CN109167543A - A kind of permanent magnet synchronous motor can positive and negative rotation speed regulation method for controlling position-less sensor - Google Patents
A kind of permanent magnet synchronous motor can positive and negative rotation speed regulation method for controlling position-less sensor Download PDFInfo
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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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- 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
- H02P6/30—Arrangements for controlling the direction of rotation
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- Control Of Ac Motors In General (AREA)
Abstract
A kind of permanent magnet synchronous motor can positive and negative rotation speed regulation method for controlling position-less sensor, including I/F starting strategy, switching control strategy, location estimation strategy and deceleration and reversion strategies, current of electric closed loop is pre-positioned to zero-bit first, then the starting of I/F semiclosed loop is carried out, when motor operation to certain revolving speed, position-sensor-free closed-loop control quickly and is smoothly switched to；When receiving toggling command, slow down, switch to I/F half-closed loop control after decelerating to certain revolving speed, after the zero-speed that continues to slow down, when opposite direction accelerates to certain revolving speed, then smoothly switches to position-sensor-free closed loop reversion process.In I/F operational process, position signal is integrated to obtain by given speed；When speed reaches certain value, imperial Burger state observer can accurately estimate motor rotor position at this time, then switch to position-sensor-free closed-loop control.The permanent magnet synchronous motor whole process position Sensorless Control of positive and negative both direction rotation can be achieved in the present invention.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control field, especially a kind of permanent magnet synchronous motor can positive and negative rotation speed regulation nothing
Position sensor control method.
Background technique
Permanent magnet synchronous motor replaces excitation winding using permanent magnet, and power density is high, torque ratio of inertias is big, high-efficient etc.
Advantage, therefore be used widely in the multiple fields such as servo-system, household electrical appliance, electric car.Permanent magnet synchronous motor arrow
Amount control needs rotor position information to be coordinately transformed, and conventional method obtains rotor position using mechanical position sensor
It sets, leads to problems such as motor cost increase, volume weight increases.Currently, considering the compatibility of motor, the full range of speeds is forever
Magnetic-synchro electric machine without position sensor control program often uses constant current frequency conversion (I/F) mode to start, then switches to no position
Sensor closed-loop control.But these schemes only account for motor acceleration and deceleration in one direction, do not consider that its positive and negative rotation is cut
Change problem.Therefore, realize permanent magnet synchronous motor can the position Sensorless Control of positive and negative rotation speed regulation have centainly answer in practice
With value.
Summary of the invention
In order to overcome prior art cannot achieve permanent magnet synchronous motor can positive and negative rotation speed regulation position Sensorless Control
Deficiency, the present invention provide a kind of permanent magnet synchronous motor whole process position Sensorless Control side that positive and negative both direction rotation can be achieved
Method.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of permanent magnet synchronous motor can positive and negative rotation speed regulation method for controlling position-less sensor, the method includes following steps
It is rapid:
1) .I/F starts control strategy, generates that a frequency is gradually increased and amplitude follows the electric rotating stray arrow of given value
Amount is divided into the pre-determined bit stage and accelerates startup stage:
1.1) is pre-positioned the stage electric current sufficiently large to one amplitude of quadrature axis, and direct-axis current is given as zero, given position
It is 270 degree, north rotor pole is positioned at α axis；
1.2) the pre-determined bit stage terminates to allow in this way into acceleration startup stage by given q* overlapping of axles in d axis
Given d-q coordinate system lags behind 90 ° of electrical angles of actual d-q coordinate system, guarantees that starting moment electromagnetic torque is zero, then with
The rotation of given d-q coordinate system, electromagnetic torque gradually increase, according to " torque-generator rotor angle self-balancing " characteristic, generator rotor angle can stablize
In a fixed value；
2) rotor position estimate is using imperial Burger state observer, on rotation estimation d-q axis coordinate system, state equation
It indicates are as follows:
In formula, each variable-definition is
Imperial Burger state observer approaches the error of estimation to zero using feedback, and observer has following form
In formula, L is feedback gain matrix, has following form
And error concrete form is as follows
Wherein, therefore the bandwidth that the characteristic value of matrix (A-LC) corresponds to imperial Burger state observer carries out according to the following formula
POLE PLACEMENT USING is configured the bandwidth of imperial Burger state observer, as follows
In formula, ωoFor observer bandwidth, ζ is damped coefficient, and s is complex variable, to stablize system, the pole configured
Point is intended to as negative value, i.e., the root of characteristic equation is in the left side of complex plane；
L is determined as following formula:
Rule of thumb formula, ωo10 times of phaselocked loop bandwidth are set as, the bandwidth of phaselocked loop is set as the 10 of speed ring bandwidth
Times, damped coefficient
Position estimation errorThere are following relationships with the counter electromotive force of estimation
If makingThen makeIt is zero；
3) switchover policy includes current switching and position switching, and process is as follows:
3.1) current switching: when revolving speed is dragged to a certain range by I/F starting, imperial Burger state observer is had been able to
When accurately being estimated rotor-position, I/F Starting mode is switched into imperial Burger state observer and estimates mode；When
According to " torque-generator rotor angle self-balancing " characteristic, when q axis is to constant currentWhen reduction, generator rotor angle δ becomes larger, and estimated location can be approached gradually
Physical location, therefore the stage reduces q axis to constant current
3.2) position switches: whenIt is decreased to location errorLess than specified threshold θthWhen, with imperial Burger state observation
The position signal that device estimates replaces given position and enters closed-loop control.
