CN109167547A - Based on the PMSM method for controlling position-less sensor for improving sliding mode observer - Google Patents
Based on the PMSM method for controlling position-less sensor for improving sliding mode observer 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a kind of based on the PMSM method for controlling position-less sensor for improving sliding mode observer, sign function is replaced using the sigmoid function of variable boundary thickness degree, and back-EMF observer device is constructed for separating back-emf signal, eliminate low-pass filter and phase compensation link, observer gain can simultaneously adjusted with velocity magnitude dynamic, effectively inhibits the chattering phenomenon of sliding mode observer and obtains the ideal accuracy of observation in wide speed regulating range.Stator resistance on-line identification is added in improving sliding mode observer and link is observed in torque, improves system to internal and changes in external parameters robustness.
Description
Technical Field
The invention belongs to the technical field of motor position-sensorless control, and particularly relates to a PMSM position-sensorless control method based on an improved sliding-mode observer.
Background
Permanent Magnet Synchronous Motors (PMSM) have the advantages of high power density, high efficiency and simple structure, and thus are widely applied in the industrial field.
In order to accurately control the permanent magnet synchronous motor, position information and rotational speed information of the rotor are required, and thus a position sensor needs to be mounted on a motor shaft. But increases the cost and complexity of the system and reduces the reliability of the system. Therefore, the permanent magnet synchronous motor position sensorless control becomes a research hotspot.
The current position sensorless control strategies of the permanent magnet synchronous motor can be mainly divided into two types: one type is an observer-based estimation strategy; the other is a high frequency signal injection method using salient pole characteristics of the motor. Estimation strategies based on an observer mainly include a model reference self-adaption method and an extended Kalman filtering method. Such methods rely on the accuracy of the motor model, affecting the estimation performance. The high-frequency signal injection method does not depend on a motor model, but brings noise, requires a certain saliency of a motor rotor, and is limited in application range. In view of the above problems, the Sliding Mode Observer (SMO) has a simple structure and a strong robustness, and compensates for the dependency of the Observer on the motor mathematical model to a certain extent, so that the Sliding Mode Observer is widely applied to the ac motor control system.
Discontinuous switch control is adopted in the sliding mode observer, so that the buffeting phenomenon is an inherent characteristic of a sliding mode variable structure system. To reduce buffeting, low pass filtering and rotor angle compensation of the observations are required, the angle compensation in turn being dependent on rotor speed, thus increasing the complexity of the system and failing to meet the control requirements for high performance applications.
The sigmoid function is adopted as a control function to weaken the buffeting phenomenon, but the robustness of the sliding mode observer is reduced.
Disclosure of Invention
The invention aims to provide a PMSM position-sensorless control method based on an improved sliding mode observer, which is based on the improved sliding mode observer and can be used for identifying external torque disturbance and internal resistance parameter change at the same time, so that the problems that the observed signal buffeting phenomenon in the conventional sliding mode observer is large, low-pass filtering and rotor angle compensation are required, and the system robustness is not high are solved.
The technical scheme adopted by the invention is a PMSM (permanent magnet synchronous motor) position sensorless control method based on an improved sliding-mode observer, which comprises the following steps of:
step 1, calculating an observed value of stator current of a permanent magnet synchronous motor under a two-phase static coordinate systemAnd observed value of back electromotive forceThen, taking the observation error of the stator current as a sliding mode surface, constructing an improved sliding mode current observer equation, and simultaneously changing the feedback gain k of the sigmoid function according to the rotating speed;
step 2, utilizing the observed value of the back electromotive force obtained in the step 1Constructing a mathematical model of the inverse electromotive force observer and calculating a rotating speed estimation valueEstimating the position of the rotor through a phase-locked loop;
step 3, utilizing the observed value of the stator currentAnd the actual value iα、iβConstructing a Lyapunov function, and performing stability analysis on the back electromotive force observer in the step 2;
step 4, carrying out stability analysis on the improved sliding mode observer, and calculating a stator resistance observation value;
step 5, utilizing the observed rotating speed of the improved sliding mode observerPermanent magnet flux linkage ΨfAnd the torque current component i of the permanent magnet synchronous motor under the two-phase rotating coordinate systemqConstructing a torque observer equation, and giving i to the observed torque variation and the torque currentq *And adding, and finishing the control of the permanent magnet synchronous motor without the position sensor as new q-axis current setting.
