CN109039202B - Vector observation method for estimating position and speed of motor rotor of electric forklift - Google Patents

Vector observation method for estimating position and speed of motor rotor of electric forklift Download PDF

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CN109039202B
CN109039202B CN201810949241.9A CN201810949241A CN109039202B CN 109039202 B CN109039202 B CN 109039202B CN 201810949241 A CN201810949241 A CN 201810949241A CN 109039202 B CN109039202 B CN 109039202B
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vector
rotor position
speed
rotor
observer
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CN109039202A (en
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苏健勇
杨贵杰
孟凡己
张平化
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Fj Controlling Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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

Abstract

The invention discloses a vector observation method for estimating the position and the speed of a motor rotor of an electric forklift, which utilizes a low-resolution motor rotor position sensor, such as a Hall element, an 80 or 100P/R low-precision incremental photoelectric encoder, and realizes indirect measurement of the position angle and the rotating speed of a rotor of a phase induction motor by constructing a vector observer; the invention proposes an algorithm for h from a discrete rotational position vector by harmonic decouplingαβThe vector tracking observer for extracting continuous rotor position information realizes accurate estimation of the rotor position angle and accurate measurement of the rotating speed of the three-phase induction motor by adopting the low-resolution rotor position sensor.

Description

Vector observation method for estimating position and speed of motor rotor of electric forklift
Technical Field
The invention relates to estimation of a position and a speed of a motor rotor of an electric forklift in a full-speed range, in particular to a vector observation method for estimating the position and the speed of the motor rotor of the electric forklift, which can effectively reduce the requirement of an electric control system of the electric forklift on a motor speed sensor, further reduce the cost of the electric control system and simultaneously keep the electric control system to have higher speed measurement precision.
Background
When the induction motor for the electric forklift runs in a full-speed running area, the indirect vector control is realized, and the speed closed-loop control needs the position angle and the speed information of the rotor. The existing electric control systems of electric forklifts are all provided with incremental photoelectric encoders for measuring the position angle and the speed of a rotor, and have higher cost and low reliability. Therefore, it is necessary to develop a low-cost and highly reliable system for measuring the position and speed of the motor rotor of the electric forklift.
When the electric forklift runs at a high speed, if the encoder breaks down or is damaged, the measurement errors of the position angle and the speed of the rotor of the motor can be caused, and further the electric forklift is out of control, and personal and property losses are brought.
Disclosure of Invention
It is an object of the present invention to provide an algorithm for harmonic decoupling from a discrete rotational position vector HαβThe vector tracking observer for extracting continuous rotor position information realizes the vector observation method for estimating the position and the speed of the motor rotor of the electric forklift by accurately estimating the position and the angle of the three-phase induction motor rotor by adopting a low-resolution rotor position sensor and accurately measuring the rotating speed, and solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a vector observation method for estimating the position and the speed of a motor rotor of an electric forklift comprises the following steps:
step one, converting discrete binary rotor position information into low-precision regular hexagon discrete rotor position vector HαβFrom euler's formula, discretized rotor position vector hαβExpressed as:
Hαβ＝ejθ＝cos(θ)+jsin(θ) (1)；
step two, rotating position vector H through Fourier transformαβExpressed as:
Figure BDA0001771062460000021
wherein:
Figure BDA0001771062460000022
step three, establishing a discrete vector observer;
step four, obtaining the estimated rotor position through the vector observer in the step three
Figure BDA0001771062460000023
And rotational speed
Figure BDA0001771062460000024
Step five, according to the estimated rotor position
Figure BDA0001771062460000025
And rotational speed
Figure BDA0001771062460000026
Obtaining a fundamental wave vector and a harmonic vector estimated value by utilizing a fundamental wave vector model and a harmonic vector model; and obtaining an equivalent error epsilon through a fundamental wave vector cross product, obtaining accurate rotor position information when the equivalent error epsilon converges to zero, and further accurately calculating the rotating speed according to the obtained rotor position information.
As a further scheme of the invention: a discrete rotational position vector H in said step twoαβFrom a continuous rotating fundamental vector HfAnd a set of positive and negative rotation harmonic vectors HhConsists of the following components:
Figure BDA0001771062460000027
Figure BDA0001771062460000028
Figure BDA0001771062460000029
where phi is pi/6.
As a further scheme of the invention: the calculation formula of the equivalent error epsilon in the step five is as follows:
Figure BDA00017710624600000210
wherein
Figure BDA00017710624600000211
Figure BDA00017710624600000212
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a method for accurately measuring the position angle and the speed of a rotor in a three-phase induction motor drive control system, wherein an incremental encoder is arranged in an induction motor, so that the low-precision rotor position sampling and the rotating speed measurement can be realized, but the low-precision rotor position angle and speed information can greatly influence the running performance of the drive control systemαβFourier harmonic analysis is carried out, a vector observer is established, and the vector H can be obtained from a discrete rotating position in a harmonic decoupling modeαβContinuous rotor position information is extracted, and accurate estimation of the rotor position angle and accurate measurement of the rotating speed of the three-phase induction motor adopting the low-resolution rotor position sensor are achieved.