Further have, in the step 3.1), q axis is reduced to constant current using pi regulator, it is ensured that fast when electric current is larger
Speed, which reduces, guarantees rapidity, is reduced when electric current is smaller with smaller rate and guarantees not shake smoothly；
The deceleration control strategy is divided into closed loop deceleration, deceleration switching and semiclosed loop and slows down, and wherein the closed loop deceleration stage is given
Determine revolving speed to be gradually reduced；Semiclosed loop moderating process given rotating speed is zero, carries out revolving speed semiclosed loop and current closed-loop and slows down；And for
Switch step in moderating process, then be first by given position replace estimated location, in order to guarantee switching it is smooth, need by
The estimated location of last moment is assigned to the initial value of given position, and given position starts to change on this basis.Later, by q axis
To constant currentIt is gradually increased, the generator rotor angle between given position and physical location is pulled open, is gradually decelerated to zero.
Further, the method also includes following steps:
4) inverts control strategy and rotates forward almost symmetry, is also classified into starting, switching and accelerator；Slow down when meeting
When condition, slow down, moderating process is divided into closed loop deceleration and semiclosed loop slows down；When being decelerated to some revolving speed, from closed loop
Deceleration switches to semiclosed loop deceleration, and zero-speed switch step was entered when being decelerated to zero；The switching of zero-speed excessively takes given rotating speed
Negative value, q axis are negated to constant current, are reset to electric current loop integral term, and given position is moved forward 180 °, simultaneously using location information
The delay of 1ms is carried out, to guarantee that handoff procedure is fully finished.
Technical concept of the invention are as follows: low-speed stage is started using I/F semiclosed loop, and the high speed stage is using imperial Burger state
Observer closed-loop control, imperial Burger state observer are what the rotating coordinate system based on estimation was established, both can be applied to Surface Mount
Formula permanent magnet synchronous motor also can be applied to IPM synchronous motor.I/F starting and position-sensor-free closed-loop control it
Between be added and smoothly switch strategy, guarantee handoff procedure quickly and non-jitter.When motor operation is in position-sensor-free closed-loop control
In the state of when, if meeting deceleration conditions (deceleration key is pressed), enter the decelerating phase.Moderating process is divided into closed loop and semi-closure
Ring two stages of deceleration similarly design handoff procedure between closed loop and semiclosed loop.Revolving speed zero passage mistake is carried out after being decelerated to zero
Transient, guarantee can smoothly enter into reversion stage, reversion stage and rotating forward almost symmetry.Given rotating speed is taken into negative value, the given electricity of q axis
Stream negates, and resets to electric current loop integral term, and given position is moved forward 180 °, using location information and carries out the delay of 1ms, with
Guarantee that handoff procedure is fully finished.
Whole position Sensorless Control is carried out to permanent magnet synchronous motor, technical problems to be solved are: I/F startup stage
Reasonable parameter is arranged in the addition for switching to pi regulator during imperial Burger state observer, guarantee quickly and smoothly into
Row switching.Imperial Burger state observer is established based on the rotating coordinate system of estimation, and the revolving speed of estimation, which is filtered, reaches preferable
Estimation effect.Shorten zero passage speed regulating time, motor is enabled comparatively fast to enter the reversion stage.