The present invention is also technically characterized in that,
wherein the step 1 comprises the following steps:
step 1.1, adopting sigmoid function, and respectively using phase current i of the permanent magnet synchronous motor in a two-phase static coordinate systemα、iβAs an input value, an observed value of the stator current in a two-phase stationary coordinate system is calculatedAndthe sigmoid function is as follows:
wherein a is an adjustable parameter;
step 1.2, adopting sigmoid function, and respectively using the observation error values of the stator current of the permanent magnet synchronous motor under the two-phase static coordinate systemCalculating the observed value of back electromotive force in two-phase static coordinate system as input valueAnd
step 1.3, constructing a sliding mode current observer equation based on a sigmoid function as a control function, wherein the expression is as follows:
wherein R issIs stator phase resistance, LsIs a stator phase inductance uα、uβThe phase voltage components are respectively under a two-phase static coordinate system, and k is the feedback gain of the observer.
In the step 1.3, the more preferable scheme is to utilize kva＝k·ωrefReplacing the feedback gain k, ω in the original observerrefRepresenting the rotor angular velocity.
The expression of the back electromotive force observer equation in the step 2 is as follows:
where l is the observer gain, l>0，eα、eβ、Respectively obtaining the angle information of the rotor through a phase-locked loop for the counter electromotive force component and the electric angular velocity observed value under a two-phase static coordinate system, wherein the expression of the rotating speed estimated value is as follows:
the Lyapunov function constructed in the step 3 is as follows:
wherein,
Rs、actual values and observed values of the stator resistance are obtained;
for variation of stator resistanceEstimation, according to the Lyapunov theorem of stability whenThe system is gradually stable and meets the requirementsThe conditions of (a) are as follows:
wherein,the observation errors of the stator current and the stator resistance are respectively;
according to the condition of gradual stabilization of the system, the observed value of the stator resistance in the step 4 can be obtained as follows:
the value range of the feedback gain k is as follows:
k＞max(|eα|,|eβ|)。
the torque observer equation in the step 5 is as follows:
wherein k is1，k2Is a torque observer gain factor;estimating a rotation speed for the sliding mode observer;estimating a rotational speed for the torque observer; ΨfIs a permanent magnet flux linkage;to estimate the torque; j is moment of inertia.
The invention has the following beneficial effects:
1. the method adopts a sigmoid function with variable boundary layer thickness to replace a symbolic function, constructs the back electromotive force observer to separate back electromotive force signals, eliminates a low-pass filter and a phase compensation link, effectively inhibits the buffeting phenomenon of the sliding mode observer and obtains ideal observation precision within a wide speed regulation range.
2. The method adopts a stator resistance online identification link and designs a resistance parameter online identification algorithm by utilizing a Lyapunov function. The identification model of the sliding mode observer is adjusted in real time through online identification of the resistor, and the robustness of the system to internal parameter changes is improved.
3. The invention adds the torque observer to carry out torque feedforward control, reduces the influence of torque disturbance on the permanent magnet synchronous motor control system, and improves the robustness of the system to external parameter change.
Drawings
FIG. 1 is a block diagram of a permanent magnet synchronous motor position sensorless vector control system based on an improved sliding-mode observer according to the invention;
FIG. 2 is a schematic block diagram of a sigmoid function with variable boundary layer thickness according to the present invention;
FIG. 3 is a diagram of a back EMF based phase locked loop of the present invention;
FIG. 4 is a functional block diagram of an improved sliding-mode observer of the present invention;
FIG. 5 is a functional block diagram of a load torque observer of the present invention;
FIG. 6 is a waveform of the rotation speed estimated by the observer and the rotation speed estimated by the sigmoid function when the rotation speed of the motor is stepped from 500r/min to 1000r/min at 0.05 s;
FIG. 7 is a waveform of a rotational speed error observed when the rotational speed of the motor is 1000r/min and the torque of the motor is changed from 5 N.m to 10 N.m at 0.03s, with and without torque feedforward control.
Detailed Description
The present invention will be described in further detail with reference to the drawings and the embodiments, but the present invention is not limited to the embodiments.
The invention discloses a PMSM (permanent magnet synchronous motor) sensorless control method based on an improved sliding mode observer, which comprises the improved sliding mode observer based on a sigmoid function, a stator resistance identification link, a reverse electromotive force observer and a torque observer.