In summary, the invention has the following advantages: firstly, the cost of the electric control system can be further reduced; secondly, reliability is improved; thirdly, the angle measurement and speed measurement precision is further improved, and the motor speed control characteristic is good; fourthly, because the algorithm of the vector observer is finished in the microprocessor, the electric control system does not need to change the hardware design and does not change the hardware design; and fifthly, avoiding potential runaway risk.
Drawings
Fig. 1 is a rotor position state corresponding diagram of a vector observation method for estimating the position and the speed of a motor rotor of an electric forklift.
FIG. 2 is a space vector circle diagram in a vector observation method for estimating the position and the speed of the motor rotor of the electric fork-lift truck.
FIG. 3 is a structural block diagram of a vector observer in a vector observation method for estimating the position and the speed of a motor rotor of an electric forklift.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
A vector observation method for estimating the position and the speed of a motor rotor of an electric forklift comprises the following steps:
step one, converting discrete binary rotor position information into low-precision regular hexagon discrete rotor position vector HαβFrom euler's formula, discretized rotor position vector hαβExpressed as:
Hαβ＝ejθ＝cos(θ)+jsin(θ)(1)；
step two, transforming through Fourier, and rotating position vector HαβExpressed as:
Figure BDA0001771062460000031
wherein:
Figure BDA0001771062460000032
step three, establishing a discrete vector observer;
step four, obtaining the estimated rotor position through the vector observer in the step three
Figure BDA0001771062460000041
And rotational speed
Figure BDA0001771062460000042
Step five, according to the estimated rotor position
Figure BDA0001771062460000043
And rotational speed
Figure BDA0001771062460000044
Obtaining a fundamental wave vector and a harmonic wave vector estimated value by utilizing a fundamental wave vector model and a harmonic wave vector model; and obtaining an equivalent error epsilon through a fundamental wave vector cross product, obtaining accurate rotor position information when the equivalent error epsilon converges to zero, and further accurately calculating the rotating speed according to the obtained rotor position information.
Discrete rotation position vector Η in step two aboveαβFrom a continuous rotating fundamental vector HfAnd a set of positive and negative rotation harmonic vectors HhConsists of the following components:
Figure BDA0001771062460000045
Figure BDA0001771062460000046
Figure BDA0001771062460000047
the inside of the induction motor is provided with an incremental encoder which can obtain three-phase position signals which are mutually staggered by 120 degrees of electrical angle. As shown in fig. 1.
As can be seen from the analysis of fig. 1, each rotor position state lasts 60 electrical degrees, and each rotor position state can be assigned to a specific position angle, as shown in table 1-1 below.
TABLE 1-1 Angle Table corresponding to position Signal
Figure BDA0001771062460000048
Figure BDA0001771062460000051
Through the above analysis, discrete binary rotor position information can be converted into a low-precision regular hexagonal discrete rotor position vector Η shown in fig. 2αβ. And the desired continuous rotor position vector would be the vector circle shown in the figure.
Known from euler's formula, discretized rotor position vector hαβCan be expressed as:
Hαβ＝ejθ＝cos(θ)+jsin(θ) (1)
from Fourier transform knowledge, it can be known that any periodic function can be represented by an infinite series composed of a sine function or a cosine function, and then rotating position vector hαβCan be expressed as:
Figure BDA0001771062460000052
wherein:
Figure BDA0001771062460000053
a discrete position of rotation vector hαβCan be calculated from a continuous rotating fundamental vector HfAnd a set of positive and negative rotation harmonic vectors HhConsists of the following components:
Figure BDA0001771062460000054
Figure BDA0001771062460000055
Figure BDA0001771062460000056
where phi is pi/6, since each discrete rotor position vector is 60 out of phase. Therefore, as can be seen from (4), a fundamental wave vector HhAngle of desired rotor position with high resolution therein, while harmonic vector ΗhIs the interference that needs to be cancelled. In order to obtain continuous rotor position angles, a discrete form vector tracking observer as shown in fig. 3 is established, and harmonic vectors are decoupled by cross multiplication of fundamental vectors, so that continuous rotor position angles are obtained. Feed forward torque is added to the observer to improve the dynamic performance of the vector observer.
K in FIG. 3I、KpAnd KdIs the observer gain, depends on the pole of the vector tracking observer; p is the pole pair number of the motor and is 8 pairs of poles; j is the rotational inertia of the motor and is 0.058 Kg.m2。
The traditional scalar Luenberger observer has a wide application in terms of convergence and filter characteristics, but the large number of harmonic components contained in the discrete position signal can reduce the bandwidth of the scalar observer, and because it is difficult to consider the stability and dynamic performance of the observer, the purpose of the previously described spatial fourier series is to extract fundamental and harmonic vectors, which is independent of the observer bandwidth. The fundamental vector model and harmonic vector model of FIG. 3 may be based on estimated rotor position
Figure BDA0001771062460000061
And rotational speed
Figure BDA0001771062460000062
To obtain a fundamental vector and a harmonic vector estimate. As shown in formulas (7) and (8).
Figure BDA0001771062460000063
Figure BDA0001771062460000064
In the formula (I), the compound is shown in the specification,
Figure BDA0001771062460000065
and
Figure BDA0001771062460000066
representing the estimated fundamental and harmonic vectors, the proposed vector tracking observer is equivalent to a traditional scalar architecture, assuming the harmonic vectors have been completely eliminated in order to analyze the underlying principles of position estimation in the adopted observer. The input fundamental wave vector can be obtained by harmonic decoupling calculation as shown in the following formula (9).
Figure BDA0001771062460000067
Thus, we can obtain the equivalent error ε by the cross product of the fundamental vectors, as shown in equation (10):
Figure BDA0001771062460000068
if the observer is convergent, then it can be considered that when the equivalent error ε is small enough, there are:
sin(Δθ)＝Δθ (11)
therefore, from the above analysis, when the position error is small enough, equation (11) can be regarded as a linear function, and then when the equivalent error ∈ converges to zero, accurate rotor position information will be obtained. And obtaining the rotor position information to further accurately calculate the speed.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims (2)

