formula is filtered β shaft voltage modifying factors：
In formula, eβ(n+1) it is the β axis counter electromotive force at current time, eβ(n) it is the β axis counter electromotive force of previous moment, Fβ(n+
1) it is the β axis modifying factors at current time, fcFor the cutoff frequency of low-pass filter, fPWMThe PWM frequencies of the execution of digital filter
Rate.
Filtered β shaft voltages modifying factor is multiplied by preset sliding formwork gain and obtains the β axis counter electromotive force at current time.
It should be noted that the voltage modifying factor obtained typically contains high fdrequency component, in implementation process, need by one
Rank low-pass filter is filtered it.Also, the time constant setting of low-pass filter must be sufficiently small to ensure abundance
Low frequency component.Therefore the cutoff frequency f of low-pass filtercNeed the fundamental frequency omega according to the stator current trackedrIt is designed,
In implementation process
Step S240 calculates the angle of the rotor at current time, counter electromotive force equation according to counter electromotive force equation
For：
θ (n)=arctan (- e α (n)/eβ(n))
Wherein, θ (n) is the angle of the rotor at current time, eα(n) it is the α axis counter electromotive force at current time, eβ(n)
For the β axis counter electromotive force at current time.
Step S250, according to the electricity of the angle of the rotor at current time and the previous moment adjacent with the current time
The angle of machine rotor obtains the angular speed of the rotor at the current time, including：
The angle of the rotor of the angle of the rotor at current time and adjacent previous moment is input to angle speed
It spends in formula, calculates the angular speed of rotor, angular speed formula is：
Wherein, ω is the angular speed of motor；θn+1For the angle value at current time；θnFor the angle value of previous moment；Kspeed
To be converted into the ratio value of standard speed unit；M is sampling number.
More smooth signal is obtained when to ensure to calculate angular speed, can to obtained angular speed by firstorder filter into
Row filtering.
Step S260 calculates rotor offset angle according to the angular speed of rotor；Angle is compensated according to rotor
Degree is modified the angle of rotor.
It should be noted that low-pass filter when calculating motor position, causes inevitable phase shift, need
The position phase angle of motor is compensated.The back-emf signal of the corresponding different frequency under different rotating speeds needs to utilize difference
Phase shift angle of rotor of motor is compensated, when being compensated to angle of rotor of motor, calculated for passing through following formula
Rotor offset angle：
Wherein, θoffsetFor rotor offset angle, ω is the angular speed of rotor.
Fig. 6 is a kind of determining device of the Position And Velocity of permanent-magnetic synchronous motor rotor provided in an embodiment of the present invention, institute
Stating device includes：
First acquisition module 610, for permanent magnet synchronous motor the α shaft currents of initial time, α under alpha-beta coordinate system to be arranged
Axis counter electromotive force, β shaft currents and β axis counter electromotive force, and obtain the α shaft detections voltage and β shaft detection voltages of initial time.
Second acquisition module 620, α shaft detections electric current, α shaft detections voltage, β shaft detection electricity for obtaining the current time
Stream and β shaft detection voltages, current time are any sampling instant after initial time.
Third acquisition module 630, for anti-electronic according to the α shaft currents of the previous moment adjacent with the current time, α axis
Gesture and α shaft detection voltages obtain the α shaft currents at the current time, and according to the α shaft currents at the current time and α shaft detection electricity
The first difference and the differential value of the first difference in time of stream, obtain the α axis counter electromotive force at the current time.
4th acquisition module 640 is used for according to the β shaft currents of the previous moment, β axis counter electromotive force and β shaft detection voltages,
Obtain the β shaft currents at the current time, and according to the first difference of the β shaft currents at the current time and β shaft detection electric currents and
The differential value of first difference in time obtains the β axis counter electromotive force at the current time.
5th acquisition module 650, for being deserved according to the α axis counter electromotive force and β axis counter electromotive force at the current time
The angle of the rotor at preceding moment；
6th acquisition module 660, for according to the angle of the rotor at current time and adjacent with the current time
The angle of the rotor of previous moment obtains the angular speed of the rotor at the current time.