Referring to fig. 1, the improved sliding mode observer of the present invention is applied in vector control of a permanent magnet synchronous machine. Control method adoptsBy idUnder the control of 0, the three-phase current and voltage of the permanent magnet synchronous motor are subjected to Clarke conversion to obtain a component i under a two-phase static coordinate systemα、iβAnd uα、uβAs input of the improved sliding mode observer, the rotating speed observed by the improved sliding mode observer and the torque component i of the motor current are improvedqAs input to the load torque observer, its output is added to the torque current setpoint as a new q-axis current setpoint for use in vector control of the permanent magnet synchronous machine. The method specifically comprises the following steps:
step 1, phase voltage u of a permanent magnet synchronous motor under a two-phase static coordinate systemα、uβSum phase current iα、iβThe observed value of the stator current is output as the input of a sliding mode observer based on a sigmoid functionAndwill iα、iβAndtaking the difference as the input of the sigmoid function, and the output is the observed value of the back electromotive force under the two-phase static coordinate systemAnd simultaneously changing the boundary layer width of the sigmoid function, namely the feedback gain of the sigmoid function according to the rotating speed.
The sliding-mode observer equation expression based on the sigmoid function constructed in the step 1 is as follows:
wherein R issIs stator phase resistance, LsIs a stator phase inductance, iα、iβ、uα、uβPhase current and phase voltage components under a two-phase static coordinate system respectively,is an observed value of the phase current.Is sigmoid function, a is adjustable parameter, k is feedback gain of observer.
Referring to FIG. 2, using kva＝k·ωrefThe width of the boundary layer is changed according to the rotating speed instead of the feedback gain k in the original observer, so that the buffeting phenomenon is weakened.
Step 2, utilizing the observed value of the back electromotive force obtained in the step 1And the actual back emf component e of the motorα、eβConstructing a counter electromotive force observer to obtain a rotating speed estimated valueThen, the position of the rotor is obtained through the phase-locked loop in fig. 3, and the mathematical model of the constructed back electromotive force observer is shown as the following formula:
where l is the observer gain, l>0，Respectively obtaining the angle information of the rotor through a phase-locked loop for a counter electromotive force observation value and an electric angular velocity observation value under a two-phase static coordinate system, wherein the expression of the rotating speed estimation value is as follows:
and 3, selecting a Lyapunov function to perform stability analysis on the back electromotive force observer constructed in the step 2, wherein an error equation of the back electromotive force observer is as follows:
whereinThe observation errors of the back electromotive force and the rotation speed are respectively;
choosing a Lyapunov function as:
to ensure the stability of the system, it must satisfy:
the following equation can be obtained by simplifying the above equation according to the error equation of the back electromotive force:
due to l>0, thereforeThe counter electromotive force observer is asymptotically stable at all times.
Step 4, defining a Lyapunov function, performing stability analysis on the improved sliding mode observer, designing a resistance parameter online identification algorithm, and calculating a stator resistance observed value
Defining the Lyapunov function as:
in the formulaFor variation of stator resistanceEstimating;
the mathematical model of the surface-mounted permanent magnet synchronous motor under the two-phase static coordinate system is as follows:
in the formula iα、iβ、uα、uβAnd eα、eβPhase current, phase voltage and back electromotive force components R under a two-phase static coordinate systemsIs stator phase resistance, LsIs a stator phase inductance of psifIs a permanent magnet flux linkage, omegarIs the rotor electrical angular velocity, θ is the rotor position;
the method can be obtained according to a mathematical model of the surface-mounted permanent magnet synchronous motor in a two-phase static coordinate system and a constructed sliding mode current observer equation based on a sigmoid function:
wherein:
according to the Lyapunov stability theorem, to ensure the stability of the system, the following requirements must be met:
further deducing that the stability conditions of the sliding mode can be obtained as follows:
whereinThe observed errors of the stator current and the stator resistance, respectively.
The observed value of the stator resistance in step 4 is thus:
the value range of the feedback gain k is as follows:
k＞max(|eα|,|eβ|)
and finally obtaining a block diagram of the improved sliding-mode observer (shown in figure 4).