1. A vector observation method for estimating the position and the speed of a motor rotor of an electric forklift is characterized by comprising the following steps of:
step one, converting discrete binary rotor position information into low-precision regular hexagon discrete rotor position vector HαβFrom euler's formula, discretized rotor position vector hαβExpressed as:
Hαβ＝ejθ＝cos(θ)+jsin(θ) (1)；
step two, rotating position vector H through Fourier transformαβExpressed as:
Figure FDA0003672566750000011
wherein:
Figure FDA0003672566750000012
said discrete rotor position vector HαβH consisting of a continuous rotating fundamental wave vector HfAnd a set of positive and negative rotating harmonic vectors hhConsists of the following components:
Figure FDA0003672566750000013
Figure FDA0003672566750000014
Figure FDA0003672566750000015
wherein phi is pi/6;
step three, establishing a discrete vector observer;
the establishing a discrete form vector observer comprises:
input discrete rotor position vector HαβAnd estimated harmonic vector
Figure FDA0003672566750000016
Subtracting to obtain a fundamental wave vector Hf；
According to the fundamental wave vector HfAnd estimated fundamental wave vector
Figure FDA0003672566750000017
Obtaining a component equivalent error epsilon related to delta theta;
adjusting the output angle according to epsilon, at KI、KPOn the basis of regulation, feedforward compensation K is addedDWith simultaneous addition of torque feed forwardTe; said K isI、KpAnd KdIs the gain of the observer;
step four, obtaining the estimated rotor position through the vector observer in the step three
Figure FDA0003672566750000021
And rotational speed
Figure FDA0003672566750000022
Wherein the estimated rotor position
Figure FDA0003672566750000023
From the rotational speed
Figure FDA0003672566750000024
Performing integration to obtain; the integration link adopts a bilinear transformation mode;
step five, according to the estimated rotor position
Figure FDA0003672566750000025
And rotational speed
Figure FDA0003672566750000026
Obtaining a fundamental wave vector and a harmonic vector estimated value by utilizing a fundamental wave vector model and a harmonic vector model; and obtaining an equivalent error epsilon through a fundamental wave vector cross product, obtaining accurate rotor position information when the equivalent error epsilon converges to zero, and further accurately calculating the rotating speed according to the obtained rotor position information.
2. The vector observation method for estimating the position and the speed of the motor rotor of the electric fork-lift truck according to claim 1, wherein the equivalent error epsilon in the step five is calculated by the following formula:
Figure FDA0003672566750000027
wherein
Figure FDA0003672566750000028
Figure FDA0003672566750000029
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105915142A (en) * 2016-04-18 2016-08-31 浙江大学 PMSM (permanent magnet synchronous motor) rotor position and rotating speed estimation method based on decoupling adaptive observer
CN106374789A (en) * 2016-11-15 2017-02-01 哈尔滨理工大学 Permanent magnetic brushless direct current motor low torque ripple Hall fault tolerance control method
CN106788067A (en) * 2016-12-19 2017-05-31 南京航空航天大学 Permagnetic synchronous motor position estimation method based on Hall switch position sensor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105915142A (en) * 2016-04-18 2016-08-31 浙江大学 PMSM (permanent magnet synchronous motor) rotor position and rotating speed estimation method based on decoupling adaptive observer
CN106374789A (en) * 2016-11-15 2017-02-01 哈尔滨理工大学 Permanent magnetic brushless direct current motor low torque ripple Hall fault tolerance control method
CN106788067A (en) * 2016-12-19 2017-05-31 南京航空航天大学 Permagnetic synchronous motor position estimation method based on Hall switch position sensor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Improved Rotor Position Estimation for Permanent Magnet Synchronous Machines Based on Hall-Effect Sensors;Zhiyun Wang等;《2016 IEEE/CSAA International Conference on Aircraft Utility Systems (AUS)》;20161012;第911-916页 *

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Inventor after: Zhang Pinghua

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