Wherein, third acquisition module 630, including：
First computational submodule, for by current time adjacent previous moment α shaft currents, α axis counter electromotive force and α repacking
It surveys in control source to α shaft current equations, calculates the α shaft currents at the current time, α shaft current equations are：
Wherein, iα(n+1) it is the α shaft currents at current time, iα(n) it is the α shaft currents of previous moment, vα(n) be it is previous when
The α shaft detection voltages at quarter, eα(n) it is the α axis counter electromotive force of shown previous moment, RsFor motor stator winding resistance, TsFor sampling
Period, LsFor motor stator winding inductance.
Wherein, the 4th acquisition module 640, including：
Second computational submodule, for by current time adjacent previous moment β shaft currents, β axis counter electromotive force and β repacking
It surveys in control source to β shaft current equations, calculates the β shaft currents at the current time, β shaft current equations are：
Wherein, iβ(n+1) it is the β shaft currents at current time, iβ(n) it is the β shaft currents of previous moment, vβ(n) be it is previous when
The β shaft detection voltages at quarter, eβ(n) it is the β axis counter electromotive force of previous moment, RsFor motor stator winding resistance, TsFor sampling week
Phase, LsFor motor stator winding inductance.
Wherein, third acquisition module 630 further includes：
First acquisition submodule, for according to the α shaft currents at the current time and the first difference of α shaft detection electric currents and
The differential value of first difference in time obtains the α shaft voltage modifying factors at current time；α shaft voltage modifying factors are multiplied
The α axis counter electromotive force at current time is obtained with preset sliding formwork gain.
Wherein, the 4th acquisition module 640 further includes：
Second acquisition submodule, for according to the β shaft currents at the current time and the first difference of β shaft detection electric currents and
The differential value of first difference in time obtains the β shaft voltage modifying factors at current time；β shaft voltage modifying factors are multiplied
The β axis counter electromotive force at current time is obtained with preset sliding formwork gain.
First acquisition submodule, including：
First acquisition unit, for the α shaft currents at current time and the first difference of α shaft detection electric currents and this first
The differential value of difference in time carries out domain transformation, obtains the second difference and the second differential value；Distinguished according to membership function
Obtain the fuzzy subset corresponding to the second difference and the second differential value；Madani inference rules pair the are utilized according to fuzzy rule base
Fuzzy subset corresponding to two differences and the second differential value carries out fuzzy reasoning operation, obtains the second difference and the second differential value institute
Corresponding fuzzy value；Anti fuzzy method is carried out to fuzzy value using gravity model appoach and is multiplied by preset scale factor, obtains α shaft voltage amendments
The factor；
Second acquisition submodule, including：
Second acquisition unit, the third difference and the third difference of β shaft currents and β shaft detection electric currents to current time
Differential value in time carries out domain transformation, obtains the 4th difference and the 4th differential value；It is respectively obtained according to membership function
Fuzzy subset corresponding to 4th difference and the 4th differential value；It is poor using madani inference rules pair the 4th according to fuzzy rule base
Fuzzy subset corresponding to value and the 4th differential value carries out fuzzy reasoning operation, obtains corresponding to the 4th difference and the 4th differential value
Fuzzy value；Anti fuzzy method is carried out to fuzzy value using gravity model appoach and is multiplied by preset scale factor, obtains β shaft voltage modifying factors
Son.
Wherein, the first acquisition submodule further includes：
Third acquiring unit obtains filtered α shaft voltages modifying factor for being filtered to α shaft voltage modifying factors
Son, wherein being filtered to α shaft voltage modifying factors by following formula：
Wherein, eα(n+1) it is the α axis counter electromotive force at current time, eα(n) it is the α axis counter electromotive force of previous moment, Fα(n+
1) it is the α axis modifying factors at current time, fcFor the cutoff frequency of low-pass filter, fPWMThe PWM frequencies of the execution of digital filter
Rate.
First gain unit obtains currently for filtered α shaft voltages modifying factor to be multiplied by preset sliding formwork gain
The α axis counter electromotive force at moment.
Second acquisition submodule further includes：
4th acquiring unit obtains filtered β shaft voltages modifying factor for being filtered to β shaft voltage modifying factors
Son, wherein being filtered to β shaft voltage modifying factors by following formula：
Wherein, eβ(n+1) it is the β axis counter electromotive force at current time, eβ(n) it is the β axis counter electromotive force of previous moment, Fβ(n+
1) it is the β axis modifying factors at current time, fcFor the cutoff frequency of low-pass filter, fPWMThe PWM frequencies of the execution of digital filter
Rate.
Second gain unit obtains currently for filtered β shaft voltages modifying factor to be multiplied by preset sliding formwork gain
The β axis counter electromotive force at moment.