Beneficial effects of the present invention are mainly manifested in:
(1) imperial Burger state observer establishes the rotating reference frame in estimation, and built-in permanent magnetic can be suitble to synchronous
Motor；
(2) being switched fast between positive and negative both direction operation and positive and negative rotation is realized；
(3) calculation amount is small, it is easy to accomplish, the engineering and functionization of new theory are embodied well.
Detailed description of the invention
Fig. 1 is permanent magnet synchronous motor whole process position Sensorless Control structural block diagram.
Fig. 2 is that q axis gives constant current control schematic diagram in switchover policy.
Fig. 3 is practical d-q axis and estimation d-q axis schematic diagram.
Fig. 4 is phaselocked loop rotor speed and position estimation block diagram of the invention.
Fig. 5 is permanent magnet synchronous motor physical location, estimated location and phase current waveform under no-load condition.
Fig. 6 is permanent magnet synchronous motor physical location, estimated location and phase current waveform in the case of nominal load.
Fig. 7 is the dynamic property waveform that permanent magnet synchronous motor accelerates and impact anticlimax loads.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 7, a kind of permanent magnet synchronous motor can positive and negative rotation speed regulation method for controlling position-less sensor, including
Following steps:
1) .I/F starts control strategy, and core is to generate that a frequency is gradually increased and amplitude follows the rotation of given value
Current phasor is divided into the pre-determined bit stage and accelerates startup stage:
1.1) is pre-positioned the stage electric current sufficiently large to amplitude of quadrature axis (quardrature-axis, q-axis), and
D-axis (direct-axis, d-axis) given value of current is zero, and given position is 270 degree (full text is all electric angle).In this way,
North rotor pole (north pole) can be positioned at α axis.It should be noted that positioning needs to continue for some time, to guarantee
It positions successfully.Due to being pre-positioned using current closed-loop, system positioning stage system reliability can be improved.
1.2) the pre-determined bit stage terminates to allow in this way into acceleration startup stage by given q* overlapping of axles in d axis
Given d-q coordinate system lags behind 90 ° of electrical angles of actual d-q coordinate system, guarantees that starting moment electromagnetic torque is zero, then with
The rotation of given d-q coordinate system, electromagnetic torque gradually increase.According to " torque-generator rotor angle self-balancing " characteristic, generator rotor angle can stablize
In a fixed value.
2) rotor position estimate is using imperial Burger state observer, on rotation estimation d-q axis coordinate system, state equation
It is represented by
In formula, each variable-definition is
Imperial Burger state observer approaches the error of estimation to zero using feedback, and observer has following form
In formula, L is feedback gain matrix, has following form
And error concrete form is as follows
Wherein, the bandwidth that the characteristic value of matrix (A-LC) corresponds to imperial Burger state observer therefore can be according to the following formula
POLE PLACEMENT USING is carried out to be configured the bandwidth of imperial Burger state observer, it is as follows
In formula, ωoFor observer bandwidth, ζ is damped coefficient, and s is complex variable.Here, it to stablize system, is configured
Pole be intended to as negative value, i.e., the root of characteristic equation is in the left side of complex plane.
D-q axis can carry out dynamic decoupling, therefore, illustrate that the counter electromotive force of estimation can also decouple, i.e.,It only relies uponCorrespondingly,It only relies uponIn addition, it is necessary to consider the influence of electrical time constant, good corresponding coefficient is configured in L,
These are influenced to offset.Therefore, L can be determined as following formula
Rule of thumb formula, ωoIt may be configured as 10 times of phaselocked loop bandwidth, the bandwidth of phaselocked loop is set as speed ring bandwidth
10 times, damped coefficient
Position estimation errorThere are following relationships with the counter electromotive force of estimation
If makingCan then it makeIt is zero.
3) switchover policy mainly includes current switching and position switching:
3.1) current switching: when revolving speed is dragged to a certain range by I/F starting, imperial Burger state observer can be with
When accurately being estimated rotor-position, I/F Starting mode is switched into imperial Burger state observer and estimates mode.When
According to " torque-generator rotor angle self-balancing " characteristic, when q axis is to constant currentWhen reduction, generator rotor angle δ becomes larger, and estimated location can be approached gradually
Physical location, therefore the stage reduces q axis to constant current
3.2) position switches: whenIt is decreased to location errorLess than specified threshold θthWhen, with imperial Burger state observer
The position signal estimated replaces given position and enters closed-loop control.