Step 5, referring to fig. 5, the observed rotation speed by using the improved sliding mode observerPermanent magnet flux linkage ΨfAnd the torque current component i of the permanent magnet synchronous motor under the two-phase rotating coordinate systemqConstruction of the Torque observer equation, TableThe expression is as follows:
wherein k is1，k2Is a torque observer gain factor;estimating a rotation speed for the sliding mode observer;estimating a rotational speed for the torque observer;to estimate the torque, J is the moment of inertia.
Setting the observed torque variation and the torque current to iq *And adding, and finishing the control of the permanent magnet synchronous motor without the position sensor as new q-axis current setting.
The feasibility of the invention is verified below in connection with the simulated waveforms of fig. 6-7.
FIG. 6 is a comparative simulation diagram of the improved sliding mode observer and the sliding mode observer based on the sigmoid function. The simulation time is 0-0.1 s, no load is carried out, the initial rotating speed of the motor is set to be 500r/min, and the rotating speed of the given motor is 1000r/min at 0.05 s. As can be seen from FIG. 6, the use of the sigmoid function can reduce buffeting but the estimation error becomes larger as the rotating speed increases, while the improved sliding mode observer of the invention still has smaller estimation error when the rotating speed is higher.
Fig. 7 is a comparison between the conventional sliding mode observer without torque feed-forward observation and the improved sliding mode observer of the present invention, in which the rotation speed is 1000r/min, and the load torque is 0.03s, the rotation speed error waveform is observed when the load torque changes from 5N · m to 10N · m, and it can be seen from fig. 7 that, when the permanent magnet synchronous motor is subjected to torque disturbance, the torque feed-forward observer can feed back the change information of the load torque to the forward channel of the q-axis current loop in real time, and the adjustment speed of the current loop is accelerated by rapidly increasing the q-axis current, so that the rotation speed estimation error has smaller overshoot and faster convergence speed.
The method adopts a sigmoid function with variable boundary layer thickness to replace a symbolic function, constructs the counter electromotive force observer to separate counter electromotive force signals, eliminates a low-pass filter and a phase compensation link, can dynamically adjust the gain of the observer along with the speed, effectively inhibits the buffeting phenomenon of the sliding mode observer and obtains ideal observation precision in a wide speed regulation range. The link of stator resistance online identification and torque observation is added into the improved sliding mode observer, and the robustness of the system to the change of internal and external parameters is improved.
Claims (7)
1. A PMSM (permanent magnet synchronous motor) position sensorless control method based on an improved sliding-mode observer is characterized by comprising the following steps:
step 1, calculating an observed value of stator current of a permanent magnet synchronous motor under a two-phase static coordinate systemAnd observed value of back electromotive forceThen, taking the observation error of the stator current as a sliding mode surface, constructing an improved sliding mode current observer equation, and simultaneously changing the feedback gain k of the sigmoid function according to the rotating speed;
step 2, utilizing the observed value of the back electromotive force obtained in the step 1Constructing a mathematical model of a counter electromotive force observer and calculating a rotating speed estimation valueEstimating the position of the rotor through a phase-locked loop;
step 3, utilizing the observed value of the stator currentAnd the actual value iα、iβConstructing a Lyapunov function, and performing stability analysis on the back electromotive force observer in the step 2;
step 4, carrying out stability analysis on the improved sliding mode observer, and calculating a stator resistance observation value;
step 5, utilizing the observed rotating speed of the improved sliding mode observerPermanent magnet flux linkage ΨfAnd the torque current component i of the permanent magnet synchronous motor under the two-phase rotating coordinate systemqConstructing a torque observer equation, and giving i to the observed torque variation and the torque currentq *And adding, and finishing the control of the permanent magnet synchronous motor without the position sensor as new q-axis current setting.
2. The improved sliding-mode observer based PMSM position sensorless control method according to claim 1, wherein the step 1 comprises the steps of:
step 1.1, adopting sigmoid function, and respectively using phase current i of the permanent magnet synchronous motor in a two-phase static coordinate systemα、iβAs an input value, an observed value of the stator current in a two-phase stationary coordinate system is calculatedAndthe sigmoid function is as follows:
wherein a is an adjustable parameter;
step 1.2, adopting sigmoid function, and respectively using the observation error values of the stator current of the permanent magnet synchronous motor under the two-phase static coordinate systemAs an input value, an observed value of back electromotive force in a two-phase stationary coordinate system is calculatedAnd
step 1.3, constructing a sliding mode current observer equation based on a sigmoid function as a control function, wherein the expression is as follows:
wherein R issIs stator phase resistance, LsIs a stator phase inductance uα、uβThe phase voltage components are respectively under a two-phase static coordinate system, and k is the feedback gain of the observer.