Wherein, the 5th acquisition module 650, including：
Third computational submodule, for according to counter electromotive force equation, calculating the angle of the rotor at current time, anti-electricity
Kinetic potential equation is：
θ (n)=arctan (- e α (n)/eβ(n))
Wherein, θ (n) is the angle of the rotor at current time, eα(n) it is the α axis counter electromotive force at current time, eβ(n)
For the β axis counter electromotive force at current time.
Wherein, the 6th acquisition module, including：
4th computational submodule, for turning the motor of the angle of the rotor at current time and adjacent previous moment
The angle of son is input in angular speed formula, calculates the angular speed of rotor, angular speed formula is：
Wherein, ω is the angular speed of motor；θn+1For the angle value at current time；θnFor the angle value of previous moment；Kspeed
To be converted into the ratio value of standard speed unit；M is sampling number.
Wherein, described device further includes：
First computing module, for calculating rotor offset angle according to the angular speed of rotor；
First correcting module, for being modified to the angle of rotor according to rotor offset angle.
Wherein, the first computing module, including：
4th computational submodule, for calculating rotor offset angle by following formula：
Wherein, θoffsetFor rotor offset angle, ω is the angular speed of rotor.
An embodiment of the present invention provides a kind of determination method of the Position And Velocity of permanent-magnetic synchronous motor rotor,
An embodiment of the present invention provides a kind of determination methods of the Position And Velocity of permanent-magnetic synchronous motor rotor, by current
α shaft currents, α axis counter electromotive force and the α shaft detection voltages of moment adjacent previous moment, obtain the α shaft currents at the current time,
And the α axis counter electromotive force at the current time is obtained according to the α shaft currents at the current time and α shaft detection electric currents；By it is current when
β shaft currents, β axis counter electromotive force and the β shaft detection voltages for carving adjacent previous moment, obtain the β shaft currents at the current time, and
The β axis counter electromotive force at the current time is obtained according to the β shaft currents at the current time and β shaft detection electric currents；When current according to this
The α axis counter electromotive force and β axis counter electromotive force at quarter obtain the angle and angular speed of the rotor at current time.Through the above way
It respectively obtains α axis counter electromotive force and β axis counter electromotive force and calculates the angle and angular speed of rotor, can be passed without Hall
The angle and angular speed of rotor are obtained in the case of sensor, accuracy depends no longer on the sensitivity of Hall sensor, keeps away
Exempted from Hall sensor accuracy decline or it is impaired when cannot obtain the angle and angular speed of correct rotor the problem of, together
When decrease the control structure of system.
The above is merely for convenience of it will be understood by those skilled in the art that technical scheme of the present invention, not limiting
The present invention.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection domain of invention.
Claims (10)
1. a kind of determination method of the Position And Velocity of permanent-magnetic synchronous motor rotor, which is characterized in that including：
It is anti-that permanent magnet synchronous motor the α shaft currents of initial time, α axis counter electromotive force, β shaft currents and β axis under alpha-beta coordinate system are set
Electromotive force, and obtain the α shaft detections voltage and β shaft detection voltages of initial time；
α shaft detections electric current, α shaft detections voltage, β shaft detections electric current and the β shaft detection voltages for obtaining current time, when described current
It carves as any sampling instant after the initial time；
According to the α shaft currents of the previous moment adjacent with the current time, α axis counter electromotive force and α shaft detection voltages, deserved
The α shaft currents at preceding moment, and according to the first difference of the α shaft currents at the current time and α shaft detection electric currents and this is first poor
The differential value of value in time, obtains the α axis counter electromotive force at the current time；
According to the β shaft currents of the previous moment, β axis counter electromotive force and β shaft detection voltages, the β shaft currents at the current time are obtained,
And according to the first difference and the differential of the first difference in time of the β shaft currents at the current time and β shaft detection electric currents
Value, obtains the β axis counter electromotive force at the current time；
The angle of the rotor at the current time is obtained according to the α axis counter electromotive force at the current time and β axis counter electromotive force；
Turned according to the motor of the angle of the rotor at current time and the previous moment adjacent with the current time
The angle of son obtains the angular speed of the rotor at the current time.