The present invention reduces q axis to constant current using pi regulator, it is ensured that and quickly reduce when electric current is larger and guarantees rapidity, electricity
Reduced when flowing smaller with smaller rate and guarantees not shake smoothly.
The deceleration control strategy is divided into closed loop deceleration, deceleration switching and semiclosed loop and slows down.Wherein the closed loop deceleration stage is given
Determine revolving speed to be gradually reduced；Semiclosed loop moderating process given rotating speed is zero, carries out revolving speed semiclosed loop and current closed-loop and slows down.And for
Switch step in moderating process is then that given position is replaced estimated location first, it is to be noted here that in order to guarantee
What is switched is smooth, needs for the estimated location of last moment to be assigned to the initial value of given position, given position is opened on this basis
Begin to change.Later, by q axis to constant currentIt is gradually increased, the generator rotor angle between given position and physical location is pulled open, is gradually subtracted
Speed is to zero.
4) the reversion control strategy in the control method and rotating forward almost symmetry, are also classified into starting, switching and acceleration etc.
Process.When meeting deceleration conditions (when deceleration key is pressed), slow down, moderating process is divided into closed loop deceleration and semi-closure
Ring slows down.It is symmetrical with boost phase, i.e., when being decelerated to some revolving speed, semiclosed loop is switched to from closed loop deceleration and is slowed down.It is decelerated to
Entered zero-speed switch step when zero.Given rotating speed is taken negative value by the switching of zero-speed excessively, and q axis is negated to constant current, to electric current
Ring integral term is reset, and given position is moved forward 180 °, using location information and the delay of 1ms is carried out, to guarantee handoff procedure
It is fully finished.
Referring to Fig.1, the permanent magnet synchronous motor whole process control system without position sensor designed by the present invention includes I/F starting
Control module, imperial Burger state observer speed and position estimation module and switching module form.The I/F starting module will
Motor is dragged to certain revolving speed and switches to position-sensor-free closed-loop control.
Referring to Fig. 3, pi regulator is given as 0, is fed back to location error, subtracts this PI with q shaft current given initial value and adjusts
The output of device guarantees quickly to reduce in incipient stage electric current, and the reduction of ending phase electric current slows to ensure to smoothly switch.
Referring to the practical geometrical relationship with estimation rotating coordinate system of Fig. 3, the counter electromotive force of estimation is
Work as location errorWhen being 0, the counter electromotive force on d axis is that the counter electromotive force on 0, q axis is ωeψf.Note estimation
Angle beIt can obtainVoltage equation under coordinate system is
E in formulaxTo extend counter electromotive force amplitude, formula (8) arrangement can be obtained
Neither state variable, nor the input of system, therefore state-space model can not be constructed.However,
Because the actual controller switches period is far smaller than Machine cycle, i.e. the sampling period is far smaller than mechanical time constant, therefore
It assume that the speed of motor and position keep being basically unchanged in each switch periods, i.e.,
Therefore it can incite somebody to actionNew state-space model such as formula (1) is easily constructed as state variable, if
The imperial Burger state observer counted out is estimated thatPhaselocked loop according toThe available position more accurately estimated
It sets.