3. The improved sliding-mode observer based PMSM position sensorless control method according to claim 2, characterized in thatIn the step 1.3, it is more preferable to use kva＝k·ωrefReplacing the feedback gain k, ω in the original observerrefRepresenting the rotor angular velocity.
4. The improved sliding-mode observer-based PMSM position sensorless control method according to claim 1, characterized in that the expression of the back electromotive force observer mathematical model constructed in step 2 is as follows:
where l is the observer gain, l>0，eα、eβ、The method comprises the following steps of respectively obtaining back electromotive force components and electric angular velocity observed values under a two-phase static coordinate system through a phase-locked loop, wherein the rotation speed estimated value expression is as follows:
5. the improved sliding-mode observer-based PMSM position-sensorless control method according to claim 1, characterized in that the Lyapunov function constructed in step 3 is as follows:
wherein,
Rs、respectively representing an actual value and an observed value of the stator resistance;
for variation of stator resistanceEstimation, according to the Lyapunov theorem of stability whenThe system is gradually stable and meets the requirementsThe conditions of (a) are as follows:
wherein,the observation errors of the stator current and the stator resistance are respectively;
6. the improved sliding-mode observer-based PMSM position sensorless control method according to claim 5, characterized in that according to the condition of system asymptotic stability, the stator resistance observed value in the step 4 can be obtained as follows:
the value range of the feedback gain k is as follows:
k＞max(|eα|,|eβ|)。
7. the improved sliding-mode observer based PMSM position sensorless control method according to claim 6, wherein the torque observer equation in step 5 is:
wherein k is1，k2Is a torque observer gain factor;estimating a rotation speed for the sliding mode observer;estimating a rotational speed for the torque observer;to estimate the torque, J is the moment of inertia.
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| CN111726048A (en) * | 2020-07-28 | 2020-09-29 | 南通大学 | Permanent magnet synchronous motor rotor position and speed estimation method based on sliding-mode observer |
| CN111726048B (en) * | 2020-07-28 | 2021-11-26 | 南通大学 | Permanent magnet synchronous motor rotor position and speed estimation method based on sliding-mode observer |
| CN111969912A (en) * | 2020-08-18 | 2020-11-20 | 西安速迈智能科技有限责任公司 | Sensorless control method and system for permanent magnet synchronous motor |
| CN111969912B (en) * | 2020-08-18 | 2021-11-09 | 西安速迈智能科技有限责任公司 | Sensorless control method and system for permanent magnet synchronous motor |
| CN112003526A (en) * | 2020-08-20 | 2020-11-27 | 苏州崧崧智能控制技术有限公司 | High-speed permanent magnet synchronous motor non-inductive control system and method based on low-buffeting sliding-mode observer |
| CN112882053B (en) * | 2021-01-21 | 2023-07-18 | 清华大学深圳国际研究生院 | Method for actively calibrating external parameters of laser radar and encoder |
| CN112882053A (en) * | 2021-01-21 | 2021-06-01 | 清华大学深圳国际研究生院 | Method for actively calibrating external parameters of laser radar and encoder |
| CN113364375A (en) * | 2021-06-18 | 2021-09-07 | 湖南科技大学 | Sensorless control method for PMSM (permanent magnet synchronous motor) driving system of variable-structure current regulator |
| CN114172426A (en) * | 2021-10-27 | 2022-03-11 | 北京自动化控制设备研究所 | Coefficient self-tuning speed compensation control method for permanent magnet synchronous motor |
| CN114172426B (en) * | 2021-10-27 | 2024-06-11 | 北京自动化控制设备研究所 | Permanent magnet synchronous motor coefficient self-tuning speed compensation control method |
| CN114726273A (en) * | 2022-03-30 | 2022-07-08 | 电子科技大学 | PCB disc type permanent magnet synchronous motor non-inductive control system and method based on improved sliding-mode observer |
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| CN114726277B (en) * | 2022-04-21 | 2024-02-06 | 西北工业大学 | Control method for switch reluctance motor without position sensor |
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