2. according to the method described in claim 1, it is characterized in that,
α shaft currents, α axis counter electromotive force and the α shaft detection voltages of the basis previous moment adjacent with the current time, obtain
The α shaft currents at the current time, including：
By current time adjacent previous moment α shaft currents, α axis counter electromotive force and α shaft detections control source to α shaft current equations
In, the α shaft currents at the current time are calculated, the α shaft currents equation is：
Wherein, iα(n+1) it is the α shaft currents at the current time, iα(n) it is the α shaft currents of the previous moment, vα(n) for institute
State the α shaft detection voltages of previous moment, eα(n) it is the α axis counter electromotive force of shown previous moment, RsFor motor stator winding resistance,
TsFor sampling period, LsFor motor stator winding inductance；
β shaft currents, β axis counter electromotive force and the β shaft detection voltages of the basis previous moment adjacent with the current time, obtain
The β shaft currents at the current time, including：
By current time adjacent previous moment β shaft currents, β axis counter electromotive force and β shaft detections control source to β shaft current equations
In, the β shaft currents at the current time are calculated, the β shaft currents equation is：
Wherein, iβ(n+1) it is the β shaft currents at the current time, iβ(n) it is the β shaft currents of the previous moment, vβ(n) for institute
State the β shaft detection voltages of previous moment, eβ(n) it is the β axis counter electromotive force of the previous moment, RsFor motor stator winding resistance,
TsFor sampling period, LsFor motor stator winding inductance.
3. according to the method described in claim 1, it is characterized in that, the α shaft currents and α shaft detections according to the current time
First difference of electric current and the differential value of the first difference in time obtain the α axis counter electromotive force at the current time, packet
It includes：
According to the first difference and first difference of the α shaft currents at the current time and α shaft detection electric currents in time micro-
Score value obtains the α shaft voltage modifying factors at current time；α shaft voltage modifying factors are multiplied by preset sliding formwork gain to be worked as
The α axis counter electromotive force at preceding moment；
It is described according to the shaft current of current time β and the first difference of β shaft detection electric currents and first difference in time
Differential value, obtain the β axis counter electromotive force at the current time, including：
According to the first difference and first difference of the β shaft currents at the current time and β shaft detection electric currents in time micro-
Score value obtains the β shaft voltage modifying factors at current time；β shaft voltage modifying factors are multiplied by preset sliding formwork gain to be worked as
The β axis counter electromotive force at preceding moment.
4. according to the method described in claim 3, it is characterized in that, the α shaft currents and α shaft detections according to the current time
First difference of electric current and the differential value of the first difference in time obtain the α shaft voltage modifying factors at current time, packet
It includes：
The first difference and the differential value of the first difference in time of α shaft currents and α shaft detection electric currents to current time
Domain transformation is carried out, the second difference and the second differential value are obtained；Second difference and are respectively obtained according to membership function
Fuzzy subset corresponding to two differential values；According to fuzzy rule base using madani inference rules to second difference and second
Fuzzy subset corresponding to differential value carries out fuzzy reasoning operation, obtains obscuring corresponding to second difference and the second differential value
Value；Anti fuzzy method is carried out to the fuzzy value using gravity model appoach and is multiplied by preset scale factor, obtains the α shaft voltages amendment
The factor；
It is described according to the β shaft currents at the current time and the first difference of β shaft detection electric currents and first difference in time
Differential value, obtain the β shaft voltage modifying factors at current time, including：
The third difference and the differential value of third difference in time of β shaft currents and β shaft detection electric currents to current time
Domain transformation is carried out, the 4th difference and the 4th differential value are obtained；The 4th difference and are respectively obtained according to membership function
Fuzzy subset corresponding to four differential values；According to fuzzy rule base using madani inference rules to the 4th difference and the 4th
Degree of membership corresponding to differential value carries out fuzzy reasoning operation, obtains fuzzy corresponding to the 4th difference and the 4th differential value
Value；Anti fuzzy method is carried out to the fuzzy value using gravity model appoach and is multiplied by preset scale factor, obtains the β shaft voltages amendment
The factor.