With reference to Fig. 4, with a PI controller by the counter electromotive force of rotor d axisControl is zero, is estimated using this phaselocked loop
The speed of rotor is counted, then speed is integrated to obtain the estimated position of motor.Its transmission function can be acquired by Fig. 4 are as follows:
Wherein, kpAnd kiFor the proportional gain of phaselocked loop rotor position estimation and integral gain, characteristic parameter can be obtained:
Wherein, ωtFor the bandwidth of phaselocked loop rotor position estimate, it is easy to get by formula (11) and (12)
Claims (3)
1. a kind of permanent magnet synchronous motor can positive and negative rotation speed regulation method for controlling position-less sensor, which is characterized in that the method
The following steps are included:
1) .I/F starts control strategy, generates that a frequency is gradually increased and amplitude follows the rotatory current vector of given value, point
For the pre-determined bit stage and accelerate startup stage:
1.1) is pre-positioned the stage electric current sufficiently large to one amplitude of quadrature axis, and direct-axis current is given as zero, and given position is
270 degree, north rotor pole is positioned at α axis；
1.2) the pre-determined bit stage terminates to allow for giving in this way by given q* overlapping of axles in d axis into acceleration startup stage
D-q coordinate system lag behind 90 ° of electrical angles of actual d-q coordinate system, guarantee that starting moment electromagnetic torque is zero, then as giving
Determine the rotation of d-q coordinate system, electromagnetic torque gradually increases, and according to " torque-generator rotor angle self-balancing " characteristic, generator rotor angle δ can stablize one
A fixed value；
2) rotor position estimate is using imperial Burger state observer, and on rotation estimation d-q axis coordinate system, state equation is indicated
Are as follows:
In formula, each variable-definition is
Imperial Burger state observer approaches the error of estimation to zero using feedback, and observer has following form
In formula, L is feedback gain matrix, has following form
And error concrete form is as follows
Wherein, therefore the bandwidth that the characteristic value of matrix (A-LC) corresponds to imperial Burger state observer carries out pole according to the following formula
Configuration is configured the bandwidth of imperial Burger state observer, as follows
In formula, ωoFor observer bandwidth, ζ is damped coefficient, and s is complex variable, and to stablize system, the pole configured is intended to
For negative value, i.e., the root of characteristic equation is in the left side of complex plane；
L is determined as following formula:
Rule of thumb formula, ωo10 times of phaselocked loop bandwidth are set as, the bandwidth of phaselocked loop is set as 10 times of speed ring bandwidth, resistance
Buddhist nun's coefficient
Position estimation errorThere are following relationships with the counter electromotive force of estimation
If makingThen makeIt is zero；
3) switchover policy includes current switching and position switching, and process is as follows:
3.1) current switching: when revolving speed by I/F starting be dragged to a certain range when, imperial Burger state observer have been able to turn
When sub- position is accurately estimated, I/F Starting mode is switched into imperial Burger state observer and estimates mode；Work as basis
" torque-generator rotor angle self-balancing " characteristic, when q axis is to constant currentWhen reduction, generator rotor angle δ becomes larger, and estimated location can gradually approach reality
Position, therefore the stage reduces q axis to constant current
3.2) position switches: whenIt is decreased to location errorLess than specified threshold θthWhen, estimated with imperial Burger state observer
The position signal that meter comes out replaces given position and enters closed-loop control.
2. a kind of permanent magnet synchronous motor as described in claim 1 can positive and negative rotation speed regulation method for controlling position-less sensor,
It is characterized in that, in the step 3.1), q axis is reduced to constant current using pi regulator, it is ensured that quickly reduce guarantor when electric current is larger
Rapidity is demonstrate,proved, is reduced when electric current is smaller with smaller rate and guarantees not shake smoothly；
The deceleration control strategy is divided into closed loop deceleration, deceleration switching and semiclosed loop and slows down, wherein given turn of closed loop deceleration stage
Speed is gradually reduced；Semiclosed loop moderating process given rotating speed is zero, carries out revolving speed semiclosed loop and current closed-loop and slows down；And for slowing down
Switch step in the process is then that given position is replaced estimated location first, in order to guarantee the smooth of switching, needs upper one
The estimated location at moment is assigned to the initial value of given position, and given position starts to change on this basis.Later, q axis is given
Electric currentIt is gradually increased, the generator rotor angle between given position and physical location is pulled open, is gradually decelerated to zero.
3. a kind of permanent magnet synchronous motor as claimed in claim 1 or 2 can positive and negative rotation speed regulation method for controlling position-less sensor,
It is characterized in that, the method also includes following steps:
4) inverts control strategy and rotates forward almost symmetry, is also classified into starting, switching and accelerator；When meeting deceleration conditions
When, slow down, moderating process is divided into closed loop deceleration and semiclosed loop slows down；When being decelerated to some revolving speed, from closed loop deceleration
Semiclosed loop deceleration is switched to, zero-speed switch step was entered when being decelerated to zero；Given rotating speed is taken negative value by the switching of zero-speed excessively,
Q axis is negated to constant current, is reset to electric current loop integral term, and given position is moved forward 180 °, using location information and carries out 1ms
Delay, to guarantee that handoff procedure is fully finished.
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