5. according to the method described in claim 3, it is characterized in that, described be multiplied by preset sliding formwork by α shaft voltage modifying factors
Gain obtains the α axis counter electromotive force at current time, including：
α shaft voltage modifying factors are filtered, filtered α shaft voltages modifying factor is obtained, wherein by following formula to α
Shaft voltage modifying factor is filtered：
Wherein, eα(n+1) it is the α axis counter electromotive force at the current time, eα(n) it is the α axis counter electromotive force of the previous moment,
Fα(n+1) it is the α axis modifying factors at the current time, fcFor the cutoff frequency of low-pass filter, fPWMDigital filter is held
Capable PWM frequency；
Filtered α shaft voltages modifying factor is multiplied by preset sliding formwork gain and obtains the α axis counter electromotive force at current time；
It is described β shaft voltage modifying factors are multiplied by preset sliding formwork gain to obtain the α axis counter electromotive force at current time, including：
β shaft voltage modifying factors are filtered, filtered β shaft voltages modifying factor is obtained, wherein by following formula to β
Shaft voltage modifying factor is filtered：
Wherein, eβ(n+1) it is the β axis counter electromotive force at the current time, eβ(n) it is the β axis counter electromotive force of the previous moment,
Fβ(n+1) it is the β axis modifying factors at the current time, fcFor the cutoff frequency of low-pass filter, fPWMDigital filter is held
Capable PWM frequency.
Filtered β shaft voltages modifying factor is multiplied by preset sliding formwork gain and obtains the β axis counter electromotive force at current time.
6. according to the method described in claim 1, it is characterized in that, the α axis counter electromotive force and β axis according to the current time
Counter electromotive force obtains the angle of the rotor at the current time, including：
According to counter electromotive force equation, the angle of the rotor at current time is calculated, the counter electromotive force equation is：
θ (n)=arctan (- eα(n)/eβ(n))
Wherein, θ (n) is the angle of the rotor at the current time, eα(n) it is the α axis counter electromotive force at the current time,
eβ(n) it is the β axis counter electromotive force at the current time.
7. according to the method described in claim 1, it is characterized in that, the angle of the rotor according to current time
The angle of the rotor of the previous moment adjacent with the current time obtains the angle of the rotor at the current time
Speed, including：
The angle of the rotor of the angle of the rotor at current time and adjacent previous moment is input to
In angular speed formula, the angular speed of rotor is calculated, the angular speed formula is：
Wherein, ω is the angular speed of motor；θn+1For the angle value at the current time；θnFor the angle value of the previous moment；
KspeedTo be converted into the ratio value of standard speed unit；M is sampling number.
8. according to the method described in claim 1, it is characterized in that, the method further includes：
Rotor offset angle is calculated according to the angular speed of the rotor；
The angle of the rotor is modified according to the rotor offset angle.
9. according to the method described in claim 8, it is characterized in that, described calculate motor according to the angular speed of the rotor
Rotor offset angle, including：
For calculating the rotor offset angle by following formula：
Wherein, θoffsetFor rotor offset angle, ω is the angular speed of rotor.
10. a kind of determining device of the Position And Velocity of permanent-magnetic synchronous motor rotor, which is characterized in that described device includes：
First acquisition module, it is anti-electronic for permanent magnet synchronous motor the α shaft currents of initial time, α axis under alpha-beta coordinate system to be arranged
Gesture, β shaft currents and β axis counter electromotive force, and obtain the α shaft detections voltage and β shaft detection voltages of initial time；
Second acquisition module, α shaft detections electric current, α shaft detections voltage, β shaft detections electric current and β repacking for obtaining current time
Voltage is surveyed, the current time is any sampling instant after the initial time,；
Third acquisition module, for α shaft currents, α axis counter electromotive force and the α axis according to the previous moment adjacent with the current time
Voltage is detected, obtains the α shaft currents at the current time, and according to the first of the α shaft currents at the current time and α shaft detection electric currents
Difference and the differential value of the first difference in time, obtain the α axis counter electromotive force at the current time；
4th acquisition module, for according to the β shaft currents of the previous moment, β axis counter electromotive force and β shaft detection voltages, being somebody's turn to do
The β shaft currents at current time, and according to the first difference of the β shaft currents at the current time and β shaft detection electric currents and this first
The differential value of difference in time obtains the β axis counter electromotive force at the current time；
5th acquisition module, for obtaining the current time according to the α axis counter electromotive force and β axis counter electromotive force at the current time
The angle of rotor；
6th acquisition module, for according to the angle of the rotor at current time and adjacent with the current time previous
The angle of the rotor at moment obtains the angular speed of the rotor at the current time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN112956125A (en) * | 2019-09-26 | 2021-06-11 | 深圳市大疆创新科技有限公司 | Detection and control method and device, power assembly, movable platform and storage medium |
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